CN109459037A - A kind of environment information acquisition method and system based on SLAM intelligence carrier - Google Patents
A kind of environment information acquisition method and system based on SLAM intelligence carrier Download PDFInfo
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- CN109459037A CN109459037A CN201811635695.5A CN201811635695A CN109459037A CN 109459037 A CN109459037 A CN 109459037A CN 201811635695 A CN201811635695 A CN 201811635695A CN 109459037 A CN109459037 A CN 109459037A
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- 230000007613 environmental effect Effects 0.000 claims abstract description 89
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
Abstract
The invention discloses a kind of environment information acquisition methods based on SLAM intelligence carrier, pass through the acquisition to a variety of environmental informations, realize the building that polynary environmental information distribution map is carried out to circumstances not known, and the identification to environmental objects and its feature is realized in the distribution by analyzing intelligent carrier ambient condition information, by the object overall distribution situation and its feature in three-dimensional space, intelligent carrier is assisted to be positioned and navigated.The present invention also proposes the system based on this method, and the system comprises environment information acquisition module, SLAM intelligence carrier and telematic computer systems.The present invention can be realized the building that polynary environmental information distribution map is carried out to circumstances not known, and carry out analysis and the optimization of precision to environmental information data by intelligent algorithm.It is different from the space modeling method of traditional SLAM technology, the present invention can carry out intelligent carrier positioning auxiliary, environmental characteristic detection, object identification, personnel's search and rescue etc. simultaneously in specific environment.
Description
Technical field
The present invention relates to environmental testing and electronic information technical field, more particularly to combine SLAM intelligence carrier and
The application system of environment information acquisition.
Background technique
It synchronizes positioning and builds figure (Simultaneous Localization and Mapping, i.e. SLAM) technology and refer to
Robot is moved since a unknown position in circumstances not known, is carried out certainly in moving process according to location estimation and map
Body positioning, while increment type map is built on the basis of self poisoning, realize the autonomous positioning and navigation of robot.
The map of current SLAM technology building is mainly situational map, is not carried out polynary environmental data (such as temperature, gas
Bulk concentration) acquisition, analysis and respective environment information map structuring.In fact, due to acquisition environmental information sensor not
It is same as camera or laser radar, and does not have biggish measurement range, measurement range is even confined to a little, it is therefore desirable to is logical
Certain method is crossed to be made up.
As the improvement of people's living standards, people increasingly pay close attention to the ambient conditions of surrounding, especially living environment, work
Make environment etc..Meanwhile environmental data map has important value to scientific research.
Summary of the invention
The technical problem to be solved by the present invention is to provide one kind and be based on for deficiency present in tradition SLAM technology
The environment information acquisition application system and method for SLAM intelligence carrier.
The present invention is to solve the technical issues of proposing, it is specific the technical solution adopted is as follows:
A kind of environment information acquisition method based on SLAM intelligence carrier, comprising steps of
Step 1 acquires environmental information data by the environment information acquisition module for being laid in different measurement positions, and data is sent out
Give the embedded computer system on SLAM intelligence carrier；
Step 2, the embedded computer system acquire map datum by the SLAM sensor on SLAM intelligence carrier, together
When, it receives environmental information data and adds label, the label includes: code name, numerical value, measurement position, confidence level；
Step 3, the embedded computer system send above-mentioned map datum and environmental information data by wireless telecommunications
It is handled to telematic computer system；
Step 4, the telematic computer system carry out point Yun Chongxian to above-mentioned environmental information data, pass through data
Blending algorithm, neural network algorithm realize distribution map prediction, the modeling of environmental information in conjunction with map datum, obtain planning path
Information is simultaneously back to embedded computer system, to control SLAM intelligence carrier independent navigation.
Further, the environment information acquisition method proposed by the invention based on SLAM intelligence carrier, environmental information number
According to including: that temperature, humidity, atmospheric pressure, intensity of illumination, harmful gas concentration, gas concentration lwevel, volatile organic matter are dense
Degree.Environmental information data class can also do corresponding adjustment according to practical application request.
Further, the environment information acquisition method proposed by the invention based on SLAM intelligence carrier, in step 4, institute
The telematic computer system stated preserves the history environment data of acquisition, current environmental data and history environment
Real-time input of the data as neural network exports the prediction distribution of intelligent carrier ambient condition information, environmental information data
It is loaded on the map of SLAM intelligence vector construction, the distribution by analyzing intelligent carrier ambient condition information is realized to environment object
The identification of body and its feature assists intelligent carrier to be determined by the object overall distribution situation and its feature in three-dimensional space
Position and navigation.
Further, the environment information acquisition method proposed by the invention based on SLAM intelligence carrier is also wrapped in step 4
It includes telematic computer system to analyze environmental form, with the confidence level of auxiliary judgment acquisition information.
Further, the environment information acquisition method proposed by the invention based on SLAM intelligence carrier is marked described in step 2
On the one hand the confidence level of label is obtained by the continuity of environmental information spatially, on the other hand by the history of same measurement position
Environmental data obtains.
Further, the environment information acquisition method proposed by the invention based on SLAM intelligence carrier, described in step 4
The routing information that routing information, i.e. telematic computer system are sent to embedded computer system, by remote information
The map datum and environmental information point cloud data amount for handling computer system require decision, which makes intelligent carrier certainly
While leading boat, the environmental information in space is not repeatedly obtained by environment information acquisition module as far as possible.
Further, the environment information acquisition method proposed by the invention based on SLAM intelligence carrier, described in step 4
Data anastomosing algorithm is for acquiring to environment information acquisition module on a certain spatial position a variety of in a certain measurement period
Information carries out integrated treatment and analysis.
Further, the environment information acquisition method proposed by the invention based on SLAM intelligence carrier, described in step 4
Neural network model is to establish respectively to different environmental informations, or establish to two or more environmental informations；With history ring
The distribution of border information spatially is input with the environmental information acquired in real time, according to Neural Network model predictive present carrier institute
The spatial position at place and the possibility object around carrier, the error for the generation that can work long hours accordingly to Camera calibration method
Carry out part amendment.
The present invention also proposes a kind of environment information acquisition system based on SLAM intelligence carrier, including
Environment information acquisition module, for acquiring the polynary environmental information at different location；
SLAM intelligence carrier for acquiring map datum, and receives environmental information data and adds label, and the label includes:
Code name, numerical value, measurement position, confidence level；Above-mentioned map datum and environmental information data are sent to by wireless telecommunications simultaneously
Telematic computer system is handled；
Telematic computer system is calculated by carrying out point Yun Chongxian to above-mentioned environmental information data by data fusion
Method, neural network algorithm realize distribution map prediction, the modeling of environmental information in conjunction with map datum, obtain planning path information simultaneously
It is back to SLAM intelligence carrier, to control SLAM intelligence carrier independent navigation.
Further, the environment information acquisition system proposed by the invention based on SLAM intelligence carrier, the environment letter
Cease acquisition module, including microcontroller, Temperature Humidity Sensor, barometer, ambient light sensor, gas sensor, infrared sensing
Device, being respectively used to temperature collection, humidity, atmospheric pressure, intensity of illumination, harmful gas concentration, gas concentration lwevel, volatility has
Machine object concentration, environment information acquisition type of modules can also do corresponding adjustment according to practical application request；
SLAM intelligence carrier, including intelligent carrier itself, SLAM sensor, in which: intelligent carrier itself includes the wheeled load of intelligence
Tool and Intelligent unattended machine, SLAM sensor includes laser radar, camera, gyroscope accelerometer, SLAM sensor
Corresponding adjustment can be done according to practical application request.
The present invention is had following technical effect that compared with prior art using the above technological means
The present invention is input with the environmental information for being distributed with acquiring in real time of history environment information spatially, passes through neural network
Possibility object around spatial position locating for model prediction present carrier and carrier, accordingly can be long to Camera calibration method
The error that time service generates carries out part amendment.
When significant change occurs for the environmental information of intelligent carrier local environment, telematic computer system is by root
According to the model constructed, corresponding sensor is selected to carry out path planning to intelligent carrier, to complete certain task.It is different from
The spatial modeling environment of traditional SLAM technology, the present invention can in specific environment (such as smoky environment, toxic gas environment) into
The positioning of row intelligence carrier, environmental characteristic detection, object identification, personnel's search and rescue etc..
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure does simple introduction, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is environment information acquisition System Working Principle figure of the invention.
Fig. 2 is context detection module schematic diagram of the present invention.
Fig. 3 is system structure diagram of the embodiment of the present invention.
Fig. 4 is algorithm flow chart of the embodiment of the present invention.
Fig. 5 is the polynary environmental information distribution map sample of the present invention.
Specific embodiment
It should be appreciated that described herein, specific examples are only used to explain the present invention, is not intended to limit the present invention, all
It is any changes made on the basis of the technical scheme according to the technical idea provided by the invention, each falls within right of the present invention and want
It asks within the protection scope of book, with reference to the accompanying drawings of the specification, a specific embodiment of the invention is described further.
In order to solve the problems, such as pointed by background technique, the present invention uses multisensor Data Fusion technology.Multisensor
Data fusion (Multi-sensor Data Fusion) is a technology of multiple information integrated treatment, is made for a system
It is unfolded with this particular problem of multiple sensors, that is, makes full use of the multi-sensor data resource in different time and space, adopt
Data are observed to the multisensor obtained in temporal sequence with computer technology, is analyzed, integrated, dominated under certain criterion
With use, complete the information process that required decision and estimation task carry out, obtain system more than its each component part
Superior performance.Multisensor Data Fusion technology includes weighted average fusion, Kalman filtering method, Bayes estimation, statistics
Decision theory, probability theory method, fuzzy logic inference, artificial neural network, D-S evidence theory.
Embodiment 1: the present invention proposes a kind of environment information acquisition method based on SLAM intelligence carrier, by a variety of rings
The building that polynary environmental information distribution map is carried out to circumstances not known is realized in the acquisition of border information, and by analyzing intelligent carrier week
Identification of the distribution realization of environmental information to environmental objects and its feature is enclosed, the object overall distribution situation in three-dimensional space is passed through
And its feature, assist intelligent carrier to be positioned and navigated.The multiple information distribution map include two kinds of following information or
It is a variety of: temperature, humidity, atmospheric pressure, intensity of illumination, harmful gas concentration, gas concentration lwevel, volatile organic matter concentration.
Embodiment 2: shown in referring to Fig.1, the present invention proposes a kind of environment information acquisition system based on SLAM intelligence carrier,
Including environment information acquisition module, SLAM intelligence carrier and telematic computer system.The environment information acquisition
Module includes microcontroller, Temperature Humidity Sensor, barometer, ambient light sensor, gas sensor, infrared sensor etc..Institute
The SLAM intelligence carrier stated includes intelligent carrier itself, laser radar module, inertial navigation module, camera module.Described
Intelligent carrier itself includes but is not limited to the wheeled carrier of intelligence and Intelligent unattended machine.
It is context detection module schematic diagram of the present invention referring to Fig. 2, Fig. 2, Temperature Humidity Sensor, barometer, environment light is passed
Sensor, gas sensor, infrared sensor are connected with microcontroller.
As shown in Fig. 2, environment information acquisition module includes STM32F103C8T6 minimum system circuit and each in the present embodiment
Class sensor interface.
In the present embodiment, STM32F103C8T6 microcontroller is a ARM Cortex-M3 kernel of ST company exploitation
Single-chip microcontroller has preferable operational capability and lower cost, is easy to develop.
Further, the Temperature Humidity Sensor model DHT11,0 ~ 50 DEG C of measurement range temperature, humidity 20-90%
RH, resolution ratio humidity 1%RH, pass through monobus digital signal and STM32 single chip communication by 1 DEG C of temperature.
Further, the barometer model BMP180 measures 300 ~ 1100hPa of atmospheric pressure range, passes through IIC
Bus and STM32 single chip communication.
Further, the ambient light sensor model TEMT6000 measures 1 ~ 1000Lux of illumination range, passes through
The ADC of STM32 single-chip microcontroller acquires analog signal.
Further, the gas sensor includes SGP30, MQ series sensor, and measurement TVOC concentration range 0 ~
60000ppb measures 0 ~ 60000ppm of CO2 concentration range, passes through iic bus and STM32 single chip communication.
Further, the infrared sensor includes infrared receiving tube and signal processing circuit, passes through STM32 single-chip microcontroller
ADC acquire analog signal.
Further, the detectable pernicious gas of environment information acquisition module includes: methane, carbon monoxide, first
Aldehyde, sulfur dioxide etc..
Referring to Fig. 3, environment information acquisition module is connected with raspberry pie microcomputer, at the same by laser radar, image
Head, gyroscope accelerometer module are connected with raspberry pie microcomputer.
Further, laser radar model EAI-X4,6 ~ 8m of ranging range, scan frequency in the SLAM sensor
For 6Hz ~ 12Hz, range frequency is communicated up to 5kHz, by serial ports with raspberry pie microcomputer.
Further, in the SLAM sensor gyroscope accelerometer model be BMI160, maximum range be ±
2000 °/s, ± 16G are communicated by IIC or SPI with raspberry pie microcomputer.
Further, camera is Kinect2 in the SLAM sensor, and resolution ratio is 1920 × 1080, and depth is known
Other range is 0.5m ~ 4.5m.
Lower mask body introduces the environment information acquisition method proposed by the invention based on SLAM intelligence carrier, step packet
It includes:
Step 1: acquiring environmental information data by the various sensors in environment information acquisition module.
Step 2: data being read by the microcontroller in the environment information acquisition module, and are sent the data to
Embedded computer system on SLAM intelligence carrier.
Step 3: the embedded computer system by SLAM sensor on SLAM intelligence carrier (laser radar,
Camera, gyroscope accelerometer) acquisition map datum, meanwhile, receive the environmental information that environment information acquisition module is sent
And label (including code name, numerical value, measurement position, confidence level) is added to information.
Step 4: above-mentioned map datum and environmental information data are passed through wireless telecommunications by the embedded computer system
It is sent to telematic computer system to be handled, then certainly according to the routing information control SLAM intelligence carrier passed back
Leading boat.
Step 5: the telematic computer system carries out point Yun Chongxian to above-mentioned gained environmental information data,
By tools such as data anastomosing algorithm, neural network algorithms, distribution map prediction, the modeling of environmental information are realized.
Telematic computer system can be reserved for the history environment data of acquisition, current environmental data and history
Real-time input of the environmental data as neural network predicts the distribution of intelligent carrier ambient condition information, environmental information is distributed
It is matched with map, the identification to object is realized by the distribution of analysis ambient condition information, passes through the entirety in three-dimensional space
The positioning to intelligent carrier is realized in environmental information distribution.
Further, based on the historical data of neural metwork training, telematic computer system is to environmental form
It is analyzed, with the confidence level of auxiliary judgment acquisition information, including but not limited to household, school, factory, hospital etc..In conjunction with intelligence
The data that energy carrier acquires in real time, can judge current environment type, and occasion description is same as above.
Further, the data anastomosing algorithm, neural network algorithm are mainly used for environment on a certain spatial position
The information of information acquisition module acquisition carries out comprehensive analysis, based on the history environment data in carrier travelling route, to intelligent load
Body ambient condition information is predicted and is modeled.
Further, predict that resulting environmental information, measurement position range refer to intelligent carrier present position for circle
The circle (radius is by conditional decisions such as sensor accuracies) of the heart, confidence level is obtained by data anastomosing algorithm and neural network algorithm.
Further, label described in step 3 includes environmental information title code name, numerical value, measurement position, confidence level,
On the one hand middle confidence level is obtained by the continuity of environmental information spatially, on the other hand by the history environment of same measurement position
Data obtain (starting point puts aside historical data).
Further, routing information described in step 4, i.e. telematic computer system are sent to embedding assembly
The routing information of machine system is required to determine by the map datum and environmental information point cloud data amount of telematic computer system
Fixed, which makes intelligent carrier while independent navigation, is not repeatedly obtained as far as possible by environment information acquisition module
Take the environmental information in space.
Further, independent navigation described in step 4 refers to that telematic computer system, can by preprogramming
Automatically the environmental information collected is handled, and then the embedded system transmitting path information on intelligent carrier,
Whole process is not required to human intervention.
Further, data anastomosing algorithm described in step 5 is mainly used in a certain measurement period, to a certain space bit
The much information for setting the acquisition of environment information acquisition module carries out integrated treatment and analysis.
Further, step 5 comprehensive analysis history environment data carry out the polynary environmental information distribution map of real-time rendering
The optimization of precision.
Further, neural network model described in step 5 is calculated with current context information data and telematics
The history environment data that machine system host computer saves are input, are predicted in real time the environmental information around intelligent carrier.Mind
Different environmental informations can be established respectively, two or more environmental informations can also be established through network model.
The method of the present invention for assisting in identifying object and assisting intelligent carrier positioning, i.e. reference Fig. 4, the present embodiment
Algorithm flow is as described below.
In the present embodiment, raspberry pie microcomputer receives the data that SLAM sensor obtains, and initializes trolley posture, according to
Gyroscope accelerometer information realizes positioning in real time.
In the present embodiment, raspberry pie microcomputer receives the data that SLAM sensor obtains, the angle measured according to radar
With range information, it is aided with the range information that depth camera measures, realizes centered on trolley, the distance of 360 ° omni-directional is surveyed
It is fixed.
In the present embodiment, above-mentioned range information is uploaded to personal computer by raspberry pie microcomputer, and computer passes one back
A executable routing information repeats the range information that above-mentioned steps obtain the next position.
In the present embodiment, raspberry pie microcomputer passes through the information that UART serial ports real-time reception STM32 microcontroller acquires,
Send the information such as code name, numerical value, position to personal computer.
In the present embodiment, personal computer integrates real-time map and environmental information, draws all kinds of environmental informations
Point cloud chart.
In the present embodiment, after the point cloud data amount that personal computer receives the transmission of raspberry pie microcomputer reaches requirement,
According to data anastomosing algorithm, neural network algorithm, the optimization to point cloud data precision is realized, and synthesize polynary environmental information distribution
Scheme (Fig. 5 show polynary environmental information distribution map example).
In the present embodiment, when personal computer is drawn and is modeled, in conjunction with the historical data crossed by neural metwork training,
So that polynary environmental information distribution map is more accurate in real time.
In the present embodiment, personal computer is inputted by neural network prediction model of historical data, to the ring acquired in real time
Border information predicted, at the same time, the polynary environmental information data acquired around carrier according to environment information acquisition module,
Judge the most probable locating spatial position of carrier, and a degree of identification is carried out to the object around carrier.
In the present embodiment, user can be realized different to all kinds of environmental informations by the human-computer interaction interface of personal computer
The setting of demand.
In the present embodiment, setting to all kinds of environmental informations includes at least following several classes: being desired for steady state value, sensitivity amount
The time being maintained in certain threshold value or space accounting.
In the present embodiment, it is desired for the setting means of steady state value, system automatically generates one according to the analysis to historical data
A suitable overshoot, instantaneous value be more than this amount after i.e. to personal computer send report, this kind of environmental information such as atmospheric pressure
By force, temperature etc..
In the present embodiment, to the setting that sensitivity is measured, it can be carried out based on variation of both time, space, including at least two
Kind basic mode: time of the sensitive amount on threshold value, and the ratio of calculating and an observation period are observed to certain fixed location
Value；Or to certain a period of time, persistently scanning the amount in fixed area is more than the area on threshold value, which is made of encoder
Odometer estimated that and calculate the ratio of the area Yu the region gross area, such as illumination, pernicious gas of this kind of environmental information is dense
Degree etc..
Optionally, the wireless transport module being connected with raspberry pie microcomputer can be bluetooth module, WIFI module,
2.4G radio receiving transmitting module, 433M wireless communication module.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the invention is not limited to above-mentioned
Embodiment within the knowledge of a person skilled in the art can also be before not departing from present inventive concept
It puts and makes a variety of changes.
Claims (10)
1. a kind of environment information acquisition method based on SLAM intelligence carrier, which is characterized in that comprising steps of
Step 1 acquires environmental information data by the environment information acquisition module that is laid on SLAM intelligence carrier, and by data
The embedded computer system being sent on SLAM intelligence carrier；
Step 2, the embedded computer system acquire map datum by the SLAM sensor on SLAM intelligence carrier, together
When, it receives environmental information data and adds label, the label includes: code name, numerical value, measurement position, confidence level；
Step 3, the embedded computer system send above-mentioned map datum and environmental information data by wireless telecommunications
It is handled to telematic computer system；
Step 4, the telematic computer system carry out point Yun Chongxian to above-mentioned environmental information data, pass through data
Blending algorithm, neural network algorithm realize distribution map prediction, the modeling of environmental information in conjunction with map datum, obtain planning path
Information is simultaneously back to embedded computer system, to control SLAM intelligence carrier independent navigation.
2. the environment information acquisition method according to claim 1 based on SLAM intelligence carrier, which is characterized in that environment letter
Ceasing data includes: temperature, humidity, atmospheric pressure, intensity of illumination, harmful gas concentration, gas concentration lwevel, volatile organic matter
Concentration.
3. the environment information acquisition method according to claim 1 based on SLAM intelligence carrier, which is characterized in that step 4
In, the telematic computer system preserves the history environment data of acquisition, current environmental data and goes through
Real-time input of the history environmental data as neural network exports the prediction distribution of intelligent carrier ambient condition information, environment is believed
Breath data are loaded on the map of SLAM intelligence vector construction, by the distribution realization pair for analyzing intelligent carrier ambient condition information
The identification of environmental objects and its feature assists intelligent carrier by the object overall distribution situation and its feature in three-dimensional space
It is positioned and is navigated.
4. the environment information acquisition method according to claim 3 based on SLAM intelligence carrier, which is characterized in that step 4
In, it further include that telematic computer system analyzes environmental form, with the confidence level of auxiliary judgment acquisition information.
5. the environment information acquisition method according to claim 1 based on SLAM intelligence carrier, which is characterized in that step 2
On the one hand the confidence level of the label is obtained by the continuity of environmental information spatially, on the other hand by same measurement position
History environment data obtain.
6. the environment information acquisition method according to claim 1 based on SLAM intelligence carrier, which is characterized in that step 4
The routing information that the routing information, i.e. telematic computer system are sent to embedded computer system, by remote
The map datum and environmental information point cloud data amount of journey information processing computer system require decision, which makes intelligent load
Body not repeatedly obtains the environmental information in space while independent navigation by environment information acquisition module as far as possible.
7. the environment information acquisition method according to claim 1 based on SLAM intelligence carrier, which is characterized in that step 4
The data anastomosing algorithm is for being acquired in a certain measurement period to environment information acquisition module on a certain spatial position
Much information carry out integrated treatment and analysis.
8. the environment information acquisition method according to claim 1 based on SLAM intelligence carrier, which is characterized in that step 4
The neural network model is to establish respectively to different environmental informations, or establish to two or more environmental informations；With
The distribution of history environment information spatially is input with the environmental information acquired in real time, current by Neural Network model predictive
Possibility object around spatial position locating for carrier and carrier, accordingly can work long hours to Camera calibration method generation
Error carry out part amendment.
9. a kind of environment information acquisition system based on SLAM intelligence carrier, which is characterized in that including
Environment information acquisition module, for acquiring the polynary environmental information at different location；
SLAM intelligence carrier for acquiring map datum, and receives environmental information data and adds label, and the label includes:
Code name, numerical value, measurement position, confidence level；Above-mentioned map datum and environmental information data are sent to by wireless telecommunications simultaneously
Telematic computer system is handled；
Telematic computer system is calculated by carrying out point Yun Chongxian to above-mentioned environmental information data by data fusion
Method, neural network algorithm realize distribution map prediction, the modeling of environmental information in conjunction with map datum, obtain planning path information simultaneously
It is back to SLAM intelligence carrier, to control SLAM intelligence carrier independent navigation.
10. a kind of environment information acquisition system based on SLAM intelligence carrier according to claim 9, which is characterized in that
The environment information acquisition module, including microcontroller, Temperature Humidity Sensor, barometer, ambient light sensor, gas sensing
Device, being respectively used to temperature collection, humidity, atmospheric pressure, intensity of illumination, harmful gas concentration, gas concentration lwevel, volatility has
Machine object concentration；
Described SLAM intelligence carrier, including intelligent carrier itself, SLAM sensor, in which: intelligent carrier itself includes intelligence
Wheeled carrier and Intelligent unattended machine, SLAM sensor include laser radar, camera, gyroscope accelerometer.
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| CN201811635695.5A CN109459037A (en) | 2018-12-29 | 2018-12-29 | A kind of environment information acquisition method and system based on SLAM intelligence carrier |
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| CN201811635695.5A CN109459037A (en) | 2018-12-29 | 2018-12-29 | A kind of environment information acquisition method and system based on SLAM intelligence carrier |
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| CN109992634A (en) * | 2019-03-15 | 2019-07-09 | 河海大学 | The robot in complicated environment map constructing method calculated based on mist |
| CN111537027A (en) * | 2020-05-26 | 2020-08-14 | 上饶市中科院云计算中心大数据研究院 | Intelligent scenic spot environment comfort evaluation method and system |
| CN111673767A (en) * | 2020-06-23 | 2020-09-18 | 浪潮集团有限公司 | Robot data security protection co-processing method and system |
| CN111738312A (en) * | 2020-06-04 | 2020-10-02 | 国网宁夏电力有限公司检修公司 | Power transmission line state monitoring method and device based on GIS and virtual reality fusion and computer readable storage medium |
| CN112180470A (en) * | 2020-08-11 | 2021-01-05 | 北京顺祥宏达电力设备有限公司 | Real-time environment monitoring system |
| CN112801225A (en) * | 2021-04-01 | 2021-05-14 | 中国人民解放军国防科技大学 | Automatic driving multi-sensor fusion sensing method and system under limit working condition |
| CN114034343A (en) * | 2021-11-11 | 2022-02-11 | 珠海惠中智能技术有限公司 | Environment multimode information comprehensive analysis system based on robot |
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| CN109900267A (en) * | 2019-04-12 | 2019-06-18 | 哈尔滨理工大学 | A kind of mobile robot map-building based on slam and autonomous searching system |
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