CN205403803U - Indoor map structure device based on earth magnetism - Google Patents
Indoor map structure device based on earth magnetism Download PDFInfo
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- CN205403803U CN205403803U CN201620140074.XU CN201620140074U CN205403803U CN 205403803 U CN205403803 U CN 205403803U CN 201620140074 U CN201620140074 U CN 201620140074U CN 205403803 U CN205403803 U CN 205403803U
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Abstract
The utility model discloses an indoor map structure device based on earth magnetism. The utility model discloses a module and host system are acquireed to portable carrier, man -machine interaction module, indoor spatial position fingerprint information acquisition module, azimuthal module, motion control and the speed acquireed of mobile robot. The utility model discloses simple structure, convenient operation, with low costs, has overcome and has found the in -process at indoor map, need acquire room internal planes picture in advance, then upload after with its vector quantization, carry on again indoor location fingerprint information the collection, bind with path information's shortcomings such as formation. It reaches extra amount of calculation and the loss of data part authenticity scheduling problem that carries out the interpolation production after the single -point collection greatly to have overcome traditional net cartographic data collection cost simultaneously. The utility model discloses not needing to obtain in advance and being written into room internal planes picture making up the in -process to interior space benchmark map, an interior space that only needs to confirm the target need make up ground source of graph, terminal point, node position to and the map founds the passageway.
Description
Technical field
This utility model belongs to indoor ground magnetic orientation and navigation field, particularly to the construction device of collection and the indoor positioning and navigation map of interior space geomagnetic data.
Background technology
At present, in position service field, outdoor location and navigation technology is quite ripe, the GPS of main flow and the dipper system of China's independent research in outdoor positioning precision up to sub-meter grade.Relatively, in the large-scale spaces such as shopping plaza, conference and exhibition center, air harbor, high ferro station, parking lot, owing to satellite-signal is blocked by building, cause that satellite positioning tech cannot provide location-based service accurately for the complicated interior space.In life, people's most activity time is in indoor, and along with social development, the interior space is more and more huger and complicated, so for demand more urgent of accurate indoor positioning technologies.
Magnetic field of the earth is a vector field, and there are specific direction and intensity size in the earth's magnetic field of each position.In the Nature, the birds migrated realize location navigation by perception magnetic field of the earth and arrive at, and Chelomia mydas (Linnaeus). relies on Geomagnetism Information mark return to the place of they births and nest there.After being inspired by this, people start exploration and utilize earth's magnetic field spatial distribution to realize location navigation.Research finds, owing to modern architecture major part is all made up of reinforced concrete, the earth's magnetic field of the interior space is subject to the interference of the magnetisable materials such as reinforcing bar and there occurs a degree of distortion.And due to the uniqueness of building structure so that magnetic field of the earth can be subject to stable interference at interior space diverse location, thus present various and unique earth's magnetic field feature in indoor.This characteristic realizes indoor positioning and the navigation strong theoretical foundation of offer for utilizing earth's magnetic field.
In recent years, indoor positioning technologies is always up the study hotspot of the supreme arrogance of a person with great power, and has continued to bring out out the technological achievement in WiFi, RFID, bluetooth, the field such as ultrasonic.But for indoor positioning field, no matter location technology development is good again, it does not have indoor plane map accurately, any positioning service does not all have map just as GPS, simply an ornament.In the world, the science and technology giant such as Google, Microsoft, Nokia, Fructus Mali pumilae take its place in the front ranks of the world in indoor positioning research always, this emerging field and Google takes the lead in race, the basis of Google Maps adds indoor positioning function, release indoor positioning technologies commercial system the earliest, get through outdoor positioning and indoor positioning linking bottleneck.In the acquisition of indoor map, the way of Google is to be provided plane graph by cooperation businessman, by issuing after the examination & verification of Google.In addition, Google also issues the application of corresponding map structuring, businessman has only to utilize this to be applied in indoor collection GPS, Wi-Fi signal and cellular base station assembling position data, is then uploaded to the data base of GoogleMaps, just can generate indoor map and navigate for indoor positioning.At home, the scientific and technological giant such as Baidu, Ali, Tengxun also accelerates the paces of indoor positioning technologies research, constantly carries out technological accumulation, but still is in experimental stage.Simultaneously, large quantities of venture company is also emerged in large numbers in this field, such as Beijing Dian Dao interconnects Science and Technology Ltd. and the poly-Information Technology Co., Ltd of upper sea chart puts into bigger on map datum, become Map Services business in domestically leading orientation room, cover domestic building up to ten thousand at present, and provide data support for Baidu, Gao De etc..But in indoor map and data acquisition, for some road, 20-30% is that store is unsolicited, and 70% by gathering under boostrap, completes to obtain after work and indoor map is digitized and standardization again.It is therefore seen that, it is by cooperating with businessman and independently gathering that indoor positioning service provider obtains the main path of plane map at present, but for large-scale promotion unrealistic.So, it is trend of the times that future raises indoor map by the pattern of mass-rent, it is therefore intended that encourage user to upload architectural plan to server to improve map data base when using location-based service.But before user habit has not yet been formed, the pattern of mass-rent is difficult to effective popularization.After obtaining indoor map, indoor positioning navigation to be realized, be also performed to the process of plane map and the binding of data.Scheme general at present is first to get indoor plane map, then the fingerprint carrying out map is recorded and binding, is only complete interior space reference map, finally this interior space reference map is sent to server and stores after completing.Obviously, without providing indoor map in advance, the realization of indoor positioning is not known where to begin.So we need demand one more simply, map constructing method efficiently, accelerate to simplify indoor map digitized process.
This utility model adopts the coordinate system navigated in indoor earth's magnetic field as indoor positioning, by gathering the interior space location fingerprint information based on earth magnetism environmental characteristic and building interior space plane map, set up the interior space reference map based on earth magnetism, provide basis for realizing indoor positioning with navigation.
Utility model content
The purpose of this utility model be in that provide a kind of more simply, easily based on the indoor map construction device of earth magnetism, by the topology information of the indoor plane map generated and the corresponding interior space location fingerprint information based on earth magnetism and interior space acquisition channel, it is uploaded to the interior space reference map that remote server is implemented as indoor positioning.
Of the present utility model adopt the following technical scheme that realization.
The device that a kind of indoor map based on earth magnetism builds, including:
Movable carrier, is used for carrying data collection station, and the range coverage of traversal indoor carries out the recording of interior space location fingerprint information；
Human-computer interaction module, is responsible for realizing man-machine interaction and the Visualization of interior space structure in the process that indoor reference map builds；
Acquisition terminal includes the azimuthal acquisition module of interior space location fingerprint data obtaining module and robot；Interior space location fingerprint data obtaining module comprises geomagnetic sensor；Geomagnetic sensor is for gathering the earth's magnetic field three-component numerical value of indoor range coverage, and is returned to main control module；
The azimuthal acquisition module of robot, gathers boat parallactic angle and directional information, as the azimuth of robot motion；
Main control module, it is connected with human-computer interaction module, acquisition terminal, motor control and speed acquiring module, it is responsible for the co-ordination of interior space location fingerprint data obtaining module, human-computer interaction module, motor control and three modules of speed acquiring module, is responsible for the communication of acquisition terminal and remote server simultaneously；
Motor control and speed acquiring module, for controlling movable carrier and then driving acquisition terminal motion, control the switching of kinestate all around of acquisition terminal, obtain and record simultaneously the translational speed size of acquisition terminal by being installed in motor control and speed acquiring module the photoelectric sensor at motor position.
Further, described movable carrier adopts mobile apparatus people.
Further, described human-computer interaction module realizes exchanging of people and mobile apparatus people's input/output information by liquid crystal touch control screen, and interior space structure is shown with the plane map of two dimension by the Visualization of interior space structure by liquid crystal touch control screen.
Further, the azimuthal acquisition module of described robot is made up of gyroscope and digital compass；Gyroscope is used for the boat parallactic angle gathering in robot kinematics, and digital compass is used for the directional information gathering in robot kinematics.
Further, described main control module is made up of STM32 panel and peripheral circuit.
Compared with prior art, this utility model has the advantage that and technique effect: this utility model simple in construction, easy to operate, cost is low, overcome in indoor map building process, need to obtain in advance indoor plane figure, then upload after by its vector quantization, then carry out the shortcoming such as generation of the collection of indoor location finger print information, binding and routing information.Overcome that conventional mesh map data collecting cost is big simultaneously and after single-point acquiring, be interpolated the problem such as extra computation amount and data lost part verity of generation.This utility model need not obtain and be loaded into indoor plane figure in advance in interior space reference map building process, only need to determine that the interior space of target needs to build ground source of graph, terminal, node location and map structuring passage.This utility model device is relative to have cost low with other indoor map construction devices, workable, the advantage such as convenient and practical.
Accompanying drawing explanation
Fig. 1 is the structural representation of the acquisition terminal building indoor map embodiment based on mobile apparatus people described in the utility model；
Same acquisition channel different periods institute locality magnetic data sequence in Fig. 2 example；
Fig. 3 is the flow chart building indoor map enforcement acquisition method based on mobile apparatus people described in example.
Fig. 4 is the indoor map constructed by embodiment.
Detailed description of the invention.
Below in conjunction with embodiment and accompanying drawing, this utility model is described in further detail explanation, but embodiment of the present utility model is not limited to this.If it is noted that the following process having not detailed description especially or parameter, being all that those skilled in the art can refer to prior art understanding or realize.Specific embodiment can be different according to different conditions and demand, and this is also one of greatest feature of the present utility model.Of the present utility model it is crucial that structure is improved, relating to software section is that those skilled in the art are referred to prior art program realization.Now select two kinds of embodiments to illustrate, be based on mobile apparatus people respectively and two kinds of indoor map of intelligent mobile terminal build embodiment.
Fig. 1 is this example indoor map construction device structural representation based on earth magnetism.Known by operating platform, this device is mainly shown in that a, connecting rod are shown in that b, mobile apparatus human agent c tri-part form by figure.
As an example, if this device can be divided into three parts according to structure:
1. operating platform, this part is made up of liquid crystal touch control screen, geomagnetic sensor and corresponding load bearing component.This part can be communicated by wired or wireless signal and main controller, and operating platform and car body are detachable designs, according to wireless signal form, then needs to increase electric power system to this part.Why geomagnetic sensor is installed in this position, is primarily to and prevents two wheel mobile robots in motor process, the collection rotating the magnetic induction magnetic field data intrusively produced of motor.
2. connecting rod, this part is mainly a connecting rod, if the communication of operating platform and main controller adopts wired forms, then this part also includes wire.According to wireless, if a then connecting shaft.
3. mobile apparatus human agent, this part by robot base, wheel, motor, main controller, photoelectric sensor, infrared sensor, battery and corresponding peripheral circuit form.Mobile apparatus people's base carries a few part of main controller, battery and interlock circuit, wheel, motor and photoelectric sensor have collectively constituted motor control and the speed acquiring module of device, photoelectric sensor is for measuring the rotating speed of motor, thus realizing the acquisition to moveable robot movement speed.It is assembled with infrared sensor in the front and back of mobile apparatus human agent and right position, is mainly used in the effect of Mobile Robot Obstacle Avoidance and range finding, the sensing data that infrared sensor obtains is sent to main controller simultaneously, merge to motion control portion.
Mobile apparatus human agent and operating platform adopt separable design, can be easy for installation and removal.Mobile apparatus human agent's part, adopts two wheeler as movable carrier；The task cooperations such as main control module 4 is made up of STM32 panel and peripheral circuit, and responsible geomagnetic sensor collection, motion planning and robot control and speed obtain, the Visualization of indoor map communicates with remote server control；Motion planning and robot control and speed acquiring module 5, select corresponding motor drive module for drive motor operating, it is achieved the motor control of mobile apparatus people.Speed obtains and adopts photoelectric sensor to detect the velocity of rotation of motor and the translational speed of mobile apparatus people.Operating platform part, human-computer interaction module 1, selects liquid crystal touch control screen, it is possible to achieve interface display in implementation process and operation.Interior space location fingerprint data obtaining module 2, optionally Magnetic Sensor is used for obtaining interior space location fingerprint information；Geomagnetic sensor is positioned on the operating platform from motor control and speed acquiring module certain distance, do so is except facilitating the operation of interactive process, and topmost reason is the magnetic interference in reduction moveable robot movement process caused by electric machine rotation；The azimuthal acquisition module of mobile apparatus people 3 adopts the mode that gyroscope and digital compass combine to realize, and mobile apparatus people is azimuthal to be determined；Modules is driven work by main control module.Certainly, whole device also has a complete electric power system.
Device workflow under this embodiment is as it is shown on figure 3, at least comprise the following steps:
Step 1: such as Fig. 4, selects the position 501 of area starting point to be collected, acquisition channel 504, node 506 position and determine the topological relation of node and passage.The midline position of holding movable robot and acquisition channel.
Step 2: the calibration of geomagnetic sensor.The purpose of correction is that exclusively Magnetic Sensor is subject to the interference of electronic equipment.The present embodiment is clicked execution calibration procedure after starting mobile apparatus people and is carried out earth's magnetic field calibration.
Step 3: the collection of geomagnetic data.Pressing after geomagnetic sensor calibration and start to gather switch, main controller sends instruction to mobile apparatus people, and mobile apparatus people starts to start uniform motion towards acquisition channel direction from start position；Meanwhile, geomagnetic sensor enables and starts to gather interior space earth's magnetic field data.Meanwhile, carry out equally data process earth magnetism sensing numerical value three axle synthetic quantities as interior space location fingerprint information.
Step 4: the acquisition of moveable robot movement speed.Mobile apparatus people is in the process of uniform motion, and the speed that main controller timing inquiry mobile apparatus people moves, the value of speed is obtained by photoelectric sensor device and passes back, records the time used, thus calculating the distance that mobile apparatus people moves within a period of time simultaneously.Geomagnetic sensor collects geomagnetic data, is write in file by data form with json after mean filter.In the process, the path that mobile apparatus people passes by drawn out real-time dynamicly by liquid crystal touch control screen.
Step 4: the azimuthal angle calculation of mobile apparatus people and judgement.Mobile apparatus people in the process advanced by directional information that mobile apparatus people azimuthal acquisition module acquisition course angle of recording of gyroscope and digital compass are obtained.The course angle recorded in conjunction with gyroscope and the obtained directional information of digital compass move the azimuthal calculating of robot, judge whether mobile apparatus people wanders off with this azimuth, if mobile apparatus people wanders off at linear pick-up passage, then rectify a deviation, it is ensured that the linear uniform motion as far as possible all the time of mobile apparatus people.
Step 5: if region to be collected exists a plurality of acquisition channel, node is then had to exist, the motor process of mobile apparatus people to judge whether arrive node, determination methods can human intervention, also road sign can be set at node location, if arriving node is to switch acquisition channel and go successively to location fingerprint information process.Similarly, also judging whether to reach home, if reaching home, then stopping gathering.
Step 6: the interpolation of semantic label and patterned mark.After initial acquisition completes, liquid crystal touch control screen screen display is the indoor geometry topological diagram 505 of the two dimension generated after mobile apparatus people moves, and this plane geometry topological diagram only describes the corner position of the interior space and the topological relation of acquisition channel.Corresponding position on this geometry topological diagram is clicked and is patterned mark 502 and adds corresponding semantic label 503, for indoor particulate matter is described.Complete to add, namely bound semantic label in plane geometry topological diagram.So far, interior space reference map is generated.
Step 7: data base uploaded by map.After completing Graphic marking and semantic label, the binding namely completing the information such as the location fingerprint information of the interior space, indoor environment information and indoor geometry topological diagram generates final map file, then the map file completed is uploaded to remote server.Mode of specifically uploading is that map file is uploaded to remote server by http protocol by smart mobile phone end by remotely building http server for storing management map file.
Step 8: the screening of data, the a plurality of geomagnetic data curve of the same acquisition channel got by acquisition terminal, screening technique is that remote server utilizes AP algorithm that it is carried out clustering processing, obtains the most representational geomagnetic data curve earth magnetism datum curve as this acquisition channel.
Claims (4)
1. the device built based on the indoor map of earth magnetism, it is characterised in that including:
Movable carrier, adopts mobile apparatus people, is used for carrying data collection station, and the range coverage of traversal indoor carries out the recording of interior space location fingerprint information；
Human-computer interaction module, is responsible for realizing man-machine interaction and the Visualization of interior space structure in the process that indoor reference map builds；
Acquisition terminal includes interior space location fingerprint data obtaining module and the azimuthal acquisition module of mobile apparatus people；Interior space location fingerprint data obtaining module comprises geomagnetic sensor；Geomagnetic sensor is for gathering the earth's magnetic field three-component numerical value of indoor range coverage, and is returned to main control module；
The azimuthal acquisition module of mobile apparatus people, gathers boat parallactic angle and directional information, as the azimuth of moveable robot movement；
Main control module, it is connected with human-computer interaction module, acquisition terminal, motor control and speed acquiring module, it is responsible for the co-ordination of interior space location fingerprint data obtaining module, human-computer interaction module, motor control and three modules of speed acquiring module, is responsible for the communication of acquisition terminal and remote server simultaneously；
Motor control and speed acquiring module, for controlling movable carrier and then driving acquisition terminal motion, control the switching of kinestate all around of acquisition terminal, obtain and record simultaneously the translational speed size of acquisition terminal by being installed in motor control and speed acquiring module the photoelectric sensor at motor position.
2. the device that the indoor map based on earth magnetism according to claim 1 builds, it is characterized in that described human-computer interaction module realizes exchanging of people and mobile apparatus people's input/output information by liquid crystal touch control screen, interior space structure is shown with the plane map of two dimension by the Visualization of interior space structure by liquid crystal touch control screen.
3. the device that the indoor map based on earth magnetism according to claim 1 builds, it is characterised in that the azimuthal acquisition module of described robot is made up of gyroscope and digital compass；Gyroscope is used for the boat parallactic angle gathering in robot kinematics, and digital compass is used for the directional information gathering in robot kinematics.
4. the device that the indoor map based on earth magnetism according to any one of claim 1 ~ 3 builds, it is characterised in that described main control module is made up of STM32 panel and peripheral circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620140074.XU CN205403803U (en) | 2016-02-25 | 2016-02-25 | Indoor map structure device based on earth magnetism |
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| CN201620140074.XU CN205403803U (en) | 2016-02-25 | 2016-02-25 | Indoor map structure device based on earth magnetism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106767773A (en) * | 2016-07-22 | 2017-05-31 | 桂林电子科技大学 | A kind of indoor earth magnetism reference map construction method and its device |
| CN108240808A (en) * | 2017-12-18 | 2018-07-03 | 苏州点格信息科技有限公司 | Indoor earth magnetism map automatic collector |
| CN108646749A (en) * | 2018-06-07 | 2018-10-12 | 杭州晶智能科技有限公司 | Indoor mobile robot environmental map method for building up based on wireless network and Geomagnetic signal |
| CN108827289A (en) * | 2018-04-28 | 2018-11-16 | 上海木木机器人技术有限公司 | A kind of orientation recognition method and system of robot |
-
2016
- 2016-02-25 CN CN201620140074.XU patent/CN205403803U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106767773A (en) * | 2016-07-22 | 2017-05-31 | 桂林电子科技大学 | A kind of indoor earth magnetism reference map construction method and its device |
| CN106767773B (en) * | 2016-07-22 | 2020-06-19 | 桂林电子科技大学 | Indoor geomagnetic reference map construction method and device |
| CN108240808A (en) * | 2017-12-18 | 2018-07-03 | 苏州点格信息科技有限公司 | Indoor earth magnetism map automatic collector |
| CN108827289A (en) * | 2018-04-28 | 2018-11-16 | 上海木木机器人技术有限公司 | A kind of orientation recognition method and system of robot |
| CN108827289B (en) * | 2018-04-28 | 2021-09-07 | 诺亚机器人科技(上海)有限公司 | Robot direction identification method and system |
| CN108646749A (en) * | 2018-06-07 | 2018-10-12 | 杭州晶智能科技有限公司 | Indoor mobile robot environmental map method for building up based on wireless network and Geomagnetic signal |
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Granted publication date: 20160727 |