CN112388622A - Signal measurement control method and device, robot and readable storage medium - Google Patents
Signal measurement control method and device, robot and readable storage medium Download PDFInfo
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- CN112388622A CN112388622A CN201910746732.8A CN201910746732A CN112388622A CN 112388622 A CN112388622 A CN 112388622A CN 201910746732 A CN201910746732 A CN 201910746732A CN 112388622 A CN112388622 A CN 112388622A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The disclosure relates to a signal measurement control method, a signal measurement control device, a robot and a readable storage medium, and relates to the technical field of communication. The method of the present disclosure comprises: responding to the beginning of walking of the mobile carrier, receiving information of an object, which is in a preset range and is near the mobile carrier, detected by a detection module every other preset period, wherein the detection module is arranged on the mobile carrier; controlling the moving carrier to walk indoors according to the information of the object, and enabling the detection range of the detection module to cover the preset coverage range indoors when the moving carrier finishes walking; in the moving process of the mobile carrier, receiving signal quality information of the current position sent by a signal measuring module at intervals of a first preset distance; the signal measurement module is arranged on the mobile carrier; and determining indoor signal quality distribution information according to the received signal quality information of each position.
Description
Technical Field
The present disclosure relates to the field of communications technologies, and in particular, to a signal measurement control method and apparatus, a robot, and a readable storage medium.
Background
In the wireless network optimization work, a large number of CQTs (Call quality tests), also called point tests, need to be performed.
When the CQT is carried out, a tester mainly walks in the indoor building and holds the test tool to each point position for testing. After the CQT is completed, the tester manually plots an overlay of the signal quality.
Disclosure of Invention
The inventor finds that: the existing CQT mode is completed manually by testers in the whole process, so that the workload is large, the efficiency is low, and errors are easy to occur.
One technical problem to be solved by the present disclosure is: the test efficiency and accuracy of the CQT are improved.
According to some embodiments of the present disclosure, there is provided a signal measurement control method including: responding to the beginning of walking of the mobile carrier, receiving information of an object, which is in a preset range and is near the mobile carrier, detected by a detection module every other preset period, wherein the detection module is arranged on the mobile carrier; controlling the moving carrier to walk indoors according to the information of the object, and enabling the detection range of the detection module to cover the preset coverage range indoors when the moving carrier finishes walking; in the moving process of the mobile carrier, receiving signal quality information of the current position sent by a signal measuring module at intervals of a first preset distance; the signal measurement module is arranged on the mobile carrier; and determining indoor signal quality distribution information according to the received signal quality information of each position.
In some embodiments, controlling the mobile carrier to walk indoors according to the information of the object comprises: identifying an indoor wall according to the information of the object, and controlling the mobile carrier to walk for a circle along a route which is at a second preset distance from the wall and is parallel to the wall; and judging whether the detection range covers the indoor preset coverage range, and if the detection range does not cover the indoor preset coverage range, controlling the mobile carrier to continue to walk in the area which is not covered in the preset coverage range until the detection range covers the preset coverage range.
In some embodiments, identifying the wall within the room based on the information of the object comprises: under the condition that the detection device is a laser radar, determining the length of an object according to the point cloud information of the object, and under the condition that the length of the object is greater than or equal to a preset length, determining that the object is a wall; or, in the case that the detecting device is an image pickup device, determining the length of the object according to the image information of the object, and in the case that the length of the object is greater than or equal to a preset length, determining that the object is a wall.
In some embodiments, the determining whether the detection range of the detection module covers the preset coverage range in the room includes: determining an area surrounded by a walking track of the mobile carrier; aiming at any point in the area, judging whether a traveling track point of the mobile carrier exists in a range of the distance between the point and the point being a third preset distance, and if the traveling track point of the mobile carrier exists, determining that the detection range covers the indoor preset coverage range; otherwise, determining that the detection range does not cover the indoor preset coverage range.
In some embodiments, controlling the mobile carrier to continue walking in an area not covered by the preset coverage area comprises: determining the central point of an area which is not covered in a preset coverage range; and controlling the mobile carrier to walk along the direction from the current position to the central point and reach a point which is at the edge of the area and is symmetrical to the current position.
In some embodiments, controlling the mobile carrier to walk indoors according to the information of the object comprises: and determining whether the object is an obstacle according to the information of the object, and controlling the mobile carrier to continue to walk around the obstacle along a route parallel to the partial circumferential direction of the obstacle in the case that the object is the obstacle.
In some embodiments, controlling the mobile carrier to continue walking around the obstacle along a route that is parallel to a partial circumference of the obstacle comprises: controlling the mobile carrier to walk to a position which is a third preset distance away from the obstacle along the current walking direction; controlling the mobile carrier to turn according to the first direction and then walk for a fourth preset distance; controlling the moving carrier to turn and pause according to the second direction; determining whether a space allowing the moving carrier to pass through exists in front of the moving carrier according to the information in front of the moving carrier detected by the detection module; if the front of the mobile carrier has a space allowing the mobile carrier to pass through, controlling the mobile carrier to move forwards; the first direction and the second direction are respectively one of a left direction and a right direction of the current walking direction of the mobile carrier.
In some embodiments, determining whether the object is an obstacle from the information of the object includes: under the condition that the detection device is a laser radar, determining the length of an object in the direction vertical to the walking direction of the mobile carrier according to the point cloud information of the object, and under the condition that the length of the object is smaller than the preset length, determining that the object is an obstacle; or, in the case that the detecting device is an image pickup device, determining the length of the object in the direction perpendicular to the traveling direction of the moving carrier according to the image information of the object, and in the case that the length of the object is smaller than a preset length, determining that the object is an obstacle.
In some embodiments, determining indoor signal quality distribution information from the received signal quality information for the respective locations comprises: determining a corresponding color according to the signal quality information; and (3) the path of the moving carrier walking indoors is a path with the length of a fifth preset distance for each section. And rendering according to the color corresponding to the signal quality information of the corresponding position to generate a signal quality path diagram.
In some embodiments, the method further comprises: generating measurement result information according to the signal quality information and the walking condition of the mobile carrier; the measurement result information includes: walking related information and signal quality related information, the walking related information comprising: at least one item of position information, advancing direction and time information of the mobile carrier; the signal quality related information includes: at least one of signal reception strength, signal reception quality, signal reception signal-to-noise ratio, and effective signal strength.
According to further embodiments of the present disclosure, there is provided a signal measurement control apparatus including: the information receiving module is used for responding to the beginning of walking of the mobile carrier and receiving the information of an object which is detected by the detection module at intervals of a preset period and is in a preset range near the mobile carrier, and the detection module is arranged on the mobile carrier; the walking control module is used for controlling the moving carrier to walk indoors according to the information of the object and enabling the detection range of the detection module to cover the preset coverage range indoors when the moving carrier finishes walking; the signal quality receiving module is used for receiving the signal quality information of the current position sent by the signal measuring module at intervals of a first preset distance in the walking process of the mobile carrier; the signal measurement module is arranged on the mobile carrier; and the signal quality determining module is used for determining indoor signal quality distribution information according to the received signal quality information of each position.
According to still other embodiments of the present disclosure, there is provided a signal measurement control apparatus including: a memory; and a processor coupled to the memory, the processor configured to perform the signal measurement control method of any of the preceding embodiments based on instructions stored in the memory.
According to still further embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the signal measurement control method of any of the preceding embodiments.
According to still further embodiments of the present disclosure, there is provided a robot including: the signal quality control apparatus of any of the preceding embodiments; the mobile carrier is used for receiving the walking indication information of the signal quality control device and walking indoors; and the detection module is used for detecting the information of the object in a preset range near the mobile carrier every other preset period and sending the information of the object to the signal quality control device. And the signal measuring module is used for measuring the signal quality information of the current position every other first preset distance and sending the signal quality information of the current position to the signal quality control device.
In some embodiments, the signal measurement module is configured on the mobile carrier at a preset height from the ground level.
The utility model discloses an automatic signal quality control method who realizes can receive the information of the detection module that sets up on the moving carrier, and the indoor walking of moving carrier is controlled according to the information control that surveys to through the signal measurement module on the moving carrier signal quality of different positions, under the condition of the indoor preset coverage of detection range change, accomplish the test of signal quality, confirm the distribution of indoor signal quality. The scheme disclosed by the invention can be automatically realized, manual participation is not needed, the working efficiency of the CQT is improved, and the accuracy of the test is improved.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 shows a schematic structural view of a robot of some embodiments of the present disclosure.
Fig. 2 shows a schematic structural view of a mobile carrier of some embodiments of the present disclosure.
Fig. 3 illustrates a flow diagram of a signal measurement control method of some embodiments of the present disclosure.
Fig. 4 shows a schematic structural diagram of a signal measurement control device of some embodiments of the present disclosure.
Fig. 5 shows a schematic configuration diagram of a signal measurement control apparatus according to further embodiments of the present disclosure.
Fig. 6 shows a schematic structural diagram of a signal measurement control apparatus according to still other embodiments of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
Aiming at the problems that the CQT mainly depends on manual testing and the efficiency and the accuracy are poor at present, the scheme is provided, and some embodiments of the disclosure are described in the following with reference to FIG. 1.
Fig. 1 is a block diagram of some embodiments of a robot of the present disclosure. As shown in fig. 1, the robot 1 of this embodiment includes: signal measurement control device 10, mobile carrier 20, detection module 30, signal measurement module 40.
The signal measurement control device 10 is mainly responsible for receiving the detection information of the detection module 30, controlling the movement of the mobile carrier 20, and controlling the signal quality module 40 to perform signal measurement. The function of the signal measurement control device 10 will be described in detail in the following embodiments. The signal measurement control device 10 may be provided on the mobile carrier 20, or may be provided separately from the mobile carrier 20. The signal measurement control device 10 may include a processor and a memory, for example, a raspberry pi generation motherboard may be used. The processor may be a CPU with a preset main frequency, for example, a CPU with a main frequency above 20MHz, and is not limited to the illustrated example. In order to enable the signal measurement control device 10 to control the mobile carrier 20, an ROS (Robot Operating System) may be configured in the signal measurement control device 10. In order to enable the signal measurement control apparatus 10 to finally generate the indoor signal quality distribution information, the signal measurement control apparatus 10 may be configured with a SLAM (Simultaneous Localization and Mapping) function.
The mobile carrier 20 is used for receiving the traveling instruction information of the signal quality control device 10 and traveling indoors. The mobile carrier 20 may be a smart cart. Wheels and driving motors may be disposed on the moving carrier 20, and the driving motors are used to provide driving force to the moving carrier 20. The moving carrier 20 may be configured with a single chip for receiving the walking indication information of the signal quality control device 10 and controlling the driving motor to rotate, so as to control the wheels to rotate, and the moving carrier 20 can walk according to the walking indication information. The mobile carrier 20 may also be configured with a sensor for detecting the motion information of the wheel, and the motion information is sent to the single chip microcomputer and then sent to the signal quality control device 10 by the single chip microcomputer. The signal quality control device 10 determines whether the moving carrier 20 is traveling according to the traveling instruction information, whether a failure occurs, or the like, based on the motion information of the wheels. The sensor is, for example, a pulse type pedometer, which generates a preset number of pulses in response to a wheel revolution, and information about the pulses can be processed by the ROS system, which sends the information to the signal quality control device 10.
Some application examples of the mobile carrier 20 are described below in conjunction with fig. 2.
The moving carrier 20 may be a cart with a circular chassis 201, and may be designed to have a predetermined size, for example, a circular shape with a diameter of 40-50 cm, so as to facilitate indoor passage. The chassis of the trolley can be made of engineering plastics and the like. The bottom surface of the chassis has four wheels 202, two of which are drive wheels and two auxiliary wheels. The driving wheel can be driven by the driving motor 203, the structure is fixed, and the direction is not adjustable. The auxiliary wheel is unpowered, and a bearing is arranged on the auxiliary wheel and connected with the chassis. The direction of the auxiliary wheel can be freely adjusted, and the auxiliary wheel mainly plays a role in supporting and balancing. The forward and backward movement of the cart is controlled by the operation of the driving motor 203. For example, the two driving motors 203 are powered on simultaneously, as shown in fig. 2, when the left wheel rotates forward and the right wheel rotates backward, the trolley advances; under the condition that the left wheel rotates reversely and the right wheel rotates positively, the trolley retreats; under the condition that the left wheel and the right wheel rotate positively at the same speed, the trolley turns clockwise in situ; under the condition that the left wheel and the right wheel rotate reversely at the same speed, the trolley turns anticlockwise on site.
The drive motor 203 is, for example, a dc brushless motor. A pulse counter may be provided in the drive motor and may be used to detect the forward or reverse rotation of the wheel, or to detect the speed of the wheel. For example, assuming a wheel outer diameter of 10 cm, 58 revolutions per minute at a given voltage of 12V. 120 pulses are fed back for counting after each revolution, i.e. it is considered to have advanced by 10 pi cm. The forward, backward and turning of the wheels 202 can be controlled by a single chip microcomputer. The information on the forward and reverse rotation and the speed of the wheels 202 can also be collected by the single chip microcomputer. The single chip microcomputer can be an Arduino single chip microcomputer.
The detection module 30 is configured to detect information of an object in a preset range near the moving carrier 20 at preset intervals, and send the information of the object to the signal quality control device 10. The detection module 30 is disposed on the mobile carrier 20. The detection module 30 may be a laser radar or a camera, and may also be implemented by using a structured light or a TOF (Time of Flight) technology, which is not limited to the examples. The detection module 30 may also be used to locate the moving carrier 20. The mobile carrier can also be provided with a positioning module separately. The detection module 30 sends the detected information to the signal quality control device 10, and the signal quality control device 10 may generate a map by using the SLAM technique.
The signal measuring module 40 is configured to measure the signal quality information of the current location every a first preset distance, and send the signal quality information of the current location to the signal quality control apparatus. The signal measurement control device 10 can determine the moving distance of the moving carrier through the information related to the moving speed returned by the moving carrier 20, or determine the moving distance of the moving carrier through the positioning information sent by the detection module 30. The signal measurement control device 10 sends a signal measurement instruction to the signal measurement module 40 every time the mobile carrier moves by the first preset distance, and the signal measurement module performs signal measurement according to the signal measurement instruction.
The signal measurement module 40 may be a mobile phone module, and after receiving a signal measurement instruction from the signal measurement control apparatus 10, feeds back the measured signal quality information. The signal measuring module 40 may be disposed on a supporting member on the mobile carrier, and configured above the mobile carrier at a predetermined height from the ground, for example, 1.0-1.5 meters, for example, 1.1 meters, 1.2 meters, and the like. The signal measurement module is configured at a preset height, so that the measurement state of the signal measurement module can be fitted to the state of a person holding a mobile phone to the maximum extent, and the measurement is more accurate.
The following describes how the signal measurement control device controls each device to implement the method of signal measurement in the room with reference to fig. 1 and 3.
Fig. 3 is a flow chart of some embodiments of the disclosed signal measurement control method. As shown in fig. 3, the method of this embodiment includes: steps S302 to S308.
In step S302, in response to the mobile carrier 20 starting to walk, the receiving detection module 30 detects information of objects within a preset range near the mobile carrier 20 every preset period.
The robot can be placed at any position in the room as a starting point, and the signal measurement control device 10 controls the moving carrier 20 to start walking from the starting point. During walking, the detection module 30 can detect and position by configuration or by indication of the signal measurement control device 10. In order to reduce the amount of data storage and calculation and ensure the accuracy of measurement, the detection module 30 may determine and record position information once every preset positioning distance. The predetermined positioning distance is, for example, 0.05 to 0.15 m, preferably, 0.1 m. The detection module 30 may detect information of an object within a preset range, such as position information, shape information, and the like of the object. In the case that the detection module 30 is a laser radar, the laser point cloud information within a preset range can be obtained. In the case where the detection module 30 is an image pickup device, image information within a preset range can be obtained.
In step S304, the mobile carrier 20 is controlled to walk indoors according to the information of the object, and when the mobile carrier 20 finishes walking, the detection range of the detection module 30 covers a preset coverage range in the room.
The preset coverage may include all locations in the room, or a product of an area in the room and a preset ratio as the preset coverage. Currently, the feeder cable of an indoor antenna is mainly arranged near a wall, and the preset coverage range includes an area between the wall and a ground parallel line which is at a preset coverage distance from the wall. Therefore, the position of the antenna with the signal quality not meeting the requirement can be accurately determined through subsequent signal quality measurement, and the antenna with the problem can be determined according to the position.
In some embodiments, the wall in the room is identified according to the information of the object, and the mobile carrier is controlled to walk for one circle along a route which is at a second preset distance from the wall and is parallel to the wall. And judging whether the detection range covers the indoor preset coverage range, and if the detection range does not cover the indoor preset coverage range, controlling the mobile carrier to continue to walk in the area which is not covered in the preset coverage range until the detection range covers the preset coverage range. During the course of walking a circle along the route which is at the second preset distance from the wall and parallel to the wall, the signal measurement control device 10 controls the mobile carrier 20 to avoid the obstacle during the course of walking, and the obstacle avoiding process will be described in detail later.
Further, under the condition that the detection device is a laser radar, the length of the object is determined according to the point cloud information of the object, and under the condition that the length of the object is larger than or equal to the preset length, the object is determined to be a wall. Or, in the case that the detecting device is an image pickup device, determining the length of the object according to the image information of the object, and in the case that the length of the object is greater than or equal to a preset length, determining that the object is a wall.
The signal measurement control device 10 can control the mobile carrier 20 to move forward from the starting point, and the detection module 30 sends detection information to the signal measurement control device 10. The signal measurement control device 10 may generate a SLAM map from the probe information. The generated map can be detected, whether a section of map with the continuous length being greater than or equal to the preset length exists or not is judged, and if the section of map exists, the section of map is determined to be a wall. The signal measurement control device 10 may control the moving carrier 20 to travel towards the wall to a point at a second predetermined distance from the wall, and then control the moving carrier 20 to travel for a circle along a route at the second predetermined distance from the wall and parallel to the wall. One walk may be back to the starting point or back to the point that was first reached a second predetermined distance from the wall. The second predetermined distance is, for example, 1 to 2 meters.
The detection module 30 detects the surrounding range around the wall, and under the condition that the indoor area is small, the detection module 30 can complete the detection of the whole indoor range, so that the condition of covering the preset coverage range is met. In a case where the indoor area is small, the detection range of the detection module 30 may not cover the preset coverage range.
In some embodiments, the area enclosed by the walking trajectory of the mobile carrier 20 is determined. For any point in the area, judging whether a traveling track point of the mobile carrier 20 exists in a range of a third preset distance from the point, and if the traveling track point of the mobile carrier 20 exists, determining that the detection range covers the indoor preset coverage range; otherwise, determining that the detection range does not cover the indoor preset coverage range.
The detection module 30 performs positioning during the walking process of the mobile carrier 20, and the signal measurement control device 10 can determine the walking track of the mobile carrier 20 according to the positioning information. After the moving carrier travels along a route which is at a second preset distance from the wall and is parallel to the wall for one circle, the signal measurement control device 10 can determine the area surrounded by the travel track. If the distance from any point in the area is the third preset distance, the walking track of the mobile carrier 20 exists, it can be determined that the detection module in the area performs sufficient detection, and the detection range can cover the preset coverage range.
In the course of walking the mobile carrier 20 for one week along the route which is at the second preset distance from the wall and parallel to the wall, the map information can be generated according to the information of the object in the preset range near the mobile carrier detected by the detection module 30. The signal measurement control device 10 may determine the area of a blank area (i.e., an area surrounded by the generated map) in the map, and in the case where the area of the blank area is smaller than a preset area, determine that the detection range covers a preset coverage in the room; otherwise, determining that the detection range does not cover the indoor preset coverage range.
In some embodiments, in the case that the detection range of the detection module 30 does not cover the preset coverage range in the room, the signal measurement control device 10 determines the center point of the area not covered within the preset coverage range. The moving carrier 20 is controlled to walk in a direction from the current position to the center point and to a point at the edge of the area and symmetrical to the center of the current position. In practical application, the moving carrier can be controlled to walk in an area without coverage in other ways, and the method is not limited to the illustrated example.
The method for enabling the mobile carrier to walk for a circle along the route which is parallel to the wall and has the second preset distance from the wall can reduce the probability of repeated walking of the mobile carrier and improve the measurement efficiency. In practical applications, the mobile carrier may be made to travel in other manners, which is not limited to the illustrated examples. As long as the detection range is satisfied to cover the indoor preset coverage.
The following describes a method of the signal measurement control apparatus 10 controlling the mobile carrier 20 to avoid an obstacle during walking.
In some embodiments, it is determined whether the object is an obstacle according to the information of the object, and in the case that the object is an obstacle, the mobile carrier 20 is controlled to continue walking around the obstacle along a route parallel to a partial circumferential direction of the obstacle.
Further, the mobile carrier 20 may be first controlled to walk along the current walking direction to a position a third preset distance from the obstacle. And then controlling the mobile carrier 20 to walk for a fourth preset distance after turning according to the first direction. The moving carrier 20 is then controlled to turn in the second direction and pause. It is determined whether there is a space in front of the moving carrier that allows the moving carrier 20 to pass through, based on the information in front of the moving carrier detected by the detection module 30. If there is a space in front of the mobile carrier 20 to allow the mobile carrier 20 to pass through, the mobile carrier 20 is controlled to walk forward. The first direction and the second direction are respectively one of a leftward direction and a rightward direction of a current walking direction of the mobile carrier 20.
Further, in the case that the detection device 30 is a laser radar, the length of the object in the direction perpendicular to the traveling direction of the mobile carrier 20 is determined according to the point cloud information of the object, and in the case that the length of the object is smaller than a preset length, the object is determined to be an obstacle. Alternatively, in the case where the detection device 30 is an image pickup device, the length of the object in the direction perpendicular to the traveling direction of the moving carrier 20 is determined based on the image information of the object, and in the case where the length of the object is less than a preset length, the object is determined to be an obstacle.
The signal measurement control device 10 may generate a SLAM map from the probe information. The generated map may be detected, and it is determined whether there is a section of map whose length is smaller than a preset length in a direction perpendicular to the traveling direction of the mobile carrier 20, and if so, it is determined that the section of map is an obstacle.
In some application examples, during the moving of the moving carrier 20, the length of the map in the direction perpendicular to the moving direction of the moving carrier 20 is determined, and when the continuous length is smaller than the preset length, the obstacle is determined. First proceed to a third distance (e.g., 0.5 meters) from the obstacle, adjust the direction to the left, proceed a fourth preset distance (e.g., 0.6 meters), and stop the right turn. When there is a continuous space in front of the vehicle that is greater than a preset passing distance (e.g., 0.5 meters), the mobile carrier 20 is considered to pass. The adjusting direction passes through the right middle of the space. In the process of avoiding the obstacle, the judgment of a common obstacle is still carried out. In the obstacle avoidance process, if the front side is found to be the wall, the vehicle can jump out from the obstacle avoidance process, and the vehicle can move forward continuously by adopting the method of bypassing along the wall.
The signal measurement control device 10 can also determine whether an abnormal condition occurs in the traveling process of the moving carrier 20. For example, the sliding determination determines that the mobile carrier 20 slides on the ground in a case where the moving distance of the mobile carrier 20 is greater than the first sliding distance or less than the second sliding distance (the second sliding distance is less than the first sliding distance) within a preset time. The signal measurement control device 10 controls the probe module 30 to re-detect the current position, and may also re-define the map and initiate the SLAM function. The signal measurement and control device 10 can determine whether the moving carrier slides according to the pulse signal of the pulse counter on the moving carrier, for example, if the pulse signal is greater than a first preset number of pulses or less than a second preset number of pulses within a preset time, the moving carrier 20 is considered to slide on the ground.
In step S306, the signal quality information of the current position sent by the signal measurement module 40 is received at every first preset distance during the moving of the mobile carrier 20.
The signal measurement control device 10 sends a signal measurement command to the signal measurement module 40 every first preset distance, where the command may be in AT + CSQ < CR > format. The format of the information returned by the signal measurement module 40 is for example AT + CSQ: < rssi >, and < ber > format. The signal quality information includes, for example: at least one of signal received strength (RSSI), signal received power (RSRP), signal received signal to noise ratio (SINR), signal received quality (RSRQ), and effective signal strength, may further include: at least one of transmission power, reception frequency, channel PN code, PCI (physical cell identity), LAI (location area identity) and base station identity, even including a complete piece of signaling information.
In step S308, signal quality distribution information in the room is determined based on the received signal quality information for each location.
The signal measurement control device 10 may combine the positioning information of the detection module 30 and the signal quality information of the signal measurement module 40 to determine the signal quality of each location in the room. The signal measurement control device 10 may generate measurement result information to be sent to a database for storage, or to other devices for other applications.
The measurement result information may include a plurality of pieces of information, each of which may include walking-related information and signal quality-related information. The walking-related information includes, for example, location information (e.g., longitude and latitude), and may further include: at least one of heading, speed, acceleration, and time information. The signal quality related information may comprise signal quality information. The advancing direction is combined with the direction of the antenna in the signal measuring module, so that the direction corresponding to the signal quality measured by the signal measuring module can be determined, the advancing direction can be further used for determining the antenna with problems, and the accuracy is improved.
In some embodiments, the corresponding color is determined from the signal quality information; the path of the moving carrier 20 walking indoors is a path with a fifth preset distance for each segment. And rendering according to the color corresponding to the signal quality information of the corresponding position to generate a signal quality path diagram. The fifth preset distance may be equal to the first preset distance.
The signal measurement control device 10 may render the path traveled by the mobile carrier 20 with the corresponding color on the SLAM map. For example, the color corresponding to RSRP (reference Signal received Power) denoted as x, -INF ≦ x < -105dBm is red, and when the RSRP detected at a certain location meets the condition, the corresponding segment of the path is rendered red.
The above-described method of generating the signal quality path diagram may be implemented by another device based on the measurement result information transmitted from the signal measurement control device 10.
The steps S302 to S304 and the step S306 may be executed in parallel without distinguishing the sequence.
In the method of the above embodiment, the robot (or the mobile carrier) advances, retreats and turns, and is controlled by the signal measurement control device. The sensor on the movable carrier can detect the underspeed and feed back the underspeed to the signal measurement control device. Forming closed-loop control of control and effect. The detection module scans peripheral scenes to form an indoor topographic map and a moving path map, and the position information is controllable and recordable and has strong controllability. And the measurement of the spatial signal is realized on the basis of the above. The method of the embodiment can realize autonomous intelligent navigation, reduces manual participation, is accurate in positioning, can correctly reflect the spatial position, is high in measurement precision, combines spatial information and signal information together, and provides a more multidimensional visual angle for subsequent analysis and statistics.
Some embodiments of the disclosed signal measurement control apparatus are described below in conjunction with fig. 4.
Fig. 4 is a block diagram of some embodiments of the disclosed signal measurement control device. As shown in fig. 4, the apparatus 10 of this embodiment includes: the system comprises an information receiving module 102, a walking control module 104, a signal quality receiving module 106 and a signal quality determining module 108.
The information receiving module 102 is configured to receive, in response to the mobile carrier starting to walk, information that the detection module detects an object in a preset range near the mobile carrier every preset period, where the detection module is disposed on the mobile carrier.
And the walking control module 104 is used for controlling the moving carrier to walk indoors according to the information of the object, and enabling the detection range of the detection module to cover the indoor preset coverage range when the moving carrier finishes walking.
In some embodiments, the walking control module 104 is configured to identify a wall in the room according to the information of the object, and control the mobile carrier to walk for one circle along a route which is at a second preset distance from the wall and is parallel to the wall; and judging whether the detection range covers the indoor preset coverage range, and if the detection range does not cover the indoor preset coverage range, controlling the mobile carrier to continue to walk in the area which is not covered in the preset coverage range until the detection range covers the preset coverage range.
In some embodiments, the walking control module 104 is configured to determine the length of the object according to the point cloud information of the object when the detection device is a laser radar, and determine that the object is a wall when the length of the object is greater than or equal to a preset length; or, in the case that the detecting device is an image pickup device, determining the length of the object according to the image information of the object, and in the case that the length of the object is greater than or equal to a preset length, determining that the object is a wall.
In some embodiments, the walking control module 104 is configured to determine an area encompassed by a walking trajectory of the mobile carrier; aiming at any point in the area, judging whether a traveling track point of the mobile carrier exists in a range of the distance between the point and the point being a third preset distance, and if the traveling track point of the mobile carrier exists, determining that the detection range covers the indoor preset coverage range; otherwise, determining that the detection range does not cover the indoor preset coverage range.
In some embodiments, the walking control module 104 is configured to determine a center point of an area not covered within a preset coverage range; and controlling the mobile carrier to walk along the direction from the current position to the central point and reach a point which is at the edge of the area and is symmetrical to the current position.
In some embodiments, the walking control module 104 is configured to determine whether the object is an obstacle according to the information of the object, and in the case that the object is an obstacle, control the mobile carrier to continue walking around the obstacle along a route parallel to a partial circumferential direction of the obstacle.
In some embodiments, the walking control module 104 is configured to control the mobile carrier to walk along the current walking direction to a position a third preset distance away from the obstacle; controlling the mobile carrier to turn according to the first direction and then walk for a fourth preset distance; controlling the moving carrier to turn and pause according to the second direction; determining whether a space allowing the moving carrier to pass through exists in front of the moving carrier according to the information in front of the moving carrier detected by the detection module; if the front of the mobile carrier has a space allowing the mobile carrier to pass through, controlling the mobile carrier to move forwards; the first direction and the second direction are respectively one of a left direction and a right direction of the current walking direction of the mobile carrier.
In some embodiments, the walking control module 104 is configured to determine, according to the point cloud information of the object, a length of the object in a direction perpendicular to a walking direction of the mobile carrier in a case where the detection device is a laser radar, and determine that the object is an obstacle in a case where the length of the object is smaller than a preset length; or, in the case that the detecting device is an image pickup device, determining the length of the object in the direction perpendicular to the traveling direction of the moving carrier according to the image information of the object, and in the case that the length of the object is smaller than a preset length, determining that the object is an obstacle.
The signal quality receiving module 106 is configured to receive signal quality information of the current position sent by the signal measuring module every first preset distance in the traveling process of the mobile carrier; the signal measurement module is arranged on the mobile carrier.
And a signal quality determining module 108, configured to determine indoor signal quality distribution information according to the received signal quality information of each location.
In some embodiments, the signal quality determination module 108 is configured to determine the corresponding color based on the signal quality information; and (3) the path of the moving carrier walking indoors is a path with the length of a fifth preset distance for each section. And rendering according to the color corresponding to the signal quality information of the corresponding position to generate a signal quality path diagram.
The signal measurement control apparatus in the embodiments of the present disclosure may each be implemented by various computing devices or computer systems, which are described below with reference to fig. 5 and 6.
Fig. 5 is a block diagram of some embodiments of the disclosed signal measurement control device. As shown in fig. 5, the apparatus 50 of this embodiment includes: a memory 510 and a processor 520 coupled to the memory 510, the processor 520 configured to perform a signal measurement control method in any of the embodiments of the present disclosure based on instructions stored in the memory 510.
Fig. 6 is a block diagram of another embodiment of the disclosed signal measurement control device. As shown in fig. 6, the apparatus 60 of this embodiment includes: memory 610 and processor 620 are similar to memory 510 and processor 520, respectively. An input output interface 630, a network interface 640, a storage interface 650, and the like may also be included. These interfaces 630, 640, 650 and the connections between the memory 610 and the processor 620 may be, for example, via a bus 660. The input/output interface 630 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 640 provides a connection interface for various networking devices, such as a database server or a cloud storage server. The storage interface 650 provides a connection interface for external storage devices such as an SD card and a usb disk.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only exemplary of the present disclosure and is not intended to limit the present disclosure, so that any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (15)
1. A signal measurement control method, comprising:
responding to the beginning of walking of a mobile carrier, and receiving information of an object, which is detected by a detection module at intervals of a preset period and is within a preset range near the mobile carrier, wherein the detection module is arranged on the mobile carrier;
controlling the moving carrier to walk indoors according to the information of the object, and enabling the detection range of the detection module to cover the indoor preset coverage range when the moving carrier finishes walking;
receiving signal quality information of the current position sent by a signal measuring module at intervals of a first preset distance in the walking process of the mobile carrier; the signal measurement module is arranged on the mobile carrier;
and determining indoor signal quality distribution information according to the received signal quality information of each position.
2. The signal measurement control method according to claim 1,
the controlling the mobile carrier to walk indoors according to the information of the object comprises:
identifying the indoor wall according to the information of the object, and controlling the mobile carrier to walk for a circle along a route which is at a second preset distance from the wall and is parallel to the wall;
and judging whether the detection range covers the indoor preset coverage range, and if the detection range does not cover the indoor preset coverage range, controlling the mobile carrier to continue walking in the area which is not covered in the preset coverage range until the detection range covers the preset coverage range.
3. The signal measurement control method according to claim 2,
the identifying the indoor wall according to the information of the object includes:
determining the length of the object according to the point cloud information of the object under the condition that the detection device is a laser radar, and determining that the object is a wall under the condition that the length of the object is greater than or equal to a preset length;
or, when the detection device is a camera device, determining the length of the object according to the image information of the object, and when the length of the object is greater than or equal to a preset length, determining that the object is a wall.
4. The signal measurement control method according to claim 2,
the judging whether the detection range of the detection module covers the indoor preset coverage range comprises the following steps:
determining an area surrounded by a walking track of the mobile carrier;
for any point in the area, judging whether a walking track point of the mobile carrier exists in a range of a third preset distance from the point, and if the walking track point of the mobile carrier exists, determining that the detection range covers the indoor preset coverage range; otherwise, determining that the detection range does not cover the indoor preset coverage range.
5. The signal measurement control method according to claim 2,
the controlling the mobile carrier to continue walking in the area which is not covered in the preset coverage range comprises the following steps:
determining the central point of an area which is not covered in the preset coverage range;
and controlling the mobile carrier to walk along the direction from the current position to the central point and reach a point which is at the edge of the area and is symmetrical to the center of the current position.
6. The signal measurement control method according to claim 1,
the controlling the mobile carrier to walk indoors according to the information of the object comprises:
and determining whether the object is an obstacle according to the information of the object, and controlling the mobile carrier to continue walking around the obstacle along a route parallel to the partial circumferential direction of the obstacle in the case that the object is the obstacle.
7. The signal measurement control method according to claim 4,
the controlling the mobile carrier to continue walking around the obstacle along a route parallel to a partial circumference of the obstacle comprises:
controlling the mobile carrier to walk to a position which is a third preset distance away from the obstacle along the current walking direction;
controlling the mobile carrier to turn according to the first direction and then walk for a fourth preset distance;
controlling the mobile carrier to turn and pause according to a second direction;
determining whether a space allowing the moving carrier to pass through exists in front of the moving carrier according to the information in front of the moving carrier detected by the detection module;
if the space allowing the moving carrier to pass through exists in front of the moving carrier, controlling the moving carrier to walk forwards;
the first direction and the second direction are respectively one of a left direction and a right direction of the current walking direction of the mobile carrier.
8. The signal measurement control method according to claim 4,
the determining whether the object is an obstacle according to the information of the object includes:
under the condition that the detection device is a laser radar, determining the length of the object in the direction perpendicular to the walking direction of the mobile carrier according to the point cloud information of the object, and under the condition that the length of the object is smaller than a preset length, determining that the object is an obstacle;
or, when the detection device is an image pickup device, determining the length of the object in a direction perpendicular to the traveling direction of the moving carrier according to the image information of the object, and when the length of the object is smaller than a preset length, determining that the object is an obstacle.
9. The signal measurement control method according to claim 1,
the determining indoor signal quality distribution information according to the received signal quality information of each location includes:
determining a corresponding color according to the signal quality information;
and the length of each path of the moving carrier walking indoors is the fifth preset distance. And rendering according to the color corresponding to the signal quality information of the corresponding position to generate a signal quality path diagram.
10. The signal measurement control method according to claim 1, further comprising:
generating measurement result information according to the signal quality information and the walking condition of the mobile carrier;
the measurement result information includes: walking related information and signal quality related information, the walking related information comprising: at least one item of position information, advancing direction and time information of the mobile carrier;
the signal quality related information includes: at least one of signal reception strength, signal reception quality, signal reception signal-to-noise ratio, and effective signal strength.
11. A signal measurement control apparatus comprising:
the information receiving module is used for responding to the beginning of walking of the mobile carrier and receiving information of an object which is detected by the detection module at intervals of a preset period and is within a preset range near the mobile carrier, and the detection module is arranged on the mobile carrier;
the walking control module is used for controlling the moving carrier to walk indoors according to the information of the object and enabling the detection range of the detection module to cover the indoor preset coverage range when the moving carrier finishes walking;
the signal quality receiving module is used for receiving the signal quality information of the current position sent by the signal measuring module at intervals of a first preset distance in the walking process of the mobile carrier; the signal measurement module is arranged on the mobile carrier;
and the signal quality determining module is used for determining indoor signal quality distribution information according to the received signal quality information of each position.
12. A signal measurement control apparatus comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the signal measurement control method of any of claims 1-10 based on instructions stored in the memory.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 10.
14. A robot, comprising:
the signal quality control device of claim 11 or 12; and
the mobile carrier is used for receiving the walking indication information of the signal quality control device and walking indoors;
and the detection module is used for detecting the information of the object in a preset range near the mobile carrier every other preset period and sending the information of the object to the signal quality control device.
And the signal measuring module is used for measuring the signal quality information of the current position every other first preset distance and sending the signal quality information of the current position to the signal quality control device.
15. The robot of claim 14, wherein,
the signal measurement module is configured on the mobile carrier at a preset height from the ground height.
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