CN102542824A - Automatic vehicle guidance system and method based on colorized ribbons - Google Patents

Abstract

The invention discloses an automatic vehicle guidance system and a method based on colorized ribbons, wherein the guidance system comprises the colorized ribbons, a sensor and a processor; the sensor is used for acquiring information of the colorized ribbons during the driving process of a vehicle and transmitting the information to the processor for processing. When the automatic vehicle guidance system is used, the information of the colorized ribbons is acquired through the sensor during the driving process, the left deviation and the right deviation of the vehicle can be distinguished more accurately, the running speed of the vehicle can be computed more accurately, and the driving direction of the vehicle can also be distinguished, so that the driving position of the vehicle can be computed further, at the same time, the automatic vehicle guidance system is simple to construct, and the cost is low.

Description

Vehicle automated navigation system and method based on colored colour band

Technical field

The present invention relates to a kind of vehicular traffic field of navigation technology, specifically, be meant a kind of vehicle automated navigation system and method based on colored colour band, it is mainly used in factory building zone, workshop.

Background technology

The self-navigation of existing vehicle, several kinds of modes below main the employing:

(1) satellite navigation: typical in GPS, ratio of precision is lower, is not suitable for the occasion of no satellite-signals such as high precision occasion and basement; (2) magnetic nail, the magnetic stripe navigation: wherein the magnetic nail is discontinuous, and magnetic stripe can't calculate Vehicle Speed and position, and difficulty of construction is bigger in addition, and cost is high; (3) laser navigation: cost is high, and security is low; (4) ultrasound wave navigation: receiving on every side easily, mobile object disturbs; (5) optical identification: adopt reflective tape,, can only simply correct direction of traffic, can't calculate Vehicle Speed and position through photosensitive device identification.

Summary of the invention

The object of the present invention is to provide a kind of vehicle automatic navigation method based on colored colour band, its construction is simple, and precision is high.

For realizing above-mentioned purpose, the present invention adopts following technical scheme:

A kind of vehicle automated navigation system based on colored colour band, it includes colour band, sensor and processor, and described sensor is used for the information of collection vehicle driving process colour band, and is transferred to described processor and handles.

Above-mentioned colour band is the colour band with colored color lump, and preferably, it has three kinds of colors at least.

Above-mentioned colour band is provided with isosceles right angle angle of release shape and color piece.

Preferably, above-mentioned colour band is provided with the trapezoidal shape color lump.

Preferably, above-mentioned colour band is provided with the color more than three kinds or three kinds.

Preferably, above-mentioned sensor is colored identification sensor, and it is provided with two, is installed on the vehicle bottom, in the face of colour band.The line of centres of two sensors is vertical with colour band.Distance between two center sensors is about the half the of colour band width.

A kind of vehicle automatic navigation method based on colored colour band, it may further comprise the steps:

1) colour band is pasted on ground, two color sensors are located at the vehicle bottom;

2) vehicle in motion, through described sensor, the information that the driving trace of collection vehicle and the color cycle of colour band repeat, and give processor with above-mentioned information transmission;

3) described processor is confirmed vehicle direct of travel, speed and traveling-position through above-mentioned information is handled.

After adopting technique scheme; During use, through the information of colour band in the sensor acquisition driving process, the accurate recognition left and right vehicle wheel squints and calculates Vehicle Speed more accurately more; Can also discern vehicle heading; Thereby further calculate the vehicle ' position, and construction is simple, cost is low.

Description of drawings

Fig. 1 is the synoptic diagram of navigational system of the present invention;

Fig. 2 is the present invention's track of the relative colour band of sensor in use;

Fig. 3 is the view of vehicle ' of the present invention in the centre position;

Fig. 4 is the view that vehicle ' of the present invention keeps left;

Fig. 5 is the view that vehicle ' of the present invention is kept right.

Embodiment

In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.

With reference to shown in Figure 1, the invention discloses a kind of vehicle automated navigation system based on colored colour band, it includes colour band 1, sensor 2 and processor 3, wherein:

Colour band 1 adopts the colour band of regular colored color lump, and in the present embodiment, its width adopts 10cm wide, is the isosceles right triangle color lump, and it can also be for trapezoidal; Directly be affixed on ground.In addition, it is provided with three kinds of colors, and three kinds of colors repeat to be provided with successively.

Sensor 2, it is colored identification sensor, is provided with two, is respectively colored identification sensor 21,22; Be installed on the vehicle, be used to measure time and distance through the different color blocks of sensor 2.With reference to shown in Figure 2, middle lines are represented the driving trace of the relative colour band 1 of vehicle, and the L1 lines of both sides are represented the driving trace of colored identification sensor 21 relative colour bands 1; The L2 line is represented the driving trace of colored identification sensor 22 relative colour bands 1.

The invention also discloses a kind of vehicle automatic navigation method based on colored colour band, it may further comprise the steps:

1) colour band is pasted on ground, two color sensors are located on the vehicle chassis in the face of colour band;

2) vehicle in motion, through described colored identification sensor 2, the information that the color cycle of the driving trace of collection vehicle and colour band 1 repeats, and give processor 3 with above-mentioned information transmission;

3) described processor 3 is confirmed vehicle direct of travel, speed and traveling-position through above-mentioned information is handled.

31) travel direction of processor identification vehicle:

When colour band 1 adopts the color cycle repetition more than three kinds or three kinds, just can be through colored identification sensor 2 identification vehicle headings.

Or colour band 1 is that the colour band of redgreenblue cycle repeats is an example; When vehicle by figure in during direction running shown in the right arrow; Color through sensor be followed successively by " red → green → blue → ... "; When vehicle by figure in during direction backward going shown in the right arrow, the color through sensor is followed successively by " blue → green → red → blue → green → red ... ", both reversed in order.

32) to the colour band 1 of appointment, the size of each color lump and shape are all known, just can calculate Vehicle Speed according to the color lump through colored identification sensor 2 in the unit interval.

With above-mentioned isosceles right triangle colour band is example, supposes that tape width is 10cm, and per second is 50 through the color lump number of sensor, and the actual vehicle travel speed is 0.1*50m/s=5m/s so.

To the driving trace of appointment, know the travel speed and the running time of vehicle, just can calculate the traveling-position of vehicle.

In addition, when the center of the driving trace of vehicle and colour band 1 coincide,, suppose a long and short two time of the colored identification sensor 21 through the left side or apart from being Ta1 with reference to shown in Figure 3, Ta2 ...; A long and short two time of the colored identification sensor 22 through the right or distance are Tb1, Tb2 ....

Attention is to the colour band of appointment, and the size and the shape of each color lump are known, and to specifying the speed of a motor vehicle, the time in the foregoing description does not have essential distinction with distance.

When the driving trace of vehicle and colour band coincide; The center of two colored identification sensors 21,22 overlaps with colour band 1 center; Ta1＜Ta2 is arranged this moment; Tb1＞Tb2, and

When vehicle driving trace was taken back, with reference to shown in Figure 4, left colored 21 those times original less than normal of identification sensor perhaps became littler apart from Ta1, and that time original bigger than normal perhaps becomes bigger apart from Ta2; And right colored identification sensor 22 those times less than normal originally perhaps become big apart from Tb2, and that time original bigger than normal perhaps diminishes apart from Tb1,

At this moment $\frac{\mathrm{Ta}}{}$ $\frac{1}{\mathrm{<figure-callout\; id="2"\; label="Ta"\; filenames="HDA0000132545470000011.png"\; state="\{\{state\}\}">Ta</figure-callout>}2}<\frac{\mathrm{<figure-callout\; id="2"\; label="Tb"\; filenames="HDA0000132545470000011.png"\; state="\{\{state\}\}">Tb</figure-callout>}2}{\mathrm{<figure-callout\; id="1"\; label="Tb"\; filenames="HDA0000132545470000031.png"\; state="\{\{state\}\}">Tb</figure-callout>}1}$

With reference to shown in Figure 5, when vehicle driving trace took over, those times that left colored identification sensor 21 was less than normal originally or big apart from the Ta1 change, that time original bigger than normal perhaps diminished apart from Ta2; And right 22 those times original less than normal of colored identification sensor perhaps become bigger apart from Tb2, and that time original bigger than normal perhaps becomes bigger apart from Tb1,

At this moment $\frac{\mathrm{Ta}}{}$ $\frac{1}{\mathrm{<figure-callout\; id="2"\; label="Ta"\; filenames="HDA0000132545470000011.png"\; state="\{\{state\}\}">Ta</figure-callout>}2}>\frac{\mathrm{<figure-callout\; id="2"\; label="Tb"\; filenames="HDA0000132545470000011.png"\; state="\{\{state\}\}">Tb</figure-callout>}2}{\mathrm{<figure-callout\; id="1"\; label="Tb"\; filenames="HDA0000132545470000031.png"\; state="\{\{state\}\}">Tb</figure-callout>}1},$

Comprehensive above-mentionedly know, through judge perhaps

perhaps

can judge that vehicle driving trace is " just coincideing " perhaps " take back " perhaps " taking over ".

In addition, the present invention is when implementing, if adopt system of the present invention; With the colour band 1 that plastic adhesive tape is processed, the about 10 yuan of every volumes of its cost, 100 meters of every volumes; And the cost of existing magnetic stripe adopts the real cost of colored plastic adhesive tape to have only 1/200 of about employing magnetic stripe at 20 yuan every meter.

Vehicle Speed is when 5m/s, and the recognition speed of existing colored identification sensor 2 is at 1000 per seconds, and the vehicle heading positioning error is 5m/1000=5mm, and lateral direction of car bearing accuracy and vertical consistency also are 5mm, considerably beyond the bearing accuracy of GPS etc.When Vehicle Speed was low more, bearing accuracy was high more.

The above; Be merely the preferable embodiment of invention, but protection domain of the present invention is not limited thereto, any technician who is familiar with the present technique field is in the technical scope that the present invention discloses; The variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.

Claims (8)

1. vehicle automated navigation system based on colored colour band, it is characterized in that: it includes colour band, sensor and processor, and described sensor is used for the information of collection vehicle driving process colour band, and is transferred to described processor and handles.

2. the vehicle automated navigation system based on colored colour band according to claim 1 is characterized in that: described colour band has the colored color lump of rule.

3. the vehicle automated navigation system based on colored colour band according to claim 2 is characterized in that: described colour band is provided with isosceles right angle angle of release shape and color piece.

4. the vehicle automated navigation system based on colored colour band according to claim 2, it is characterized in that: described colour band is provided with the trapezoidal shape color lump.

5. according to claim 3 or 4 described vehicle automated navigation systems based on colored colour band, it is characterized in that: described colour band is provided with the color more than three kinds or three kinds.

6. the vehicle automated navigation system based on colored colour band according to claim 5 is characterized in that: described sensor is colored identification sensor, and it is provided with two, and in the face of colour band is installed in the vehicle bottom, its line of centres is perpendicular to colour band.

7. the vehicle automated navigation system based on colored colour band according to claim 6 is characterized in that: the distance between described two center sensors is about the half the of colour band width.

8. vehicle automatic navigation method based on colored colour band, it is characterized in that: it adopts the arbitrary described vehicle automated navigation system based on colored colour band of claim 1～7, and it may further comprise the steps:

1) colour band is pasted on ground, two color sensors are located at the vehicle bottom;

2) vehicle in motion, through described sensor, the information that the driving trace of collection vehicle and the color cycle of colour band repeat, and give processor with above-mentioned information transmission;

3) described processor is confirmed vehicle direct of travel, speed and traveling-position through above-mentioned information is handled.

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