技术领域technical field
本发明涉及一种室内环境数据采集系统，本发明还涉及一种室内环境数据采集系统的采集方法。The invention relates to an indoor environment data collection system, and also relates to a collection method of the indoor environment data collection system.
背景技术Background technique
随着电子地图的普遍使用及发展及人们对生活便利性的要求，对地图的使用功能提出了更高的要求，只具有地理位置标记功能的地图已不能满足人们的使用要求。但是更新地图功能需要采集大量的数据，通过人工采集数据，工作量大，工作效率低。此外现有的利用地图进行采集装置的GPS导航精度比较差，相应的采集装置采集到的数据在地图上的指导作用大打折扣，使用者在使用时难免出现误差，从而影响使用。With the widespread use and development of electronic maps and people's requirements for the convenience of life, higher requirements are put forward for the use of maps. Maps with only geographic location marking functions can no longer meet people's use requirements. However, the function of updating the map needs to collect a large amount of data. Manually collecting data requires a large workload and low work efficiency. In addition, the GPS navigation accuracy of the existing map collection device is relatively poor, and the guiding function of the data collected by the corresponding collection device on the map is greatly reduced, and errors will inevitably occur when the user uses it, thereby affecting the use.
发明内容Contents of the invention
本发明所要解决的第一个技术问题是针对上述现有技术提供一种能够自动采集室内环境数据信息的室内环境数据采集系统。The first technical problem to be solved by the present invention is to provide an indoor environment data collection system capable of automatically collecting indoor environment data information in view of the above-mentioned prior art.
本发明所要解决的第二个技术问题是针对上述现有技术提供一种利用室内环境数据采集系统精确采集指定位置的室内环境数据信息的采集方法。The second technical problem to be solved by the present invention is to provide a collection method for accurately collecting indoor environment data information at a specified location by using an indoor environment data collection system for the above-mentioned prior art.
本发明解决上述第一个技术问题所采用的技术方案为：一种室内环境数据采集系统，其特征在于：包括The technical solution adopted by the present invention to solve the above-mentioned first technical problem is: an indoor environment data acquisition system, characterized in that: comprising
上位机，内置一数据管理单元，用于数据传送、数据处理、数据管理和数据整合；The upper computer has a built-in data management unit for data transmission, data processing, data management and data integration;
机器人，与上位机通信连接，活动于室内采集现场用于采集数据；The robot is connected to the upper computer through communication, and is used to collect data at the indoor collection site;
所述机器人具有一行走装置并内置有：The robot has a walking device and has built-in:
中央控制器，用于发送和处理控制命令；Central controller for sending and processing control commands;
通信模块，连接于中央控制器，用于实现和上位机的通信连接；The communication module is connected to the central controller and is used to realize the communication connection with the upper computer;
数据处理模块，连接于中央控制器，用于处理上位机传送的数据；The data processing module is connected to the central controller and is used to process the data transmitted by the host computer;
行走控制模块，连接于中央控制器和行走装置，用于控制行走装置的行走；The walking control module is connected to the central controller and the walking device, and is used to control the walking of the walking device;
环境信息采集模块，连接于中央控制器，用于采集室内环境数据。The environmental information collection module is connected to the central controller and used to collect indoor environmental data.
为了控制机器人的精确行走路径，所述行走控制模块包括：In order to control the precise walking path of the robot, the walking control module includes:
驱动模块，连接于中央控制器，用于驱动行走装置；The drive module is connected to the central controller and used to drive the traveling device;
行驶方向控制模块，连接于中央控制器，控制机器人的行走方向；The driving direction control module is connected to the central controller to control the walking direction of the robot;
距离测量模块，连接于中央控制器，计算并控制机器人的行驶距离；The distance measurement module is connected to the central controller to calculate and control the driving distance of the robot;
罗盘模块，连接于中央控制器，采集、计算并判断控制机器人的行走方向；Compass module, connected to the central controller, collects, calculates and judges the walking direction of the control robot;
摄像机，连接于中央控制器，采集机器人周边环境图像；The camera, connected to the central controller, collects images of the surrounding environment of the robot;
循迹模块，连接于中央控制器，与摄像机配合调整机器人的行走方向。The tracking module is connected to the central controller and cooperates with the camera to adjust the walking direction of the robot.
为了方便出现机器人在使用中出现问题，所述机器人还内置有连接于所述中央控制器的报警模块。In order to facilitate the occurrence of problems in the use of the robot, the robot also has a built-in alarm module connected to the central controller.
优选的，所述中央控制器为单片机。Preferably, the central controller is a single-chip microcomputer.
方便地，所述机器人为一小车，所述行走装置为小车的驱动轮。Conveniently, the robot is a trolley, and the traveling device is a driving wheel of the trolley.
根据不同的需求，所述环境信息采集模块包括WiFi信号信息采集器、温度传感器、湿度传感器、空气质量传感器。According to different requirements, the environmental information collection module includes a WiFi signal information collector, a temperature sensor, a humidity sensor, and an air quality sensor.
本发明解决上述第二个技术问题所采用的技术方案为：利用室内环境数据采集系统的采集方法，其特征在于：包括如下步骤：The technical solution adopted by the present invention to solve the above-mentioned second technical problem is: a collection method utilizing an indoor environmental data collection system, characterized in that: comprising the following steps:
步骤一、将数据管理单元中的、需要进行室内环境数据采集的建筑平面图在上位机上打开，建筑平面图打开后，设定建筑平面图的正北方向；Step 1. Open the building plan in the data management unit that requires indoor environmental data collection on the host computer. After the building plan is opened, set the true north direction of the building plan;
在建筑平面图上制定巡逻轨迹对应作为机器人在建筑物室内的行走轨迹；Formulate the patrol trajectory on the building plan to correspond to the walking trajectory of the robot in the building room;
在巡逻轨迹上标记多个轨迹结点以形成多个线段轨迹，对应于建筑平面图上的线段轨迹，形成机器人的行走轨迹上的多个行走路段；Mark multiple trajectory nodes on the patrol trajectory to form multiple line segment trajectories, corresponding to the line segment trajectories on the building plan, forming multiple walking segments on the walking trajectory of the robot;
根据地形的复杂程度，按照一定的密度规则，相应的选取部分轨迹结点为参考结点，并在建筑物室内对应参考结点的行走轨迹上标记相应的参考点；According to the complexity of the terrain and according to a certain density rule, correspondingly select some trajectory nodes as reference nodes, and mark the corresponding reference points on the walking trajectory of the corresponding reference nodes in the building room;
步骤二、上位机将步骤一中制定有巡逻轨迹并标记过轨迹结点数据的建筑平面图通过通信模块传送到机器人的数据处理模块中，数据处理模块对该建筑平面进行分析处理并形成中央控制器能够识别的控制指令传送到中央控制器中；Step 2. The upper computer transmits the building plan with the patrol track and marked track node data in step 1 to the data processing module of the robot through the communication module. The data processing module analyzes and processes the building plan and forms a central controller The identifiable control instructions are sent to the central controller;
步骤三、所述机器人内置有连接于所述中央控制器的报警模块；Step 3, the robot has a built-in alarm module connected to the central controller;
将机器人放置在行走轨迹的出发点并保证机器人起始行驶方向同起始线段轨迹的角度相同，该出发点对应着建筑平面图上巡逻轨迹上的起始结点，根据中央控制器的控制指令，机器人在行走控制模块的控制下按照巡逻轨迹上的结点数据和设定的速度启动行走；Place the robot at the starting point of the walking trajectory and ensure that the initial driving direction of the robot is at the same angle as the initial line segment trajectory. The starting point corresponds to the starting node on the patrol trajectory on the building plan. Under the control of the walking control module, start walking according to the node data on the patrol track and the set speed;
在机器人的行走过程中，每间隔固定时间，利用罗盘模块的磁场感应功能计算判断机器人前进方向与该线段轨迹方向间的夹角误差，如果夹角误差超出巡逻轨迹的允许误差，则转步骤四，如果夹角误差未超出巡逻轨迹的允许误差则转步骤五；During the walking process of the robot, use the magnetic field sensing function of the compass module to calculate and judge the angle error between the forward direction of the robot and the trajectory direction of the line segment at regular intervals. If the angle error exceeds the allowable error of the patrol trajectory, go to step 4. , if the angle error does not exceed the allowable error of the patrol track, go to step five;
步骤四、机器人停止前进，检测参考结点数据，利用参考结点数据并配合利用摄像机寻找行走轨迹上标记的参考点；Step 4. The robot stops moving forward, detects the reference node data, uses the reference node data and cooperates with the camera to find the reference point marked on the walking track;
如果寻找到参考点，则利用循迹模块控制调整机器人的行走方向，同时在行驶方向控制模块的配合控制下控制机器人行走至参考点，然后转步骤六；If the reference point is found, use the tracking module to control and adjust the walking direction of the robot, and at the same time control the robot to walk to the reference point under the cooperative control of the driving direction control module, and then go to step 6;
如果在指定的时间内寻找不到参考点，则中央控制器控制报警模块进行报警，并把报警信息通过通信模块传送到上位机中，上位机根据报警信息，提示监控人员机器人的位置，从而进行处理；If the reference point cannot be found within the specified time, the central controller will control the alarm module to give an alarm, and transmit the alarm information to the upper computer through the communication module. deal with;
步骤五、利用距离测量模块计算机器人的行进距离，比较行进距离和线段轨迹的距离，当机器人的行进距离等于线段轨迹的距离时，即机器人行走至建筑平面图上轨迹结点的位置；Step 5. Use the distance measurement module to calculate the travel distance of the robot, compare the travel distance with the distance of the line segment track, when the travel distance of the robot is equal to the distance of the line segment track, that is, the robot walks to the position of the track node on the building plan;
步骤六、机器人在行走控制模块的控制下停止移动，并利用环境信息采集模块对室内环境数据进行采集；Step 6, the robot stops moving under the control of the walking control module, and uses the environmental information collection module to collect indoor environmental data;
步骤七、机器人通过通信模块将轨迹结点数据和对应的室内环境数据传送到上位机的数据管理单元中，数据管理单元将接收到的数据整合到建筑平面图中，在建筑平面图纸中对应结点的位置形成可查看的室内环境信息；Step 7. The robot transmits the trajectory node data and the corresponding indoor environment data to the data management unit of the host computer through the communication module. The data management unit integrates the received data into the building plan, and the corresponding nodes in the building plan drawing The location of the indoor environment can be viewed;
步骤八、机器人检测所处位置是否对应巡逻轨迹的最终结点，如果不是返回步骤三，如果是，机器人停止工作，行走结束。Step 8. The robot detects whether its position corresponds to the final node of the patrol track. If not, return to Step 3. If yes, the robot stops working and the walking ends.
方便地，所述步骤一中，巡逻轨迹的制定过程如下：Conveniently, in the first step, the process of formulating the patrol track is as follows:
规划巡逻轨迹，并在规划的巡逻轨迹上依次设置多个结点分别标记为p0,p2,p3,...pi,...,pn-1,pn，这些结点将巡逻轨迹分为多个线段轨迹，则这些线段轨迹构成一组机器人行走轨迹的向量数组，即为[P1,P2,P3,...,Pi,...,Pn-1,Pn]；Plan the patrol trajectory, and set multiple nodes in turn on the planned patrol trajectory, respectively marked as p0 , p2 , p3 ,...pi ,...,pn-1 ,pn , these nodes Divide the patrol trajectory into multiple line segment trajectories, then these line segment trajectories constitute a vector array of robot walking trajectories, namely [P1 ,P2 ,P3 ,...,Pi ,...,Pn- 1 , Pn ];
数据管理单元分别计算各个线段轨迹的距离及与正北方向的顺时针夹角，对应于线段轨迹向量P1,P2,P3,...,Pi,...,Pn-1,Pn1，其线段轨迹对应的行走轨迹的实际距离分别为d1,d2,d3,...,di,...,dn-1,dn，其线段轨迹与正北方向的顺时针夹角分别为α1,α2,α3,...,αi,...,αn-1,αn；The data management unit calculates the distance of each line segment trajectory and the clockwise angle with the true north direction, corresponding to the line segment trajectory vectors P1 , P2 , P3 ,...,Pi ,...,Pn-1 ,Pn1 , the actual distances of the walking trajectories corresponding to the line segment trajectories are d1 ,d2 ,d3 ,...,di ,...,dn-1 ,dn , and the line segment trajectories and true north The clockwise included angles of the directions are α1 , α2 , α3 ,...,αi ,...,αn-1 ,αn ;
则Pi＝[pi-1,pi,di,αi,f]，其中i＝[1,2,3,...,n-1,n]，f＝[0,1]，f为参考结点标识，如果pi-1或者pi为参考结点，则f＝1，如果pi-1或者pi不为参考结点，则f＝0。Then Pi =[pi-1 ,pi ,di ,αi ,f], where i=[1,2,3,...,n-1,n], f=[0,1] , f is the reference node identifier, if pi-1 or pi is the reference node, then f=1, if pi-1 or pi is not the reference node, then f=0.
与现有技术相比，本发明的优点在于：该室内环境数据采集系统可以自动控制机器人的行走和对室内环境数据的采集，大大降低了工作量，减少了人力成本。Compared with the prior art, the present invention has the advantages that the indoor environment data collection system can automatically control the walking of the robot and the collection of indoor environment data, which greatly reduces the workload and labor cost.
同时，利用该室内环境数据采集系统的采集方法能够精确的规划控制机器人的行走路径，从而精确的采集获取室内指定位置的环境信息数据，信息的精确度和可信度高，大大方便了使用者利用该信息数据快速处理相关事务。At the same time, the collection method of the indoor environment data collection system can accurately plan and control the walking path of the robot, thereby accurately collecting and obtaining the environmental information data of the designated location in the room. The accuracy and reliability of the information are high, which greatly facilitates the user. Use this information data to quickly process relevant transactions.
附图说明Description of drawings
图1为本发明实施例中室内环境数据采集系统的结构框图。Fig. 1 is a structural block diagram of an indoor environment data acquisition system in an embodiment of the present invention.
图2为本发明实施例中利用室内环境数据采集系统的采集方法的流程图。FIG. 2 is a flow chart of a collection method using an indoor environment data collection system in an embodiment of the present invention.
具体实施方式Detailed ways
以下结合附图实施例对本发明作进一步详细描述。The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
如图1所示，本实施例中的一种室内环境数据采集系统，包括：As shown in Figure 1, a kind of indoor environment data acquisition system in the present embodiment comprises:
上位机1，内置一数据管理单元11，用于数据传送、数据处理、数据管理和数据整合；The upper computer 1 has a built-in data management unit 11 for data transmission, data processing, data management and data integration;
机器人2，与上位机1通信连接，活动于室内采集现场用于采集数据；The robot 2 is communicated with the host computer 1, and is used to collect data at the indoor collection site;
所述机器人2具有一行走装置21并内置有：Described robot 2 has a walking device 21 and is built-in:
中央控制器22，用于发送和处理控制命令，本实施例中中央控制器22采用Arm单片机芯片；The central controller 22 is used to send and process control commands. In the present embodiment, the central controller 22 adopts an Arm single-chip microcomputer chip;
通信模块23，连接于中央控制器22，用于实现和上位机1的通信连接，本实施例中通讯模块采用WiFi模块；The communication module 23 is connected to the central controller 22, and is used to realize the communication connection with the upper computer 1. In this embodiment, the communication module adopts a WiFi module;
数据处理模块24，连接于中央控制器22，用于处理上位机1传送的数据；The data processing module 24 is connected to the central controller 22 for processing the data transmitted by the upper computer 1;
行走控制模块25，连接于中央控制器22和行走装置21，用于控制行走装置21的行走；The walking control module 25 is connected to the central controller 22 and the walking device 21, and is used to control the walking of the running device 21;
环境信息采集模块26，连接于中央控制器22，用于采集室内环境数据，本实施例中环境信息采集模块26包括WiFi信号信息采集器、温度传感器、湿度传感器、空气质量传感器，分别可以采集WiFi的强度和地址等信息、温度数据信息、湿度数据信息、空气中各种成分含量和强度信息等。根据不同的应用需求，该环境信息采集模块26还可以增加其他信息采集模块。The environmental information collection module 26 is connected to the central controller 22 for collecting indoor environmental data. In this embodiment, the environmental information collection module 26 includes a WiFi signal information collector, a temperature sensor, a humidity sensor, and an air quality sensor, which can collect WiFi data respectively. Intensity and address information, temperature data information, humidity data information, content and intensity information of various components in the air, etc. According to different application requirements, the environment information collection module 26 can also add other information collection modules.
为了方便机器人2行走路径的精确控制，所述行走控制模块25包括：In order to facilitate the precise control of the walking path of the robot 2, the walking control module 25 includes:
驱动模块251，连接于中央控制器22，用于驱动行走装置21；The drive module 251 is connected to the central controller 22 for driving the traveling device 21;
行驶方向控制模块252，连接于中央控制器22，控制机器人2的行走方向；The driving direction control module 252 is connected to the central controller 22 to control the walking direction of the robot 2;
距离测量模块253，连接于中央控制器22，计算并控制机器人2的行驶距离；The distance measurement module 253 is connected to the central controller 22 to calculate and control the driving distance of the robot 2;
罗盘模块254，连接于中央控制器22，采集、计算并判断控制机器人2的行走方向；The compass module 254 is connected to the central controller 22, collects, calculates and judges the walking direction of the control robot 2;
摄像机255，连接于中央控制器22，采集机器人2周边环境图像，本实施例中摄像机255采用CMOS摄像头；The camera 255 is connected to the central controller 22 to collect images of the surrounding environment of the robot 2. In this embodiment, the camera 255 adopts a CMOS camera;
循迹模块256，连接于中央控制器22，与摄像机255配合调整机器人2的行走方向，本实施例中循迹模块256采用红外传感模块；The tracking module 256 is connected to the central controller 22, and cooperates with the camera 255 to adjust the walking direction of the robot 2. In this embodiment, the tracking module 256 adopts an infrared sensor module;
报警模块27，连接于中央控制器22，用于机器人2报警。The alarm module 27 is connected to the central controller 22 and is used for the robot 2 to alarm.
本实施例中机器人2为一小车，所述行走装置21为小车的驱动轮。In this embodiment, the robot 2 is a trolley, and the traveling device 21 is the driving wheel of the trolley.
如图2所示，利用上述的室内环境数据采集系统的采集方法，包括如下步骤：As shown in Figure 2, the acquisition method using the above-mentioned indoor environment data acquisition system includes the following steps:
步骤一、将数据管理单元11中的、需要进行室内环境数据采集的建筑平面图在上位机1上打开，建筑平面图打开后，设定建筑平面图的正北方向；Step 1, open the building plan in the data management unit 11 that needs to collect indoor environment data on the host computer 1, after the building plan is opened, set the true north direction of the building plan;
在建筑平面图上制定巡逻轨迹对应作为机器人2在建筑物室内的行走轨迹；Formulate the patrol trajectory on the building plan to correspond to the walking trajectory of the robot 2 in the building room;
在巡逻轨迹上并在制定的巡逻轨迹上依次设置多个结点分别标记为p0,p2,p3,...pi,...,pn-1,pn，这些结点将巡逻轨迹分为多个线段轨迹，则这些线段轨迹构成一组机器人2行走轨迹的向量数组，即为[P1,P2,P3,...,Pi,...,Pn-1,Pn]；On the patrol trajectory and on the formulated patrol trajectory, a number of nodes are set in sequence and marked as p0 , p2 , p3 ,...pi ,...,pn-1 ,pn , these nodes Divide the patrol trajectory into multiple line segment trajectories, then these line segment trajectories constitute a set of vector arrays of robot 2 walking trajectories, namely [P1 ,P2 ,P3 ,...,Pi ,...,Pn -1 ,Pn ];
根据地形的复杂程度，按照一点的密度规则，相应的选取部分轨迹结点为参考结点，并在建筑物室内对应参考结点的行走轨迹上标记相应的参考点，可以在建筑物室内参考点的位置涂上如白底黑十字线的标记；According to the complexity of the terrain, according to the density rule of one point, correspondingly select part of the trajectory nodes as reference nodes, and mark the corresponding reference points on the walking trajectory of the corresponding reference nodes in the building room, which can be used as reference points in the building room painted with a mark such as a black cross on a white background;
数据管理单元11分别计算各个线段轨迹的距离及与正北方向的顺时针夹角，对应于线段轨迹向量P1,P2,P3,...,Pi,...,Pn-1,Pn1，其线段轨迹对应的行走轨迹的实际距离分别为d1,d2,d3,...,di,...,dn-1,dn，其线段轨迹与正北方向的顺时针夹角分别为α1,α2,α3,...,αi,...,αn-1,αn；The data management unit 11 calculates the distance of each line segment trajectory and the clockwise angle with the true north direction, corresponding to the line segment trajectory vectors P1 , P2 , P3 ,...,Pi ,...,Pn- 1 ,Pn1 , the actual distances of the walking trajectories corresponding to the line segment trajectories are d1 ,d2 ,d3 ,...,di ,...,dn-1 ,dn , and the line segment trajectories and positive The clockwise included angles in the north direction are α1 , α2 , α3 ,...,αi ,...,αn-1 ,αn ;
则Pi＝[pi-1,pi,di,αi,f]，其中i＝[1,2,3,...,n-1,n]，f＝[0,1]，f为参考结点标识，如果pi-1或者pi为参考结点，则f＝1，如果pi-1或者pi不为参考结点，则f＝0；Then Pi =[pi-1 ,pi ,di ,αi ,f], where i=[1,2,3,...,n-1,n], f=[0,1] , f is the reference node identification, if pi-1 or pi is the reference node, then f=1, if pi-1 or pi is not the reference node, then f=0;
根据不同的巡逻轨迹设置，机器人2行走轨迹的向量数据Pi中，pi-1,pi两个结点可以根据设置规则任意选择；According to different patrol trajectory settings, in the vector data Pi of the walking trajectory of robot 2, the two nodes pi-1 and pi can be arbitrarily selected according to the setting rules;
步骤二、上位机1将步骤一中制定有巡逻轨迹并包含机器人2行走轨迹的向量数组数据的建筑平面图，通过通信模块23传送到机器人2的数据处理模块24中，数据处理模块24对该建筑平面进行分析处理并形成中央控制器22能够识别的控制指令传送到中央控制器22中；Step 2, the host computer 1 transmits the building plan with the patrol track and the vector array data containing the robot 2 walking track in step 1 to the data processing module 24 of the robot 2 through the communication module 23, and the data processing module 24 is responsible for the building plan. The plane is analyzed and processed to form a control instruction that the central controller 22 can recognize and send to the central controller 22;
步骤三、将机器人2放置在行走轨迹的出发点并保证机器人2起始行驶方向同起始线段轨迹的角度相同，该出发点对应着建筑平面图上巡逻轨迹上的起始结点，即机器人2起始点对应的行走轨迹向量为P1＝[p0,p1,d1,α1,f]，其中p0代表起始结点，p1表示自其实结点起算的第一个结点，d1代表p0结点和p1结点间第一线段轨迹对应的行走轨迹的实际距离，α1代表第一线段轨迹的方向与正北方向的顺时针夹角，一般情况下起始结点对应的参考结点标识值为1，即初始结点为参考结点；Step 3. Place robot 2 at the starting point of the walking trajectory and ensure that the starting direction of robot 2 is at the same angle as the starting line segment trajectory. The starting point corresponds to the starting node on the patrol trajectory on the building plan, that is, the starting point of robot 2 The corresponding walking trajectory vector is P1 =[p0 ,p1 ,d1 ,α1 ,f], where p0 represents the starting node, p1 represents the first node counted from its actual node, and d1 represents the actual distance of the walking trajectory corresponding to the first line segment trajectory between the p0 node and the p1 node, and α1 represents the clockwise angle between the direction of the first line segment trajectory and the true north direction. The reference node identification value corresponding to the node is 1, that is, the initial node is the reference node;
根据中央控制器22的控制指令，机器人2在行走控制模块25的控制下按照行走轨迹向量数据和设定的速度启动行走；According to the control instruction of central controller 22, robot 2 starts walking according to the speed of walking trajectory vector data and setting under the control of walking control module 25;
在机器人2的行走过程中，每间隔固定时间，利用罗盘模块254的磁场感应功能检测当前机器人2全进方向与正北方向的顺时针夹角，并计算判断机器人2前进方向与该线段轨迹对应的行走轨迹向量方向αi间的夹角误差，如果夹角误差超出巡逻轨迹的允许误差，则转步骤四，如果夹角误差未超出巡逻轨迹的允许误差则转步骤五；During the walking process of the robot 2, at regular intervals, the magnetic field sensing function of the compass module 254 is used to detect the clockwise angle between the full direction of the robot 2 and the true north direction, and calculate and judge that the direction of the robot 2 is corresponding to the line segment trajectory The included angle error between the walking track vector directions αi , if the included angle error exceeds the allowable error of the patrol track, then go to step 4, if the included angle error does not exceed the allowable error of the patrol track, then turn to step 5;
步骤四、机器人2停止前进，检测参考结点标识数据f，如果参考结点标识f＝1，则根据行驶轨迹向量数据中的结点数据信息，利用摄像机255寻找相应参考结点对应的参考点标记；如果参考结点标识f＝0，则利用摄像机255搜索机器人2位置周边的参考点标记；Step 4, the robot 2 stops moving forward, detects the reference node identification data f, if the reference node identification f=1, then uses the camera 255 to find the reference point corresponding to the corresponding reference node according to the node data information in the driving trajectory vector data Mark; if the reference node mark f=0, then utilize camera 255 to search for the reference point marks around the robot 2 position;
如果寻找到参考点标记，则利用循迹模块256控制调整机器人2的行走方向，同时在行驶方向控制模块252的配合控制下控制机器人2行走至参考点，然后转步骤六；If the reference point mark is found, then use the tracking module 256 to control and adjust the walking direction of the robot 2, and simultaneously control the robot 2 to walk to the reference point under the cooperative control of the driving direction control module 252, and then go to step 6;
如果在指定的时间内寻找不到参考点标记，则中央控制器22控制报警模块27进行报警，并把报警信息通过通信模块23传送到上位机1中，上位机1根据报警信息，提示监控人员机器人2的位置，从而进行处理；If the reference point mark cannot be found within the specified time, the central controller 22 controls the alarm module 27 to give an alarm, and transmits the alarm information to the upper computer 1 through the communication module 23, and the upper computer 1 prompts the monitoring personnel according to the alarm information the position of robot 2, and thus the processing;
步骤五、利用距离测量模块253计算机器人2的行进距离，比较行进距离和线段轨迹的距离，当机器人2的行进距离等于线段轨迹的距离时，即机器人2行走至建筑平面图上轨迹结点的位置；Step 5. Utilize the distance measuring module 253 to calculate the traveling distance of the robot 2, compare the traveling distance and the distance of the line segment track, when the traveling distance of the robot 2 is equal to the distance of the line segment track, that is, the robot 2 walks to the position of the track node on the building plan ;
步骤六、机器人2在行走控制模块25的控制下停止移动，并利用环境信息采集模块26对室内环境数据进行采集；Step 6, the robot 2 stops moving under the control of the walking control module 25, and utilizes the environmental information collection module 26 to collect indoor environmental data;
步骤七、机器人2通过通信模块23将轨迹结点数据和对应的室内环境数据传送到上位机1的数据管理单元11中，数据管理单元11将接收到的数据整合到建筑平面图中，在建筑平面图纸中对应结点的位置形成可查看的室内环境信息；Step 7: The robot 2 transmits the trajectory node data and the corresponding indoor environment data to the data management unit 11 of the upper computer 1 through the communication module 23, and the data management unit 11 integrates the received data into the building plan, and in the building plan The positions of the corresponding nodes in the paper form the viewable indoor environment information;
步骤八、机器人2检测所处位置是否对应巡逻轨迹的最终结点，如果不是返回步骤三，如果是，机器人2停止工作，行走结束。Step 8: Robot 2 detects whether the location corresponds to the final node of the patrol track, if not, returns to Step 3, if yes, robot 2 stops working, and the walking ends.
整合了室内环境数据的建筑平面图可以用于地图中，进而利用带有室内环境数据信息的地图进行定位安防等工作，也可以根据需求进行其他工作。The building floor plan integrated with the indoor environment data can be used in the map, and then the map with the indoor environment data information can be used for positioning security and other tasks, and other tasks can also be performed according to the needs.
该室内环境数据采集系统和采集方法还可以扩展应用到其他应用环境中。The indoor environment data collection system and collection method can also be extended and applied to other application environments.
| Application Number | Priority Date | Filing Date | Title |
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| CN201410319730.8ACN104089649B (en) | 2014-07-07 | 2014-07-07 | A kind of indoor environment data collecting system and acquisition method |
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| CN201410319730.8ACN104089649B (en) | 2014-07-07 | 2014-07-07 | A kind of indoor environment data collecting system and acquisition method |
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| CN201410319730.8AExpired - Fee RelatedCN104089649B (en) | 2014-07-07 | 2014-07-07 | A kind of indoor environment data collecting system and acquisition method |
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