CN114326762A - Indoor space data acquisition system and method - Google Patents
Indoor space data acquisition system and method Download PDFInfo
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- CN114326762A CN114326762A CN202111382270.XA CN202111382270A CN114326762A CN 114326762 A CN114326762 A CN 114326762A CN 202111382270 A CN202111382270 A CN 202111382270A CN 114326762 A CN114326762 A CN 114326762A
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Abstract
The invention relates to the technical field of low-altitude remote sensing, in particular to an indoor space data acquisition system and method; the indoor space data acquisition system includes: the system comprises an unmanned aerial vehicle flight platform, a laser radar obstacle avoidance system, a PC terminal ground station, a remote controller, a router and a mobile phone terminal, and an acquisition method is adaptively provided.
Description
Technical Field
The invention relates to the technical field of low-altitude remote sensing, in particular to an indoor space data acquisition system and method.
Background
The unmanned aerial vehicle is widely applied to civil and military fields due to unique air hovering and vertical take-off and landing capability, excellent maneuvering flexibility and high reliability, and is an ideal low-altitude remote sensing carrying platform, but the traditional unmanned aerial vehicle platform mostly depends on a satellite navigation system (such as a GPS) to carry out space flight positioning, so that the existing unmanned aerial vehicle platform is difficult to complete space data acquisition flight tasks in an indoor environment due to shielding of signals of the satellite navigation system; in addition, in order to facilitate acquisition, transmission and later-stage automatic processing of target area space images, the traditional unmanned aerial vehicle remote sensing platform needs to be provided with an independent optical camera, a pose sensor and a data transmission system, and the defects of complex customized integration technology, high cost and the like of a professional remote sensing system exist.
At present, multiple MEMS sensors including visible light, acceleration, a gyroscope, a magnetometer and the like are implanted into a smart phone, and meanwhile, the smart phone supports multiple communication modes such as Bluetooth, WIFI and USB, so that the smart phone can not only perform space positioning under the condition that signals of an indoor satellite navigation system are shielded, but also can be conveniently used for space image acquisition and transmission, therefore, the smart phone is used as space image data acquisition equipment, a rotor unmanned aerial vehicle is used as a flight carrying platform, a space data acquisition system suitable for indoor space flight tasks can be quickly constructed, and the smart phone has a wide application prospect.
Disclosure of Invention
The invention aims to provide an indoor space data acquisition system and method, which aim to overcome the application limitation of the existing unmanned aerial vehicle for acquiring indoor space data.
In order to achieve the above object, the present invention provides an indoor space data acquisition system, including:
the unmanned aerial vehicle flight platform is used for carrying a mobile phone to complete a data acquisition task of a target area, and comprises a flight control, a receiver, a data transmission device, a sensor and a power system, wherein the flight control is provided with a camera trigger to cooperate with photographing;
the laser radar obstacle avoidance system comprises a raspberry group and a laser radar, and is used for assisting the unmanned aerial vehicle flight platform to avoid obstacles during flight, the raspberry group collects distance data measured by the laser radar through a serial port, then calculates a required movement angle of the unmanned aerial vehicle flight platform through a VFH obstacle avoidance algorithm, and finally sends calculated control information to the unmanned aerial vehicle flight platform through the serial port, so that real-time obstacle avoidance of the unmanned aerial vehicle flight platform is realized;
the PC terminal ground station comprises an unmanned aerial vehicle control ground station and a data acquisition ground station, wherein the unmanned aerial vehicle control ground station is used for checking flight height and attitude data of an unmanned aerial vehicle flight platform and planning air routes, and the data acquisition ground station is used for receiving data acquired by a mobile phone terminal;
the remote controller is used for controlling the unmanned aerial vehicle flying platform to unlock and fly;
the router is used for providing a local area network for the communication between the mobile phone terminal and the PC terminal ground station;
the mobile phone end is used for collecting sensor data and mobile phone image data of the smart phone and collecting data by utilizing the collection APP to receive instructions from the flight control and data collection ground station for data collection, the mobile phone end comprises a CH340 module and a USB port, and the CH340 module is connected with the USB port.
To indoor space data acquisition environmental characteristics, design and build the data acquisition system who combines smart mobile phone and rotor unmanned aerial vehicle to the complicated flight condition of indoor unmanned aerial vehicle, establish based on laser radar the laser radar keeps away barrier system, thereby effectively promotes the application of unmanned aerial vehicle at indoor flight.
The invention also provides an indoor space data acquisition method, which comprises the indoor space data acquisition system and further comprises the following steps:
starting a router, acquiring APP initialization at a mobile phone end, acquiring data of a mobile phone camera and a sensor, and establishing communication connection between the mobile phone end and a CH340 module;
initializing a PC terminal ground station, establishing communication connection between the PC terminal ground station and the mobile phone terminal, and receiving mobile phone data;
after stable communication connection is established, starting an unmanned aerial vehicle flight platform, establishing communication connection between the mobile phone end and flight control of the unmanned aerial vehicle flight platform, and setting a flight mode of the unmanned aerial vehicle flight platform;
initializing a laser radar obstacle avoidance system, starting a raspberry group and establishing communication connection between the flight control and the raspberry group;
setting image acquisition intervals and acquisition data by using the PC terminal ground station in an indoor environment; under the outdoor environment, planning a waypoint of a target area by utilizing an unmanned aerial vehicle to control a ground station; and finally, unlocking by using a remote controller, switching the unmanned aerial vehicle flight platform into an offbord mode, and waiting for completing a data acquisition task.
According to the proposed indoor space data acquisition system, an acquisition method is correspondingly proposed, and the requirement of indoor data acquisition of the unmanned aerial vehicle flight platform in the indoor space is met through the matching of the established PC terminal ground station and the mobile phone terminal.
The operation flow of collecting the APP by the mobile phone end is as follows:
initializing relevant settings after collecting APP start, wherein the relevant settings mainly comprise system storage, a camera, a network and USB permission check;
after initialization is completed, a main interface displays a camera preview frame, sensor data and all setting buttons in real time;
if the PC terminal ground station is started, the acquisition APP is automatically connected to the PC terminal ground station through the TCP, and a camera preview frame is transmitted to the PC terminal ground station in real time for display;
after confirming that the camera is successfully transmitted, connecting the PC terminal ground station and establishing a file transmission port connection; when the IP address and the port number of the PC terminal ground station are changed and the ground station cannot be connected, resetting the connection parameters through the APP menu interface;
the mobile phone end is connected with the data acquisition ground station when the flight control is not connected, data acquisition is independently completed, the acquisition APP monitors that a CH340 module is connected into the mobile phone end, then the communication connection between the flight control and the mobile phone end is established, and after the mobile phone end receives a flight control command, the acquisition APP executes a photographing task and sends a file to the data acquisition ground station.
By means of initialization setting, the connection state of the acquisition APP and the PC terminal ground station can be known in time.
The communication connection between the mobile phone end and the CH340 module comprises the following steps:
after initialization of the acquisition APP is completed, the acquisition APP monitors whether equipment is accessed to the USB port in real time;
when the device access is detected, the user can establish the connection between the mobile phone end and the CH340 module by triggering the button.
And realizing the synchronous control of the subsequent mobile phone end and the unmanned aerial vehicle flight platform through the connection of the mobile phone end and the CH340 module.
The operation steps of the PC terminal ground station are as follows:
starting server setting to connect the mobile phone terminal, so that the PC terminal ground station and the mobile phone terminal communicate in the same local area network;
after a PC terminal ground station initializes a window, if the PC terminal ground station receives a connection request of the mobile phone terminal, the PC terminal ground station establishes connection with the mobile phone terminal and displays a video collected by a camera of the mobile phone terminal in real time; a user starts a file transmission port of the mobile phone end and establishes file transmission connection between the mobile phone end and a PC end ground station;
after the transmission connection is established, the PC terminal ground station sets parameters of a data acquisition task, and sends acquisition parameters and instructions to the mobile phone terminal to start the acquisition task;
the mobile phone end sends data to the PC end ground station in real time after completing a data acquisition task, the PC end ground station judges the data after receiving the data, and if the data is a file, the PC end ground station stores the file; and if the data is sensor data, the PC terminal ground station analyzes the sensor data and displays the data in real time.
After the connection is established, the PC terminal ground station transmits various parameters of the mobile phone terminal data acquisition task to the mobile phone terminal, the mobile phone terminal is connected with the flight control to control the unmanned aerial vehicle flight platform, and the PC terminal ground station performs corresponding operation according to different categories of the acquired data, so that accurate and stable transmission of the mobile phone terminal data is improved.
The VFH obstacle avoidance algorithm of the laser radar obstacle avoidance system comprises the following steps:
the laser radar sensor obtains information, and distance data measured in real time are sent to the raspberry group through a serial port;
mapping the sensor data into a corresponding grid, and updating a Cartesian coordinate obstacle map;
the description of the environment information is converted from grid description under a Cartesian coordinate system to histogram description under a polar coordinate system, and a polar coordinate graph is established according to the current position of the unmanned aerial vehicle;
calculating the rotation angle and the movement speed of the unmanned aerial vehicle through a histogram under a polar coordinate system;
and the raspberry group sends the control instruction to the flight control through the serial port.
And improving an obstacle avoidance algorithm of the laser radar obstacle avoidance system, thereby effectively improving the obstacle avoidance capability of the unmanned aerial vehicle flight platform when executing an indoor data acquisition task, and improving the capability of the unmanned aerial vehicle flight platform for dealing with complex flight conditions.
According to the indoor space data acquisition system and method, the acquisition method is correspondingly provided on the basis of providing the indoor space data acquisition system, and the capability of the acquisition system for meeting the complex flight condition of the indoor space, synchronous control and real-time data transmission requirements when executing a data acquisition task is effectively improved by improving the acquisition method.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an indoor space data acquisition system provided by the invention.
Fig. 2 is a schematic step diagram of an indoor space data acquisition method provided by the present invention.
Fig. 3 is a schematic diagram of operation steps of a process of establishing a connection between a mobile phone terminal and a CH340 module in the indoor space data acquisition method provided by the invention.
Fig. 4 is a schematic diagram of a process of resolving data posture of a mobile phone sensor in the method for acquiring indoor space data provided by the invention.
Fig. 5 is a schematic diagram of the operation steps of a PC-end data acquisition ground station of the method for acquiring indoor space data according to the present invention.
Fig. 6 is a schematic diagram of a step of establishing communication between a mobile phone terminal and a PC ground station in the indoor space data acquisition method provided by the present invention.
Fig. 7 is a schematic flow chart of a VFH obstacle avoidance algorithm operating on a laser radar obstacle avoidance system of the indoor space data acquisition method provided by the present invention.
Fig. 8 is a schematic diagram of operation steps of collecting APP of the indoor space data collection method provided by the invention.
Fig. 9 is a schematic diagram of a step of controlling a mobile phone to acquire data in the method for acquiring data of an indoor space provided by the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1, the present invention provides an indoor space data acquisition system, including:
the unmanned aerial vehicle flight platform is used for carrying a mobile phone to complete a data acquisition task of a target area, and comprises a flight control, a receiver, a data transmission device, a sensor and a power system, wherein the flight control is provided with a camera trigger to cooperate with photographing;
the laser radar obstacle avoidance system comprises a raspberry group and a laser radar, and is used for assisting the unmanned aerial vehicle flight platform to avoid obstacles during flight, the raspberry group collects distance data measured by the laser radar through a serial port, then calculates a required movement angle of the unmanned aerial vehicle flight platform through a VFH obstacle avoidance algorithm, and finally sends calculated control information to the unmanned aerial vehicle flight platform through the serial port, so that real-time obstacle avoidance of the unmanned aerial vehicle flight platform is realized;
the PC terminal ground station comprises an unmanned aerial vehicle control ground station and a data acquisition ground station, wherein the unmanned aerial vehicle control ground station is used for checking flight height and attitude data of an unmanned aerial vehicle flight platform and planning air routes, and the data acquisition ground station is used for receiving data acquired by a mobile phone terminal;
the remote controller is used for controlling the unmanned aerial vehicle flying platform to unlock and fly;
the router is used for providing a local area network for the communication between the mobile phone terminal and the PC terminal ground station;
the mobile phone end is used for collecting sensor data and mobile phone image data of the smart phone and collecting data by utilizing the collection APP to receive instructions from the flight control and data collection ground station for data collection, the mobile phone end comprises a CH340 module and a USB port, and the CH340 module is connected with the USB port.
In this embodiment, utilize collect the end with the unmanned aerial vehicle cooperation to found the data acquisition structure, the deuterogamy the router the remote controller with the cooperation of PC end ground satellite station, thereby it is right to realize the real-time transmission of the data that the cell-phone end was gathered, and laser radar keeps away under the barrier system then is used for promoting indoor complicated flight condition, unmanned aerial vehicle flight platform's reply ability recycles the CH340 module with cooperate the USB mouth, thereby solves the cell-phone end with the synchro control problem between the unmanned aerial vehicle flight platform.
Referring to fig. 2 to 9, the present invention further provides an indoor space data collecting method, including the above-mentioned indoor space data collecting system, further including the following steps:
s101: starting a router, acquiring APP initialization at a mobile phone end, acquiring data of a mobile phone camera and a sensor, and establishing communication connection between the mobile phone end and a CH340 module;
s102: initializing a PC terminal ground station, establishing communication connection between the PC terminal ground station and the mobile phone terminal, and receiving mobile phone data;
s103: after stable communication connection is established, starting an unmanned aerial vehicle flight platform, establishing communication connection between the mobile phone end and flight control of the unmanned aerial vehicle flight platform, and setting a flight mode of the unmanned aerial vehicle flight platform;
s104: initializing a laser radar obstacle avoidance system, starting a raspberry group and establishing communication connection between the flight control and the raspberry group;
s105: setting image acquisition intervals and acquisition data by using the PC terminal ground station in an indoor environment; under the outdoor environment, planning a waypoint of a target area by utilizing an unmanned aerial vehicle to control a ground station; and finally, unlocking by using a remote controller, switching the unmanned aerial vehicle flight platform into an offbord mode, and waiting for completing a data acquisition task.
In the embodiment, a corresponding acquisition method is provided corresponding to the data acquisition system, so that the acquisition capacity of the data acquisition system in data acquisition of the indoor space is improved.
Further, the operation flow of collecting the APP by the mobile phone end is as follows:
initializing relevant settings after collecting APP start, wherein the relevant settings mainly comprise system storage, a camera, a network and USB permission check;
after initialization is completed, a main interface displays a camera preview frame, sensor data and all setting buttons in real time;
if the PC terminal ground station is started, the acquisition APP is automatically connected to the PC terminal ground station through the TCP, and a camera preview frame is transmitted to the PC terminal ground station in real time for display;
after confirming that the camera is successfully transmitted, connecting the PC terminal ground station and establishing a file transmission port connection; when the IP address and the port number of the PC terminal ground station are changed and the ground station cannot be connected, resetting the connection parameters through the APP menu interface;
the mobile phone end is connected with the data acquisition ground station when the flight control is not connected, data acquisition is independently completed, the acquisition APP monitors that a CH340 module is connected into the mobile phone end, then the communication connection between the flight control and the mobile phone end is established, and after the mobile phone end receives a flight control command, the acquisition APP executes a photographing task and sends a file to the data acquisition ground station.
In this embodiment, through setting up gather APP's operation step, and then make the collection end carries out the self-checking when starting at every turn, can adapt to data acquisition system, avoids data acquisition system to break down, deuterogamies whether the connection is established to PC end ground satellite station is confirmed, thereby avoids the data that the cell-phone end was gathered can't be uploaded, can't in time receive simultaneously and gather instruction and data to satisfy the real-time transmission requirement to data.
Further, the communication connection between the mobile phone terminal and the CH340 module includes the following steps:
after initialization of the acquisition APP is completed, the acquisition APP monitors whether equipment is accessed to the USB port in real time;
when the device access is detected, the user can establish the connection between the mobile phone end and the CH340 module by triggering the button.
In this embodiment, utilize the cell-phone end with the back is connected to the CH340 module, specifically for cooperation Pixhawk camera trigger can effectively realize the cell-phone end with unmanned aerial vehicle flight platform's synchro control, the cell-phone end is connected to the USB mouth of cell-phone through the CH340 module, flight control is through Pixhawk camera trigger at auxiliary channel output signal control cell-phone and is shot, accomplishes data acquisition, Pixhawk camera trigger driver sends a pulse through the AUX auxiliary channel of flight control and triggers the camera, Pixhawk camera trigger realizes the waypoint through the shutter of control single lens reflex camera and shoots, thereby solves the cell-phone end with unmanned aerial vehicle flight platform's synchro control problem.
Further, the operation steps of the PC-side ground station are as follows:
starting server setting to connect the mobile phone terminal, so that the PC terminal ground station and the mobile phone terminal communicate in the same local area network;
after a PC terminal ground station initializes a window, if the PC terminal ground station receives a connection request of the mobile phone terminal, the PC terminal ground station establishes connection with the mobile phone terminal and displays a video collected by a camera of the mobile phone terminal in real time; a user starts a file transmission port of the mobile phone end and establishes file transmission connection between the mobile phone end and a PC end ground station;
after the transmission connection is established, the PC terminal ground station sets parameters of a data acquisition task, and sends acquisition parameters and instructions to the mobile phone terminal to start the acquisition task;
the mobile phone end sends data to the PC end ground station in real time after completing a data acquisition task, the PC end ground station judges the data after receiving the data, and if the data is a file, the PC end ground station stores the file; and if the data is sensor data, the PC terminal ground station analyzes the sensor data and displays the data in real time.
In this embodiment, the PC-side ground station is disposed under the same lan as the mobile phone side to improve docking accuracy, and then transmits data by using a file transmission port and a video transmission port, respectively, so that the data at the mobile phone side can be transmitted accurately and stably, and then the type of the data is determined by the PC-side ground station, thereby realizing real-time display of the data.
Further, the VFH obstacle avoidance algorithm of the laser radar obstacle avoidance system includes the following steps:
the laser radar sensor obtains information, and distance data measured in real time are sent to the raspberry group through a serial port;
mapping the sensor data into a corresponding grid, and updating a Cartesian coordinate obstacle map;
the description of the environment information is converted from grid description under a Cartesian coordinate system to histogram description under a polar coordinate system, and a polar coordinate graph is established according to the current position of the unmanned aerial vehicle;
calculating the rotation angle and the movement speed of the unmanned aerial vehicle through a histogram under a polar coordinate system;
and the raspberry pi sends the control instruction to the flight control through a serial port.
In the present embodiment, the histogram H in the polar coordinate system is composed of n sectors with an angle α, and the CV value of each grid of the current active window in the cartesian coordinate system is converted into an H value of the corresponding sector, where the CV value indicates a possibility of an obstacle existing in the grid, and the H value is used to describe an obstacle density value in the corresponding sector.
Further, the analyzing the sensor data by the PC-end ground station includes the following steps:
calculating angular velocity differential quaternion by using the angular velocity output by the gyroscope and a quaternion differential equation;
preprocessing the measured data of the accelerometer and the magnetic compass, obtaining a gradient formula of the attitude sensor according to error functions and derivatives of the accelerometer and the magnetic compass, and eliminating quaternion errors by using a gradient descent method to obtain accurate attitude quaternion;
and the quaternion obtained by integrating the angular velocity of the gyroscope is fused with the attitude quaternion obtained by a gradient descent method, so that the compensation and correction of attitude data are realized, and the attitude calculation precision is improved.
In the embodiment, by analyzing attitude data, the control accuracy of the unmanned aerial vehicle flying platform by the PC terminal ground station is improved, and the correction of the image is realized.
Further, the flow of controlling the mobile phone end to collect data is as follows:
after the communication connection is established between the flight control and the mobile phone terminal, the unmanned aerial vehicle flight platform sends an acquisition command to the mobile phone terminal when flying to a waypoint of a task;
and the mobile phone terminal takes a picture after receiving the command, stores the picture and the posture data of the current position into the memory of the mobile phone terminal, and simultaneously sends the data file to the PC terminal ground station for storage through WIFI.
And the flight control is matched with the mobile phone end, so that the accuracy of data acquisition of the mobile phone end is improved.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. An indoor space data acquisition system is characterized in that,
the indoor space data acquisition system includes:
the unmanned aerial vehicle flight platform is used for carrying a mobile phone to complete a data acquisition task of a target area, and comprises a flight control, a receiver, a data transmission device, a sensor and a power system, wherein the flight control is provided with a camera trigger to cooperate with photographing;
the laser radar obstacle avoidance system comprises a raspberry group and a laser radar, and is used for assisting the unmanned aerial vehicle flight platform to avoid obstacles during flight, the raspberry group collects distance data measured by the laser radar through a serial port, then calculates a required movement angle of the unmanned aerial vehicle flight platform through a VFH obstacle avoidance algorithm, and finally sends calculated control information to the unmanned aerial vehicle flight platform through the serial port, so that real-time obstacle avoidance of the unmanned aerial vehicle flight platform is realized;
the PC terminal ground station comprises an unmanned aerial vehicle control ground station and a data acquisition ground station, wherein the unmanned aerial vehicle control ground station is used for checking flight height and attitude data of an unmanned aerial vehicle flight platform and planning air routes, and the data acquisition ground station is used for receiving data acquired by a mobile phone terminal;
the remote controller is used for controlling the unmanned aerial vehicle flying platform to unlock and fly;
the router is used for providing a local area network for the communication between the mobile phone terminal and the PC terminal ground station;
the mobile phone end is used for collecting sensor data and mobile phone image data of the smart phone and collecting data by utilizing the collection APP to receive instructions from the flight control and data collection ground station for data collection, the mobile phone end comprises a CH340 module and a USB port, and the CH340 module is connected with the USB port.
2. An indoor space data acquisition method comprising the indoor space data acquisition system according to claim 1, further comprising the steps of:
starting a router, acquiring APP initialization at a mobile phone end, acquiring data of a mobile phone camera and a sensor, and establishing communication connection between the mobile phone end and a CH340 module;
initializing a PC terminal ground station, establishing communication connection between the PC terminal ground station and the mobile phone terminal, and receiving mobile phone data;
after stable communication connection is established, starting an unmanned aerial vehicle flight platform, establishing communication connection between the mobile phone end and flight control of the unmanned aerial vehicle flight platform, and setting a flight mode of the unmanned aerial vehicle flight platform;
initializing a laser radar obstacle avoidance system, starting a raspberry group and establishing communication connection between the flight control and the raspberry group;
setting image acquisition intervals and acquisition data by using the PC terminal ground station in an indoor environment; under the outdoor environment, planning a waypoint of a target area by utilizing an unmanned aerial vehicle to control a ground station; and finally, unlocking by using a remote controller, switching the unmanned aerial vehicle flight platform into an offbord mode, and waiting for completing a data acquisition task.
3. An indoor spatial data acquisition method as claimed in claim 2,
the operation flow of APP acquisition by the mobile phone end is as follows:
initializing relevant settings after collecting APP start, wherein the relevant settings mainly comprise system storage, a camera, a network and USB permission check;
after initialization is completed, a main interface displays a camera preview frame, sensor data and all setting buttons in real time;
if the PC terminal ground station is started, the acquisition APP is automatically connected to the PC terminal ground station through the TCP, and a camera preview frame is transmitted to the PC terminal ground station in real time for display;
after confirming that the camera is successfully transmitted, connecting the PC terminal ground station and establishing a file transmission port connection; when the IP address and the port number of the PC terminal ground station are changed and the ground station cannot be connected, resetting the connection parameters through the APP menu interface;
the mobile phone end is connected with the data acquisition ground station when the flight control is not connected, data acquisition is independently completed, the acquisition APP monitors that a CH340 module is connected into the mobile phone end, then the communication connection between the flight control and the mobile phone end is established, and after the mobile phone end receives a flight control command, the acquisition APP executes a photographing task and sends a file to the data acquisition ground station.
4. A method of indoor spatial data acquisition as claimed in claim 3,
the communication connection between the mobile phone end and the CH340 module comprises the following steps:
after initialization of the acquisition APP is completed, the acquisition APP monitors whether equipment is accessed to the USB port in real time;
when the device access is detected, the user can establish the connection between the mobile phone end and the CH340 module by triggering the button.
5. A method of indoor spatial data acquisition as claimed in claim 4,
the operation steps of the PC terminal ground station are as follows:
starting server setting to connect the mobile phone terminal, so that the PC terminal ground station and the mobile phone terminal communicate in the same local area network;
after a PC terminal ground station initializes a window, if the PC terminal ground station receives a connection request of the mobile phone terminal, the PC terminal ground station establishes connection with the mobile phone terminal and displays a video collected by a camera of the mobile phone terminal in real time; a user starts a file transmission port of the mobile phone end and establishes file transmission connection between the mobile phone end and a PC end ground station;
after the transmission connection is established, the PC terminal ground station sets parameters of a data acquisition task, and sends acquisition parameters and instructions to the mobile phone terminal to start the acquisition task;
the mobile phone end sends data to the PC end ground station in real time after completing a data acquisition task, the PC end ground station judges the data after receiving the data, and if the data is a file, the PC end ground station stores the file; and if the data is sensor data, the PC terminal ground station analyzes the sensor data and displays the data in real time.
6. A method of indoor spatial data acquisition as claimed in claim 5 wherein,
the VFH obstacle avoidance algorithm of the laser radar obstacle avoidance system comprises the following steps:
the laser radar sensor obtains information, and distance data measured in real time are sent to the raspberry group through a serial port;
mapping the sensor data into a corresponding grid, and updating a Cartesian coordinate obstacle map;
the description of the environment information is converted from grid description under a Cartesian coordinate system to histogram description under a polar coordinate system, and a polar coordinate graph is established according to the current position of the unmanned aerial vehicle;
calculating the rotation angle and the movement speed of the unmanned aerial vehicle through a histogram under a polar coordinate system;
and the raspberry group sends the control instruction to the flight control through the serial port.
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