CN112067044A - Environment detection method, system and equipment based on three-dimensional map reconstruction - Google Patents
Environment detection method, system and equipment based on three-dimensional map reconstruction Download PDFInfo
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Abstract
The invention discloses an environment detection method, system and device based on three-dimensional map reconstruction, wherein the method comprises the following steps: acquiring an environment information detection value and a three-dimensional information detection value; obtaining a correction signal by using a deviation analysis method according to the three-dimensional information detection value; correcting the advancing of the probe vehicle according to the correction signal; obtaining an environment information feedback signal and a three-dimensional information feedback signal according to the environment information detection value and the three-dimensional information detection value; and sending the environment information feedback signal and the three-dimensional information feedback signal to the remote terminal so that the remote terminal reconstructs a three-dimensional map and displays environment data. The method comprises the steps of obtaining an environment information detection value and a three-dimensional information detection value, enabling a remote terminal to reconstruct a three-dimensional map and display environment data, and being capable of effectively preventing dangerous accidents in time; according to the three-dimensional information detection value, a correction signal is obtained by using a deviation analysis method, the advancing of the detection vehicle is corrected, and the detection precision of the detection vehicle on the environmental data is improved.
Description
Technical Field
The invention relates to the field of environment detection, in particular to an environment detection method, system and device based on three-dimensional map reconstruction.
Background
The environment detection technology is a technology for detecting and extracting data aiming at the environment, and is a project of important research of governments or scientific research institutions of modern countries because of relating to energy, environment and other parts which are relevant to human life, wherein the environment detection based on three-dimensional landform reconstruction is one of the technologies.
The existing environment detection cannot simultaneously obtain the environmental data of a detection space and the overall data of the internal appearance, and the environmental data comprise temperature, humidity, gas concentration and the like, so that accidents cannot be effectively prevented; in the process of advancing, the position of the detection vehicle cannot be adjusted according to the internal appearance, so that the detection precision of the detection vehicle on the environmental data is reduced.
Disclosure of Invention
The invention aims to solve at least one of the technical problems in the prior art, and provides an environment detection method, system and equipment based on three-dimensional map reconstruction, which can effectively prevent accidents and improve the detection precision of a detection vehicle on environment data.
The solution of the invention for solving the technical problem is as follows:
in a first aspect, the present invention provides an environment detection method based on three-dimensional map reconstruction, which is applied to an environment detection system based on three-dimensional map reconstruction, the environment detection system including a detection vehicle and a remote terminal, and the method includes:
acquiring an environment information detection value and a three-dimensional information detection value;
obtaining a correction signal by using a deviation analysis method according to the three-dimensional information detection value;
correcting the advancing of the probe vehicle according to the correction signal;
obtaining an environment information feedback signal and a three-dimensional information feedback signal according to the environment information detection value and the three-dimensional information detection value;
and sending the environment information feedback signal and the three-dimensional information feedback signal to the remote terminal so that the remote terminal reconstructs a three-dimensional map and displays environment data.
Further, before the acquiring the environment information detection value and the three-dimensional information detection value, the method includes:
receiving a starting signal to obtain a PWM driving signal;
and controlling the probe vehicle to advance according to the PWM driving signal.
Further, the environment information detection value comprises a temperature value, a humidity value and a CO gas concentration value, and the three-dimensional information detection value comprises a left-side space distance value, a right-side space distance value, a head space distance value and an angle value.
Further, the obtaining an environment information feedback signal and a three-dimensional information feedback signal according to the environment information detection value and the three-dimensional information detection value includes:
obtaining an environmental information feedback signal by utilizing a serial port communication protocol according to the temperature value, the humidity value and the CO gas concentration value;
and obtaining a three-dimensional information feedback signal by utilizing a serial port communication protocol according to the angle value and the headspace distance value.
Further, the obtaining a correction signal by using a bias analysis method according to the three-dimensional information detection value includes:
obtaining a deviation value by using a deviation formula according to the left space distance value and the right space distance value;
and obtaining a correction signal according to the deviation value.
Further, the deviation formula is:
D＝(L-R)/(L+R)，
wherein, L is the left space distance value, R is the right space distance value, and D is the deviation value.
In a second aspect, the invention provides an environment detection system based on three-dimensional map reconstruction, which comprises a detection vehicle and a remote terminal, wherein the detection vehicle comprises:
the sensor module is used for acquiring an environment information detection value and a three-dimensional information detection value;
the main control chip is used for obtaining a correction signal by using a deviation analysis method according to the three-dimensional information detection value, obtaining an environment information feedback signal and a three-dimensional information feedback signal according to the environment information detection value and the three-dimensional information detection value, and electrically connecting the main control chip with the sensor module;
the driving module is used for correcting the advancing of the probe vehicle according to the correction signal and is electrically connected with the main control chip;
and the vehicle-mounted wireless module is used for sending the environment information feedback signal and the three-dimensional information feedback signal to the remote terminal so as to enable the remote terminal to reconstruct a three-dimensional map and display environment data, and is electrically connected with the main control chip.
Further, the sensor module comprises a left distance measuring sensor, a right distance measuring sensor, a top distance measuring sensor, an angle detecting sensor, a temperature and humidity sensor and a CO gas concentration sensor, the left distance measuring sensor is used for obtaining a left space distance value of the detection vehicle, the right distance measuring sensor is used for obtaining a right space distance value of the detection vehicle, the top distance measuring sensor is used for obtaining a top space distance value of the detection vehicle, the angle detecting sensor is used for obtaining an axial angle value of the detection vehicle in a detection space, the remote terminal comprises a communication module, a signal processing module and a display module, the remote terminal carries out signal transmission with the vehicle-mounted wireless module through the communication module, the communication module and the display module are respectively electrically connected with the signal processing module, and the signal processing module is used for three-dimensional map reconstruction and environmental data analysis, the display module is used for displaying the three-dimensional map and the environmental data.
In a third aspect, the invention provides an environment detecting device based on three-dimensional map reconstruction, which comprises at least one control processor and a memory used for being connected with the at least one control processor in a communication way; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform the method for environment detection based on three-dimensional map reconstruction as described above.
In a fourth aspect, the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the environment detecting method based on three-dimensional map reconstruction as described above.
In a fifth aspect, the present invention also provides a computer program product comprising a computer program stored on a computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the method for environment detection based on three-dimensional map reconstruction as described above.
One or more technical schemes provided in the embodiment of the invention have at least the following beneficial effects: the invention provides an environment detection method, system and equipment based on three-dimensional map reconstruction, which are used for acquiring an environment information detection value and a three-dimensional information detection value, so that a remote terminal reconstructs a three-dimensional map and displays environment data, dangerous accidents can be effectively prevented in time, and the safety of personnel and equipment is effectively guaranteed; according to the three-dimensional information detection value, a correction signal is obtained by using a deviation analysis method, and the advancing of the detection vehicle is corrected, so that the detection vehicle advances in the middle of a road, thereby ensuring that the detection vehicle detects a comprehensive and effective environmental information detection value for a detection space, and improving the detection precision of the detection vehicle for environmental data.
Drawings
The invention is further described with reference to the accompanying drawings and examples;
fig. 1 is a flowchart of an environment detection method based on three-dimensional map reconstruction according to a first embodiment of the present invention;
fig. 2 is a flowchart of a specific method before step S100 in an environment detecting method based on three-dimensional map reconstruction according to a first embodiment of the present invention;
fig. 3 is a flowchart illustrating a specific method of step S400 in an environment detecting method based on three-dimensional map reconstruction according to a first embodiment of the present invention;
fig. 4 is a flowchart illustrating a specific method of step S200 in an environment detecting method based on three-dimensional map reconstruction according to a first embodiment of the present invention;
fig. 5 is a system block diagram of an environment detection system based on three-dimensional map reconstruction according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of an environment detecting apparatus based on three-dimensional map reconstruction according to a third embodiment of the present invention;
reference numbers in the figures:
100-detection vehicle, 110-main control chip, 120-sensor module, 121-left side distance measurement sensor, 122-right side distance measurement sensor, 123-top distance measurement sensor, 124-angle detection sensor, 125-temperature and humidity sensor, 126-CO gas concentration sensor, 130-driving module, 140-vehicle-mounted wireless module, 200-remote terminal, 210-communication module, 220-signal processing module, 230-display module, 300-environment detection equipment based on three-dimensional map reconstruction, 310-control processor and 320-memory.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts.
In a first embodiment of the present invention, as shown in fig. 1, a flowchart of an environment detection method based on three-dimensional map reconstruction, which may also be executed by an environment detection system based on three-dimensional map reconstruction, specifically includes:
s100, acquiring an environment information detection value and a three-dimensional information detection value;
s200, obtaining a correction signal by using a deviation analysis method according to the three-dimensional information detection value;
s300, correcting the advancing of the probe vehicle according to the correction signal;
s400, obtaining an environment information feedback signal and a three-dimensional information feedback signal according to the environment information detection value and the three-dimensional information detection value;
and S500, sending the environment information feedback signal and the three-dimensional information feedback signal to the remote terminal so that the remote terminal reconstructs a three-dimensional map and displays environment data.
It can be understood that the environment information detection value and the three-dimensional information detection value are obtained, so that the remote terminal reconstructs a three-dimensional map and displays environment data, dangerous accidents can be effectively prevented in time, and the safety of personnel and equipment is effectively guaranteed; according to the three-dimensional information detection value, a correction signal is obtained by using a deviation analysis method, and the advancing of the detection vehicle is corrected, so that the detection vehicle advances in the middle of a road, thereby ensuring that the detection vehicle detects comprehensive and effective environmental data for a detection space and improving the detection precision of the detection vehicle for the environmental data.
As shown in fig. 2, before step S100, the method includes:
s610, receiving a starting signal to obtain a PWM driving signal;
and S620, controlling the probe vehicle to move forward according to the PWM driving signal.
It can be understood that the accuracy of the travel control of the probe car can be ensured by controlling the travel of the probe car through the PWM driving signal, so that the accuracy of the reconstructed three-dimensional map is ensured.
In step S100, the environment information detection value includes a temperature value, a humidity value, and a CO gas concentration value, and the three-dimensional information detection value includes a left-side spatial distance value, a right-side spatial distance value, a head-space distance value, and an angle value.
It can be understood that by obtaining the temperature value, the humidity value and the concentration value of the CO gas, dangerous accidents can be effectively prevented in time, the safety of personnel and equipment can be effectively guaranteed, and by obtaining the left space distance value, the right space distance value, the top space distance value and the angle value, the three-dimensional map can be effectively reconstructed.
As shown in fig. 3, step S400 includes:
s410, obtaining an environmental information feedback signal by using a serial port communication protocol according to the temperature value, the humidity value and the CO gas concentration value;
and S420, obtaining a three-dimensional information feedback signal by using a serial port communication protocol according to the angle value and the top space distance value.
It can be understood that the environment information detection value is packaged by using a serial port communication protocol to obtain an environment information feedback signal; after the detection vehicle is located at a relative middle position, initially considering that a recorded X axis starts from 1, storing a numerical value 1 in an X [ ] array, simultaneously starting two-dimensional scanning on a space by the detection vehicle, confirming Y-axis data in the space by using an angle value, confirming Z-axis data in the space by using a headspace distance value, respectively storing the data in the arrays Y [ ] and Z [ ] if 5 collected angles exist, namely regarding the space as a plurality of slices, collecting five points by each slice, finally packing the collected 5 three-dimensional coordinate data by using a serial port communication protocol to obtain a three-dimensional information feedback signal, and sending the environment information feedback signal and the three-dimensional information feedback signal to a remote terminal; after the transmission is finished, the driving module controls the probe vehicle to advance, the trolley continues to advance forwards for 2CM, the X-axis coordinate is added with 2 every time and stored in X [ ], and then the steps are repeated, so that a plurality of groups of coordinate data can be obtained, and the reliability of data transmission is ensured.
As shown in fig. 4, step S200 includes:
s210, obtaining a deviation value by using a deviation formula according to the left space distance value and the right space distance value;
and S220, obtaining a correction signal according to the deviation value.
In step S210, the deviation formula is:
D＝(L-R)/(L+R)，
wherein, L is the left space distance value, R is the right space distance value, and D is the deviation value.
It will be appreciated that the above-described,
in the process of running of the detection vehicle, through a left space distance value and a right space distance value, a deviation formula is utilized, a deviation value between the detection vehicle and a road is obtained through analysis, so that the motor speed and the motor of the driving module are controlled to rotate positively and negatively, the detection vehicle runs along the middle position of the detection space, the motor speed is positively correlated with the deviation value of the detection vehicle, the rotation angle is large when the deviation is large, the rotation angle is small when the deviation is small, the advancing direction of the detection vehicle can be effectively corrected, the detection vehicle is ensured to detect comprehensive and effective environmental data in the detection space, and the detection precision of the detection vehicle on the environmental data is improved.
In a second embodiment of the present invention, as shown in fig. 5, an environment detecting system based on three-dimensional map reconstruction includes a detecting vehicle and a remote terminal, where the detecting vehicle includes:
the sensor module is used for acquiring an environment information detection value and a three-dimensional information detection value;
the main control chip is used for obtaining a correction signal by using a deviation analysis method according to the three-dimensional information detection value, obtaining an environment information feedback signal and a three-dimensional information feedback signal according to the environment information detection value and the three-dimensional information detection value, and electrically connecting the main control chip with the sensor module;
the driving module is used for correcting the advancing of the probe vehicle according to the correction signal and is electrically connected with the main control chip;
and the vehicle-mounted wireless module is used for sending the environment information feedback signal and the three-dimensional information feedback signal to the remote terminal so as to enable the remote terminal to reconstruct a three-dimensional map and display environment data, and is electrically connected with the main control chip.
The sensor module comprises a left side distance measuring sensor, a right side distance measuring sensor and a top distance measuring sensor, the remote terminal comprises a communication module, a signal processing module and a display module, the remote terminal carries out signal transmission with an on-vehicle wireless module through the communication module, the communication module and the display module are respectively electrically connected with the signal processing module, the signal processing module is used for three-dimensional map reconstruction and environmental data analysis, and the display module is used for displaying a three-dimensional map and environmental data.
It can be understood that the driving module comprises a servo motor and a motor driving chip, and the main control chip and the servo motor are respectively electrically connected with the motor driving chip; the distance measurement assembly, the main control chip and the driving module form a closed-loop control system; the left distance measuring sensor and the right distance measuring sensor obtain distance data of the probe vehicle, a deviation value of the probe vehicle is obtained through analysis of the main control chip, then the main control chip adjusts the output duty ratio of the PWM driving signal and adjusts an output pin of the main control chip, and the motor driving chip controls positive and negative rotation of the servo motor according to the PWM driving signal, so that the probe vehicle is controlled to rotate, and the probe vehicle runs along the middle position of the probe space; the main control chip judges the angle value based on a preset 1MS timing processing function, and the judgment is realized by judging whether the TIM overflow mark is 1 or not, so that the purpose of adjusting the PWM parameter value of the servo motor is achieved; the method comprises the steps that an environment information detection value of a detection space is obtained through a temperature and humidity sensor and a CO gas concentration sensor, a three-dimensional information detection value of the detection space is obtained through a left distance measurement sensor, a right distance measurement sensor, a top distance measurement sensor and an angle detection sensor, the main control chip sends the environment information detection value and the three-dimensional information detection value to a remote terminal through a vehicle-mounted wireless module, a signal processing module of the remote terminal conducts three-dimensional map reconstruction according to the data, real-time environment data and a three-dimensional map are displayed in a display module, dangerous accidents can be prevented timely and effectively, and safety of personnel and equipment is guaranteed effectively; through the detection of the distance measuring assembly, the main control chip analyzes the deviation value between the detection vehicle and the detection space road, so that the position of the detection vehicle is adjusted by the driving module, the detection vehicle is made to advance in the middle of the road, the detection vehicle can be guaranteed to detect a comprehensive and effective environmental information detection value for the detection space, and the detection precision of the detection vehicle for environmental data is improved.
The main control chip adopts a Cortex-M3 kernel STM32F series developed by ARM company, the highest working frequency of the main control chip can reach 72MHZ, and the main control chip has the advantages of high performance, low cost and low power consumption; the distance measurement component adopts a summer-common infrared distance measurement sensor with the model number of GP2Y0A21YK0F, the distance measurement range is 10-80cm, the distance measurement component is modularized, the distance measurement component can measure spaces with different sizes, and the sensors with different detection distances can be replaced to meet the requirements of operators on detection; the angle detection component adopts an MPU6050 chip, collects angle data based on DMP, and can accurately collect the angle value of each axis, thereby being capable of obtaining the position information of each moment with high precision and fast and providing accurate position information for the construction of three-dimensional coordinates; the vehicle-mounted wireless module adopts an HC-05 Bluetooth module, the highest transmission baud rate can be reached, the transmission distance reaches 10M, and the data transmission success rate is higher than that of an NRF transmission module; the motor driving chip adopts a TB6612FNG chip, is double-driving, can drive two motors, and has good heat dissipation performance.
The specific working process is as follows: when the detection vehicle enters the detection space and receives a signal of the remote terminal, the driving module and the sensor module start to work, the detection vehicle starts to run, and the environment information detection value and the three-dimensional information detection value are obtained through the sensor module; in the running process of the probe vehicle, analyzing and obtaining a deviation value between the probe vehicle and the road through a left space distance value and a right space distance value, and controlling the rotation of the probe vehicle by the main control chip through pulse width modulation so as to enable the probe vehicle to run in the middle of the road; after the detection vehicle is located at a relative middle position, initially considering that a recorded X axis starts from 1, storing a numerical value 1 in an X [ ] array, simultaneously starting two-dimensional scanning on a space by the detection vehicle, confirming Y-axis data in the space by using an angle value, confirming Z-axis data in the space by using a headspace distance value, respectively storing the data in the arrays Y [ ] and Z [ ] if 5 collected angles exist, namely regarding the space as a plurality of slices, collecting five points by each slice, finally packing the collected 5 three-dimensional coordinate data by using a serial port communication protocol to obtain a three-dimensional information feedback signal, and sending the environment information feedback signal and the three-dimensional information feedback signal to a remote terminal; after the transmission is finished, the driving module controls the probe vehicle to advance, the trolley continues to advance forwards for 2CM, the X-axis coordinate is added with 2 every time and stored in X [ ], and then the steps are repeated, so that a plurality of groups of coordinate data can be obtained, and the reliability of data transmission is ensured; in the aspect of software, a remote terminal based on MATLAB is designed, and the MATLAB carries out classification processing on received data and then displays the data in a corresponding display frame, so that temperature, humidity and CO concentration information in the environment can be respectively displayed. In the three-dimensional landform reconstruction processing and displaying part, after the connection with a detection vehicle is successful, each group of received XYZ axis data is stored in corresponding X [ ], Y [ ], Z [ ] arrays, a linux function is firstly used for carrying out uniform interpolation processing, the number of fitting discrete points is increased, X is generated through mesh processing, Y is a matrix with the same size, a graph coordinate grid is drawn by using a V4 mode griddata method of double harmonic spline interpolation in MATLAB, finally, a mesh function is used for displaying the reconstructed three-dimensional landform on a coordinate axis and carrying out color distinguishing on three-dimensional images with different heights, transparency is set by alpha, the internal landform is conveniently displayed, and the image observability is high. In addition, the wireless received data can be reconstructed, the local data can also be reconstructed, and when a reconstruction button is pressed, the table data of the position where the local remote terminal file is located can be read for reconstruction.
In the third embodiment of the present invention, as shown in fig. 6, the three-dimensional map reconstruction based environment detection apparatus 300 may be any type of smart terminal, such as a mobile phone, a tablet computer, a personal computer, and the like.
Specifically, the environment detecting apparatus 300 based on three-dimensional map reconstruction includes: one or more control processors 310 and memory 320, one control processor 310 being illustrated in fig. 6.
The control processor 310 and the memory 320 may be connected by a bus or other means, such as by a bus connection in fig. 6.
The memory 320 is a non-transitory computer readable storage medium, and can be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the environment detection method based on three-dimensional map reconstruction in the embodiment of the present invention, for example, the receiving module 110 and the processing module 120 shown in fig. 6. The control processor 310 implements the three-dimensional map reconstruction based environment detection method of the above-described method embodiments by running non-transitory software programs, instructions, and modules stored in the memory 320.
The memory 320 may include a storage program area and a storage data area, wherein the storage program area may store an operation method, an application program required for at least one function; the storage data area may store data created using the same, and the like. Further, the memory 320 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 320 may optionally include a memory remotely located from the control processor 310, and the remote memories may be connected to the three-dimensional map reconstruction based environment detection apparatus 300 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more modules are stored in the memory 320, which when executed by the one or more control processors 310, perform the three-dimensional map reconstruction based environment detection method of the above-described method embodiments, e.g., performing the above-described method steps S100 to S500 in fig. 1, the method steps S610 to S620 in fig. 2, the method steps S410 to S420 in fig. 3, and the method steps S210 to S220 in fig. 4.
Embodiments of the present invention further provide a computer-readable storage medium, which stores computer-executable instructions, which are executed by one or more control processors 310, for example, by one control processor 310 in fig. 6, and can cause the one or more control processors 310 to execute the environment detection method based on three-dimensional map reconstruction in the foregoing method embodiments, for example, execute the above-described method steps S100 to S500 in fig. 1, method steps S610 to S620 in fig. 2, method steps S410 to S420 in fig. 3, and method steps S210 to S220 in fig. 4.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by software plus a general hardware platform. Those skilled in the art will appreciate that all or part of the processes of the methods of the above embodiments may be implemented by hardware related to instructions of a computer program, which may be stored in a computer readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read Only Memory (ROM), a Random AcceSS Memory (RAM), or the like.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the foregoing and various other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.
Claims (10)
1. An environment detection method based on three-dimensional map reconstruction is applied to an environment detection system based on three-dimensional map reconstruction and comprising a detection vehicle and a remote terminal, and is characterized by comprising the following steps:
acquiring an environment information detection value and a three-dimensional information detection value;
obtaining a correction signal by using a deviation analysis method according to the three-dimensional information detection value;
correcting the advancing of the probe vehicle according to the correction signal;
obtaining an environment information feedback signal and a three-dimensional information feedback signal according to the environment information detection value and the three-dimensional information detection value;
and sending the environment information feedback signal and the three-dimensional information feedback signal to the remote terminal so that the remote terminal reconstructs a three-dimensional map and displays environment data.
2. The environment detection method based on three-dimensional map reconstruction as claimed in claim 1, wherein before the obtaining of the environment information detection value and the three-dimensional information detection value, comprising:
receiving a starting signal to obtain a PWM driving signal;
and controlling the probe vehicle to advance according to the PWM driving signal.
3. The environment detection method based on three-dimensional map reconstruction as claimed in claim 1, wherein the environment information detection values include a temperature value, a humidity value and a CO gas concentration value, and the three-dimensional information detection values include a left-side spatial distance value, a right-side spatial distance value, a head-space distance value and an angle value.
4. The method of claim 3, wherein obtaining the environmental information feedback signal and the three-dimensional information feedback signal according to the environmental information detection value and the three-dimensional information detection value comprises:
obtaining an environmental information feedback signal by utilizing a serial port communication protocol according to the temperature value, the humidity value and the CO gas concentration value;
and obtaining a three-dimensional information feedback signal by utilizing a serial port communication protocol according to the angle value and the headspace distance value.
5. The method of claim 3, wherein the obtaining of the correction signal by using the bias analysis method according to the three-dimensional information detection value comprises:
obtaining a deviation value by using a deviation formula according to the left space distance value and the right space distance value;
and obtaining a correction signal according to the deviation value.
6. The environment detection method based on three-dimensional map reconstruction as claimed in claim 5, wherein the deviation formula is:
D＝(L-R)/(L+R)，
wherein, L is the left space distance value, R is the right space distance value, and D is the deviation value.
7. The environment detection system based on three-dimensional map reconstruction is characterized by comprising a detection vehicle and a remote terminal, wherein the detection vehicle comprises:
the sensor module is used for acquiring an environment information detection value and a three-dimensional information detection value;
the main control chip is used for obtaining a correction signal by using a deviation analysis method according to the three-dimensional information detection value, obtaining an environment information feedback signal and a three-dimensional information feedback signal according to the environment information detection value and the three-dimensional information detection value, and electrically connecting the main control chip with the sensor module;
the driving module is used for correcting the advancing of the probe vehicle according to the correction signal and is electrically connected with the main control chip;
and the vehicle-mounted wireless module is used for sending the environment information feedback signal and the three-dimensional information feedback signal to the remote terminal so as to enable the remote terminal to reconstruct a three-dimensional map and display environment data, and is electrically connected with the main control chip.
8. The environment detecting system based on three-dimensional map reconstruction as claimed in claim 7, wherein said sensor module comprises a left side distance measuring sensor, a right side distance measuring sensor, a top distance measuring sensor, an angle detecting sensor, a temperature and humidity sensor and a CO gas concentration sensor, said left side distance measuring sensor is used for obtaining a left side spatial distance value of said probe car, said right side distance measuring sensor is used for obtaining a right side spatial distance value of said probe car, said top distance measuring sensor is used for obtaining a top spatial distance value of said probe car, said angle detecting sensor is used for obtaining an axial angle value of said probe car in a detection space, said remote terminal comprises a communication module, a signal processing module and a display module, said remote terminal performs signal transmission with said vehicle-mounted wireless module through said communication module, the communication module and the display module are respectively electrically connected with the signal processing module, the signal processing module is used for three-dimensional map reconstruction and environmental data analysis, and the display module is used for displaying a three-dimensional map and environmental data.
9. An environment detection apparatus based on three-dimensional map reconstruction, characterized by comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 6.
10. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the method of any one of claims 1 to 6.
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| CN202010864448.3A CN112067044A (en) | 2020-08-25 | 2020-08-25 | Environment detection method, system and equipment based on three-dimensional map reconstruction |
| PCT/CN2021/094594 WO2022041861A1 (en) | 2020-08-25 | 2021-05-19 | Environment detection method, system, and device based on three-dimensional map reconstruction |
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