CN204043703U - A kind of indoor environment data acquisition system (DAS) - Google Patents
A kind of indoor environment data acquisition system (DAS) Download PDFInfo
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- CN204043703U CN204043703U CN201420371509.2U CN201420371509U CN204043703U CN 204043703 U CN204043703 U CN 204043703U CN 201420371509 U CN201420371509 U CN 201420371509U CN 204043703 U CN204043703 U CN 204043703U
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- central controller
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- indoor environment
- robot
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Abstract
The utility model relates to a kind of indoor environment data acquisition system (DAS), comprise the host computer being built-in with Data Management Unit, the robot with running gear, robot built-in has central controller, communication module, data processing module, travelling control module, environment information acquisition module.This indoor environment data acquisition system (DAS) can the walking of robot brain device people and the collection to indoor environment data, greatly reduces workload, decreases human cost.
Description
Technical field
The utility model relates to a kind of indoor environment data acquisition system (DAS).
Background technology
Along with electronic chart generally use and develop and people to the requirement of life convenience, have higher requirement to the using function of map, the map only with geographical location marker function can not meet the request for utilization of people.But upgrade map function to need to gather a large amount of data, by artificial image data, workload is large, inefficiency.In addition the existing GPS navigation ratio of precision utilizing map to carry out harvester is poor, and the directive function of the data that corresponding harvester collects on map is had a greatly reduced quality, and user occurs error in use unavoidably, thus impact uses.
Utility model content
Technical problem to be solved in the utility model provides a kind of indoor environment data acquisition system (DAS) that automatically can gather indoor environment data message for above-mentioned prior art.
The utility model solves the problems of the technologies described above adopted technical scheme: a kind of indoor environment data acquisition system (DAS), is characterized in that: comprise
Host computer, a built-in Data Management Unit, for data transmission, data processing, data management and Data Integration;
Robot, communicates to connect with host computer, is active in indoor collection site for image data;
Described robot has a running gear and is built-in with:
Central controller, for sending and processing controls order;
Communication module, is connected to central controller, for realizing the communication connection with host computer;
Data processing module, is connected to central controller, for the treatment of the data that host computer transmits;
Travelling control module, is connected to central controller and running gear, for the walking of control lines walking apparatus;
Environment information acquisition module, is connected to central controller, for gathering indoor environment data.
In order to the accurate walking path of control, described travelling control module comprises:
Driver module, is connected to central controller, for driving running gear;
Travel direction control module, is connected to central controller, the direction of travel of control;
Distance-measurement module, is connected to central controller, calculates and the operating range of control;
Compass module, is connected to central controller, gathers, calculates and judge the direction of travel of control;
Video camera, is connected to central controller, gathers robot surrounding enviroment image;
Tracking module, is connected to central controller, coordinates the direction of travel adjusting robot with video camera.
Conveniently occur that robot in use goes wrong, described robot is also built-in with the alarm module being connected to described central controller.
Preferably, described central controller is single-chip microcomputer.
Easily, the artificial dolly of described machine, described running gear is the driving wheel of dolly.
According to different demands, described environment information acquisition module comprises WiFi signal information acquisition device, temperature sensor, humidity sensor, air mass sensor.
Compared with prior art, the utility model has the advantage of: this indoor environment data acquisition system (DAS) can the walking of robot brain device people and the collection to indoor environment data, greatly reduces workload, decreases human cost.
Simultaneously, utilize the acquisition method of this indoor environment data acquisition system (DAS) can the walking path of planning control robot accurately, thus the accurate environmental information data gathering the indoor assigned address of acquisition, the degree of accuracy of information and with a high credibility, greatly facilitates user and utilizes this information data fast processing relevant issues.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of indoor environment data acquisition system (DAS) in the utility model embodiment.
Fig. 2 is the process flow diagram of the acquisition method utilizing indoor environment data acquisition system (DAS) in the utility model embodiment.
Embodiment
Below in conjunction with accompanying drawing embodiment, the utility model is described in further detail.
As shown in Figure 1, a kind of indoor environment data acquisition system (DAS) in the present embodiment, comprising:
Host computer 1, a built-in Data Management Unit 11, for data transmission, data processing, data management and Data Integration;
Robot 2, communicates to connect with host computer 1, is active in indoor collection site for image data;
Described robot 2 has a running gear 21 and is built-in with:
Central controller 22, for sending and processing controls order, in the present embodiment, central controller 22 adopts Arm singlechip chip;
Communication module 23, is connected to central controller 22, and for realizing the communication connection with host computer 1, in the present embodiment, communication module adopts WiFi module;
Data processing module 24, is connected to central controller 22, for the treatment of the data that host computer 1 transmits;
Travelling control module 25, is connected to central controller 22 and running gear 21, for the walking of control lines walking apparatus 21;
Environment information acquisition module 26, be connected to central controller 22, for gathering indoor environment data, in the present embodiment, environment information acquisition module 26 comprises WiFi signal information acquisition device, temperature sensor, humidity sensor, air mass sensor, can gather various component content and strength information etc. in information, temperature data information, humidity data information, the air such as intensity and address of WiFi respectively.According to different application demands, this environment information acquisition module 26 can also increase other information acquisition modules.
The conveniently accurate control of robot 2 walking path, described travelling control module 25 comprises:
Driver module 251, is connected to central controller 22, for driving running gear 21;
Travel direction control module 252, is connected to central controller 22, the direction of travel of control 2;
Distance-measurement module 253, is connected to central controller 22, calculates and the operating range of control 2;
Compass module 254, is connected to central controller 22, gathers, calculates and judge the direction of travel of control 2;
Video camera 255, is connected to central controller 22, and gather robot 2 surrounding enviroment image, in the present embodiment, video camera 255 adopts CMOS camera;
Tracking module 256, is connected to central controller 22, coordinates with video camera 255 direction of travel adjusting robot 2, and in the present embodiment, tracking module 256 adopts infrared sensing module;
Alarm module 27, is connected to central controller 22, reports to the police for robot 2.
In the present embodiment, robot 2 is a dolly, and described running gear 21 is the driving wheel of dolly.
As shown in Figure 2, utilize the acquisition method of above-mentioned indoor environment data acquisition system (DAS), comprise the steps:
Step one, by Data Management Unit 11, need the architectural plan carrying out indoor environment data acquisition to open on host computer 1, after architectural plan is opened, setting architectural plan direct north;
Architectural plan is formulated patrol track corresponding to the run trace of robot 2 at Indoor environment;
Patrol track sets gradually multiple node and is labeled as p respectively on the patrol track formulated
0, p
2, p
3... p
i..., p
n-1, p
n, patrol track is divided into multiple line segment track by these nodes, then these line segment tracks form the vectorial array of one group of robot 2 run trace, are [P
1, P
2, P
3..., P
i..., P
n-1, P
n];
According to the complexity of landform, according to the density rule of a bit, corresponding selected part track node is datum node, and corresponding reference point is marked in the run trace of the corresponding datum node of Indoor environment, the mark of cross curve as black in white background can be coated in the position of Indoor environment reference point;
Data Management Unit 11 calculates the distance of each line segment track and the clockwise angle with direct north respectively, corresponding to line segment track vector P
1, P
2, P
3..., P
i..., P
n-1, P
n1, the actual range of the run trace that its line segment track is corresponding is respectively d
1, d
2, d
3..., d
i..., d
n-1, d
n, the clockwise angle of its line segment track and direct north is respectively α
1, α
2, α
3..., α
i..., α
n-1, α
n;
Then P
i=[p
i-1, p
i, d
i, α
i, f], wherein i=[1,2,3 ..., n-1, n], f=[0,1], f be datum node mark, if p
i-1or p
ifor datum node, then f=1, if p
i-1or p
ibe not datum node, then f=0;
Arrange according to different patrol tracks, the vector data P of robot 2 run trace
iin, p
i-1, p
itwo nodes can be selected arbitrarily according to arranging rule;
Step 2, host computer 1 have patrol track and the architectural plan comprising the vectorial array data of robot 2 run trace by formulating in step one, be sent in the data processing module 24 of robot 2 by communication module 23, data processing module 24 carries out analyzing and processing to this architectural plane and forms the steering order that central controller 22 can identify being sent in central controller 22;
Step 3, robot 2 is placed on run trace starting point and ensure that the initial travel direction of robot 2 is identical with the angle of initial segment track, this starting point correspond to start node architectural plan gone on patrol on track, and the run trace vector that namely robot 2 starting point is corresponding is P
1=[p
0, p
1, d
1, α
1, f], wherein p
0represent start node, p
1represent first node of starting at from node in fact, d
1represent p
0node and p
1the actual range of the run trace that the first line segment track is corresponding between node, α
1represent the direction of the first line segment track and the clockwise angle of direct north, the datum node ident value that generally start node is corresponding is 1, and namely initial node is datum node;
According to the steering order of central controller 22, robot 2 starts walking according to the speed of run trace vector data and setting under the control of walking control module 25;
In the walking process of robot 2, at interval of the set time, utilize the magnetic field induction Function detection current robot 2 of compass module 254 entirely to enter the clockwise angle of direction and direct north, and calculating judge the run trace vector direction α that robot 2 working direction is corresponding with this line segment track
ibetween angle error, if angle error exceed patrol track permissible error, then go to step four, if angle error do not exceed patrol track permissible error; go to step five;
Step 4, robot 2 halt, and detect datum node identification data f, if datum node mark f=1, then according to the node data message in driving trace vector data, utilize video camera 255 to find reference point marker corresponding to corresponding datum node; If datum node mark f=0, then utilize the reference point marker of video camera 255 searching machine people 2 position periphery;
If search out reference point marker, then utilize tracking module 256 to control the direction of travel of adjustment robot 2, under the cooperation travelling direction controlling module 252 controls, control 2 runs to reference point simultaneously, then goes to step six;
If found within the time of specifying less than reference point marker, then central controller 22 controls alarm module 27 and reports to the police, and warning message is sent in host computer 1 by communication module 23, and host computer 1 is according to warning message, the position of prompting monitor staff robot 2, thus process;
Step 5, utilize the travel distance of distance-measurement module 253 calculating robot 2, the relatively distance of travel distance and line segment track, when the travel distance of robot 2 equals the distance of line segment track, namely robot 2 runs to the position of track node on architectural plan;
Step 6, robot 2 stop mobile under the control of walking control module 25, and utilize environment information acquisition module 26 pairs of indoor environment data to gather;
The indoor environment data of track node data and correspondence are sent in the Data Management Unit 11 of host computer 1 by communication module 23 by step 7, robot 2, Data Management Unit 11 is by the Data Integration that receives in architectural plan, and in architectural plane drawing, the position of corresponding node forms the indoor environment information that can check;
Step 8, robot 2 detect the final node of the whether corresponding patrol track in present position, and if not returning step 3, if so, robot 2 quits work, and walking terminates.
The architectural plan incorporating indoor environment data may be used in map, and then utilizes the map with indoor environment data message to position the work such as security protection, also can carry out other work according to demand.
This indoor environment data acquisition system (DAS) and acquisition method can also be extended in other applied environments.
Claims (6)
1. an indoor environment data acquisition system (DAS), is characterized in that: comprise
Host computer (1), a built-in Data Management Unit (11), for data transmission, data processing, data management and Data Integration;
Robot (2), communicates to connect with host computer (1), is active in indoor collection site for image data;
Described robot (2) has a running gear (21) and is built-in with:
Central controller (22), for sending and processing controls order;
Communication module (23), is connected to central controller (22), for realizing and the communication connection of host computer (1);
Data processing module (24), is connected to central controller (22), for the treatment of the data that host computer (1) transmits;
Travelling control module (25), is connected to central controller (22) and running gear (21), for the walking of control lines walking apparatus (21);
Environment information acquisition module (26), is connected to central controller (22), for gathering indoor environment data.
2. indoor environment data acquisition system (DAS) according to claim 1, is characterized in that: described travelling control module (25) comprising:
Driver module (251), is connected to central controller (22), for driving running gear (21);
Travel direction control module (252), is connected to central controller (22), the direction of travel of control (2);
Distance-measurement module (253), is connected to central controller (22), calculates and the operating range of control (2);
Compass module (254), is connected to central controller (22), gathers, calculates and judge the direction of travel of control (2);
Video camera (255), is connected to central controller (22), gathers robot (2) surrounding enviroment image;
Tracking module (256), is connected to central controller (22), coordinates with video camera (255) direction of travel adjusting robot (2).
3. indoor environment data acquisition system (DAS) according to claim 1, is characterized in that: described robot (2) is also built-in with the alarm module (27) being connected to described central controller (22).
4. the indoor environment data acquisition system (DAS) according to the arbitrary claim of claims 1 to 3, is characterized in that: described central controller (22) is single-chip microcomputer.
5. the indoor environment data acquisition system (DAS) according to the arbitrary claim of claims 1 to 3, is characterized in that: described robot (2) is a dolly, the driving wheel that described running gear (21) is dolly.
6. the indoor environment data acquisition system (DAS) according to the arbitrary claim of claims 1 to 3, is characterized in that: described environment information acquisition module (26) comprises WiFi signal information acquisition device, temperature sensor, humidity sensor, air mass sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420371509.2U CN204043703U (en) | 2014-07-07 | 2014-07-07 | A kind of indoor environment data acquisition system (DAS) |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420371509.2U CN204043703U (en) | 2014-07-07 | 2014-07-07 | A kind of indoor environment data acquisition system (DAS) |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104089649A (en) * | 2014-07-07 | 2014-10-08 | 浙江万里学院 | System and method for collecting indoor environment data |
| CN105928061A (en) * | 2016-04-27 | 2016-09-07 | 深圳市智能体科技有限公司 | Indoor air conditioning device and method |
| CN106154984A (en) * | 2015-03-23 | 2016-11-23 | 昆达电脑科技(昆山)有限公司 | Data handling system, data processing method and electric power management system |
| CN106403894A (en) * | 2016-08-22 | 2017-02-15 | 广东升威电子制品有限公司 | Rocking bar with azimuth acquisition |
-
2014
- 2014-07-07 CN CN201420371509.2U patent/CN204043703U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104089649A (en) * | 2014-07-07 | 2014-10-08 | 浙江万里学院 | System and method for collecting indoor environment data |
| CN106154984A (en) * | 2015-03-23 | 2016-11-23 | 昆达电脑科技(昆山)有限公司 | Data handling system, data processing method and electric power management system |
| CN106154984B (en) * | 2015-03-23 | 2019-02-26 | 昆达电脑科技(昆山)有限公司 | Data processing system, data processing method and electric power management system |
| CN105928061A (en) * | 2016-04-27 | 2016-09-07 | 深圳市智能体科技有限公司 | Indoor air conditioning device and method |
| CN106403894A (en) * | 2016-08-22 | 2017-02-15 | 广东升威电子制品有限公司 | Rocking bar with azimuth acquisition |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141224 Termination date: 20170707 |
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| CF01 | Termination of patent right due to non-payment of annual fee |