CN106094822A - Inertial guide car localization method based on auxiliary locator and inertial guide car - Google Patents
Inertial guide car localization method based on auxiliary locator and inertial guide car Download PDFInfo
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- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of inertial guide car localization method based on auxiliary locator and inertial guide car, including inertial guide car car body, on inertial guide car car body, microcomputer is installed, motion-control module, auxiliary locator, inertial guide module, microcomputer passes through moving control module for controlling body movement, auxiliary locator includes the slide block being sleeved on slide bar, driven by servomotor slide bar rotates, the relative movement on slide bar of band movable slider, the bottom of slide block is provided with industrial camera, inertial guide module is by Data Fusion of Sensor, obtain the real-time displacement of inertial guide car, speed and yaw angle data, feed back to microcomputer, industrial camera is used for identifying two-dimension code label.The present invention can feed back the inertial guide car position relative to two-dimension code label accurately, the article on inertial guide car are captured relative to the position of two-dimension code label more accurately to server, the realization of server controls catching robot by feedback inertial guide car.
Description
Technical field
The present invention relates to automatic guided vehicle location technology, specifically, the present invention relates to a kind of based on auxiliary positioning dress
The inertial guide car localization method put and inertial guide car.
Background technology
Along with the development of industrial automation technology, automatic guide vehicle (AGV) is used widely, and automatic guided vehicle can be by
Route according to instruction runs automatically, it is not necessary to artificially interfere, therefore, it is possible to be effectively improved industrial automation, improves conevying efficiency.
Existing automatic guide vehicle air navigation aid is mainly the methods such as magnetic stripe guiding, laser aiming, but these methods are all
There is the limitation of self, in recent years, along with the development of science and technology, also occur in that some new location and navigation technologies, such as Chinese patent
The automatic guide vehicle air navigation aid based on Quick Response Code location that number CN201410296320.6 is announced, this inertial guide method energy
The flexibility of enough effective path designs improving automatic guide vehicle, but owing to two-dimension code structure is more complicated, automatic guided vehicle
The image collected in motor process is fuzzy, it is impossible to Direct Recognition, needs motion blur image restoration, conventional motion
Blur image restoration algorithm is the most time-consuming, affects the real-time of automatic guided vehicle, owing to image restoration effect is bad, causes
Can not normally identify, make automatic guided vehicle normally not position, and owing to the placement of two-dimension code label is discontinuous, even
Derailing can be produced, cause inevitably loss.
Summary of the invention
The defect existed for above-mentioned prior art, it is an object of the invention to provide a kind of based on auxiliary locator
Inertial guide car localization method and inertial guide car, can more quickness and high efficiency identify locating module based on Quick Response Code, no
Only can improve the positioning precision of automatic guided vehicle, it is also possible to real-time deviation correcting controls in the motor process of automatic guided vehicle, keeps away
Exempt from derailing.
For achieving the above object, the technical scheme is that
A kind of inertial guide car localization method based on auxiliary locator, comprises the following steps:
Step A), the ground for the application places of inertial guidance car sets an earth axes, on the ground of application places
Multiple two-dimension code labels are set, make two-dimension code label become latticed, every two-dimension code label is all printed with this label position of storage
Put coordinate information and with the range information between adjacent two-dimension code label；
Step B), inertial guide car moves along track to aiming station, and the inertial guide module on inertial guide car will sensing
Device data fusion, obtains the real-time displacement of inertial guide car, speed and yaw angle data, feeds back to microcomputer, wherein, partially
Boat angle controls for the real-time deviation correcting of inertial guide car,
The calculated displacement of microcomputer, when inertial guide car is close to two-dimension code label, microcomputer is by motion
Control module controls servomotor and rotates, and servomotor makes slide block move by rotation, so that industrial camera is led with inertia
Drawing car and produce relative displacement, the movement velocity that industrial camera relative inertness guides car is identical, and the direction of motion is contrary, motor control
The displacement that module record slide block produces；
Step C), when comprising two-dimension code label in the image that industrial camera collects, motion-control module is by now slide block
Displacement Feedback to microcomputer, microcomputer processes the image comprising two-dimension code label that industrial camera collects,
Obtain inertial guide car offset now and yaw angle, by the yaw angle obtained of inertial guide module with identify Quick Response Code mark
Sign the yaw angle obtained to merge, it is achieved the real-time deviation correcting of inertial guide car controls, and identifies two-dimension code label, obtains inertial guide car
Positional information now；
In the image collected, two difference amounts of being off respectively at two-dimension code label center and acquired image center and
Departure, offset is the distance in inertial guide car deviation inertial guidance track road, and departure is inertial guide spacing target
The deviation of station, yaw angle is the angle between the car body of inertial guide car and inertial guide track road；Step D), work as inertia
Guiding car when arriving aiming station, microcomputer controls inertial guide car stop motion, and by step C) in the slide block that obtains
Displacement, offset and yaw angle feed back to server, and then control to capture at impact point the machinery of article on inertial guide car
Hands carries out capturing article action.
Described step B) in, by displacement, speed and the yaw angle of motion-control module record speedometer, use Kalman
Wave filter, by motion-control module and the Data Fusion of Sensor of inertial guide module, obtains more accurate displacement, speed and partially
Boat angular data feeds back to microcomputer.
Described step D) in, inertial guide car can also do according to the displacement of slide block, offset and three parameters of yaw angle
Further position adjustment.
Present invention also offers a kind of inertial guide car based on auxiliary locator, including inertial guide car car body 1, used
Property guide on car car body 1 microcomputer 5, motion-control module 2, auxiliary locator 3, inertial guide module 4 be installed, micro-
Type industrial computer 5 controls car body 1 by motion-control module 2 and moves, and wherein, described auxiliary locator 3 includes that one is sleeved on cunning
Slide block 8 on bar, servomotor 7 drives slide bar to rotate, thus band movable slider 8 relative movement on slide bar, the bottom peace of slide block 8
Equipped with industrial camera 9, described inertial guide module 4 is used for Data Fusion of Sensor, obtains the real-time of inertial guide car
Displacement, speed and yaw angle data, feed back to microcomputer 5, and described industrial camera 9 is used for identifying two-dimension code label 6；
Also include one with the matching used earth axes of inertial guide car, described earth axes is the application of inertial guide car
Place, the ground of application places arranges multiple two-dimension code labels 6, makes two-dimension code label 6 become latticed, every two-dimension code label
On 6 all be printed with storage this two-dimension code label location coordinate information and with the range information between adjacent two-dimension code label；
Inertial guide car car body 1 moves along track to aiming station, and the inertial guide module 4 on inertial guide car car body 1 will
Data Fusion of Sensor, obtains the real-time displacement of inertial guide car, speed and yaw angle data, feeds back to microcomputer 5, micro-
The calculated displacement of type industrial computer 5, when inertial guide car car body 1 is close to two-dimension code label 6, microcomputer 5 is by fortune
Dynamic control module 2 controls servomotor and rotates, and servomotor 7 makes slide block 8 move by rotation so that industrial camera 9 and
Inertial guide car car body 1 produces relative displacement, and the movement velocity that industrial camera 9 relative inertness guides car car body 1 is identical, motion
In opposite direction, motion-control module 2 records the displacement that slide block produces；
When comprising two-dimension code label 6 in the image that industrial camera 9 collects, motion-control module 2 is by the position of now slide block 8
Shifting feeds back to microcomputer 5, and microcomputer 5 processes the image comprising two-dimension code label 6 that industrial camera 9 collects,
Obtain inertial guide car car body 1 offset now and yaw angle, it is achieved the real-time deviation correcting of inertial guide car car body 1 controls, know
Other two-dimension code label 6, obtains inertial guide car car body 1 positional information now；
In the image collected, two-dimension code label 6 center and two difference amounts of being off respectively at acquired image center
And departure, offset is the distance that inertial guide car car body 1 deviates inertial guidance track road, and departure is inertial guide car car
The deviation of body 1 distance objective station, yaw angle is the angle between inertial guide car car body 1 and inertial guide track road；
When inertial guide car car body 1 arrives aiming station, microcomputer 5 controls inertial guide car car body 1 stop motion, and
Displacement, offset and the yaw angle of slide block 8 obtained above are fed back to server, and then control captures inertia at impact point and leads
Draw the mechanical hand of article on car to carry out capturing article action.
Preferably, record the displacement of speedometer, speed and yaw angle by motion-control module 2, use Kalman filtering
Device, by motion-control module 2 and the Data Fusion of Sensor of inertial guide module 4, obtains more accurate displacement, speed and driftage
Angular data feeds back to microcomputer 5.
Described inertial guide car car body 1 can also do into one according to the displacement of slide block 8, offset and three parameters of yaw angle
The position adjustment of step.
The invention has the beneficial effects as follows:
The auxiliary locator of a kind of inertial guide car described in patent of the present invention and method can need not motion blur figure
In the case of restoring, identify the two-dimension code label arranged on place, by the industrial camera of motion-control module record
Move distance, can feed back the inertial guide car position relative to two-dimension code label accurately, by feedback inertial guide car
Inertial guide is captured more accurately to server, the realization of server controls catching robot relative to the position of two-dimension code label
Article on car.
Accompanying drawing explanation
When considered in conjunction with the accompanying drawings, by referring to detailed description below, it is possible to be more completely more fully understood that the present invention with
And easily learn the advantage that many of which is adjoint, but accompanying drawing described herein is used for providing a further understanding of the present invention,
Constituting the part of the present invention, the schematic description and description of the present invention is used for explaining the present invention, is not intended that this
Bright improper restriction, wherein:
Fig. 1 is the inertial guide bassinet structure schematic diagram of patent of the present invention；
Fig. 2 is the laying schematic diagram of the auxiliary positioning label of patent of the present invention；
Fig. 3 is the inertial guide car top view of patent of the present invention；
Fig. 4 is the inertial guide car upward view of patent of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing to the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, the present invention is described as follows:
A kind of based on auxiliary locator the inertial guide car localization method of the present invention, comprises the following steps:
Step A), the ground for the application places of inertial guidance car sets an earth axes, on the ground of application places
Multiple two-dimension code labels are set, make two-dimension code label become latticed, every two-dimension code label is all printed with this label position of storage
Put coordinate information and with the range information between adjacent two-dimension code label；
Step B), inertial guide car moves along track to aiming station, and the inertial guide module on inertial guide car will sensing
Device data fusion, by displacement, speed and the yaw angle of motion-control module record speedometer, uses Kalman filter to transport
Dynamic control module and the Data Fusion of Sensor of inertial guide module, obtain more accurate displacement, speed and yaw angle data anti-
Feeding microcomputer, feed back to microcomputer, wherein, yaw angle controls for the real-time deviation correcting of inertial guide car,
The calculated displacement of microcomputer, when inertial guide car is close to two-dimension code label, microcomputer is by motion
Control module controls servomotor and rotates, and servomotor makes slide block move by rotation, so that industrial camera is led with inertia
Drawing car and produce relative displacement, the movement velocity that industrial camera relative inertness guides car is identical, and the direction of motion is contrary, motor control
The displacement that module record slide block produces；
Step C), when comprising two-dimension code label in the image that industrial camera collects, motion-control module is by now slide block
Displacement Feedback to microcomputer, microcomputer processes the image comprising two-dimension code label that industrial camera collects,
Obtain inertial guide car offset now and yaw angle, by the yaw angle obtained of inertial guide module with identify Quick Response Code mark
Sign the yaw angle obtained to merge, it is achieved the real-time deviation correcting of inertial guide car controls, and identifies two-dimension code label, obtains inertial guide car
Positional information now；
In the image collected, two difference amounts of being off respectively at two-dimension code label center and acquired image center and
Departure, offset is the distance in inertial guide car deviation inertial guidance track road, and departure is inertial guide spacing target
The deviation of station, yaw angle is the angle between the car body of inertial guide car and inertial guide track road；
Step D), when inertial guide car arrives aiming station, microcomputer controls inertial guide car stop motion, and will step
Rapid C) in the displacement of slide block, offset and the yaw angle that obtain feed back to server, and then control to capture inertia at impact point and lead
Draw the mechanical hand of article on car to carry out capturing article action.Inertial guide car can also according to the displacement of slide block, offset and partially
Three, angle of boat parameter does further position adjustment.
A kind of inertial guide car based on auxiliary locator, including inertial guide car car body 1, inertial guide car car body 1
On microcomputer 5, motion-control module 2, auxiliary locator 3, inertial guide module 4 are installed, microcomputer 5 passes through
Motion-control module 2 controls inertial guide car car body 1 and moves, and wherein, auxiliary locator 3 includes a cunning being sleeved on slide bar
Block 8, servomotor 7 drives slide bar to rotate, thus band movable slider 8 relative movement on slide bar, the bottom of slide block 8 is provided with industry
Video camera 9, described inertial guide module 4 is used for Data Fusion of Sensor, obtains the real-time displacement of inertial guide car, speed
With yaw angle data, feeding back to microcomputer 5, described industrial camera 9 is used for identifying two-dimension code label 6；
Also include one with the matching used earth axes of inertial guide car, described earth axes is the application of inertial guide car
Place, the ground of application places arranges multiple two-dimension code labels 6, makes two-dimension code label 6 become latticed, every two-dimension code label
On 6 all be printed with storage this two-dimension code label location coordinate information and with the range information between adjacent two-dimension code label；
Inertial guide car car body 1 moves along track to aiming station, and the inertial guide module 4 on inertial guide car car body 1 will
Data Fusion of Sensor, obtains the real-time displacement of inertial guide car, speed and yaw angle data, feeds back to microcomputer 5, micro-
The calculated displacement of type industrial computer 5, when inertial guide car car body 1 is close to two-dimension code label 6, microcomputer 5 is by fortune
Dynamic control module 2 controls servomotor and rotates, and servomotor 7 makes slide block 8 move by rotation so that industrial camera 9 and
Inertial guide car car body 1 produces relative displacement, and the movement velocity that industrial camera 9 relative inertness guides car car body 1 is identical, motion
In opposite direction, motion-control module 2 records the displacement that slide block produces；
When comprising two-dimension code label 6 in the image that industrial camera 9 collects, motion-control module 2 is by the position of now slide block 8
Shifting feeds back to microcomputer 5, and microcomputer 5 processes the image comprising two-dimension code label 6 that industrial camera 9 collects,
Obtain inertial guide car car body 1 offset now and yaw angle, it is achieved the real-time deviation correcting of inertial guide car car body 1 controls, know
Other two-dimension code label 6, obtains inertial guide car car body 1 positional information now；
In the image collected, two-dimension code label 6 center and two difference amounts of being off respectively at acquired image center
And departure, offset is the distance that inertial guide car car body 1 deviates inertial guidance track road, and departure is inertial guide car car
The deviation of body 1 distance objective station, yaw angle is the angle between inertial guide car car body 1 and inertial guide track road；
When inertial guide car car body 1 arrives aiming station, microcomputer 5 controls inertial guide car car body 1 stop motion, and
Displacement, offset and the yaw angle of slide block 8 obtained above are fed back to server, and then control captures inertia at impact point and leads
Draw the mechanical hand of article on car to carry out capturing article action.
Record the displacement of speedometer, speed and yaw angle by motion-control module 2, use Kalman filter to move
Control module 2 and the Data Fusion of Sensor of inertial guide module 4, obtain more accurate displacement, speed and yaw angle data anti-
Feed microcomputer 5.Described inertial guide car car body 1 can also be according to the displacement of slide block 8, offset and yaw angle three ginseng
Number does further position adjustment.
Described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the present invention
In embodiment, the every other enforcement that those of ordinary skill in the art are obtained under not making creative work premise
Example, broadly falls into the scope of protection of the invention.
Claims (6)
1. an inertial guide car localization method based on auxiliary locator, it is characterised in that comprise the following steps: step
A), the ground for the application places of inertial guidance car sets an earth axes, arranges multiple on the ground of application places
Two-dimension code label, makes two-dimension code label become latticed, and every two-dimension code label is all printed with storage this label position coordinate letter
Breath and with the range information between adjacent two-dimension code label；
Step B), inertial guide car moves along track to aiming station, and the inertial guide module on inertial guide car will sensing
Device data fusion, obtains the real-time displacement of inertial guide car, speed and yaw angle data, feeds back to microcomputer, wherein, partially
Boat angle controls for the real-time deviation correcting of inertial guide car,
The calculated displacement of microcomputer, when inertial guide car is close to two-dimension code label, microcomputer is by motion
Control module controls servomotor and rotates, and servomotor makes slide block move by rotation, so that industrial camera is led with inertia
Drawing car and produce relative displacement, the movement velocity that industrial camera relative inertness guides car is identical, and the direction of motion is contrary, motor control
The displacement that module record slide block produces；
Step C), when comprising two-dimension code label in the image that industrial camera collects, motion-control module is by now slide block
Displacement Feedback to microcomputer, microcomputer processes the image comprising two-dimension code label that industrial camera collects,
Obtain inertial guide car offset now and yaw angle, by the yaw angle obtained of inertial guide module with identify Quick Response Code mark
Sign the yaw angle obtained to merge, it is achieved the real-time deviation correcting of inertial guide car controls, and identifies two-dimension code label, obtains inertial guide car
Positional information now；
In the image collected, two difference amounts of being off respectively at two-dimension code label center and acquired image center and
Departure, offset is the distance in inertial guide car deviation inertial guidance track road, and departure is inertial guide spacing target
The deviation of station, yaw angle is the angle between the car body of inertial guide car and inertial guide track road；Step D), work as inertia
Guiding car when arriving aiming station, microcomputer controls inertial guide car stop motion, and by step C) in the slide block that obtains
Displacement, offset and yaw angle feed back to server, and then control to capture at impact point the machinery of article on inertial guide car
Hands carries out capturing article action.
A kind of inertial guide car localization method based on auxiliary locator the most according to claim 1, it is characterised in that
Described step B) in, by displacement, speed and the yaw angle of motion-control module record speedometer, use Kalman filter will
Motion-control module and the Data Fusion of Sensor of inertial guide module, obtain more accurate displacement, speed and yaw angle data
Feed back to microcomputer.
A kind of inertial guide car localization method based on auxiliary locator the most according to claim 1, described step D)
In, inertial guide car can also do further position adjustment according to the displacement of slide block, offset and three parameters of yaw angle.
4. the inertial guide using inertial guide car localization method based on auxiliary locator as claimed in claim 1
Car, it is characterised in that include inertial guide car car body (1), inertial guide car car body (1) is provided with microcomputer (5), fortune
Dynamic control module (2), auxiliary locator (3), inertial guide module (4), microcomputer (5) passes through motion-control module
(2) controlling inertial guide car car body (1) motion, wherein, described auxiliary locator (3) includes a slide block being sleeved on slide bar
(8), servomotor (7) drives slide bar to rotate, thus band movable slider (8) relative movement on slide bar, the bottom of slide block (8) is installed
Having industrial camera (9), described inertial guide module (4) is used for Data Fusion of Sensor, obtains the reality of inertial guide car
Shi Weiyi, speed and yaw angle data, feed back to microcomputer (5), and described industrial camera (9) is used for identifying Quick Response Code
Label (6)；
Also include one with the matching used earth axes of inertial guide car, described earth axes is the application of inertial guide car
Place, the ground of application places arranges multiple two-dimension code labels (6), makes two-dimension code label (6) become latticed, every Quick Response Code
All it is printed with on label (6) and stores this two-dimension code label location coordinate information and believe with the distance between adjacent two-dimension code label
Breath；
Inertial guide car car body (1) moves along track to aiming station, the inertial guide module on inertial guide car car body (1)
(4) by Data Fusion of Sensor, obtain the real-time displacement of inertial guide car, speed and yaw angle data, feed back to miniature industry control
Machine (5), microcomputer (5) calculated displacement, when inertial guide car car body (1) is close to two-dimension code label (6), miniature
Industrial computer (5) controls servomotor by motion-control module (2) and rotates, and servomotor (7) makes slide block (8) move by rotation
Dynamic, so that industrial camera (9) produces relative displacement with inertial guide car car body (1), industrial camera (9) relative inertness is led
The movement velocity drawing car car body (1) is identical, and the direction of motion is contrary, the displacement that motion-control module (2) record slide block produces；
When comprising two-dimension code label (6) in the image that industrial camera (9) collects, motion-control module (2) will now be slided
The Displacement Feedback of block (8) is to microcomputer (5), and what microcomputer (5) process industrial camera (9) collected comprises two dimension
The image of code label (6), obtains inertial guide car car body (1) offset now and yaw angle, it is achieved inertial guide car car body
(1) real-time deviation correcting controls, and identifies two-dimension code label (6), obtains inertial guide car car body (1) positional information now；
In the image collected, two-dimension code label (6) center is off respectively with two differences at acquired image center
Amount and departure, offset is the distance in inertial guide car car body (1) deviation inertial guidance track road, and departure is inertial guide
The deviation of car car body (1) distance objective station, yaw angle is the folder between inertial guide car car body (1) and inertial guide track road
Angle；
When inertial guide car car body (1) arrives aiming station, microcomputer (5) controls inertial guide car car body (1) and stops
Motion, and displacement, offset and the yaw angle of slide block obtained above (8) are fed back to server, and then control to capture target
At Dian, on inertial guide car, the mechanical hand of article carries out capturing article action.
The inertial guide car of inertial guide car localization method based on auxiliary locator the most according to claim 4, its
Being characterised by, by motion-control module (2) the record displacement of speedometer, speed and yaw angle, use Kalman filter will
Motion-control module (2) and the Data Fusion of Sensor of inertial guide module (4), obtain more accurate displacement, speed and driftage
Angular data feeds back to microcomputer (5).
The inertial guide car of inertial guide car localization method based on auxiliary locator the most according to claim 4, its
Being characterised by, described inertial guide car car body (1) can also be according to the displacement of slide block (8), offset and three parameters of yaw angle
Do further position adjustment.
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| CN107065879A (en) * | 2017-05-16 | 2017-08-18 | 中国计量大学 | Visual guidance car localization method and visual guidance car based on Quick Response Code |
| CN107272690A (en) * | 2017-07-07 | 2017-10-20 | 中国计量大学 | Inertial guide car air navigation aid and inertial guide car based on binocular stereo vision |
| CN107632602A (en) * | 2017-09-01 | 2018-01-26 | 上海斐讯数据通信技术有限公司 | AGV trolley travelling tracks method for correcting error and system, terrestrial reference Quick Response Code acquisition device |
| CN108089581A (en) * | 2017-12-14 | 2018-05-29 | 深圳市嘀嗒互动科技有限公司 | Track method for correcting error, intelligent vehicle, smart machine and storage medium |
| CN109189076A (en) * | 2018-10-24 | 2019-01-11 | 湖北三江航天万山特种车辆有限公司 | A kind of heavy guiding vehicle localization method and heavy guiding vehicle of view-based access control model sensor |
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| CN110186459A (en) * | 2019-05-27 | 2019-08-30 | 深圳市海柔创新科技有限公司 | Air navigation aid, mobile vehicle and navigation system |
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