CN110955237A - Teaching path module of mobile carrier - Google Patents
Teaching path module of mobile carrier Download PDFInfo
- Publication number
- CN110955237A CN110955237A CN201910879559.9A CN201910879559A CN110955237A CN 110955237 A CN110955237 A CN 110955237A CN 201910879559 A CN201910879559 A CN 201910879559A CN 110955237 A CN110955237 A CN 110955237A
- Authority
- CN
- China
- Prior art keywords
- mobile carrier
- storage
- path
- arithmetic unit
- dimensional
- 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.)
- Withdrawn
Links
- 238000003860 storage Methods 0.000 claims abstract description 69
- 230000000007 visual effect Effects 0.000 claims abstract description 27
- 238000000034 method Methods 0.000 claims description 13
- 230000004438 eyesight Effects 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000014759 maintenance of location Effects 0.000 claims description 2
- 238000012546 transfer Methods 0.000 claims description 2
- 239000000284 extract Substances 0.000 claims 2
- 238000004364 calculation method Methods 0.000 description 5
- 230000036544 posture Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 239000000969 carrier Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012634 optical imaging Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
-
- 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)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Image Analysis (AREA)
Abstract
The invention discloses a teaching path module of a mobile carrier, wherein the mobile carrier is a movable robot or a vehicle body, the teaching path module comprises a visual sensing component, a receiver, an arithmetic unit and a storage, the receiver receives a remote-sent instruction command and teaches a path instructed by the traveling of the mobile carrier, the visual sensing component is used for shooting images, the path of the traveling of the mobile carrier is continuously shot with the images, the data of the continuously shot images is transmitted to the arithmetic unit, the arithmetic unit calculates the path and provides a guide path to the storage, and the storage provides the guide path to the mobile carrier, thereby providing the mobile carrier for moving.
Description
Technical Field
The invention relates to the field of automatic driving of a mobile carrier, in particular to a teaching path module of the mobile carrier, which is a module capable of being arranged on the mobile carrier, wherein the mobile carrier comprises a mobile robot or a vehicle body, the teaching path module is a guide module for a path of the mobile carrier from displacement to a target position, and a data calculation method of the teaching path module is that characteristic points are calculated by shooting continuously captured images, and then an arithmetic unit calculates a traveling path to the target position according to the characteristic points, thereby providing a direction path of the displacement of the mobile carrier.
Background
At present, in factories, golf courses, restaurants, etc., it is necessary to use mobile carriers to replace people to carry goods or patrol and monitor, and the walking path module of the mobile carriers used in these areas is provided with a sensing component, which is provided with a plurality of sensors or corresponding components such as infrared rays or QR Cod, etc. at the turning key position of the path, so as to provide the information matching between the sensing component and the corresponding component on the walking path of the mobile carrier for the displacement of the fixed path.
When the working areas are in fire or the environmental paths of the working areas are changed, the corresponding assemblies cannot be matched with the sensing assemblies of the mobile carrier; the sensing elements must be fixed in a fixed position, and if the mobile carrier changes the position of the execution environment, the sensing elements must be rebuilt in the corresponding positions.
There are also GPS for path navigation, but the positioning accuracy of GPS is about several meters, and if the robot moves indoors, even shuttles between the inside and outside of a building or between floors, these GPS cannot accurately provide the moving vehicle to move and perform the work.
Therefore, the invention aims to improve the known defects, uses the image obtained by photography to establish the characteristic point image so as to obtain the navigation path, calculates the navigation path by using the image characteristic point, does not need strong operation and a large-scale memory, and can achieve the requirement of quick operation.
Disclosure of Invention
The invention establishes the data of the teaching path by using a visual image mode, the stored data is a fixed path generated by the characteristic points of the visual image, and only the path data generated by the characteristic points is stored to minimize the data information amount.
The position confirmation module of the mobile carrier adopts a way of guiding a path to position a destination, and is beneficial to quick storage and quick comparison after reading; the arithmetic unit is provided to quickly compare the old data in the storage to update the storage so as to generate the latest path update.
In order to achieve the above object, the present invention provides a teaching path module of a mobile carrier, the mobile carrier is provided with a driving device and a controller, the teaching path module is assembled to the controller of the mobile carrier by a circuit or in a wireless transmission manner; the teach path module includes: the device comprises a visual sensing assembly, a receiver, an arithmetic unit and a storage, wherein the receiver is used for receiving information of a remote transmission teaching path and providing the information for the moving direction of the moving carrier; the vision sensing assembly circuit is connected with an arithmetic unit which is connected with the memory, and the memory is used for storing and retrieving the recording path data; the visual sensing assembly comprises a camera lens; the visual sensing assembly is configured on any surface of the mobile carrier; the vision sensing component receives and guides the moving carrier walking path by the receiver through the camera lens to continuously shoot images, provides and transmits a plurality of obtained images to the arithmetic unit, the arithmetic unit calculates the characteristic points obtained by the plurality of images to obtain a guide path and stores the guide path into the storage, the specific flow of the operation guide path comprises the proper methods of FAST, HARRISS, GFTT, SIFT and the like, two-dimensional characteristic points in the pictures are taken out by the methods, and the positions of the characteristic points in three dimensions, namely three-dimensional characteristic points and the positions of the moving carrier, are calculated by using the parallax of the two-dimensional characteristic points in different pictures by using a geometrical method such as Fundamental Matrix projection, so that the positions of the moving carrier and the three-dimensional characteristic points corresponding to the two-dimensional characteristic points at the time are constructed into corresponding relations, and the relation path data are stored in the storage together, will be available for subsequent use; the memory only records the two-dimensional characteristic points and the three-dimensional characteristic points generated by the image outline and the traveling path relation data of the mobile carrier, so that the storage data space is very small, and the path relation data is more intuitive and simple than holographic image data, so that the current position of the mobile carrier can be quickly compared when the mobile carrier is overloaded, the mobile carrier can quickly obtain the position, and the mobile carrier can be positioned according to the guide path and taught to perform the next traveling path to reach the destination; the guiding path data is established by a small storage space, so that the reading of the storage is fast, and the guiding path can be searched fastest and the positioning precision is more accurate when the comparison is carried out and the mobile carrier is positioned at the current position.
Drawings
FIG. 1 is a flow chart of the operation of the teach path module of the present invention.
FIG. 2 is a block diagram of an embodiment of the present invention.
Fig. 3 is a characteristic point correspondence diagram in the present invention.
Symbolic illustration in the drawings:
1 visual sensing component, 2 receiver, 3 arithmetic unit, 4 storage, p1、p2Characteristic points, Pi three-dimensional characteristic points, O1、O2And (5) pose.
Detailed Description
Referring to fig. 1, a teaching path module of a mobile carrier according to the present invention includes a mobile robot or a transportation machine, and a teaching path module B is assembled in a built-in electronic component of the mobile carrier a, and provides a teaching function component for identifying a position and a posture of the mobile carrier a, the teaching path module B includes a visual sensing component 1, a receiver 2, an operator 3 and a storage 4, the visual sensing component 1 is electrically connected to the receiver 2 and the operator 3, and the operator 3 is electrically connected to the storage 4; the connection method can be direct circuit connection with the circuit on the circuit board, or network wireless connection, or other communication connection; the implementation of the wireless connection means that the operator 3 may be disposed outside the module, as shown in fig. 2, the operator 3 is disposed at a control host C, the calculated path information of the operator 3 is transmitted to the receiver 2 by wireless transmission or internet cloud, and then the receiver 2 stores the path information into the storage 4, so that the storage 4 provides access path information, and when the mobile vehicle is to move, the receiver 2 provides the mobile vehicle with the stored predetermined path information obtained by the storage 4, so that the mobile vehicle B can move according to the guidance path.
The visual sensing assembly 1 comprises a photographic lens, the photographic lens is arranged at any surface position of the mobile carrier A and is used for shooting the scenery of the environment of the mobile carrier A, the photographic lens continuously shoots a plurality of images and transmits the obtained images to the arithmetic unit 3, the arithmetic unit 3 captures discrete two-dimensional characteristic points from the two-dimensional images shot by the visual sensing assembly 1 and finds out two-dimensional coordinates of the same space point on different images according to the characteristics of the continuously obtained images, because the mobile carrier generates parallax on the images at the mobile positions, the two-dimensional coordinates of the two-dimensional characteristic points on each image can be changed, and the real three-dimensional space position of the characteristic points in the space and the self pose of the mobile carrier are calculated by using the continuously obtained two-dimensional characteristic point data through a projection method, the pose refers to the direction of the mobile carrier facing in the three-dimensional space, the common mathematical expression direction modes comprise an Euler angle, a three-dimensional orthogonal matrix and a unit quaternion; when the photographic lens of the visual sensing assembly works, the photographic lens can continuously shoot the image of the current environment of the mobile carrier, the shot data are transmitted to the arithmetic unit, new two-dimensional characteristic points and new three-dimensional characteristic points and new poses of the mobile carrier are repeatedly calculated according to the method, and the data related to the data are stored in the storage and updated without reestablishing the whole storage 4.
The arithmetic unit 3 analyzes that if a large number of similar or repeated feature points exist near a position, after data comparison of the storage is carried out, information such as part of similar or overlapped feature points or pose relations and the like can be automatically deleted from the storage, so that the storage space occupied by the data is reduced.
The visual sensing component can acquire image data and transmit the image data to the arithmetic unit in the modes of circuits, networks, mobile communication and the like.
The arithmetic unit 3 obtains image information including feature point description, two-dimensional coordinates of the feature points in the image, three-dimensional coordinates of the feature points in space, positions where the mobile carrier has traveled and postures at that time, and the like, the arithmetic unit 3 combines the information into a path file and prestores the path file in the storage 4, and when the mobile carrier A is paused or restarted or loses position, the arithmetic unit 3 can compare the two-dimensional feature points taken out from the image according to the content of the storage 4, thereby calculating the path position where the mobile carrier A is located, and transmitting the path position information to a driving device of the mobile carrier A for the mobile carrier A to continue moving.
The number of the vision sensing component 1 and the receiver 2 and the operator 3 and the storage 4 can be more than one.
The storage 4 is arranged in the teaching path module B, and can also be arranged in the network cloud or an internal memory externally connected to a computer host; the data stored in the storage 4 is provided for direct use by the mobile vehicle a or for transfer to another mobile vehicle a, and the storage 4 is provided for transferring the file to another storage for storage.
The calculation method of the arithmetic unit 3 implementing the module of the present invention is as follows, firstly, the optical imaging of the camera will generate more or less aberrations, which will cause the calculation error of the spatial position; even letting the calculation result diverge; therefore, before calculating the position, the arithmetic unit 3 corrects the image aberration (e.g., pixel size, pixel aspect ratio, paraaxial focal length of the optical lens, vertical and horizontal focal length difference, distortion, etc.) according to the optical characteristics of the camera, and restores the real projection position of the feature point on the image.
Firstly, a user operates a mobile carrier to move at a near end, the mobile carrier is remotely controlled to walk through a guide path according to a path to be walked, when the mobile carrier starts to move, the visual sensing assembly 1 is started, continuous shooting is started, images which are continuously shot are provided for an arithmetic unit 3, the arithmetic unit 3 finds out two-dimensional feature points, the two-dimensional feature points of every two images find out the same feature point pair, the pose of the robot and the three-dimensional position of the matched feature points are restored by using the fundamental matrix and the matching of a plurality of groups of feature points, generally 8 groups but not limited, and the positions of all the feature points in the images in the space are calculated by using the geometric relationship.
As shown in fig. 2, a user can send a control signal to the receiver 2 wirelessly at a remote control host C, the receiver 2 provides the control signal to a built-in driving component (not shown) of the mobile vehicle a, and the driving component drives the mobile vehicle a to move according to the remote control, so that the mobile vehicle a walks through the guidance path, when the mobile vehicle starts to move, the visual sensing component 1 is activated, so that continuous shooting starts, and an image obtained by the continuous shooting is provided to the arithmetic unit 3, and the arithmetic unit 3 calculates a path data file from the image data and stores the path data file in the storage 4.
From each two images l, as shown in FIG. 31、l2When a feature point Pi in the space is centered by two images l1、l2When seen, the camera centers are respectively in the poses O1And position and attitude O2When the camera is in the pose O1When the projection of the three-dimensional characteristic point Pi at the characteristic point p can be seen1(ii) a And, when the camera is in the pose O2The projection of the time three-dimensional characteristic point Pi at the characteristic point p2The second image l2The center of the camera is projected to the first image l1The projection of time is called the pole (epipole) e1On the contrary, the position and posture O1Is projected to2Pole on is e2Any paired feature point p1And p2Can correspond to three-dimensional characteristic points Pi in the real space, and the three-dimensional coordinates of the characteristic points are [ x, y, z ]]t, the pose O of the robot can be calculated by utilizing the projection of a plurality of three-dimensional characteristic points1And pose O2The relationship is:
O2＝O1·[(R·f)]wherein, in the step (A),
it can also be simplified as follows:
where x, y, z are three-dimensional position coordinates,
θ,
then represent three rotation angles of yaw, pitch, roll; to express the attitude of the moving vehicle in space, the operation sequence is to turn yaw first
Next is pitch (θ), and finally is roll
When any two images are continuously shot, a certain number of feature point matches can be obtained through the above modes, the feature point spatial positions are calculated, and the relative positions and poses of the modules when the two images are shot, the data can be continuously constructed into a structural data file and placed into the storage 4 to be stored in a file form, and the structural data file can be repeatedly used in the future.
The general manner of use is as follows: the vision sensing assembly 1 transmits the continuous captured scenery image to the arithmetic unit 3, and the arithmetic unit 3 analyzes the continuous captured scenery image into one or more than one two-dimensional feature points, usually at least 10 feature points, and then compares the two-dimensional feature points with the two-dimensional feature points in one or more than one storage, so as to obtain the two-dimensional feature points which are closest to the storage and are closest to the storage, and obtain the position and the posture of the mobile carrier at the moment according to the two-dimensional feature points, the two-dimensional feature points and the three-dimensional space positions of the feature points in the storage, wherein the two-dimensional feature points are captured from the newly shot image, and the three-dimensional space positions of the feature points in the storage are calculated and analyzed, so that the current position of the path of the mobile carrier A can be obtained, therefore, the mobile carrier A can continue to move according to the information, and the guiding path file in the storage 4 can be transmitted to any mobile carrier, the other mobile carrier A can repeatedly use the file of the storage 4 to facilitate work, or upload the guidance path file in the storage 4, when the other mobile carrier A needs to work in the same place, the guidance path file in the storage 4 can be remotely or proximally transmitted to the storage 4 in the guidance path module of the other mobile carrier A, thereby providing the other mobile carrier A with the same guidance path for walking.
The method can be further implemented by combining other sensors as auxiliary pose data acquisition path position data sources for integrating more reliable position estimation, for example, when the image characteristics of the environment are rare, the error of the result calculated by the method is larger, and if the path position data can be acquired from other sensors, the method is helpful for correcting the error of the image calculation pose; its advantage does:
1. in a specific area, a guidance path archive can be established on the storage 4, the guidance path archive is more than one archive folder, or the archive folders are distributed on different storages 4.
2. The storage 4 can be stored as a guide path file, which can be used directly by another mobile carrier a or transferred to another mobile carrier a for future use.
3. The guideline path profile in storage 4 can be updated when the context changes.
4. When the mobile carrier a directs the path file to exceed the storage accommodation range of the original storage 4, the storage 4 can be expanded.
5. When there are quite similar features or poses in the storage 4, the operator 4 will remove some feature point information from the storage 4 after analysis.
6. The arithmetic unit 3 calculates feature point data of different feature changes caused by different time, light and shadow, environment …, etc., and accesses the memory 4 to recalculate the feature points at any time.
In summary, the present invention is only a preferred embodiment, and is not intended to limit the scope of the invention, i.e. all equivalent variations and modifications made according to the claims of the present invention are covered by the claims of the present invention.
Claims (11)
1. A teaching path module of a mobile carrier is characterized in that the mobile carrier comprises a mobile robot or a transport machine, the teaching path module is assembled in a built-in electronic component of the mobile carrier, the teaching path module comprises a visual sensing component, a receiver, an arithmetic unit and a storage, an electronic circuit of the visual sensing component is connected with the receiver and the arithmetic unit, and an electronic circuit of the arithmetic unit is connected with the storage; the visual sensing assembly comprises a photographic lens, the photographic lens is arranged at any surface position of the mobile carrier and is used for shooting a scenery of the environment where the mobile carrier is located, the obtained image is transmitted to the arithmetic unit, the arithmetic unit extracts discrete two-dimensional characteristic points from the two-dimensional image shot by the visual sensing assembly, two-dimensional coordinates of the same space point on different images are found out according to the characteristics of the continuously obtained image, the real three-dimensional space position of the characteristic points in the space and the self pose of the mobile carrier are calculated by using the continuously obtained two-dimensional characteristic point data and a projection method, the pose is the direction of the mobile carrier in the three-dimensional space, and the mathematical expression mode of the direction comprises an Euler angle, a three-dimensional orthogonal matrix and a unit quaternion; the camera lens of the visual sensing assembly can continuously shoot the image of the current environment of the mobile carrier, the shot data is transmitted to the arithmetic unit, new two-dimensional characteristic points and new poses of the three-dimensional characteristic points and the mobile carrier are repeatedly calculated according to the method, and the data of the new two-dimensional characteristic points and the new poses of the three-dimensional characteristic points and the mobile carrier and the data of the relationship between the new two-dimensional characteristic points and the new poses of the three-dimensional characteristic points and the mobile carrier are stored in the storage and updated without reestablishing the whole storage; the receiver receives a wireless control signal sent by a remote control host, provides the control signal for a built-in driving component of the mobile carrier, and drives the mobile carrier to move according to the control signal.
2. The teach path module of claim 1, wherein the receiver and the operator are connected by a direct circuit to a circuit on a circuit board or by a wireless network connection; the implementation of the wireless connection means that the arithmetic unit is arranged at a control host end outside the module, the calculated path information of the arithmetic unit is transmitted to the receiver by wireless transmission or network cloud, and then the receiver stores the path information into the storage, so that the storage provides access path information, and when the mobile carrier is to move, the receiver obtains the stored preset path information from the storage and provides the stored preset path information to the mobile carrier so as to enable the mobile carrier to move according to the guide path.
3. The teach path module of claim 1 wherein the storage is capable of creating more than one teach path file in a specific area or distributing file folders across different storages.
4. The teach path module of claim 1 wherein the storage is capable of storing a plurality of teach path files for use by other mobile vehicles directly or for transfer to another mobile vehicle.
5. The teach path module of a mobile vehicle of claim 1 wherein the guideline path profile in the repository can be updated when the environment changes.
6. The teach path module of a mobile vehicle of claim 1 wherein the storage is expandable when the mobile vehicle guideline path file exceeds the storage holding range of the original storage.
7. The teach path module of claim 1 wherein the memory is analyzed by the operator to remove a number of feature point information from the memory when there is a substantially similar feature or pose in the memory.
8. The teach path module of claim 1 wherein the computing device computes feature point data for different feature variations due to different time, light, and environment, and accesses the memory to re-compute the feature points at any time.
9. The teach path module of claim 1 wherein the number of the vision sensor and the receiver and the operator and the memory is more than one.
10. A teaching path module of a mobile carrier is characterized in that the mobile carrier comprises a mobile robot or a transport machine, the teaching path module is assembled in a built-in electronic component of the mobile carrier, the teaching path module comprises a visual sensing component, an arithmetic unit and a storage, the visual sensing component is connected with the arithmetic unit through an electronic circuit, and the arithmetic unit is connected with the storage through an electronic circuit; the visual sensing assembly comprises a photographic lens, the photographic lens is arranged at any surface position of the mobile carrier and is used for shooting a scenery of the environment where the mobile carrier is located, the obtained image is transmitted to the arithmetic unit, the arithmetic unit extracts discrete two-dimensional characteristic points from the two-dimensional image shot by the visual sensing assembly, two-dimensional coordinates of the same space point on different images are found out according to the characteristics of the continuously obtained image, the real three-dimensional space position of the characteristic points in the space and the self pose of the mobile carrier are calculated by using the continuously obtained two-dimensional characteristic point data and a projection method, the pose is the direction of the mobile carrier in the three-dimensional space, and the mathematical expression mode of the direction comprises an Euler angle, a three-dimensional orthogonal matrix and a unit quaternion; the camera lens of the visual sensing assembly can continuously shoot the image of the current environment of the mobile carrier, the shot data is transmitted to the arithmetic unit, the new two-dimensional characteristic point and the new pose of the three-dimensional characteristic point and the mobile carrier are repeatedly calculated according to the method, and the data of the new two-dimensional characteristic point and the new pose of the three-dimensional characteristic point and the new pose of the mobile carrier and the relation data are stored in the storage for updating without re-establishing the whole storage.
11. The teach path module of claim 10, wherein the teach path module has a receiver, the receiver is connected to the vision sensor and the calculator; the receiver can be externally assembled on a driving component of the mobile carrier; the receiver receives a wireless control signal sent by a remote control host, the receiver provides the control signal for a built-in driving component of the mobile carrier, and then the driving component drives the mobile carrier to move according to the control signal, so that the mobile carrier is controlled by a remote walking guide path, and an image shot by the visual sensing component is transmitted to the arithmetic unit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107134105 | 2018-09-27 | ||
| TW107134105 | 2018-09-27 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110955237A true CN110955237A (en) | 2020-04-03 |
Family
ID=69976281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910879559.9A Withdrawn CN110955237A (en) | 2018-09-27 | 2019-09-18 | Teaching path module of mobile carrier |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110955237A (en) |
| TW (1) | TWI728469B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080029080A (en) * | 2006-09-28 | 2008-04-03 | 부천산업진흥재단 | System for estimating self-position of the mobile robot using monocular zoom-camara and method therefor |
| CN102435188A (en) * | 2011-09-15 | 2012-05-02 | 南京航空航天大学 | Monocular vision/inertia autonomous navigation method for indoor environment |
| JP2013186816A (en) * | 2012-03-09 | 2013-09-19 | Topcon Corp | Moving image processor, moving image processing method and program for moving image processing |
| CN204131634U (en) * | 2014-07-15 | 2015-01-28 | 深圳奇沃智联科技有限公司 | The robot surveillance of tool image identification and automatically patrol path setting |
| CN104408719A (en) * | 2014-11-24 | 2015-03-11 | 中国航空工业集团公司洛阳电光设备研究所 | Three-collinear-feature-point monocular vision space positioning method |
| CN105760894A (en) * | 2016-03-16 | 2016-07-13 | 哈尔滨伟方智能科技开发有限责任公司 | Robot navigation method based on machine vision and machine learning |
| WO2017163596A1 (en) * | 2016-03-22 | 2017-09-28 | Sharp Kabushiki Kaisha | Autonomous navigation using visual odometry |
| CN107357286A (en) * | 2016-05-09 | 2017-11-17 | 两只蚂蚁公司 | Vision positioning guider and its method |
| US20180068459A1 (en) * | 2016-09-08 | 2018-03-08 | Ford Global Technologies, Llc | Object Distance Estimation Using Data From A Single Camera |
| CN108074251A (en) * | 2016-11-14 | 2018-05-25 | 广东技术师范学院 | Mobile Robotics Navigation control method based on monocular vision |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200604555A (en) * | 2004-07-16 | 2006-02-01 | Univ Feng Chia | Moving carrier tracking management system |
| KR100922494B1 (en) * | 2007-07-19 | 2009-10-20 | 삼성전자주식회사 | Method for measuring pose of a mobile robot and method and apparatus for measuring position of the mobile robot using the method |
| CN101726296B (en) * | 2009-12-22 | 2013-10-09 | 哈尔滨工业大学 | Vision measurement, path planning and GNC integrated simulation system for space robot |
| TW201814246A (en) * | 2016-09-26 | 2018-04-16 | 劉建良 | Image recognition coordinate confirmation and navigation device in which an image stored in an image coordinate database and an image processed by an image processing unit are used in the image recognition unit to determine a coordinate for a CPU to plan a navigation path |
-
2019
- 2019-09-18 CN CN201910879559.9A patent/CN110955237A/en not_active Withdrawn
- 2019-09-18 TW TW108133575A patent/TWI728469B/en active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080029080A (en) * | 2006-09-28 | 2008-04-03 | 부천산업진흥재단 | System for estimating self-position of the mobile robot using monocular zoom-camara and method therefor |
| CN102435188A (en) * | 2011-09-15 | 2012-05-02 | 南京航空航天大学 | Monocular vision/inertia autonomous navigation method for indoor environment |
| JP2013186816A (en) * | 2012-03-09 | 2013-09-19 | Topcon Corp | Moving image processor, moving image processing method and program for moving image processing |
| CN204131634U (en) * | 2014-07-15 | 2015-01-28 | 深圳奇沃智联科技有限公司 | The robot surveillance of tool image identification and automatically patrol path setting |
| CN104408719A (en) * | 2014-11-24 | 2015-03-11 | 中国航空工业集团公司洛阳电光设备研究所 | Three-collinear-feature-point monocular vision space positioning method |
| CN105760894A (en) * | 2016-03-16 | 2016-07-13 | 哈尔滨伟方智能科技开发有限责任公司 | Robot navigation method based on machine vision and machine learning |
| WO2017163596A1 (en) * | 2016-03-22 | 2017-09-28 | Sharp Kabushiki Kaisha | Autonomous navigation using visual odometry |
| CN107357286A (en) * | 2016-05-09 | 2017-11-17 | 两只蚂蚁公司 | Vision positioning guider and its method |
| US20180068459A1 (en) * | 2016-09-08 | 2018-03-08 | Ford Global Technologies, Llc | Object Distance Estimation Using Data From A Single Camera |
| CN108074251A (en) * | 2016-11-14 | 2018-05-25 | 广东技术师范学院 | Mobile Robotics Navigation control method based on monocular vision |
Also Published As
| Publication number | Publication date |
|---|---|
| TW202012884A (en) | 2020-04-01 |
| TWI728469B (en) | 2021-05-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10515458B1 (en) | Image-matching navigation method and apparatus for aerial vehicles | |
| US9031809B1 (en) | Method and apparatus for generating three-dimensional pose using multi-modal sensor fusion | |
| JP5992184B2 (en) | Image data processing apparatus, image data processing method, and image data processing program | |
| US11906983B2 (en) | System and method for tracking targets | |
| JP5775632B2 (en) | Aircraft flight control system | |
| US20170277197A1 (en) | Autonomous Navigation using Visual Odometry | |
| CN110411476B (en) | Calibration adaptation and evaluation method and system for visual inertial odometer | |
| JP6943988B2 (en) | Control methods, equipment and systems for movable objects | |
| CN102298070A (en) | Method for assessing the horizontal speed of a drone, particularly of a drone capable of hovering on automatic pilot | |
| JP6930840B2 (en) | Surveying system | |
| JP2022089269A (en) | Calibration device and calibration method | |
| CN115861860B (en) | Target tracking and positioning method and system for unmanned aerial vehicle | |
| TWI573104B (en) | Indoor monitoring system and method thereof | |
| CN110955237A (en) | Teaching path module of mobile carrier | |
| CN109062220B (en) | Method and device for controlling terminal movement | |
| CN115065816B (en) | Real geospatial scene real-time construction method and real-time construction device | |
| KR102516450B1 (en) | Method of generating map and visual localization system using the map | |
| Lukashevich et al. | The new approach for reliable UAV navigation based on onboard camera image processing | |
| CN114641642A (en) | Method and cradle head for tracking target object | |
| TWI656421B (en) | Control method of self-propelled equipment | |
| CN113011212A (en) | Image recognition method and device and vehicle | |
| CN114071003B (en) | Shooting method and system based on optical communication device | |
| KR102483388B1 (en) | Method for processing omnidirectional image and server performing the same | |
| JP7242822B2 (en) | Estimation system and car | |
| JP7265269B2 (en) | Map data correction method and correction program |
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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200403 |