WO2022041861A1 - 一种基于三维地图重构的环境探测方法、系统及设备 - Google Patents

一种基于三维地图重构的环境探测方法、系统及设备 Download PDF

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WO2022041861A1
WO2022041861A1 PCT/CN2021/094594 CN2021094594W WO2022041861A1 WO 2022041861 A1 WO2022041861 A1 WO 2022041861A1 CN 2021094594 W CN2021094594 W CN 2021094594W WO 2022041861 A1 WO2022041861 A1 WO 2022041861A1
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value
detection
dimensional
dimensional map
environmental
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PCT/CN2021/094594
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English (en)
French (fr)
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张建民
龙佳乐
胡良沛
邓小媚
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五邑大学
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory

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  • the invention relates to the field of environmental detection, in particular to an environmental detection method, system and device based on three-dimensional map reconstruction.
  • Environmental detection technology is a technology for data detection and extraction for the environment. Because it involves energy, environment and other parts that are closely related to human life, it is a key research project of modern governments or scientific research institutions. Environmental detection is one of them.
  • the current environmental detection cannot obtain the environmental data of the detection space and the overall data of the internal appearance at the same time.
  • the environmental data includes temperature, humidity and gas concentration, etc., which makes it impossible to effectively prevent accidents;
  • the topography adjusts the position of the rover, which reduces the detection accuracy of the rover for environmental data.
  • the purpose of the present invention is to solve at least one of the technical problems existing in the prior art, and to provide an environmental detection method, system and equipment based on three-dimensional map reconstruction, which can effectively prevent accidents and improve the detection of environmental data by the detection vehicle. precision.
  • the present invention provides an environment detection method based on three-dimensional map reconstruction, which is applied to an environment detection system based on three-dimensional map reconstruction including a probe vehicle and a remote terminal, including:
  • a deviation analysis method is used to obtain a correction signal
  • the environmental information detection value and the three-dimensional information detection value obtain the environmental information feedback signal and the three-dimensional information feedback signal
  • the environmental information feedback signal and the three-dimensional information feedback signal are sent to the remote terminal, so that the remote terminal reconstructs a three-dimensional map and displays environmental data.
  • the method includes:
  • the traveling of the probe vehicle is controlled.
  • the environmental information detection value includes temperature value, humidity value and CO gas concentration value
  • the three-dimensional information detection value includes left space distance value, right space distance value, head space distance value and angle value.
  • obtaining the environmental information feedback signal and the three-dimensional information feedback signal according to the environmental information detection value and the three-dimensional information detection value including:
  • the temperature value, the humidity value and the CO gas concentration value use the serial communication protocol to obtain an environmental information feedback signal
  • a three-dimensional information feedback signal is obtained by using a serial communication protocol.
  • the deviation analysis method is used to obtain a correction signal, including:
  • the deviation value is obtained by using the deviation formula
  • L is the left spatial distance value
  • R is the right spatial distance value
  • D is the deviation value
  • the present invention provides an environment detection system based on three-dimensional map reconstruction, including a detection vehicle and a remote terminal, and the detection vehicle includes:
  • the sensor module is used to obtain the detection value of environmental information and the detection value of three-dimensional information
  • the main control chip is used to obtain a correction signal according to the detection value of the three-dimensional information by using the deviation analysis method, and the main control chip obtains the feedback signal of the environmental information and the feedback of the three-dimensional information according to the detection value of the environmental information and the detection value of the three-dimensional information signal, the main control chip is electrically connected with the sensor module;
  • a driving module used for correcting the traveling of the probe vehicle according to the correction signal, and the driving module is electrically connected with the main control chip;
  • the vehicle-mounted wireless module is used for sending the environmental information feedback signal and the three-dimensional information feedback signal to the remote terminal, so that the remote terminal can reconstruct a three-dimensional map and display environmental data, and the vehicle-mounted wireless module is connected to the
  • the main control chip is electrically connected.
  • the sensor module includes a left ranging sensor, a right ranging sensor, a top ranging sensor, an angle detection sensor, a temperature and humidity sensor and a CO gas concentration sensor, and the left ranging sensor is used to obtain the detection
  • the left side space distance value of the car is used to obtain the right side space distance value of the probe car
  • the top distance sensor is used to obtain the head space distance value of the probe car
  • the The angle detection sensor is used to obtain the axial angle value of the detection vehicle in the detection space.
  • the remote terminal includes a communication module, a signal processing module and a display module.
  • the remote terminal communicates with the vehicle wireless module through the communication module.
  • the communication module and the display module are respectively electrically connected to the signal processing module, the signal processing module is used for three-dimensional map reconstruction and environmental data analysis, and the display module is used to display the three-dimensional map and environmental data .
  • the present invention provides an environment detection device based on three-dimensional map reconstruction, comprising at least one control processor and a memory for communicating with the at least one control processor; the memory stores information that can be used by the at least one control processor The executed instructions are executed by the at least one control processor, so that the at least one control processor can execute the environment detection method based on the three-dimensional map reconstruction as described above.
  • the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause a computer to execute the above-mentioned environment detection method based on three-dimensional map reconstruction .
  • the present invention also provides a computer program product, the computer program product including a computer program stored on a computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer , to make the computer execute the above-mentioned environment detection method based on three-dimensional map reconstruction.
  • the present invention provides an environment detection method, system and device based on three-dimensional map reconstruction, which can obtain the detection value of environmental information and the detection value of three-dimensional information.
  • the remote terminal can reconstruct the three-dimensional map and display the environmental data, which can prevent the occurrence of dangerous accidents in a timely and effective manner, and effectively ensure the safety of personnel and equipment; Travel, so that the probe car travels in the middle of the road, so as to ensure that the probe car detects comprehensive and effective environmental information detection values in the detection space, and improves the detection accuracy of the probe car to environmental data.
  • FIG. 1 is a flowchart of an environment detection method based on three-dimensional map reconstruction provided by the first embodiment of the present invention
  • FIG. 2 is a flowchart of a specific method before step S100 in an environment detection method based on three-dimensional map reconstruction provided by the first embodiment of the present invention
  • step S400 is a flowchart of a specific method of step S400 in an environment detection method based on three-dimensional map reconstruction provided by the first embodiment of the present invention
  • step S200 is a flowchart of a specific method of step S200 in an environment detection method based on three-dimensional map reconstruction provided by the first embodiment of the present invention
  • FIG. 5 is a system block diagram of an environment detection system based on three-dimensional map reconstruction provided by the second embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of an environment detection device based on three-dimensional map reconstruction provided by the third embodiment of the present invention.
  • 100-probe car 110-main control chip, 120-sensor module, 121-left ranging sensor, 122-right ranging sensor, 123-top ranging sensor, 124-angle detection sensor, 125-temperature and humidity sensor , 126-CO gas concentration sensor, 130-drive module, 140-vehicle wireless module, 200-remote terminal, 210-communication module, 220-signal processing module, 230-display module, 300-environmental detection based on three-dimensional map reconstruction Device, 310 - Control Processor, 320 - Memory.
  • a flowchart of an environment detection method based on three-dimensional map reconstruction can also be performed by an environment detection system based on three-dimensional map reconstruction. Specifically include:
  • obtaining the detection value of environmental information and the detection value of 3D information enabling the remote terminal to reconstruct the 3D map and display the environmental data, can timely and effectively prevent the occurrence of dangerous accidents, and effectively ensure the safety of personnel and equipment; according to the detection value of the 3D information , using the deviation analysis method to obtain the correction signal, correct the travel of the probe car, so that the probe car travels in the middle of the road, so as to ensure that the probe car can detect comprehensive and effective environmental data in the detection space, and improve the detection accuracy of the probe car to the environmental data.
  • step S100 it includes:
  • S610 Receive a start signal, and obtain a PWM drive signal
  • the environmental information detection value includes temperature value, humidity value and CO gas concentration value
  • the three-dimensional information detection value includes left space distance value, right space distance value, head space distance value and angle value.
  • the spatial distance value and angle value can effectively reconstruct the three-dimensional map.
  • step S400 includes:
  • S410 according to the temperature value, the humidity value and the CO gas concentration value, use the serial communication protocol to obtain the environmental information feedback signal;
  • the environmental information detection value is packaged by serial communication protocol to obtain the environmental information feedback signal; when the detection vehicle is located in the relative middle position, the X-axis of the record is initially considered to start from 1, and the value 1 is stored in X[]
  • the probe car starts to scan the space two-dimensionally, using the angle value to confirm the Y-axis data in the space, and using the top space distance value to confirm the Z-axis data in the space. Assuming that there are 5 angles collected, they are stored in the array Y respectively. In [] and Z[], the space is regarded as many slices, and five points are collected in each slice.
  • the collected 5 3D coordinate data are packaged using the serial communication protocol to obtain the 3D information feedback signal, and the environmental information
  • the feedback signal and the three-dimensional information feedback signal are sent to the remote terminal; after the transmission is completed, the driving module controls the travel of the probe car, and the car continues to move forward 2CM, then the X-axis coordinate is incremented by 2 and stored in X[], and then repeat the above Steps, multiple sets of coordinate data can be obtained, which ensures the reliability of data transmission.
  • step S200 includes:
  • step S210 the deviation formula is:
  • L is the left spatial distance value
  • R is the right spatial distance value
  • D is the deviation value
  • the deviation value between the probe car and the road is obtained by analyzing the left space distance value and the right space distance value by using the deviation formula, so as to control the motor speed of the drive module and the forward and reverse rotation of the motor to make the detection
  • the vehicle drives along the middle of the detection space, and the motor speed is positively correlated with the deviation value of the detection vehicle.
  • the rotation angle is large, and when the deviation is small, the rotation angle is small, which can effectively correct the forward direction of the detection vehicle and ensure that the detection vehicle is in Comprehensive and effective environmental data is detected in the detection space, and the detection accuracy of the environmental data by the detection vehicle is improved.
  • an environment detection system based on three-dimensional map reconstruction includes a detection vehicle and a remote terminal, and the detection vehicle includes:
  • the sensor module is used to obtain the detection value of environmental information and the detection value of three-dimensional information
  • the main control chip is used to obtain the correction signal according to the detection value of the three-dimensional information and the deviation analysis method.
  • the main control chip obtains the environmental information feedback signal and the three-dimensional information feedback signal according to the detection value of the environmental information and the three-dimensional information.
  • the sensor module is electrically connected;
  • the driving module is used for correcting the traveling of the probe vehicle according to the correction signal, and the driving module is electrically connected with the main control chip;
  • the on-board wireless module is used to send the environmental information feedback signal and the three-dimensional information feedback signal to the remote terminal, so that the remote terminal can reconstruct the three-dimensional map and display the environmental data.
  • the on-board wireless module is electrically connected to the main control chip.
  • the sensor module includes a left ranging sensor, a right ranging sensor, a top ranging sensor, an angle detection sensor, a temperature and humidity sensor, and a CO gas concentration sensor.
  • the left ranging sensor is used to obtain the left spatial distance value of the probe vehicle.
  • the right ranging sensor is used to obtain the right space distance value of the probe car, the top ranging sensor is used to obtain the head space distance value of the probe car, and the angle detection sensor is used to obtain the axial angle value of the probe car in the detection space.
  • the remote terminal includes a communication module, a signal processing module and a display module.
  • the remote terminal transmits signals to the vehicle wireless module through the communication module.
  • the communication module and the display module are electrically connected to the signal processing module respectively.
  • the signal processing module is used for three-dimensional map reconstruction and Environmental data analysis, the display module is used to display three-dimensional maps and environmental data.
  • the drive module includes a servo motor and a motor drive chip, and the main control chip and the servo motor are electrically connected to the motor drive chip respectively; the distance measuring component, the main control chip and the drive module form a closed-loop control system; the left side distance measuring The sensor and the right ranging sensor obtain the distance data of the probe car, and through the analysis of the main control chip, the deviation value of the probe car is obtained, and then the main control chip adjusts the output duty cycle of the PWM drive signal and adjusts the output pin of the main control chip , the motor drive chip controls the forward and reverse rotation of the servo motor according to the PWM drive signal, so as to control the rotation of the detection vehicle, so that the detection vehicle travels along the middle position of the detection space; the judgment of the angle value by the main control chip is based on the preset 1MS timing
  • the processing function is used to determine whether the TIM overflow flag is 1, so as to achieve the purpose of adjusting the PWM parameter value of the servo motor; through the temperature and humidity sensor
  • the main control chip uses the vehicle wireless module to send the environmental information detection value and the three-dimensional information detection value to the In the remote terminal, the signal processing module of the remote terminal performs three-dimensional map reconstruction according to these data, and displays the real-time environmental data and three-dimensional map in the display module, which can effectively prevent the occurrence of dangerous accidents and effectively protect the safety of personnel and equipment;
  • the main control chip analyzes and obtains the deviation value between the detection vehicle and the detection space road, so as to use the drive module to adjust the position of the detection vehicle to make it travel in the middle of the road, so as to ensure that the detection vehicle can fully detect the detection space.
  • the effective detection value of environmental information improves the detection accuracy of the detection vehicle for environmental data.
  • the main control chip adopts the Cortex-M3 core STM32F series developed by ARM company, and its maximum operating frequency can reach 72MHZ, which has the advantages of high performance, low cost and low power consumption;
  • the ranging component adopts Sharp infrared ranging sensor, model GP2Y0A21YK0F, its The distance measurement range is 10-80cm, and it has been modularized to measure spaces of different sizes.
  • the angle detection component adopts MPU6050 chip, based on DMP acquisition
  • the angle data can accurately collect the angle value of each axis, so that the position information at each moment can be obtained with high precision and speed, and accurate position information can be provided for the construction of three-dimensional coordinates
  • the vehicle wireless module adopts the HC-05 Bluetooth module, the highest The transmission baud rate is up to 10M, and the data transmission success rate is higher than that of the NRF transmission module
  • the motor driver chip adopts the TB6612FNG chip, which is a dual driver, can drive two motors, and has good heat dissipation performance.
  • the specific work flow is: when the probe car enters the detection space, after the probe car receives the signal from the remote terminal, the drive module and the sensor module start to work, the probe car starts to drive, and through the sensor module, the environmental information detection value and the three-dimensional information detection value are obtained;
  • the deviation between the probe car and the road is obtained by analyzing the left space distance value and the right space distance value.
  • the main control chip uses pulse width modulation to control the rotation of the probe car, so that the probe car is on the road. Driving in the middle; when the probe car is located in the relatively middle position, it is initially considered that the recorded X axis starts from 1, and the value 1 is saved in the X[] array.
  • the probe car starts to scan the space two-dimensionally, and uses the angle value to confirm the Y in the space.
  • Axis data use the top space distance value to confirm the Z-axis data in the space.
  • the space is regarded as many slices, and each slice collects five
  • pack the collected 5 3D coordinate data using serial communication protocol to obtain 3D information feedback signal, and send the environmental information feedback signal and 3D information feedback signal to the remote terminal; after the transmission is completed, the drive module controls the probe car If the car continues to move forward 2CM, then the X-axis coordinate is incremented by 2 each time and stored in X[], and then repeating the above steps, multiple sets of coordinate data can be obtained, which ensures the reliability of data transmission; in terms of software , a remote terminal based on MATLAB is designed.
  • MATLAB After MATLAB processes the received data, it is displayed in the corresponding display box, which can display the temperature, humidity and CO concentration information in the environment respectively.
  • 3D landform reconstruction processing and display part after the rover has been successfully connected, store each group of XYZ axis data received in the corresponding X[], Y[], Z[] arrays, first use the linspace function Perform equal-amount interpolation processing, increase the number of fitted discrete points, and generate X and Y matrices of equal size after meshgrid processing, and then use the V4 method griddata method of biharmonic spline interpolation in MATLAB to draw a graphic coordinate grid, and finally use mesh
  • the function displays the reconstructed 3D landform on the coordinate axis and distinguishes the 3D images of different heights by color, and uses alpha to set the transparency, which is convenient for displaying the internal landform, and the image is highly visible.
  • local data can also be reconstructed.
  • an environment detection device 300 based on three-dimensional map reconstruction can be any type of intelligent terminal, such as a mobile phone, a tablet computer, personal computer, etc.
  • the environment detection device 300 based on three-dimensional map reconstruction includes: one or more control processors 310 and a memory 320, and one control processor 310 is taken as an example in FIG. 6 .
  • control processor 310 and the memory 320 may be connected by a bus or in other ways, and the connection by a bus is taken as an example in FIG. 6 .
  • the memory 320 can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as the environment detection method based on three-dimensional map reconstruction in the embodiment of the present invention Corresponding program instructions/modules, for example, the receiving module 110 and the processing module 120 shown in FIG. 6 .
  • the control processor 310 implements the three-dimensional map reconstruction-based environment detection method of the above method embodiments by running the non-transitory software programs, instructions and modules stored in the memory 320 .
  • the memory 320 may include a storage program area and a storage data area, wherein the storage program area may store an operation method, an application program required for at least one function; the storage data area may store data created using use, and the like. Additionally, memory 320 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 320 may optionally include a memory located remotely relative to the control processor 310, and these remote memories may be connected to the three-dimensional map reconstruction-based environment detection device 300 through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • One or more modules are stored in the memory 320, and when executed by one or more control processors 310, execute the environment detection method based on three-dimensional map reconstruction in the above method embodiments, for example, execute the above-described method in FIG. 1 .
  • method steps S100 to S500 in FIG. 2 method steps S610 to S620 in FIG. 2 , method steps S410 to S420 in FIG. 3 , and method steps S210 to S220 in FIG. 4 .
  • Embodiments of the present invention further provide a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more control processors 310, for example, by the control processor 310 in FIG. 6 .
  • Executed by one control processor 310 the above-mentioned one or more control processors 310 can execute the three-dimensional map reconstruction-based environment detection method in the above method embodiment, for example, execute the above-described method steps S100 to S500 in FIG. 1 . , the method steps S610 to S620 in FIG. 2 , the method steps S410 to S420 in FIG. 3 , and the method steps S210 to S220 in FIG. 4 .
  • each embodiment can be implemented by means of software plus a general hardware platform.
  • the program can be stored in a computer-readable storage medium, and the program can be executed when the program is executed. , the flow of the above-mentioned method embodiments may be included.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ReadOnly Memory, ROM), or a random access memory (Random Access Memory, RAM), and the like.

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Abstract

一种基于三维地图重构的环境探测方法，包括：获取环境信息检测值和三维信息检测值（S100）；根据三维信息检测值，利用偏差分析法，得到校正信号（S200）；根据校正信号，校正探测车的行进（S300）；根据环境信息检测值和三维信息检测值，得到环境信息反馈信号和三维信息反馈信号（S400）；将环境信息反馈信号和三维信息反馈信号发送至远程终端，以使远程终端重构三维地图和显示环境数据（S500）。获取环境信息检测值和三维信息检测值，使远程终端重构三维地图和显示环境数据，可以及时有效地预防危险事故发生；根据三维信息检测值，利用偏差分析法，得到校正信号，校正探测车的行进，提高探测车对环境数据的探测精度。还公开了一种基于三维地图重构的环境探测系统、一种基于三维地图重构的环境探测设备及一种计算机可读存储介质。

Description

一种基于三维地图重构的环境探测方法、系统及设备 技术领域
本发明涉及环境探测领域，特别涉及一种基于三维地图重构的环境探测方法、系统及设备。
背景技术
环境探测技术是针对环境进行数据探测提取的一种技术，由于涉及到能源、环境等各个与人类生活息息相关的部分，因此是现代各国政府或科研机构重点研究的项目，其中基于三维地貌重构的环境探测即是其中的一种。
目前的环境探测无法同时得到探测空间的环境数据和内部形貌的整体数据，环境数据包括有温度、湿度和气体浓度等，导致无法有效的预防事故发生；探测车在行进过程中，无法根据内部形貌调整探测车的位置，导致探测车对环境数据的探测精度下降。
发明内容
本发明的目的在于至少解决现有技术中存在的技术问题之一，提供一种基于三维地图重构的环境探测方法、系统及设备，能够有效的预防事故发生和提高探测车对环境数据的探测精度。
本发明解决其技术问题的解决方案是：
第一方面，本发明提供了一种基于三维地图重构的环境探测方法，应用于包括有探测车和远程终端的基于三维地图重构的环境探测系统，包括：
获取环境信息检测值和三维信息检测值；
根据所述三维信息检测值，利用偏差分析法，得到校正信号；
根据所述校正信号，校正所述探测车的行进；
根据所述环境信息检测值和三维信息检测值，得到环境信息反馈信号和三维信息反馈信号；
将所述环境信息反馈信号和所述三维信息反馈信号发送至所述远程终端，以使所述远程终端重构三维地图和显示环境数据。
进一步，所述获取环境信息检测值和三维信息检测值之前，包括：
接收启动信号，得到PWM驱动信号；
根据所述PWM驱动信号，控制探测车的行进。
进一步，所述环境信息检测值包括温度值、湿度值和CO气体浓度值，所述三维信息检测值包括左侧空间距离值、右侧空间距离值、顶部空间距离值和角度值。
进一步，所述根据所述环境信息检测值和三维信息检测值，得到环境信息反馈信号和三维信息反馈信号，包括：
根据所述温度值、所述湿度值和所述CO气体浓度值，利用串口通信协议，得到环境信息反馈信号；
根据所述角度值和所述顶部空间距离值，利用串口通信协议，得到三维信息反馈信号。
进一步，所述根据所述三维信息检测值，利用偏差分析法，得到校正信号，包括：
根据所述左侧空间距离值和所述右侧空间距离值，利用偏差公式，得到偏差值；
根据所述偏差值，得到校正信号。
进一步，所述偏差公式为：
D＝(L-R)/(L+R)，
其中，L为左侧空间距离值，R为右侧空间距离值，D为偏差值。
第二方面，本发明提供了一种基于三维地图重构的环境探测系统，包括有探 测车和远程终端，所述探测车包括：
传感器模块，用于获取环境信息检测值和三维信息检测值；
主控芯片，用于根据所述三维信息检测值，利用偏差分析法，得到校正信号，所述主控芯片根据所述环境信息检测值和三维信息检测值，得到环境信息反馈信号和三维信息反馈信号，所述主控芯片与所述传感器模块电性连接；
驱动模块，用于根据所述校正信号，校正所述探测车的行进，所述驱动模块与所述主控芯片电性连接；
车载无线模块，用于将所述环境信息反馈信号和所述三维信息反馈信号发送至所述远程终端，以使所述远程终端重构三维地图和显示环境数据，所述车载无线模块与所述主控芯片电性连接。
进一步，所述传感器模块包括左侧测距传感器、右侧测距传感器、顶部测距传感器、角度探测传感器、温湿度传感器和CO气体浓度传感器，所述左侧测距传感器用于得到所述探测车的左侧空间距离值，所述右侧测距传感器用于得到所述探测车的右侧空间距离值，所述顶部测距传感器用于得到所述探测车的顶部空间距离值，所述角度探测传感器用于获取探测车在探测空间内轴向的角度值，所述远程终端包括通讯模块、信号处理模块和显示模块，所述远程终端通过所述通讯模块与所述车载无线模块进行信号传输，所述通讯模块和所述显示模块分别与所述信号处理模块电性连接，所述信号处理模块用于三维地图重构和环境数据分析，所述显示模块用于显示三维地图和环境数据。
第三方面，本发明提供了一种基于三维地图重构的环境探测设备，包括至少一个控制处理器和用于与至少一个控制处理器通信连接的存储器；存储器存储有可被至少一个控制处理器执行的指令，指令被至少一个控制处理器执行，以使至少一个控制处理器能够执行如上所述的基于三维地图重构的环境探测方法。
第四方面，本发明提供了一种计算机可读存储介质，计算机可读存储介质存储有计算机可执行指令，计算机可执行指令用于使计算机执行如上所述的基于三维地图重构的环境探测方法。
第五方面，本发明还提供了一种计算机程序产品，所述计算机程序产品包括存储在计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使计算机执行如上所述的基于三维地图重构的环境探测方法。
本发明实施例中提供的一个或多个技术方案，至少具有如下有益效果：本发明给出了一种基于三维地图重构的环境探测方法、系统及设备，获取环境信息检测值和三维信息检测值，使远程终端重构三维地图和显示环境数据，可以及时有效地预防危险事故发生，有效保障人员和设备的安全；根据三维信息检测值，利用偏差分析法，得到校正信号，校正探测车的行进，使探测车在道路中间行进，从而保证探测车对探测空间检测到全面有效的环境信息检测值，提高探测车对环境数据的探测精度。
附图说明
下面结合附图和实施例对发明进一步地说明；
图1是本发明第一实施例提供的一种基于三维地图重构的环境探测方法的流程图；
图2是本发明第一实施例提供的一种基于三维地图重构的环境探测方法中步骤S100之前的具体方法流程图；
图3是本发明第一实施例提供的一种基于三维地图重构的环境探测方法中步骤S400的具体方法流程图；
图4是本发明第一实施例提供的一种基于三维地图重构的环境探测方法中步骤S200的具体方法流程图；
图5是本发明第二实施例提供的一种基于三维地图重构的环境探测系统的系统框图；
图6是本发明第三实施例提供的一种基于三维地图重构的环境探测设备的 结构示意图；
图中标号：
100-探测车、110-主控芯片、120-传感器模块、121-左侧测距传感器、122-右侧测距传感器、123-顶部测距传感器、124-角度探测传感器、125-温湿度传感器、126-CO气体浓度传感器、130-驱动模块、140-车载无线模块、200-远程终端、210-通讯模块、220-信号处理模块、230-显示模块、300-基于三维地图重构的环境探测设备、310-控制处理器、320-存储器。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
需要说明的是，如果不冲突，本发明实施例中的各个特征可以相互结合，均在本发明的保护范围之内。另外，虽然在装置示意图中进行了功能模块划分，在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于装置中的模块划分，或流程图中的顺序执行所示出或描述的步骤。
在本发明的第一实施例中，如图1所示，一种基于三维地图重构的环境探测方法的流程图，该方法也可以由基于三维地图重构的环境探测系统来执行，该方法具体包括：
S100、获取环境信息检测值和三维信息检测值；
S200、根据三维信息检测值，利用偏差分析法，得到校正信号；
S300、根据校正信号，校正探测车的行进；
S400、根据环境信息检测值和三维信息检测值，得到环境信息反馈信号和三维信息反馈信号；
S500、将环境信息反馈信号和三维信息反馈信号发送至远程终端，以使远程终端重构三维地图和显示环境数据。
可以理解的是，获取环境信息检测值和三维信息检测值，使远程终端重构三维地图和显示环境数据，可以及时有效地预防危险事故发生，有效保障人员和设备的安全；根据三维信息检测值，利用偏差分析法，得到校正信号，校正探测车的行进，使探测车在道路中间行进，从而保证探测车对探测空间检测到全面有效的环境数据，提高探测车对环境数据的探测精度。
如图2所示，步骤S100之前，包括：
S610、接收启动信号，得到PWM驱动信号；
S620、根据PWM驱动信号，控制探测车的行进。
可以理解的是，通过PWM驱动信号控制探测车的行进，能够保证探测车行进控制的精准性，从而保证重构的三维地图的精度。
步骤S100中，环境信息检测值包括温度值、湿度值和CO气体浓度值，三维信息检测值包括左侧空间距离值、右侧空间距离值、顶部空间距离值和角度值。
可以理解的是，通过获取温度值、湿度值和CO气体浓度值，可以及时有效地预防危险事故发生，有效保障人员和设备的安全，通过获取左侧空间距离值、右侧空间距离值、顶部空间距离值和角度值，能够有效重构三维地图。
如图3所示，步骤S400包括：
S410、根据温度值、湿度值和CO气体浓度值，利用串口通信协议，得到环境信息反馈信号；
S420、根据角度值和顶部空间距离值，利用串口通信协议，得到三维信息反馈信号。
可以理解的是，将环境信息检测值，利用串口通信协议进行打包，得到环境信息反馈信号；当探测车位于相对中间位置后，初始认为记录的X轴从1开始，保存数值1在X[]数组中，同时探测车开始对空间进行二维扫描，利用角度值确认空间中Y轴数据，利用顶部空间距离值确认空间中Z轴数据，假设采集的角度有5个，则分别保存在数组Y[]和Z[]中，也即将空间视为许多切片，每个切片采集五个点，最后将采集的5个三维坐标数据，利用串口通信协议进行打包，得到 三维信息反馈信号，将环境信息反馈信号和三维信息反馈信号发送给远程终端；发送完成后，驱动模块控制探测车的行进，小车继续向前方前进2CM，则X轴坐标每次加2并保存在X[]中，随后重复以上步骤，就可得到多组坐标数据，保证了数据传递的可靠性。
如图4所示，步骤S200包括：
S210、根据左侧空间距离值和右侧空间距离值，利用偏差公式，得到偏差值；
S220、根据偏差值，得到校正信号。
步骤S210中，偏差公式为：
D＝(L-R)/(L+R)，
其中，L为左侧空间距离值，R为右侧空间距离值，D为偏差值。
可以理解的是，
在探测车行驶过程中，通过左侧空间距离值和右侧空间距离值，利用偏差公式，分析得到探测车与道路中间的偏差值，从而控制驱动模块的电机转速和电机正反转，使探测车沿探测空间的中间位置行驶，电机转速与探测车的偏差值成正相关，偏差大时转动角度大，偏差小时转动角度小，能够使探测车的前进方向进行有效的校正，从而保证探测车在探测空间内检测到全面有效的环境数据，提高探测车对环境数据的探测精度。
在本发明的第二实施例中，如图5所示，一种基于三维地图重构的环境探测系统，包括有探测车和远程终端，探测车包括：
传感器模块，用于获取环境信息检测值和三维信息检测值；
主控芯片，用于根据三维信息检测值，利用偏差分析法，得到校正信号，主控芯片根据环境信息检测值和三维信息检测值，得到环境信息反馈信号和三维信息反馈信号，主控芯片与传感器模块电性连接；
驱动模块，用于根据校正信号，校正探测车的行进，驱动模块与主控芯片电性连接；
车载无线模块，用于将环境信息反馈信号和三维信息反馈信号发送至远程终 端，以使远程终端重构三维地图和显示环境数据，车载无线模块与主控芯片电性连接。
传感器模块包括左侧测距传感器、右侧测距传感器、顶部测距传感器、角度探测传感器、温湿度传感器和CO气体浓度传感器，左侧测距传感器用于得到探测车的左侧空间距离值，右侧测距传感器用于得到探测车的右侧空间距离值，顶部测距传感器用于得到探测车的顶部空间距离值，角度探测传感器用于获取探测车在探测空间内轴向的角度值，远程终端包括通讯模块、信号处理模块和显示模块，远程终端通过通讯模块与车载无线模块进行信号传输，通讯模块和显示模块分别与信号处理模块电性连接，信号处理模块用于三维地图重构和环境数据分析，显示模块用于显示三维地图和环境数据。
可以理解的是，驱动模块包括伺服电机和电机驱动芯片，主控芯片和伺服电机分别与电机驱动芯片电性连接；测距组件、主控芯片和驱动模块组成了闭环控制系统；左侧测距传感器和右侧测距传感器得到探测车的距离数据，通过主控芯片的分析，得到探测车的偏差值，然后主控芯片调整PWM驱动信号的输出占空比以及调整主控芯片的输出管脚，电机驱动芯片根据PWM驱动信号控制伺服电机的正反转，从而控制探测车的转动，使探测车沿探测空间的中间位置行驶；主控芯片对角度值的判定是基于预先设定的1MS定时处理函数来进行判定的，通过判定其TIM溢出标志是否为1来实现，从而达到调节伺服电机的PWM参数值的目的；通过温湿度传感器和CO气体浓度传感器，获得探测空间的环境信息检测值，通过左侧测距传感器、右侧测距传感器、顶部测距传感器和角度探测传感器，获得探测空间的三维信息检测值，主控芯片利用车载无线模块将环境信息检测值和三维信息检测值发送至远程终端，由远程终端的信号处理模块根据这些数据进行三维地图重构，并显示模块中显示实时的环境数据和三维地图，可以及时有效地预防危险事故发生，有效保障人员和设备的安全；通过测距组件的探测，主控芯片分析得到探测车与探测空间道路中间的偏差值，从而利用驱动模块调节探测车的位置，使其在道路中间行进，从而能够保证探测车对探测空间检测到全面有效的 环境信息检测值，提高探测车对环境数据的探测精度。
主控芯片采用ARM公司开发的Cortex-M3内核STM32F系列，其最高工作频率可达72MHZ，优点是高性能，低成本，低功耗；测距组件采用夏普红外测距传感器，型号为GP2Y0A21YK0F，其距离测量范围为10-80cm，已模块化设置，可对不同大小的空间进行测量，同时可更换不同检测距离的传感器，以满足操作人员对探测的要求；角度探测组件采用MPU6050芯片，基于DMP采集角度数据，可准确采集每个轴的角度值，从而可高精度、快速地获得每一时刻的位置信息，并为三维坐标构建提供准确的位置信息；车载无线模块采用HC-05蓝牙模块，最高传输波特率可达，传输距离达10M，数据传输成功率比NRF传输模块高；电机驱动芯片采用TB6612FNG芯片，为双驱动，可驱动两个电机，并且散热性能好。
具体工作流程是：当探测车进入探测空间后，探测车接收远程终端的信号后，驱动模块和传感器模块开始工作，探测车开始行驶，通过传感器模块，获取环境信息检测值和三维信息检测值；在探测车行驶过程中，通过左侧空间距离值和右侧空间距离值，分析得到探测车与道路中间的偏差值，主控芯片利用脉宽调制控制探测车的转动，以使探测车在道路中间行驶；当探测车位于相对中间位置后，初始认为记录的X轴从1开始，保存数值1在X[]数组中，同时探测车开始对空间进行二维扫描，利用角度值确认空间中Y轴数据，利用顶部空间距离值确认空间中Z轴数据，假设采集的角度有5个，则分别保存在数组Y[]和Z[]中，也即将空间视为许多切片，每个切片采集五个点，最后将采集的5个三维坐标数据，利用串口通信协议进行打包，得到三维信息反馈信号，将环境信息反馈信号和三维信息反馈信号发送给远程终端；发送完成后，驱动模块控制探测车的行进，小车继续向前方前进2CM，则X轴坐标每次加2并保存在X[]中，随后重复以上步骤，就可得到多组坐标数据，保证了数据传递的可靠性；在软件方面，设计了基于MATLAB的远程终端，MATLAB对接收到的数据进行分类处理后，显示在对应的显示框，可以分别显示环境中温度、湿度和CO浓度信息。在三维地貌重构处理与显示部分，当已经与探测车连接成功后，将接收到的每组XYZ轴数据存放在对 应的X[]、Y[]、Z[]数组中，首先用linspace函数进行均摊插值处理，增加拟合离散点的数量，经过meshgrid处理生成X，Y是大小相等的矩阵，再用MATLAB中双调和样条插值的V4方式griddata方法，绘制图形坐标格网，最终用mesh函数在坐标轴上显示重构出来的三维地貌并对不同高度的三维图像加以颜色区分，用alpha设置透明度，方便显示内部地貌，图像可观性很高。另外，除了可以重构无线接收的数据，也可以重构本地的数据，当按下的重构按钮可以读取本地远程终端文件所在位置的表格数据进行重构。
在本发明的第三实施例中，如图6所示，基于三维地图重构的环境探测设备300，该基于三维地图重构的环境探测设备300可以是任意类型的智能终端，例如手机、平板电脑、个人计算机等。
具体地，该基于三维地图重构的环境探测设备300包括：一个或多个控制处理器310和存储器320，图6中以一个控制处理器310为例。
控制处理器310和存储器320可以通过总线或者其他方式连接，图6中以通过总线连接为例。
存储器320作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序、非暂态性计算机可执行程序以及模块，如本发明实施例中的基于三维地图重构的环境探测方法对应的程序指令/模块，例如，图6所示的接收模块110和处理模块120。控制处理器310通过运行存储在存储器320中的非暂态软件程序、指令以及模块，实现上述方法实施例的基于三维地图重构的环境探测方法。
存储器320可以包括存储程序区和存储数据区，其中，存储程序区可存储操作方法、至少一个功能所需要的应用程序；存储数据区可存储使用所创建的数据等。此外，存储器320可以包括高速随机存取存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施方式中，存储器320可选包括相对于控制处理器310远程设置的存储器，这些远程存储器可以通过网络连接至该基于三维地图重构的环境探测设备300。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
一个或者多个模块存储在存储器320中，当被一个或者多个控制处理器310执行时，执行上述方法实施例中的基于三维地图重构的环境探测方法，例如，执行以上描述的图1中的方法步骤S100至S500，图2中的方法步骤S610至S620，图3中的方法步骤S410至S420，图4中的方法步骤S210至S220。
本发明实施例还提供了一种计算机可读存储介质，计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个控制处理器310执行，例如，被图6中的一个控制处理器310执行，可使得上述一个或多个控制处理器310执行上述方法实施例中的基于三维地图重构的环境探测方法，例如，执行以上描述的图1中的方法步骤S100至S500，图2中的方法步骤S610至S620，图3中的方法步骤S410至S420，图4中的方法步骤S210至S220。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施方式的描述，本领域技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现。本领域技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(ReadOnly Memory,ROM)或随机存储记忆体(Random AcceSS Memory,RAM)等。
以上是对本发明的较佳实施进行了具体说明，但本发明并不局限于上述实施方式，熟悉本领域的技术人员在不违背本发明精神的前提下还可作出种种的等同变形或替换，这些等同的变形或替换均包含在本申请权利要求所限定的范围内。

Claims (10)

  1. 一种基于三维地图重构的环境探测方法，应用于包括有探测车和远程终端的基于三维地图重构的环境探测系统，其特征在于，包括：
    获取环境信息检测值和三维信息检测值；
    根据所述三维信息检测值，利用偏差分析法，得到校正信号；
    根据所述校正信号，校正所述探测车的行进；
    根据所述环境信息检测值和三维信息检测值，得到环境信息反馈信号和三维信息反馈信号；
    将所述环境信息反馈信号和所述三维信息反馈信号发送至所述远程终端，以使所述远程终端重构三维地图和显示环境数据。
  2. 如权利要求1所述的一种基于三维地图重构的环境探测方法，其特征在于，所述获取环境信息检测值和三维信息检测值之前，包括：
    接收启动信号，得到PWM驱动信号；
    根据所述PWM驱动信号，控制探测车的行进。
  3. 如权利要求1所述的一种基于三维地图重构的环境探测方法，其特征在于，所述环境信息检测值包括温度值、湿度值和CO气体浓度值，所述三维信息检测值包括左侧空间距离值、右侧空间距离值、顶部空间距离值和角度值。
  4. 如权利要求3所述的一种基于三维地图重构的环境探测方法，其特征在于，所述根据所述环境信息检测值和三维信息检测值，得到环境信息反馈信号和三维信息反馈信号，包括：
    根据所述温度值、所述湿度值和所述CO气体浓度值，利用串口通信协议，得到环境信息反馈信号；
    根据所述角度值和所述顶部空间距离值，利用串口通信协议，得到三维信息反馈信号。
  5. 如权利要求3所述的一种基于三维地图重构的环境探测方法，其特征在于，所述根据所述三维信息检测值，利用偏差分析法，得到校正信号，包括：
    根据所述左侧空间距离值和所述右侧空间距离值，利用偏差公式，得到偏差值；
    根据所述偏差值，得到校正信号。
  6. 如权利要求5所述的一种基于三维地图重构的环境探测方法，其特征在于，所述偏差公式为：
    D＝(L-R)/(L+R)，
    其中，L为左侧空间距离值，R为右侧空间距离值，D为偏差值。
  7. 一种基于三维地图重构的环境探测系统，其特征在于，包括有探测车和远程终端，所述探测车包括：
    传感器模块，用于获取环境信息检测值和三维信息检测值；
    主控芯片，用于根据所述三维信息检测值，利用偏差分析法，得到校正信号，所述主控芯片根据所述环境信息检测值和三维信息检测值，得到环境信息反馈信号和三维信息反馈信号，所述主控芯片与所述传感器模块电性连接；
    驱动模块，用于根据所述校正信号，校正所述探测车的行进，所述驱动模块与所述主控芯片电性连接；
    车载无线模块，用于将所述环境信息反馈信号和所述三维信息反馈信号发送至所述远程终端，以使所述远程终端重构三维地图和显示环境数据，所述车载无线模块与所述主控芯片电性连接。
  8. 如权利要求7所述的一种基于三维地图重构的环境探测系统，其特征在于，所述传感器模块包括左侧测距传感器、右侧测距传感器、顶部测距传感器、角度探测传感器、温湿度传感器和CO气体浓度传感器，所述左侧测距传感器用于得到所述探测车的左侧空间距离值，所述右侧测距传感器用于得到所述探测车的右侧空间距离值，所述顶部测距传感器用于得到所述探测车的顶部空间距离值，所述角度探测传感器用于获取探测车在探测空间内轴向的角度值，所述远程终端包括通讯模块、信号处理模块和显示模块，所述远程终端通过所述通讯模块与所述车载无线模块进行信号传输，所述通讯模块和所述显示模块分别与所述信号处理 模块电性连接，所述信号处理模块用于三维地图重构和环境数据分析，所述显示模块用于显示三维地图和环境数据。
  9. 一种基于三维地图重构的环境探测设备，其特征在于，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如权利要求1至6任一项所述的方法。
  10. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行如权利要求1至6任一项所述的方法。
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