CN116989853A - Three-dimensional indoor space information detection system and method - Google Patents
Three-dimensional indoor space information detection system and method Download PDFInfo
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- CN116989853A CN116989853A CN202311246700.4A CN202311246700A CN116989853A CN 116989853 A CN116989853 A CN 116989853A CN 202311246700 A CN202311246700 A CN 202311246700A CN 116989853 A CN116989853 A CN 116989853A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a three-dimensional indoor space information detection system and a method, wherein the detection system comprises a detection component and a monitoring platform, the detection component detects environmental information in a three-dimensional indoor space and sends the detected environmental information to the monitoring platform, the detection system also comprises a fixed track, the fixed track is arranged at the top of the three-dimensional indoor space, and the detection component moves on the fixed track; the detection assembly comprises a sensing device and a moving device, the moving device comprises a horizontal moving device and a vertical moving device, the horizontal moving device drives the detection assembly to move in the horizontal plane, and the vertical moving device drives the sensing device to vertically move to the height of the target position. According to the three-dimensional indoor space environment information detection method and system, the mobile device and the sensing device are designed into two parts which are convenient to modularly combine, and the operation and the replacement are convenient.
Description
Technical Field
The invention relates to a multi-physical-quantity monitoring technology in an indoor space, in particular to a three-dimensional indoor space information detection system and method.
Background
The invention patent with the publication number of CN114047305B in the prior art discloses a three-dimensional measurement system and method for greenhouse gas concentration. Comprises a control terminal, a mobile gas concentration measuring system, a track and a height moving device. The mobile gas concentration measurement system comprises a gas sensor, a data acquisition module, a wireless communication module, a first control module and a mobile carrier, wherein the height movement device comprises a pulley, a transmission chain, a movable track and a height movement control system. The management personnel send out measurement point position control information through the control terminal, the mobile gas concentration measurement system receives through the wireless communication module, the mobile carrier is controlled by the first control module to run on the track, and the mobile carrier reaches each movable track which is set in advance. The height moving device precisely controls the movable track and the movable gas concentration measuring device on the movable track to move up and down through the height moving control system, so that gas concentration information monitoring of different heights in a facility agriculture environment is realized.
However, since the mobile gas concentration measuring device mentioned in this method includes the mobile carrier and the sensor unit and adopts an integrated design, when the monitored object is changed, the mobile gas concentration measuring device needs to be manually detached and the sensor unit needs to be replaced, and thus, there is a disadvantage in that the operation is complicated. And secondly, the method can only monitor the gas environment information, but cannot monitor the crop growth information, the crop appearance information and the like. In addition, the method does not have a three-dimensional coordinate data acquisition unit, and the obtained gas data does not comprise three-dimensional coordinate data, so that the method has the defect of small data granularity.
Disclosure of Invention
The invention provides a three-dimensional indoor space environment information detection method and system, which are used for solving the defects of complex operation, small data granularity, limited detection range and the like of a mobile gas concentration measurement device in the prior art.
In order to achieve the object, the invention adopts the following technical scheme.
The system also comprises a fixed track, wherein the fixed track is arranged at the top of the three-dimensional indoor space, and the detection assembly moves on the fixed track; the detection assembly comprises a sensing device and a moving device, the moving device comprises a horizontal moving device and a vertical moving device, the horizontal moving device drives the detection assembly to move wholly in a horizontal plane, and the vertical moving device drives the sensing device to move vertically to a detection position.
The invention aims to overcome the defects that in the prior art, the mobile gas concentration measuring device comprises a mobile carrier and a sensing unit and is integrally designed, so that the mobile gas concentration measuring device is required to be manually disassembled when a monitored object is changed, and the sensing unit is replaced, and the operation is complex; therefore, the sensing device and the mobile device in the detection assembly are designed in a separated module, the mobile device is responsible for the integral movement of the sensing device, the sensing device is responsible for the detection of the environmental information, and when the detection range or the type of the environmental information needs to be adjusted, the sensing device only needs to be adjusted, so that the detection device has the advantages of simplicity in debugging, setting and replacement.
In addition, in the three-dimensional indoor space environment information detection system of the specific embodiment of the invention, the shape of the fixed track in the horizontal plane is a circularly extending continuous bending line shape, and the fixed track comprises a plurality of parallel straight line segments and an arc segment connected between two adjacent parallel straight line segments; the shape of the fixed rail in the vertical plane is I-shaped, the two sides of the I-shaped rail are provided with concave parts, and the lower section of each concave part is provided with a horizontal bearing surface; the horizontal moving device comprises first rollers corresponding to the concave parts on the two sides of the I shape, and the first rollers roll on the horizontal bearing surface to drive the horizontal moving device, the moving device and the detection assembly to integrally move on the track.
In order to comprehensively cover all positions of three-dimensional indoor space environment information and avoid shielding of indoor facilities on positioning signals, the invention sets a specified track at the upper part of an indoor space, and a first roller is arranged on the track, so that the moving device can drive the sensing device to move at will in a horizontal plane.
In addition, in the three-dimensional indoor space environment information detection system of the specific embodiment of the invention, a sub-track is arranged below the first roller, a second roller is arranged on the sub-track, the extending direction of the sub-track is perpendicular to the extending direction of the fixed track, the second roller rolls on the sub-track, a vertical moving device is arranged on the sub-track, and the vertical moving device is connected to the sensing device; the second roller drives the vertical moving device and the sensing device to move on the sub-track.
In order to enable the sensing device to reach any target position, a two-pole track mode is adopted in the specific embodiment of the invention, the first-stage track is a fixed track, the moving device and the sensing device can be guided to the vicinity of the target position, but the fixed track cannot be arranged to have any density, a second-stage track, namely a sub track, is arranged, the extending direction of the sub track is perpendicular to the fixed track, and the sensing device can further move along the sub track, so that the sensing device can be moved to a position between two sections of parallel tracks of the fixed track, and the environment information measurement of the sensing device on any target position is realized.
In addition, in the three-dimensional indoor space environment information detection system of the specific embodiment of the invention, the mobile device is provided with an ultra-wideband positioning unit which is a transmitting device, the three-dimensional indoor space is also provided with a plurality of positioning base stations, and the positioning base stations are communicated with the monitoring platform; and the monitoring platform determines the positions of the ultra-wideband positioning unit and the mobile device in the horizontal plane according to the time difference of the pulse signals received by the plurality of positioning base stations and feeds back the positions of the ultra-wideband positioning unit and the mobile device in the horizontal plane to the ultra-wideband positioning unit.
The application scene of the invention is indoor space environment information detection, and satellite positioning signals cannot be received indoors, so the invention adopts an Ultra Wideband (UWB) positioning device to realize the determination of the position of a sensing device in a horizontal plane, the UWB indoor positioning technology calculates the position of a signal source by using TDOA (Time Difference of Arrival) or TOF (Timeof Flight) algorithm based on the time difference of wireless signals from the signal source received by a plurality of receiving devices (positioning base stations), and the positioning data is output by a positioning system. According to the propagation speed and time difference calculation of the UWB signal in the space, the actual position of the tag can be obtained, and therefore high-precision three-dimensional indoor positioning can be achieved.
The accuracy of UWB positioning is easily affected by spatial interference, so in the embodiment of the present invention, the UWB positioning device is fixedly disposed on the second roller, and does not move up and down along with the sensing device, but is only used for acquiring x-axis and y-axis data, and the height z-axis data of the sensing device is acquired through other devices, thereby solving the problem of large UWB positioning data error caused by indoor facilities, such as crop shielding.
In addition, in the three-dimensional indoor space environment information detection system of the specific embodiment of the invention, the track and the sub-track are provided with the calibration points at preset positions, when the first roller and the second roller are respectively positioned at the calibration points at the preset positions on the track and the sub-track at the same time, the mobile device sends a calibration signal to the monitoring platform, and the monitoring platform calibrates the positioning functions of the positioning base stations according to the calibration signal, the pulse signal receiving time difference sent by the positioning base stations and the determined ultra-wideband positioning unit and the positions in the horizontal plane of the mobile device.
The invention also adopts a calibration mechanism to overcome the problem of timing deviation of a plurality of positioning base stations, because the working mechanism of the UWB is pulse signal time difference of the plurality of positioning base stations for the UWB positioning device and the indoor distance is limited, the actual TOF is very short, even if the timing among the plurality of positioning base stations has extremely small error, the positioning result of the UWB can have larger deviation, therefore, the invention adopts a reference point calibration mode, namely that calibration points are arranged at preset positions on a track and a sub-track, when a first roller and a second roller are respectively positioned at the calibration points at the preset positions on the track and the sub-track, the mobile device sends a calibration signal to the monitoring platform, at the moment, the monitoring platform can obtain the accurate position of a UWB positioning unit from the calibration signal, and on the other hand, the time difference obtained from the plurality of positioning base stations can calculate the calculated position of the UWB, and the timing of the positioning base stations can be compensated through the difference between the accurate position and the calculated position, so that the positioning function of the plurality of positioning base stations can be calibrated.
For example, the preset reference point is just set in the middle of two positioning base stations, but there is a difference in obtaining TOF information from two base stations, so that the timing time of the two base stations can be compensated, and each time offset is set. In the subsequent positioning measurement, the measurement is always carried out with this time offset. Thereby, calibration of the positioning functions of a plurality of positioning base stations is realized.
In practice, the timing of the above two positioning base stations may be increased at the same time, resulting in that the offset is not strictly accurate, and in the embodiment of the present invention, a plurality of calibration points are provided, and the error is eliminated by a plurality of calibration.
In addition, in the three-dimensional indoor space environment information detection system of the specific embodiment of the invention, the sensing device is provided with a first wireless communication module, the mobile device is provided with a second wireless communication module and a third wireless communication module, wherein the first wireless communication module is communicated with the second wireless communication module and is used for transmitting environment information detected by the sensing device to the mobile device; the third wireless communication module is communicated with the monitoring platform, and is used for transmitting environment information to the monitoring platform and receiving a control command from the monitoring platform; the sensing device is provided with a first power supply module and a sensor array, the mobile device is provided with a second power supply module and a control module, and the first power supply module provides power for the sensor array and the first wireless communication module; the second power module provides power for the second wireless communication module, the third wireless communication module, the horizontal mobile device and the vertical mobile device.
In addition, in the three-dimensional indoor space environment information detection system according to the embodiment of the invention, the sensing device is provided with a height detection unit, and when the moving device drives the sensing device to move to a position of the target position in the horizontal plane, the vertical moving unit of the moving device starts to adjust the height of the sensing device; the height detection unit of the sensing device detects the height of the sensing device, and when the height of the sensing device reaches the target position, a signal that the target height has been reached is sent to the mobile device through the first wireless communication module, and the vertical movement unit of the mobile device stops adjusting the height of the sensing device.
The height detection unit may be, for example, a barometer or an acceleration sensor, and such a sensor is generally not interfered by other spatial interference objects, and can accurately acquire the height information of the sensing device.
In addition, in the three-dimensional indoor space environment information detection system of the specific embodiment of the invention, the monitoring platform comprises a storage unit, a data interaction unit, a man-machine interaction control unit and a three-dimensional visual display unit, wherein the storage unit is used for storing environment information detection data and detection component position data; the data interaction unit is used for acquiring detected environment information from the detection component; the man-machine interaction control unit is provided with control equipment; the three-dimensional visual display unit comprises a display screen, and performs three-dimensional fusion display of the environmental information through the environmental information detection data and the detection component position data.
The three-dimensional indoor space environment information detection method comprises the following steps:
A. acquiring more than one preset target position information;
B. the horizontal moving device of the moving device in the detection assembly moves the sensing device to the horizontal position of a target position under the action of the positioning function of the ultra-wideband positioning unit;
C. the vertical moving device of the moving device in the detecting assembly moves the sensing device to the height position of the target position under the action of the height detecting function of the sensing device, the sensing device detects the environment information of the target position, and the environment information, the horizontal position information and the height position information are sent to the monitoring platform through the moving device;
D. the mobile device moves the detection device to the next target position to detect the environment information.
In addition, in the three-dimensional indoor space environment information detection method of the specific embodiment of the invention, before the environment information of a plurality of target positions is carried out or in the detection process, according to a preset calibration point, when the ultra-wideband positioning unit is positioned at the preset calibration point, the mobile device sends a calibration signal to the monitoring platform, and the monitoring platform calibrates the positioning function of the ultra-wideband positioning unit according to the calibration signal and the position signal detected by the ultra-wideband positioning unit.
The three-dimensional indoor space environment information detection system and method of the invention have the following technical effects.
(1) The invention designs the mobile device and the sensing device into two parts which are convenient for modularized combination, and solves the defect of complex operation of replacing the sensing device when the current technology is integrated and designed to change the monitoring object. Meanwhile, the sensor array in the sensing device can integrate any type of sensor (image, illumination, temperature and humidity, gas and hyperspectrum) as required, so that the monitoring of crop growth environment, crop appearance quality, plant diseases and insect pests and crop growth information is realized, and the defect that the current technology can only monitor gas environment information is overcome.
(2) According to the invention, the three-dimensional coordinate data acquisition unit based on the UWB technology is added, so that the granularity of the obtained sensing data is increased, and the sensing data becomes more visual and clear. The UWB positioning module is arranged in the mobile device, does not move downwards along with the sensing device, is only used for acquiring x-axis and y-axis data, and acquires height z-axis data through the vertical mobile device, so that the problem of large UWB positioning data error caused by crop shielding is solved.
Drawings
Fig. 1 is a schematic structural diagram of a sensing device in a three-dimensional indoor space environment information detection system according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a mobile device in a three-dimensional indoor space environment information detection system according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a monitoring platform in a three-dimensional indoor space environment information detection system according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a UWB positioning module in a three-dimensional indoor space environment information detection system according to an embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating a partial structure of a mobile device in a three-dimensional indoor space environment information detection system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
Detailed exemplary embodiments are disclosed below. However, specific structural and functional details disclosed herein are merely for purposes of describing example embodiments.
It should be understood, however, that the invention is not limited to the particular exemplary embodiments disclosed, but is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure. Like reference numerals refer to like elements throughout the description of the drawings.
Referring to the drawings, the structures, proportions, sizes, etc. shown in the drawings are shown only in connection with the disclosure of the present invention, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, proportional changes, or adjustments of sizes may be made without affecting the efficacy of the invention or achieving the purpose, and are therefore within the scope of the disclosure. In addition, the positional limitation terms recited in the present specification are used merely for convenience of description, and are not intended to limit the scope of the invention, in which the relative changes or modifications are regarded as the scope of the invention without any substantial modification to the technical content.
It should also be understood that the term "and/or" as used herein includes any and all combinations of one or more of the associated listed items. It will also be understood that when a component or element is referred to as being "connected" or "coupled" to another component or element, it can be directly connected or coupled to the other component or element or intervening components or elements may also be present. Moreover, other words used to describe the relationship between components or units should be interpreted in the same manner (e.g., "between" versus "directly between," "adjacent" versus "directly adjacent," etc.).
Fig. 1 is a schematic structural diagram of a sensing device in a three-dimensional indoor space environment information detection system according to an embodiment of the present invention. Fig. 2 is a schematic structural diagram of a mobile device in a three-dimensional indoor space environment information detection system according to an embodiment of the present invention. Fig. 3 is a schematic structural diagram of a monitoring platform in a three-dimensional indoor space environment information detection system according to an embodiment of the present invention. The following describes the structure and principle of the three-dimensional indoor space environment information detection system in the specific embodiment of the invention with reference to fig. 1 to 3.
The specific embodiment of the invention comprises a three-dimensional indoor space environment information detection system, a fixed track and a detection module, wherein the three-dimensional indoor space environment information detection system comprises a detection module and a monitoring platform, the detection module detects environment information in a three-dimensional indoor space and sends the detected environment information to the monitoring platform, the fixed track is arranged at the top of the three-dimensional indoor space, and the detection module moves on the fixed track; the detection assembly comprises a sensing device and a moving device, the moving device comprises a horizontal moving device and a vertical moving device, the horizontal moving device drives the detection assembly to move wholly in a horizontal plane, and the vertical moving device drives the sensing device to move vertically to a detection position.
In order to overcome the defects that in the prior art, the mobile gas concentration measuring device comprises a mobile carrier and a sensing unit and is integrally designed, the mobile gas concentration measuring device needs to be manually disassembled when a monitored object is changed, and then the sensing unit is replaced, so that the operation is complex; therefore, the sensing device and the mobile device in the detection assembly are designed in a separated module, the mobile device is responsible for the integral movement of the sensing device, the sensing device is responsible for the detection of the environmental information, and when the detection range or the type of the environmental information needs to be adjusted, the sensing device only needs to be adjusted, so that the detection device has the advantages of simplicity in debugging, setting and replacement.
In addition, in the three-dimensional indoor space environment information detection system of the specific embodiment of the invention, the shape of the fixed track in the horizontal plane is a circularly extending continuous bending line shape, and the fixed track comprises a plurality of parallel straight line segments and an arc segment connected between two adjacent parallel straight line segments; the shape of the fixed rail in the vertical plane is I-shaped, the two sides of the I-shaped rail are provided with concave parts, and the lower section of each concave part is provided with a horizontal bearing surface; the horizontal moving device comprises first rollers corresponding to the concave parts on the two sides of the I shape, and the first rollers roll on the horizontal bearing surface to drive the horizontal moving device, the moving device and the detection assembly to integrally move on the track.
In order to comprehensively cover all positions of three-dimensional indoor space environment information and avoid shielding of indoor facilities on positioning signals, the invention sets a specified track at the upper part of an indoor space, and a first roller is arranged on the track, so that the moving device can drive the sensing device to move at will in a horizontal plane.
In addition, fig. 5 is a schematic diagram of a partial structure of a mobile device in a three-dimensional indoor space environment information detection system according to an embodiment of the present invention. As shown in the drawing, in the three-dimensional indoor space environment information detection system according to the embodiment of the present invention, a sub-track 202 is provided under a first roller 201 of a mobile device 20, a second roller is provided on the sub-track 202, the extending direction of the sub-track 202 and the extending direction of a fixed track 10 are perpendicular to each other, the second roller rolls on the sub-track 202, a vertical moving device is provided on the sub-track 202, and the vertical moving device is connected to a sensing device; the second roller drives the vertical moving device and the sensing device to move on the sub-track.
In order to enable the sensing device to reach any target position, in the specific embodiment of the invention, a two-pole track mode is adopted, a first-stage track is a fixed track 10, two parallel fixed tracks 10 are shown in fig. 5, the fixed track 10 can guide the moving device and the sensing device to the vicinity of the target position, but since the fixed track 10 cannot be distributed to have any density, a second-stage track, namely a sub track 202, is also arranged, the extending direction of the sub track 202 is perpendicular to the fixed track 10, and the sensing device can further move along the sub track, so that the sensing device can be moved to a position between two parallel tracks of the fixed track, and environmental information measurement of the sensing device on any target position is realized.
For example, the first parallel straight line segment of the fixed track extends within 10 x-coordinates and 5-95 y-coordinates, and the second parallel straight line segment extends within 20 x-coordinates and 5-95 y-coordinates, which indicates that the parallel straight line segment of the fixed track extends parallel to the y-axis. While the extension length of the sub-track 202 is 12; assuming that the coordinates in the accurate horizontal plane of the target point are 12 and 80, the mobile device can be integrally moved to the y coordinate 80 of the first parallel straight line segment, and then the second roller can continuously move x to 2 on the sub-track, so that the preset target position can be reached.
In particular, the length of the sub-track 202 needs to be at least half the interval between two parallel straight sections of the fixed track, so that the whole coverage of any coordinate value can be ensured. In the specific embodiment of the invention, a longer sub-track 202 can be further arranged, the target position is sent to the mobile device by the two parallel straight-line segment monitoring platforms exceeding the fixed track, and the mobile device can optimize the path according to the target point position, the moving speed on the two-stage track and the energy consumption, so that the detection time is shortened or the energy is saved.
For example, the length of the sub-track 202 is 18, the x coordinate of the first parallel straight line segment is 10, the y coordinate of the first parallel straight line segment extends within 5-95, the x coordinate of the second parallel straight line segment is 20, and the y coordinate of the second parallel straight line segment extends within 5-95; when the target point position is 19, 92, the second roller can be moved to the far left end (+9) of the sub-track at the y coordinate 92 of the first parallel straight line segment; the second roller may also be moved to the right end (-1) of the sub-track 202 at the y-coordinate 92 of the second parallel straight line segment; a second approach may be used at this time if it is considered to increase the detection speed because the second roller moves slower on the sub-track 202; the first solution may be used if energy saving is a consideration, because the first roller is more energy consuming to move on the fixed track.
In addition, in the three-dimensional indoor space environment information detection system of the specific embodiment of the invention, the mobile device is provided with an ultra-wideband positioning unit which is a transmitting device, the three-dimensional indoor space is also provided with a plurality of positioning base stations, and the positioning base stations are communicated with the monitoring platform; and the monitoring platform determines the positions of the ultra-wideband positioning unit and the mobile device in the horizontal plane according to the time difference of the pulse signals received by the plurality of positioning base stations and feeds back the positions of the ultra-wideband positioning unit and the mobile device in the horizontal plane to the ultra-wideband positioning unit.
Fig. 4 is a schematic diagram of a UWB positioning module in a three-dimensional indoor space environment information detection system according to an embodiment of the present invention. As shown in the figure, the application scene of the invention is indoor space environment information detection, and satellite positioning signals cannot be received indoors, so that the invention adopts an Ultra Wideband (UWB) positioning device to realize the determination of the position of a sensing device in a horizontal plane, the UWB indoor positioning technology calculates the position of a signal source by using a TDOA (Time Difference of Arrival) or TOF (Timeof Flight) algorithm based on the time difference of wireless signals from the signal source received by a plurality of receiving devices (positioning base stations), and the positioning data is output by a positioning system. According to the propagation speed and time difference calculation of the UWB signal in the space, the actual position of the tag can be obtained, and therefore high-precision three-dimensional indoor positioning can be achieved.
The accuracy of UWB positioning is easily affected by spatial interference, so in the embodiment of the present invention, the UWB positioning device is fixedly disposed on the second roller, and does not move up and down along with the sensing device, but is only used for acquiring x-axis and y-axis data, and the height z-axis data of the sensing device is acquired through other devices, thereby solving the problem of large UWB positioning data error caused by indoor facilities, such as crop shielding.
In addition, in the three-dimensional indoor space environment information detection system of the specific embodiment of the invention, the track and the sub-track are provided with the calibration points at preset positions, when the first roller and the second roller are respectively positioned at the calibration points at the preset positions on the track and the sub-track at the same time, the mobile device sends a calibration signal to the monitoring platform, and the monitoring platform calibrates the positioning functions of the positioning base stations according to the calibration signal, the pulse signal receiving time difference sent by the positioning base stations and the determined ultra-wideband positioning unit and the positions in the horizontal plane of the mobile device.
The positioning of UWB highly depends on timing precision, therefore the invention also adopts the calibration mechanism to overcome the timing deviation problem of a plurality of positioning base stations, because the working mechanism of UWB is that the pulse signal time difference of a plurality of positioning base stations for UWB positioning device is limited, and the indoor distance is limited, resulting in very short actual TOF, the timing among a plurality of positioning base stations can cause bigger deviation of the positioning result of UWB even if there is very small error, therefore, the invention adopts the reference point calibration mode-the calibration point is arranged on the preset position of the track and the sub-track, when the first roller and the second roller are simultaneously arranged on the calibration point respectively arranged on the preset position of the track and the sub-track, which means that the UWB positioning unit just reaches a preset position, and the coordinate value of the position is known and accurate. The mobile device sends a calibration signal to the monitoring platform, at the moment, the monitoring platform can obtain the accurate position of the UWB positioning unit from the calibration signal, and on the other hand, the calculation position of the UWB positioning unit can be calculated from the time difference obtained by a plurality of positioning base stations, and the timing of the positioning base stations can be compensated through the difference between the accurate position and the calculation position, so that the positioning function of the plurality of positioning base stations is calibrated.
For example, the preset reference point is just set in the middle of two positioning base stations, but there is a difference in obtaining TOF information from two base stations, so that the timing time of the two base stations can be compensated, and each time offset is set. In the subsequent positioning measurement, the measurement is always carried out with this time offset. Thereby, calibration of the positioning functions of a plurality of positioning base stations is realized.
In practice, the timing values of the two positioning base stations may be increased by one time offset, so that the result of the compensation between two points depending on the middle position of the two positioning base stations is not strictly accurate.
In addition, in the three-dimensional indoor space environment information detection system of the specific embodiment of the invention, the sensing device is provided with a first wireless communication module, the mobile device is provided with a second wireless communication module and a third wireless communication module, wherein the first wireless communication module is communicated with the second wireless communication module and is used for transmitting environment information detected by the sensing device to the mobile device; the third wireless communication module is communicated with the monitoring platform, and is used for transmitting environment information to the monitoring platform and receiving a control command from the monitoring platform; the sensing device is provided with a first power supply module and a sensor array, the mobile device is provided with a second power supply module and a control module, and the first power supply module provides power for the sensor array and the first wireless communication module; the second power module provides power for the second wireless communication module, the third wireless communication module, the horizontal mobile device and the vertical mobile device.
The sensor array in the sensing device can integrate any type of sensor (image, illumination, temperature and humidity, gas, hyperspectrum and the like) as required, so that the monitoring of crop growth environment, crop appearance quality, plant diseases and insect pests and crop growth information is realized, and the defect that the current technology can only monitor gas environment information is overcome.
In addition, in the three-dimensional indoor space environment information detection system according to the embodiment of the invention, the sensing device is provided with a height detection unit, and when the moving device drives the sensing device to move to a position of the target position in the horizontal plane, the vertical moving unit of the moving device starts to adjust the height of the sensing device; the height detection unit of the sensing device detects the height of the sensing device, and when the height of the sensing device reaches the target position, a signal that the target height has been reached is sent to the mobile device through the first wireless communication module, and the vertical movement unit of the mobile device stops adjusting the height of the sensing device.
The height detection unit may be, for example, a barometer or an acceleration sensor, and such a sensor is generally not interfered by other spatial interference objects, and can accurately acquire the height information of the sensing device.
In addition, in the three-dimensional indoor space environment information detection system of the specific embodiment of the invention, the monitoring platform comprises a storage unit, a data interaction unit, a man-machine interaction control unit and a three-dimensional visual display unit, wherein the storage unit is used for storing environment information detection data and detection component position data; the data interaction unit is used for acquiring detected environment information from the detection component; the man-machine interaction control unit is provided with control equipment; the three-dimensional visual display unit comprises a display screen, and performs three-dimensional fusion display of the environmental information through the environmental information detection data and the detection component position data.
The three-dimensional indoor space environment information detection method comprises the following steps:
A. acquiring more than one preset target position information;
B. the horizontal moving device of the moving device in the detecting device moves the sensing device to the horizontal position of a target position under the action of the positioning function of the ultra-wideband positioning unit;
C. the vertical moving device of the moving device in the detecting device moves the sensing device to the height position of the target position under the action of the height detecting function of the sensing device, the sensing device detects the environment information of the target position, and the environment information, the horizontal position information and the height position information are sent to the monitoring platform through the moving device;
D. the mobile device moves the detection device to the next target position to detect the environment information.
In addition, in the three-dimensional indoor space environment information detection method of the specific embodiment of the invention, before the environment information of a plurality of target positions is carried out or in the detection process, according to a preset calibration point, when the ultra-wideband positioning unit is positioned at the preset calibration point, the mobile device sends a calibration signal to the monitoring platform, and the monitoring platform calibrates the positioning function of the ultra-wideband positioning unit according to the calibration signal and the position signal detected by the ultra-wideband positioning unit.
The three-dimensional indoor space environment information detection system and method of the invention have the following technical effects.
(1) The invention designs the mobile device and the sensing device into two parts which are convenient for modularized combination, and solves the defect of complex operation of replacing the sensing device when the current technology is integrated and designed to change the monitoring object. Meanwhile, the sensor array in the sensing device can integrate any type of sensor (image, illumination, temperature and humidity, gas and hyperspectrum) as required, so that the monitoring of crop growth environment, crop appearance quality, plant diseases and insect pests and crop growth information is realized, and the defect that the current technology can only monitor gas environment information is overcome.
(2) According to the invention, the three-dimensional coordinate data acquisition unit based on the UWB technology is added, so that the granularity of the obtained sensing data is increased, and the sensing data becomes more visual and clear. The UWB positioning module is arranged in the mobile device, does not move downwards along with the sensing device, is only used for acquiring x-axis and y-axis data, and acquires height z-axis data through the vertical mobile device, so that the problem of large UWB positioning data error caused by crop shielding is solved.
While the foregoing description illustrates and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the form disclosed herein, but is not to be construed as limited to other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of changes or modifications within the scope of the inventive concept as described herein, either as a result of the foregoing teachings or as a result of the knowledge or skills of the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (10)
1. The three-dimensional indoor space environment information detection system comprises a detection assembly and a monitoring platform, wherein the detection assembly detects environment information in a three-dimensional indoor space and sends the detected environment information to the monitoring platform; the detection assembly comprises a sensing device and a moving device, the moving device comprises a horizontal moving device and a vertical moving device, the horizontal moving device drives the detection assembly to move in the horizontal plane, and the vertical moving device drives the sensing device to vertically move to the height of the target position.
2. The three-dimensional indoor space environment information detection system according to claim 1, wherein the shape of the fixed rail in the horizontal plane is a circularly extending continuous bending line shape, comprising a plurality of parallel straight line segments and an arc segment connecting between two adjacent parallel straight line segments; the shape of the fixed rail in the vertical plane is I-shaped, the two sides of the I-shaped rail are provided with concave parts, and the lower section of each concave part is provided with a horizontal bearing surface; the horizontal moving device comprises first rollers corresponding to the concave parts on the two sides of the I shape, and the first rollers roll on the horizontal bearing surface to drive the horizontal moving device, the moving device and the detection assembly to integrally move on the track.
3. The system according to claim 1, wherein a sub-track is provided under the first roller, a second roller is provided on the sub-track, an extending direction of the sub-track and an extending direction of the fixed track are perpendicular to each other, the second roller rolls on the sub-track, a vertical moving device is provided on the sub-track, and the vertical moving device is connected to the sensing device; the second roller drives the vertical moving device and the sensing device to move on the sub-track.
4. The system for detecting environmental information in three-dimensional indoor space according to claim 3, wherein the mobile device is provided with an ultra-wideband positioning unit, the ultra-wideband positioning unit is a transmitting device, the three-dimensional indoor space is also provided with a plurality of positioning base stations, and the plurality of positioning base stations are communicated with the monitoring platform; the ultra-wideband positioning device transmits pulse signals, the monitoring platform determines the positions in the horizontal planes of the ultra-wideband positioning unit and the mobile device according to the time difference that the plurality of positioning base stations receive the pulse signals, and the positions in the horizontal planes of the ultra-wideband positioning unit and the mobile device are fed back to the ultra-wideband positioning unit.
5. The system according to claim 4, wherein the track and the sub-track have calibration points at predetermined positions, and the mobile device transmits a calibration signal to the monitoring platform when the first roller and the second roller are simultaneously positioned at the calibration points at the predetermined positions of the track and the sub-track, respectively, and the monitoring platform calibrates the positioning functions of the plurality of positioning base stations according to the calibration signal and the pulse signal receiving time differences transmitted from the plurality of positioning base stations and the determined positions of the ultra wideband positioning unit and the mobile device in the horizontal plane.
6. The three-dimensional indoor space environment information detection system according to claim 1, wherein the sensing device has a first wireless communication module, the mobile device has a second wireless communication module and a third wireless communication module, wherein the first wireless communication module communicates with the second wireless communication module for transmitting the environment information detected by the sensing device to the mobile device; the third wireless communication module is communicated with the monitoring platform, and is used for transmitting environment information to the monitoring platform and receiving a control command from the monitoring platform; the sensing device is provided with a first power supply module and a sensor array, the mobile device is provided with a second power supply module and a control module, and the first power supply module provides power for the sensor array and the first wireless communication module; the second power module provides power for the second wireless communication module, the third wireless communication module, the horizontal mobile device and the vertical mobile device.
7. The three-dimensional indoor space environment information detection system according to claim 6, wherein the sensing device has a height detecting unit, and the vertical moving unit of the moving device starts to adjust the height of the sensing device when the moving device drives the sensing device to move to a position where the target position is in the horizontal plane; the height detection unit of the sensing device detects the height of the sensing device, and when the height of the sensing device reaches the height of the target position, a signal that the height of the target position is reached is sent to the mobile device through the first wireless communication module, and the vertical mobile unit of the mobile device stops adjusting the height of the sensing device.
8. The three-dimensional indoor space environment information detection system according to claim 1, wherein the monitoring platform comprises a storage unit, a data interaction unit, a man-machine interaction control unit and a three-dimensional visual display unit, wherein the storage unit is used for storing environment information detection data and sensing device position data; the data interaction unit is used for acquiring detected environment information from the detection component; the man-machine interaction control unit is provided with control equipment; the three-dimensional visual display unit comprises a display screen and is used for carrying out three-dimensional fusion display on the environmental information detection data and the sensing device position data.
9. The three-dimensional indoor space environment information detection method is characterized by comprising the following steps of:
A. acquiring more than one preset target position information;
B. the horizontal moving device of the moving device in the detection assembly moves the sensing device to the horizontal position of a target position under the action of the positioning function of the ultra-wideband positioning unit;
C. the vertical moving device of the moving device in the detecting assembly moves the sensing device to the height of the target position under the function of the height detecting function of the sensing device, the sensing device detects the environment information of the target position, and the environment information, the horizontal position information and the height position information are sent to the monitoring platform through the moving device;
D. the mobile device moves the detection device to the next target position to detect the environment information.
10. The three-dimensional indoor space environment information detection according to claim 9, wherein the mobile device transmits a calibration signal to the monitoring platform before or during the environment information of the plurality of target positions according to a preset calibration point when the ultra-wideband positioning unit is located at the preset calibration point, and the monitoring platform calibrates the positioning function of the ultra-wideband positioning unit according to the calibration signal and the position signal detected by the ultra-wideband positioning unit.
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