CN107478213A - Mobile device and data acquisition Active Control Method and device for mobile device - Google Patents
Mobile device and data acquisition Active Control Method and device for mobile device Download PDFInfo
- Publication number
- CN107478213A CN107478213A CN201610397494.0A CN201610397494A CN107478213A CN 107478213 A CN107478213 A CN 107478213A CN 201610397494 A CN201610397494 A CN 201610397494A CN 107478213 A CN107478213 A CN 107478213A
- Authority
- CN
- China
- Prior art keywords
- mobile device
- data
- data collection
- data acquisition
- location
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000013480 data collection Methods 0.000 claims description 36
- 230000008859 change Effects 0.000 claims description 13
- 238000005034 decoration Methods 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 13
- 230000000007 visual effect Effects 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 5
- 238000004422 calculation algorithm Methods 0.000 description 4
- 238000013507 mapping Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of Active Control Method of the data acquisition for mobile device, including：At least one feature locations are selected from the three-dimensional map of target environment, record the related data of at least one feature locations；When mobile device moves in target environment, according to mobile device to the positioning result of itself, the one or more data acquisition equipments carried on the mobile device are controlled, so that one or more of data acquisition equipments gather the related data of at least one feature locations.The invention also discloses a kind of active control device of data acquisition for mobile device and a kind of mobile device.Mobile device based on the embodiment of the present invention can carry out active control to the acquisition mode of data, the data that active obtaining needs, be accurately positioned available for itself.
Description
Technical Field
The invention relates to a mobile device, in particular to a mobile device and a data acquisition active control method and device for the mobile device.
Background
A mobile device refers to a device apparatus having positioning and/or navigation functions, such as a mobile robot, manned vehicle, unmanned aerial vehicle, and the like. Taking a mobile robot as an example, the mobile robot needs to constantly position its environment and its own position during the moving process, and there are various sensors that can be used, such as an internal sensor (a mileage gauge, a gyroscope, a compass, an accelerometer, etc.) of the mobile robot itself, and an external sensor (a laser range finder, a visual sensor, etc.) carried by the mobile robot. Most mobile robots are provided with a plurality of positioning sensors at the same time, and different positioning algorithms are adopted by different sensor combinations, so that the mobile robots can be used for positioning.
The instant positioning and Mapping (SLAM) technology refers to that a mobile robot creates a map in an unknown environment under the condition that the position of the mobile robot is uncertain, and meanwhile, the map is used for autonomous positioning and navigation. The SLAM problem can also be described as: the mobile robot moves from an unknown position in an unknown environment, performs self-positioning according to position estimation and sensor data during the moving process, and simultaneously builds an incremental map. The SLAM problem mainly consists of four basic aspects: firstly, how to carry out environment description, namely a representation method of an environment map; how to obtain environment information, the mobile robot roams in the environment and records the perception data of the sensor, which relates to the problems of positioning of the mobile robot and extraction of environmental features; how to express the obtained environment information and update the map according to the environment information, which needs to solve the description and processing method of the uncertain information; and fourthly, developing a stable and reliable SLAM method. For the second aspect, research has pointed out that, with the development of visual image processing technology, a visual sensor can be better applied to simultaneous positioning and mapping of a mobile robot, in order to solve the problem that a camera cannot acquire enough image data before the mobile robot is carried in the past, which results in difficulty in mapping, a research has also been developed to make the optical axis of the camera perpendicular to an indoor ceiling to acquire a visual image of the ceiling, and a three-dimensional scene map is constructed by adopting a certain algorithm for regularly distributed corner points on the ceiling for positioning and path planning of the mobile robot.
However, a lot of experimental researches show that whether a camera carried by the mobile robot faces the front or the ceiling, the mobile robot has defects in the roaming positioning process, and for the ceiling positioning method, the mobile robot only passively receives the ceiling visual information shot by the camera, and if the angular points on the ceiling are irregularly distributed or have no angular points at all, the positioning effect is directly influenced.
Disclosure of Invention
In view of the above, the present invention provides a mobile device, and a method and a device for actively controlling data acquisition for a mobile device, in which a data acquisition device is mounted on the mobile device, and the data acquisition device is controlled and adjusted as required during a moving process, so as to actively obtain useful feature position data in an environment.
In one aspect, the present invention provides an active control method for data acquisition of a mobile device, comprising: selecting at least one characteristic position from a three-dimensional map of the target environment, and recording related data of the at least one characteristic position; when the mobile device moves in the target environment, one or more data acquisition devices carried on the mobile device are controlled according to the positioning result of the mobile device to the mobile device, so that the one or more data acquisition devices acquire the relevant data of the at least one characteristic position.
Preferably, after the one or more data acquisition devices acquire data relating to the at least one feature location, the method further comprises: comparing the data collected by the one or more data collection devices with the data recorded from a three-dimensional map of a target environment; and correcting the positioning result of the mobile device to the mobile device according to the comparison result.
Preferably, the one or more data acquisition devices are controlled to acquire the data related to the first characteristic position when the mobile device moves from the first position to the second position, and the one or more data acquisition devices are controlled to change from the current state to acquire the data related to the first characteristic position again when the mobile device moves from the second position to the third position.
Preferably, the one or more data acquisition devices are controlled to acquire data related to the first characteristic position when the mobile device moves from the first position to the second position, and the one or more data acquisition devices are controlled to change from the current state to acquire data related to the second characteristic position when the mobile device moves from the second position to the third position.
Preferably, the characteristic position refers to a position in the target environment which can be recognized by the mobile device and does not change with time.
Preferably, wherein the characteristic location comprises at least one of: the wall corner, door frame, wall decoration, ceiling decoration and outdoor fixed building formed by any two indoor walls and the ceiling.
Preferably, the one or more data acquisition devices are mounted on the mobile device, and the one or more data acquisition devices are controlled to change the data acquisition mode during operation.
Preferably, the one or more data acquisition devices comprise at least one of the following: camera, infrared camera, radar, ultrasonic sensor, laser range finder.
In another aspect, the present invention also provides an active control device for data acquisition of a mobile device, including: the characteristic position determining module is used for selecting at least one characteristic position from a three-dimensional map of the target environment and recording related data of the at least one characteristic position; and the data acquisition equipment control module is used for controlling one or more data acquisition equipment carried on the mobile device according to the positioning result of the mobile device to the mobile device when the mobile device moves in the target environment, so that the one or more data acquisition equipment acquire the relevant data of the at least one characteristic position.
In yet another aspect, the present invention also provides a mobile device, including: a mobile device body; one or more data acquisition devices mounted on the mobile device body; a processor; and a memory for storing processor-executable instructions; the processor is used for selecting at least one characteristic position from a three-dimensional map of the target environment and recording relevant data of the at least one characteristic position; when the mobile device body moves in the target environment, one or more data acquisition devices carried on the mobile device body are controlled according to the positioning result of the mobile device body to the mobile device body, so that the one or more data acquisition devices acquire the related data of the at least one characteristic position.
The embodiment of the invention introduces the concept of actively controlling and adjusting the data acquisition mode for the mobile device, carries various data acquisition equipment for the mobile device, changes the data acquisition mode according to the position control of the mobile device, and actively searches for the information which is beneficial to self positioning. Compared with the traditional scheme that the camera singly faces the front or the ceiling and passively receives visual information, the method and the device for acquiring the video image data have the advantages of flexible data acquisition mode, difficulty in being influenced by environmental factors and good later positioning effect.
Drawings
Fig. 1 is a flowchart of an active control method for data acquisition of a mobile device according to an embodiment of the present invention.
FIG. 2 is a schematic view of a scenario of an embodiment of the present invention.
Fig. 3 is a schematic view of another embodiment of the present invention.
Fig. 4 is a flowchart of an active control method for data acquisition of a mobile device according to another embodiment of the present invention.
Fig. 5 is a block diagram of the active control device according to the embodiment of the present invention.
Fig. 6 is a block diagram of an active control device according to another embodiment of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 shows a flow chart of a data acquisition active control method according to an embodiment of the present invention, including:
s101, selecting at least one characteristic position from a three-dimensional map of a target environment, and recording related data of the at least one characteristic position;
s102, when the mobile device moves in the target environment, controlling one or more data acquisition devices carried on the mobile device according to the positioning result of the mobile device to the mobile device, so that the one or more data acquisition devices acquire the relevant data of the at least one characteristic position.
Based on the scheme, one or more carried data acquisition devices can be actively controlled according to the position of the mobile device, and the overall data acquisition mode of the mobile device is actively changed by adjusting the data acquisition direction of the acquisition devices, changing the combination form of the acquisition devices, turning on/off some acquisition devices and the like, so that the data of the characteristic position is continuously acquired in the moving process.
In the embodiment of the present invention, the characteristic positions refer to those positions that can be recognized by the mobile device and do not change with time, for example, for a mobile device (such as a mobile robot) in a room, the characteristic positions may be corners, door frames, walls, wall decorations and/or ceiling decorations formed by any two walls and a ceiling in the room; for mobile devices outside the home (e.g., aircraft), the characteristic location may be a fixed building.
The following describes the implementation of the present invention by means of a number of specific embodiments.
In the embodiment of the present invention, in principle, any existing or yet-to-be-developed data acquisition device may be used as long as it can be mounted on the mobile device body. Common data acquisition equipment includes various cameras, infrared cameras, radar equipment, ultrasonic sensors, laser range finders and the like.
Referring to fig. 2, a mobile robot equipped with a necessary data acquisition device is taken as an example, and the robot moves indoors, and moves from the a position to the B position and then continues to move to the C position. Point P in fig. 2 represents the corner formed by the wall and the ceiling.
According to the embodiment of the invention, before the indoor characteristic position is selected, the mobile robot needs to acquire the three-dimensional map data of at least a part of indoor scene, the existing data can be copied or downloaded from a third party, and the three-dimensional map can be drawn by itself.
After three-dimensional map data of at least a part of indoor scene is obtained, at least one characteristic position is selected from the three-dimensional map, and data of the selected characteristic position is recorded for subsequent steps. The embodiment of fig. 2 selects a corner P formed by the wall surface and the ceiling as a characteristic position, and the embodiment of fig. 3 also selects a corner Q of the door frame as another characteristic position.
In the moving process of the mobile robot, the position of the mobile robot is continuously positioned, and the carried data acquisition equipment can be controlled according to the positioning result of the mobile robot, so that the data acquisition equipment can acquire required data.
The mobile robot is provided with a camera and can freely rotate. For the embodiment of fig. 2, in the process that the mobile robot moves from the position a to the position B and continues to move to the position C, the camera is controlled to always face the point P according to the self-positioning, and the position data of the point P is continuously acquired. For the embodiment of fig. 3, in the process that the mobile robot moves from the position a to the position B, the camera is controlled to always face the point P according to the self-positioning, and the position data of the point P is continuously acquired; and in the process that the mobile robot moves from the position B to the position C, the control camera is not directed to the point P any more, but is directed to the point Q, and the position data of the point Q is continuously acquired.
In the two embodiments, since the mobile robot already grasps the three-dimensional map of the indoor scene, the orientation of the feature position can be determined from its own positioning during the movement. In order to collect data of the characteristic position, the mobile robot can control the camera to rotate, so that the camera always faces to the selected characteristic position (such as P or Q) to collect data, and the active control process of the embodiment of the invention on data collection is completed.
In other embodiments of the present invention, the mobile robot may further select a wall, a wall decoration, and/or a ceiling decoration as the characteristic position, and then, for different characteristic positions, the mobile robot may start different data acquisition devices to perform data acquisition. For example, the mobile robot carries a camera, an infrared camera, a radar, an ultrasonic sensor, a laser range finder or any combination of the above, and the mobile robot is used as one or one set of data acquisition equipment, and is installed and fixed at a proper position on the mobile robot body.
In operation, the data acquisition device may be controlled to acquire data in various manners (not limited to) or combinations thereof.
● carries four cameras facing east, south, west and north, and the cameras in different directions are turned on/off to capture the image data of characteristic positions in different directions.
● when the characteristic position is known to radiate infrared ray, the carried infrared probe is aligned with the characteristic position to receive infrared radiation data.
● when the characteristic position is a certain side such as the wall on the right side, the ultrasonic sensor on the right side is turned on to obtain the distance data between the mobile robot and the wall on the right side.
●, when the radar reaches the preset position, the radar is turned on to actively search for the preset target object.
Based on the above embodiments, it can be understood that the embodiments of the present invention are directed to a mobile device equipped with different types, different numbers, and cameras and/or sensors installed at different positions as data acquisition devices, and when the mobile device moves in a target environment, a data collection scheme can be actively selected and formulated by controlling the data acquisition devices, so as to actively control a data collection process.
It should be noted that the precondition for actively acquiring data in the embodiment of the present invention is that three-dimensional map data of at least a part of the target environment needs to be known, and then the feature position can be determined according to the three-dimensional map data, and the subsequent step of actively controlling the data acquisition device to acquire the feature position data is performed. That is, the embodiment of the invention actively designs and generates a new data acquisition mode according to the existing data. Compared with the past mobile devices, the past mobile devices are simple in data acquisition and data processing, and the mobile device of the embodiment of the invention can actively control the data acquisition mode.
Further, based on the embodiment of fig. 1, the mobile device may be assisted in self-positioning by the following steps, referring to fig. 4:
s101, selecting at least one characteristic position from a three-dimensional map of the target environment, and recording related data of the at least one characteristic position.
S102, when the mobile device moves in the target environment, controlling one or more data acquisition devices carried on the mobile device according to the positioning result of the mobile device to the mobile device, so that the one or more data acquisition devices acquire the relevant data of the at least one characteristic position.
S103, comparing the data collected by the one or more data collection devices with the data recorded from the three-dimensional map of the target environment.
And S104, correcting the positioning result of the mobile device to the mobile device according to the comparison result.
The embodiment of fig. 4 may be used to correct the current position of the mobile device using known data of feature locations and current measured data, for example: the wall plane parameters can be obtained based on two angled laser rangefinders, from which the position and orientation of the wall itself can be calibrated. Compared with the traditional mode of passively receiving data upwards based on single direction, the active acquisition data is utilized to carry out positioning, the positioning result is not easily influenced by environmental factors, the positioning effect is good, and the positioning precision is high. The specific calibration process may be calculated by using a suitable algorithm, which is not described in detail herein since the specific algorithm is not a concern in the technical solution of the present invention.
In addition, the data actively acquired by the embodiment of the invention can be used for drawing a complete indoor scene three-dimensional map. For example, the mobile robot can complete active data acquisition and self real-time positioning according to a part of indoor scene graph, and when the mobile robot continues to travel, the mobile robot can acquire unknown environmental data while walking, and record the environmental data for mapping. For example, assuming that a feature position exists one meter outside a corridor, the corridor and the feature position can be used for traveling to the one meter outside the corridor, and then data acquisition is continued one meter outside the corridor, so that a new feature position exists at the three meters, and accordingly the three meters can be traveled to the three meters, so that the new position data can be acquired by using the existing position, and a complete indoor scene three-dimensional map can be obtained by drawing according to the acquired data in the traveling process.
Based on the foregoing embodiments, the present invention further provides an active control device 100 for data acquisition of a mobile device, referring to fig. 5, which includes:
a feature location determination module 101 for selecting at least one feature location from a three-dimensional map of the target environment, recording data related to the at least one feature location, an
The data acquisition device control module 102 is configured to, when the mobile device moves in the target environment, control one or more data acquisition devices mounted on the mobile device according to a positioning result of the mobile device on the mobile device, so that the one or more data acquisition devices acquire data related to the at least one feature position.
Further, referring to fig. 6, the active control apparatus 100 may further include:
a comparison processing module 103 for comparing the data acquired by the one or more data acquisition devices with the data recorded from a three-dimensional map of the target environment, an
And the calculation processing module 104 is used for correcting the positioning result of the mobile device to the mobile device according to the comparison result.
Based on the foregoing embodiments, the present invention further provides a mobile device, which includes: the mobile device comprises a mobile device body, one or more data acquisition devices installed on the mobile device body, a processor and a memory for storing processor executable instructions; the processor is used for selecting at least one characteristic position from a three-dimensional map of the target environment and recording relevant data of the at least one characteristic position; when the mobile device body moves in the target environment, one or more data acquisition devices carried on the mobile device body are controlled according to the positioning result of the mobile device body to the mobile device body, so that the one or more data acquisition devices acquire the related data of the at least one characteristic position.
The technical solutions of the present invention are described in detail with reference to specific embodiments, which are used to help understanding the idea of the present invention. The derivation and modification made by the person skilled in the art on the basis of the specific embodiment of the present invention also belong to the protection scope of the present invention.
Claims (17)
1. An active control method for data acquisition of a mobile device, comprising:
selecting at least one characteristic position from a three-dimensional map of the target environment, and recording related data of the at least one characteristic position;
when the mobile device moves in the target environment, one or more data acquisition devices carried on the mobile device are controlled according to the positioning result of the mobile device to the mobile device, so that the one or more data acquisition devices acquire the relevant data of the at least one characteristic position.
2. The active control method for data acquisition of a mobile device of claim 1, wherein after the one or more data acquisition devices acquire data related to the at least one feature location, the method further comprises:
comparing the data collected by the one or more data collection devices with the data recorded from a three-dimensional map of a target environment;
and correcting the positioning result of the mobile device to the mobile device according to the comparison result.
3. The active control method for data collection of a mobile device of claim 1, wherein the one or more data collection devices are controlled to collect data associated with the first characteristic location when the mobile device moves from the first location to the second location, and the one or more data collection devices are controlled to change from the current state to collect data associated with the first characteristic location again when the mobile device moves from the second location to the third location.
4. The active control method for data collection of a mobile device of claim 1, wherein the one or more data collection devices are controlled to collect data associated with a first characteristic location when the mobile device moves from a first location to a second location, and the one or more data collection devices are controlled to change from a current state to collect data associated with a second characteristic location when the mobile device moves from the second location to a third location.
5. Active control method for data acquisition of a mobile device according to any of claims 1-4, wherein said characteristic location refers to a location in the target environment that can be recognized by the mobile device and that does not change over time.
6. The active control method for data acquisition of a mobile device according to claim 5, wherein the characteristic location comprises at least one of: the wall corner, door frame, wall decoration, ceiling decoration and outdoor fixed building formed by any two indoor walls and the ceiling.
7. The active control method for data collection of a mobile device according to any one of claims 1 to 4, wherein the one or more data collection devices are mounted on the mobile device, and wherein the one or more data collection devices are controlled to change the data collection mode during operation.
8. The active control method for data collection of a mobile device of claim 7, wherein said one or more data collection devices comprise at least one of: camera, infrared camera, radar, ultrasonic sensor, laser range finder.
9. An active control device for data acquisition of a mobile device, comprising:
the characteristic position determining module is used for selecting at least one characteristic position from a three-dimensional map of the target environment and recording related data of the at least one characteristic position;
and the data acquisition equipment control module is used for controlling one or more data acquisition equipment carried on the mobile device according to the positioning result of the mobile device to the mobile device when the mobile device moves in the target environment, so that the one or more data acquisition equipment acquire the relevant data of the at least one characteristic position.
10. The active control device for data acquisition of a mobile device according to claim 9, wherein the device further comprises:
a comparison processing module for comparing the data acquired by the one or more data acquisition devices with the data recorded from a three-dimensional map of a target environment;
and the calculation processing module is used for correcting the positioning result of the mobile device to the mobile device according to the comparison result.
11. The active control apparatus for data collection of a mobile device according to claim 9, wherein the one or more data collection devices control collection of data associated with the first feature position via the data collection device control module when the mobile device moves from the first position to the second position, and the one or more data collection devices control change from the current state to collection of data associated with the first feature position again via the data collection device control module when the mobile device moves from the second position to the third position.
12. The active control apparatus for data collection of a mobile device according to claim 9, wherein the one or more data collection devices control collection of data associated with the first feature position via the data collection device control module when the mobile device moves from the first position to the second position, and the one or more data collection devices control change from the current state to collection of data associated with the second feature position via the data collection device control module when the mobile device moves from the second position to the third position.
13. The active control device for data collection of a mobile device according to any of claims 9-12, wherein the characteristic location refers to a location in the target environment that is recognizable by the mobile device and does not change over time.
14. The active control device for data acquisition of a mobile device according to claim 13, wherein the characteristic location comprises at least one of: the wall corner, door frame, wall decoration, ceiling decoration and outdoor fixed building formed by any two indoor walls and the ceiling.
15. The active control device for data collection of a mobile unit according to any one of claims 9 to 12, wherein the one or more data collection devices are mounted on the mobile unit, and wherein the one or more data collection devices are operable to control the change of the data collection mode via the data collection device control module.
16. The active control apparatus for data collection of a mobile device according to claim 15, wherein said one or more data collection devices comprise at least one of: camera, infrared camera, radar, ultrasonic sensor, laser range finder.
17. A mobile device, comprising:
a mobile device body;
one or more data acquisition devices mounted on the mobile device body;
a processor; and
a memory for storing processor-executable instructions; wherein,
the processor is used for selecting at least one characteristic position from a three-dimensional map of the target environment and recording related data of the at least one characteristic position; when the mobile device body moves in the target environment, one or more data acquisition devices carried on the mobile device body are controlled according to the positioning result of the mobile device body to the mobile device body, so that the one or more data acquisition devices acquire the related data of the at least one characteristic position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610397494.0A CN107478213B (en) | 2016-06-07 | 2016-06-07 | Mobile device and data acquisition active control method and device for mobile device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610397494.0A CN107478213B (en) | 2016-06-07 | 2016-06-07 | Mobile device and data acquisition active control method and device for mobile device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107478213A true CN107478213A (en) | 2017-12-15 |
| CN107478213B CN107478213B (en) | 2021-08-06 |
Family
ID=60594313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610397494.0A Expired - Fee Related CN107478213B (en) | 2016-06-07 | 2016-06-07 | Mobile device and data acquisition active control method and device for mobile device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107478213B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101650891A (en) * | 2008-08-12 | 2010-02-17 | 三星电子株式会社 | Method and apparatus to build 3-dimensional grid map and method and apparatus to control automatic traveling apparatus using the same |
| US7912633B1 (en) * | 2005-12-01 | 2011-03-22 | Adept Mobilerobots Llc | Mobile autonomous updating of GIS maps |
| CN102109348A (en) * | 2009-12-25 | 2011-06-29 | 财团法人工业技术研究院 | System and method for positioning carrier, evaluating carrier gesture and building map |
| CN103869814A (en) * | 2012-12-17 | 2014-06-18 | 联想(北京)有限公司 | Terminal positioning and navigation method and mobile terminal |
| CN104062626A (en) * | 2014-07-03 | 2014-09-24 | 吴晓栋 | Indoor positioning method and indoor positioning device |
| CN104913782A (en) * | 2015-06-19 | 2015-09-16 | 中国人民解放军国防科学技术大学 | Acquisition and positioning based indoor and outdoor combined navigation method and system |
| CN105425807A (en) * | 2016-01-07 | 2016-03-23 | 朱明� | Indoor robot navigation method and apparatus based on artificial road sign |
| CN105571588A (en) * | 2016-03-10 | 2016-05-11 | 赛度科技（北京）有限责任公司 | Method for building three-dimensional aerial airway map of unmanned aerial vehicle and displaying airway of three-dimensional aerial airway map |
-
2016
- 2016-06-07 CN CN201610397494.0A patent/CN107478213B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7912633B1 (en) * | 2005-12-01 | 2011-03-22 | Adept Mobilerobots Llc | Mobile autonomous updating of GIS maps |
| US8200423B2 (en) * | 2005-12-01 | 2012-06-12 | Adept Technology, Inc. | Mobile autonomous updating of GIS maps |
| CN101650891A (en) * | 2008-08-12 | 2010-02-17 | 三星电子株式会社 | Method and apparatus to build 3-dimensional grid map and method and apparatus to control automatic traveling apparatus using the same |
| CN102109348A (en) * | 2009-12-25 | 2011-06-29 | 财团法人工业技术研究院 | System and method for positioning carrier, evaluating carrier gesture and building map |
| CN103869814A (en) * | 2012-12-17 | 2014-06-18 | 联想(北京)有限公司 | Terminal positioning and navigation method and mobile terminal |
| CN104062626A (en) * | 2014-07-03 | 2014-09-24 | 吴晓栋 | Indoor positioning method and indoor positioning device |
| CN104913782A (en) * | 2015-06-19 | 2015-09-16 | 中国人民解放军国防科学技术大学 | Acquisition and positioning based indoor and outdoor combined navigation method and system |
| CN105425807A (en) * | 2016-01-07 | 2016-03-23 | 朱明� | Indoor robot navigation method and apparatus based on artificial road sign |
| CN105571588A (en) * | 2016-03-10 | 2016-05-11 | 赛度科技（北京）有限责任公司 | Method for building three-dimensional aerial airway map of unmanned aerial vehicle and displaying airway of three-dimensional aerial airway map |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107478213B (en) | 2021-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Pfrommer et al. | Penncosyvio: A challenging visual inertial odometry benchmark | |
| US9073637B2 (en) | Flying vehicle guiding system and flying vehicle guiding method | |
| US9898821B2 (en) | Determination of object data by template-based UAV control | |
| US10197675B2 (en) | System and method for camera based position and orientation measurement | |
| US10477356B2 (en) | Navigation method and device | |
| TW201934460A (en) | Actively complementing exposure settings for autonomous navigation | |
| JP2015145784A (en) | Measurement system | |
| US10337863B2 (en) | Survey system | |
| US11463680B2 (en) | Using virtual landmarks during environment scanning | |
| WO2022077296A1 (en) | Three-dimensional reconstruction method, gimbal load, removable platform and computer-readable storage medium | |
| KR100669250B1 (en) | System and method for real-time calculating location | |
| CN106289235A (en) | Autonomous computational accuracy controllable chamber inner position air navigation aid based on architecture structure drawing | |
| US10708572B2 (en) | Photogrammetric system and photogrammetric method | |
| WO2015004739A1 (en) | Monitor system, automated patrol robot, and monitor method | |
| CN106352871A (en) | Indoor visual positioning system and method based on artificial ceiling beacon | |
| CN110730934A (en) | Method and device for switching track | |
| Veth et al. | Two-dimensional stochastic projections for tight integration of optical and inertial sensors for navigation | |
| CN107478213B (en) | Mobile device and data acquisition active control method and device for mobile device | |
| WO2020024150A1 (en) | Map processing method, apparatus, and computer readable storage medium | |
| Rydell et al. | Chameleon v2: Improved imaging-inertial indoor navigation | |
| Jeong et al. | High-precision three-dimensional laser measurement system by cooperative multiple mobile robots | |
| Gao et al. | An active target localization with monocular vision | |
| CN112414407A (en) | Positioning method, positioning device, computer equipment and storage medium | |
| JP2019212204A (en) | Position estimation system | |
| Masiero et al. | Indoor photogrammetry aided with Uwb navigation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210806 |