CN109164413A - Beacon infrastructure, road surface, sensing device, mobile machine, system and method - Google Patents
Beacon infrastructure, road surface, sensing device, mobile machine, system and method Download PDFInfo
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- CN109164413A CN109164413A CN201810963043.8A CN201810963043A CN109164413A CN 109164413 A CN109164413 A CN 109164413A CN 201810963043 A CN201810963043 A CN 201810963043A CN 109164413 A CN109164413 A CN 109164413A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses beacon infrastructure, road surface, sensing device, mobile machines, system and method.The method encodes the current location that corresponding location information determines mobile machine by reading the beacon infrastructure being arranged on road surface, according to the color-coded information of beacon infrastructure and color.The present invention is by reading the beacon infrastructure being arranged on road surface using mobile machine, the current location that corresponding location information determines mobile machine is encoded according to the color-coded information of beacon infrastructure and color, it overcomes and moves the technical issues of machine positioning is existing at high cost, stability is poor, poor anti jamming capability in the prior art, realize and a kind of be advantageously implemented low cost, realize high-precision, the beacon infrastructure of high stability positioning, road surface, sensing device, mobile machine, system and method.
Description
Technical field
The present invention relates to target positioning, mobile robot, intelligent network connection automobile and the fields such as unmanned, more particularly to
A kind of beacon infrastructure, beacon road surface, beacon read sensing device, mobile machine, positioning system and localization method.
Background technique
Quantum dot: quantum dot is a kind of semiconductor of Nano grade, by applying to this nano semiconductor material
Add certain electric field or optical pressure, they will issue the light of specific frequency, and the frequency of the light issued can be with this semiconductor
Size change and change, thus the size by adjusting this Nano semiconductor can control the face of the light of its sending
Color, since this Nano semiconductor possesses the characteristic of limitation electronics and electron hole (Electron hole), this characteristic is similar
Atom or molecule in nature, thus referred to as quantum dot.
Pilotless automobile: being also wheeled robot, belongs to one kind of mobile robot.
PVC floor: PVC floor is popular a kind of novel light body floor decorative material in the world today, also referred to as
" light body material "；Usually using polyvinyl chloride and its copolymer resins as primary raw material, filler, plasticizer, stabilizer, coloring is added
The auxiliary materials such as agent coated technique or produce on sheet continuous base material through calendering, extrusion or extrusion process.
In the prior art, mobile machine (such as motor vehicle, mobile robot) common location technology has: GPS positioning skill
Art, ultrasonic wave location technology, WLAN location technology, magnetic guidance two dimensional code location technology, laser radar and camera are fixed
Position technology.Wherein, GPS positioning technology be primarily due to satellite positioning signal be easy influenced by shelter, being only used for outdoor cannot
For interior, secondly also it is easy to be influenced by ambient weather outdoor, causes no signal or signal weak, again GPS positioning essence
Spend it is low, it is unstable；Magnetic stripe guiding two dimensional code location technology can only walk route, lack flexibility；Laser radar and camera
Position at high cost, and the influence vulnerable to environment and weather.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, it is fixed to be advantageously implemented high-precision, high stability the first purpose of the invention is to provide a kind of low cost
The information flag structure of position.
A second object of the present invention is to provide a kind of road surfaces including above- mentioned information mark structure.
Third object of the present invention is to provide a kind of low costs, are advantageously implemented high-precision, high stability positions
Beacon reads sensing device.
Fourth object of the present invention is to provide a kind of mobile machine that sensing device is read including above-mentioned beacon.
Fifth object of the present invention is to provide the positioning systems that a kind of achievable low cost, high-precision, high stability position
System.
Sixth object of the present invention is to provide the positioning sides that a kind of achievable low cost, high-precision, high stability position
Method.
The technical scheme adopted by the invention is that:
In a first aspect, the present invention provides a kind of beacon infrastructure, the beacon infrastructure is for being arranged on road surface as positioning
Label, the beacon infrastructure realize color coding using the embedded photoluminescent material of at least one color, so that mobile machine can
Positioning is realized by the beacon infrastructure read on road surface.
Preferably, the beacon infrastructure includes at least one color beacon element, and the color beacon element includes constituting
The X-coordinate region and Y coordinate region of plane coordinate system；The X-coordinate region includes by multiple X-coordinate by the first aligned transfer
Color region, the X-coordinate color region include at least one X-coordinate color block, and the X-coordinate color block is matched with
One excitation light source；
The Y coordinate region includes by multiple Y coordinate color regions by the second aligned transfer, Y coordinate color area
Domain includes at least one Y coordinate color block, and the Y coordinate color block is matched with the second excitation light source.
Preferably, the plane coordinate system is plane right-angle coordinate；
First rule specifically: the multiple X-coordinate color region is successively arranged along a first direction；
Second rule specifically: the multiple Y coordinate color region is successively along second perpendicular to first direction
Direction is arranged.
Preferably, the X-coordinate color region includes at least two X-coordinate color blocks, the different X-coordinate colors
The color block line of demarcation that block is joined together to form constitutes x-line；
The Y coordinate color region includes at least two Y coordinate color blocks, and the Y coordinate color block is connected to one
It acts the line of demarcation formed and constitutes y-line.
Preferably, the X-coordinate color block and/or Y coordinate color block are single color block or more color mixing face
Color block.
Preferably, first excitation light source is infrared excitation light source, excited by visible light light source or ultraviolet light exciting light
Three kinds of source excitation light source, second excitation light source are infrared excitation light source, excited by visible light light source, ultraviolet light excitation light source
In be different from the first excitation light source the excitation light source of any one.
Second aspect, the present invention provide a kind of beacon road surface, encode including road surface and the band color being set on road surface
Beacon infrastructure.
The third aspect, the present invention provide a kind of airborne beacon reading sensing device, including at least one read color sensing
Device array, wherein the read color sensor array includes passing by multiple colors identification of the first set distance word order
Sensor, so that read color sensor array can be by reading the beacon infrastructure acquisition positioning letter on road surface with color coding
Breath.
Preferably, at least one described read color sensor array specifically includes: at least one X-coordinate read color passes
Sensor array and at least one Y coordinate read color sensor array；Color in the X-coordinate read color sensor array
Identification sensor and the Tansducer For Color Distiguishing orientation in the Y coordinate read color sensor array are orthogonal.
Preferably, the location information include X-coordinate value and/or X-coordinate direction course angle and/or Y-coordinate value and/or
The course angle of Y-direction.
Fourth aspect, the present invention provide a kind of mobile machine, including as airborne beacon reads sensing device, the first exciting light
Source transmitter and the second excitation light source transmitter, the first excitation light source transmitter and the second excitation light source transmitter are for swashing
The beacon infrastructure for sending out road surface shines, and reads sensing device for airborne beacon and reads.
Preferably, the mobile machine includes that a kind of airborne beacon as described in claim 9 or 10 reads sensing device,
The working condition of the X-coordinate read color sensor array and Y coordinate read color sensor array includes scanning work
State and not scanning work state；The working condition of the first excitation light source transmitter and the second excitation light source transmitter is wrapped
Include luminous working condition and the working condition that do not shine；
The X-coordinate read color sensor array and Y coordinate read color sensor array work in that timesharing is asynchronous to sweep
Retouch state, the luminous work shape of the scanning work state of X-coordinate read color sensor array and the first excitation light source transmitter
State is synchronous, the luminous work shape of the scanning work state of Y coordinate read color sensor array and the second excitation light source transmitter
State is synchronous.
5th aspect, the present invention provide a kind of high-accuracy position system, including beacon road surface and at least one movement machine,
The mobile machine is by reading the beacon infrastructure on the beacon road surface, to obtain the location information of mobile machine.
Preferably, the beacon infrastructure includes multiple color beacon elements, and the mobile machine further includes that third parameter obtains
Device is taken, the third parameter acquisition device is used to obtain third parameter to position the color beacon element where mobile machine,
The airborne beacon reads sensing device for obtaining location information to determine that mobile machine is accurate in color beacon element
Position.
Preferably, the high-accuracy position system further includes electronic map database, and the electronic map database includes
The corresponding relationship of color coding and location information；The location information for obtaining mobile machine specifically includes: by inquiring electronics
Map data base obtains the location information of mobile machine.
6th aspect, the present invention provide a kind of high-precision locating method, comprising steps of
The beacon infrastructure being arranged on road surface is read, it is corresponding according to the color-coded information of beacon infrastructure and color coding
Location information determines the current location of mobile machine.
First beneficial effect of the invention is:
The beacon infrastructure that a kind of beacon infrastructure of the present invention is encoded by setting with color, for being arranged on road surface as fixed
Position label, overcomes the technical issues of at high cost, stability is poor, poor anti jamming capability existing for localizer beacon in the prior art,
Realize a kind of information flag structure that is inexpensive, being advantageously implemented high-precision, high stability positioning.
Second beneficial effect of the invention is:
A kind of beacon road surface of the present invention overcomes the prior art by the way that the beacon infrastructure encoded with color is arranged on road surface
The technical issues of at high cost, stability is poor, poor anti jamming capability existing for middle localizer beacon, realizes a kind of inexpensive, advantageous
In the beacon road surface for realizing high-precision, high stability positioning.
Third beneficial effect of the invention is:
A kind of airborne beacon of the present invention reads sensing device by setting color beacon read sensor array, and utilizes face
The color-coded information that color beacon read sensor array reads the beacon infrastructure on road surface realizes positioning, overcomes the prior art
The technical issues of middle mobile machine positioning is existing at high cost, stability is poor, poor anti jamming capability, realize a kind of low cost,
It is advantageously implemented high-precision, the airborne beacon of high stability positioning reads sensing device.
4th beneficial effect of the invention is:
A kind of mobile machine of the present invention is read using color beacon and is passed by setting color beacon read sensor array
The color-coded information that sensor array reads the beacon infrastructure on road surface realizes positioning, overcomes that move machine in the prior art fixed
Position existing for it is at high cost, stability is poor, poor anti jamming capability the technical issues of, realize it is a kind of low cost, be advantageously implemented height
The mobile machine that precision, high stability position.
5th beneficial effect of the invention is:
A kind of high-accuracy position system of the present invention is by reading the beacon infrastructure being arranged on road surface, root using mobile machine
The current location that corresponding location information determines mobile machine is encoded according to the color-coded information and color of beacon infrastructure, is overcome
The technical issues of machine positioning is existing at high cost, stability is poor, poor anti jamming capability is moved in the prior art, realizes one kind
Low cost, the positioning system for realizing high-precision, high stability positioning.
In addition, the present invention, which also passes through, carries out coarse positioning using third parameter, carried out using the beacon infrastructure encoded with color
The double orientation structure of fine positioning realizes the positioning system of low cost, high universalizable, high feasibility.
6th beneficial effect of the invention is:
A kind of high-precision locating method of the present invention is by reading the beacon infrastructure being arranged on road surface, root using mobile machine
The current location that corresponding location information determines mobile machine is encoded according to the color-coded information and color of beacon infrastructure, is overcome
The technical issues of machine positioning is existing at high cost, stability is poor, poor anti jamming capability is moved in the prior art, realizes one kind
Low cost, the localization method for realizing high-precision, high stability positioning.
Detailed description of the invention
Fig. 1 a is X-coordinate color region design diagram in an embodiment of the present invention；
Fig. 1 b is Y coordinate color region design diagram in an embodiment of the present invention；
Fig. 2 is the design diagram on beacon road surface in an embodiment of the present invention；
Fig. 3 is the reading schematic illustration of read color sensor array in an embodiment of the present invention；
Fig. 4 is read color sensor array schematic diagram in another embodiment of the invention；
Fig. 5 is color beacon element structural schematic diagram in an embodiment of the present invention；
Fig. 6 is the lane beacon road surface schematic illustration of the embodiment of the present invention one；
Fig. 7 is the region beacon road surface schematic illustration of going slowly of the embodiment of the present invention two.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.
A kind of basic conception of embodiment of high-accuracy position system of the present invention are as follows:
The present invention provides a kind of high-accuracy position system, including beacon road surface and mobile machine, the mobile machine pass through
Read the location information that the beacon infrastructure on the beacon road surface obtains mobile machine.
One, beacon road surface
In an embodiment of the present invention, beacon road surface includes road surface and the beacon infrastructure that is set on road surface.The letter
It marks structure and is used as telltale mark for being arranged on road surface, the beacon infrastructure uses the embedded photoluminescent material of at least one color
Color coding is realized, so that mobile robot can realize positioning by the beacon infrastructure read on road surface.Wherein, beacon infrastructure
It (can be sat using the corresponding different position of the combination of different colours block and different colours block using color coding is printed with
Mark) PVC floor brick or roll type PVC bottom plate, color coding can be when PVC bottom plate brick or roll type PVC floor be dispatched from the factory just
It prints；Beacon infrastructure is also possible to embedded photoluminescent material and directly brushes the beacon infrastructure formed on road surface.Road surface can be
The carriageway surfacing of various fast/slow travelings, is also possible to square, parking lot, vacant lot etc..Luminescence generated by light refer to ultraviolet light,
Visible or infrared light excitation light-emitting material and the luminescence phenomenon generated.Embedded photoluminescent material refers to can be by ultraviolet light, visible
Light or infrared ray excited luminous material, such as fluorescent material etc..An embodiment of the present invention preferably uses the photic hair of quantum dot
Fluorescence material.When corresponding excitation light source is beaten on quantum dot light photoluminescence fluorescent material, quantum dot light photoluminescence fluorescence
Material emission by mobile machine to be read and identify corresponding color-coded information.
As shown in Fig. 1 a, Fig. 1 b and Fig. 3, the beacon infrastructure includes at least one color beacon element, the color letter
Mark unit includes the X-coordinate region and Y coordinate region for constituting plane coordinate system；The X-coordinate region includes by multiple by first
The X-coordinate color region 110 of aligned transfer, the X-coordinate color region 110 include at least one X-coordinate color block 111,
The X-coordinate color block 111 is matched with the first excitation light source；The Y coordinate region includes by multiple by the second aligned transfer
Y coordinate color region 120, the Y coordinate color region 120 include at least one Y coordinate color block 121, the Y coordinate
Color block 121 is matched with the second excitation light source.The X-coordinate color region 110 includes at least two X-coordinate color blocks
111, the color block line of demarcation that the X-coordinate color block 111 of different colours is joined together to form constitutes x-line
112(X1,X2,X3)；The Y coordinate color region 120 include at least two Y coordinate color blocks 121, different colours it is described
The line of demarcation that Y coordinate color block 121 is joined together to form constitutes y-line 122 (Y1, Y2, Y3).The X-coordinate color
Block 111 and/or Y coordinate color block 121 are single color block or more color mixing color blocks.
In Fig. 1 a, the X-coordinate that a series of different color blocks of the first excitation light source are arranged to make up in X-direction is corresponded to
System, coordinate line (X1, X2, X3) are color block line of demarcation；In Fig. 1 b, a series of different face of corresponding second excitation light source
Color block is arranged to make up Y coordinate system in the Y direction, and coordinate line (Y1, Y2, Y3) is color block line of demarcation.Color block can be with
It is just printed when PVC bottom plate brick or roll type PVC floor dispatch from the factory, can first print the luminescence generated by light of X-coordinate color block 111
Material, etc. X-coordinate color block 111 embedded photoluminescent material dry after be superimposed again printing Y coordinate color block 121 photic hair
Luminescent material, so that mixed outside the embedded photoluminescent material of the embedded photoluminescent material of X-coordinate color block 111 and Y coordinate color block 121
Conjunction is melted together.In Fig. 2, the road surface unit being spliced according to certain rules by muti-piece floor tile block constitutes XY coordinate system,
Four sides of floor tile and periphery floor tile, which constitute line of demarcation, becomes x-line 112 (X1, X2) and y-line 122 (Y1, Y2), often
Floorboard brick block luminescence generated by light fluorescence formula materials containing the first excitation light source and the second excitation light source simultaneously, in order to expand
Big encoding amount, every piece of floor tile block contain a variety of fluorescence color formula materials composition coding of corresponding first excitation light source simultaneously
With a variety of fluorescence color formula materials composition color coding of corresponding second excitation light source.
Wherein, the plane coordinate system can be with plane right-angle coordinate, polar coordinate system etc.；First excitation light source is
Three kinds of infrared excitation light source, excited by visible light light source or ultraviolet light excitation light source excitation light sources, second excitation light source are
Infrared excitation light source, excited by visible light light source, be different from ultraviolet light excitation light source the first excitation light source any one
Excitation light source.
In an embodiment of the present invention, the plane coordinate system is by taking plane right-angle coordinate as an example, with the first excitation light source
For infrared excitation light source, the second excitation light source is red for for ultraviolet light excitation light source.First rule specifically: described more
A X-coordinate color region 110 is successively arranged along a first direction；Second rule specifically: the multiple Y coordinate face
Color region 120 is successively arranged along the second direction perpendicular to first direction.Wherein, first direction can be according to practical feelings
Condition setting, for example, can set perpendicular to track direction as first direction when selecting carriageway surfacing as beacon road surface, then put down
Row is second direction in track direction.It should be noted that X-coordinate color region 110 is sat by the X of the different coordinate values of a plurality of correspondence
Graticule 112 forms, and wherein x-line 112 can be straight line and be also possible to curve.There are the different coordinates of a plurality of correspondence in Y coordinate region
The y-line 122 of value forms, and wherein y-line 122 can be straight line and be also possible to curve.Because lane, which is sometimes straight way, to be had
When be bend, establish XY coordinate system so being unified on the basis of lane line, regardless of lane line is straight line or curve, define
It is X-coordinate axle for parallel lane line (track direction), is Y-coordinate axle perpendicular to lane line (track direction), is also possible to parallel
Lane line (track direction) is Y-coordinate axle, is X-coordinate axle perpendicular to lane line (track direction).So x-line 112 and Y are sat
Graticule 122 may each be straight line and be also possible to curve.
Two, mobile machine
The present invention provides a kind of mobile machine comprising a kind of airborne beacon reads sensing device, the first excitation light source hair
Emitter and the second excitation light source transmitter, the first excitation light source transmitter and the second excitation light source transmitter are for exciting road
The beacon infrastructure in face shines, and reads sensing device for airborne beacon and reads.Wherein, mobile machine can be ordinary motor vehicle,
Mobile robot (such as pilotless automobile).In an embodiment of the present invention, machine is moved by taking pilotless automobile as an example, with
First excitation light source transmitter is infrared light sources transmitter, and the second excitation light source transmitter is that ultraviolet light source transmitter is
Example.
As shown in Figure 3 and Figure 4, in an embodiment of the present invention, it includes that multiple colors are read that airborne beacon, which reads sensing device,
Read transducer array is laterally or longitudinally set to 200 body bottom of pilotless automobile respectively, for reading the beacon infrastructure on road surface
Information, wherein the read color sensor array includes multiple colors identification sensing by the first set distance word order
Device 201, so that read color sensor array can be by reading the beacon infrastructure acquisition positioning letter on road surface with color coding
Breath.
As shown in figure 3, at least one described read color sensor array specifically includes in an embodiment of the present invention:
Two X-coordinate read color sensor arrays 210 disposed in parallel and two Y coordinate read color sensor arrays disposed in parallel
Column 220；Tansducer For Color Distiguishing 201 and the Y coordinate read color in the X-coordinate read color sensor array 210
201 orientation of Tansducer For Color Distiguishing in sensor array 220 is orthogonal；The X-coordinate read color sensor array
Tansducer For Color Distiguishing 201 in column 210 and Y coordinate read color sensor array 220 is according to equal difference distance 60mm (first
Set distance) successively word order.
As shown in figure 4, in present invention another kind embodiment, including an X-coordinate read color sensor array 210 and two
A Y coordinate read color sensor array 220 disposed in parallel；Color in the X-coordinate read color sensor array 210
Identification sensor 201 and 201 orientation of Tansducer For Color Distiguishing in the Y coordinate read color sensor array 220 are mutual
It is perpendicular；Color identification in the X-coordinate read color sensor array 210 and Y coordinate read color sensor array 220
Sensor 201 is according to equal difference distance 60mm (the first set distance) successively word order.
First excitation light source transmitter is infrared light sources transmitter, and the second excitation light source transmitter is ultraviolet light source hair
Emitter, infrared light sources transmitter and ultraviolet light source transmitter are arranged at 200 body bottom of pilotless automobile.Infrared ray
Light source emitter issues infrared ray excited X-coordinate color block and shines, and X-coordinate read color sensor array 210 reads X-coordinate
The luminous color-coded information of color block determines the X-coordinate of pilotless automobile 200；Ultraviolet light source transmitter issues ultraviolet
Light excites Y coordinate color block to shine, and Y coordinate read color sensor array 220 reads the luminous color of Y coordinate color block
Encoded information determines the Y coordinate of pilotless automobile 200.
Specifically, as shown in figure 3, being passed through by pilotless automobile 200 by airborne read sensor array vertical read
The beacon road surface crossed obtains the top view of XY coordinate value, is described in detail how that reading road surface x-line calculates below with reference to Fig. 3
The coordinate value and course angle of robot center.The coordinate value of y-line and the reading of course angle and calculation method and x-line
Identical, this will not be repeated here.
Emitted on a branch of excitation light source such as infrared ray to road surface by the first excitation light source transmitter, beacon road surface stimulated luminescence
After source excitation, the corresponding visible light colors of material prescription are issued, are known by the color in X-coordinate read color sensor array 210
Individual sensor 201 judges the color of visible light, and the color coding distribution map of beacon infrastructure is just mapped onto color on such road surface
In read sensor array, to obtain color a block (by 3, left side in preceding X-coordinate read color sensor array 210
Tansducer For Color Distiguishing 201 is read), color b block is (by 5, right side in preceding X-coordinate read color sensor array 210
Tansducer For Color Distiguishing 201 is read), color c block is (by 5, left side in rear X-coordinate read color sensor array 210
Tansducer For Color Distiguishing 201 is read), color d block is (by 3, right side in rear X-coordinate read color sensor array 210
Tansducer For Color Distiguishing 201 is read).In figure, color a block is identical as color c block color (to read the same color area
Block), color b block is identical as color d block color (reading the same color block).Color a block and color b block point
Boundary point A is found.Color c block and color d block separation B are found.Connection separation A and separation B just has found AB boundary
Line finds as the X in the rectangular coordinate system of beacon road surfaceABCoordinate line.200 center line of pilotless automobile can be obtained simultaneously and divide
The distance and course angle in boundary line: XABCoordinate value is known (such as can be recorded in advance by electronic map database), and color is read
The arrangement information (installation site of Tansducer For Color Distiguishing 201) of read transducer array is also known, so as to calculate nobody
The X-coordinate value of 200 center lines that drives a car and the course angle in X-coordinate direction.The Y coordinate for calculating machine center line can similarly be perceived
The course angle of value and Y-direction.X-coordinate read color sensor array 210 and Y coordinate read color sensor array 220 work
In the asynchronous scanning mode of timesharing, the scanning work state of X-coordinate read color sensor array 210 and the first excitation light source emit
The luminous working condition of device is synchronous, and the scanning work state of Y coordinate read color sensor array 220 and the second excitation light source are sent out
The luminous working condition of emitter is synchronous, so that X-coordinate scanning and Y coordinate scanning be avoided to interfere with each other.And then effectively realize it is reliable,
Accurately obtain the location information of unmanned machine people.
Three, the preferred embodiment of present system
In an embodiment of the present invention, the high-accuracy position system further includes electronic map database, the electricity
Sub- map data base includes the corresponding relationship of color coding and location information；The location information for obtaining mobile machine is specifically wrapped
It includes: obtaining the location information of mobile machine by inquiry electronic map database.Wherein, electronic map database is a data
Library, electronic map database have recorded the corresponding relationship of the coding of the color in beacon infrastructure with mobile machine location information.Because
The color-coded information that mobile machine is read is color and/or color combination, is not coordinate data, utilizes electronic map
The corresponding relationship recorded in advance in database can inquire the coordinate information (X-coordinate value and Y-coordinate value) and boat that obtain mobile machine
To angle information (course angle of X-direction and the course angle of Y-direction) etc..Electronic map database is equivalent to one " Xinhua dictionary ",
The location information of mobile machine does not need complicated calculations, and directly inquiring database can obtain, and calculates the time to reduce, mentions
High locating speed.
As shown in figure 5, in an embodiment of the present invention, the beacon infrastructure includes multiple color beacon elements 130,
The mobile machine further includes third parameter acquisition device, and the third parameter acquisition device is for obtaining third parameter to position
Color beacon element 130 where mobile machine, the airborne beacon read sensing device for obtaining location information with determination
Exact position of the mobile machine in color beacon element 130.Wherein, third parameter can be GPS positioning data and/or LED
Light address location data (are set for example, the patent document that can refer to Publication No. CN103400506B carries out light address location system
A LED light address transmitter is arranged in each color beacon element 130 in meter) and/or wireless network (bluetooth, WIFI etc.) positioning
Data and/or visible light color lump etc., corresponding third parameter acquisition device is with can be GPS signal reception device and/or LED light
Location reading device and/or wireless network (bluetooth, WIFI etc.) location data reception device and/or visible light color lump reading device etc..
Due to the limited amount that color encodes in beacon infrastructure, each color beacon element 130 is needed using identical color coding structure
To adapt to the use of large area, long range.Same color coding can be made in different color beacon elements using third parameter
Location information in 130 becomes different, to obtain different unique coordinate values.To sum up, the third parameter, which can be, is different from
The location data of other localization methods of beacon infrastructure localization method can use different thirds according to different usage scenarios
Parameter.High-accuracy position system is first reduced the scope with third parameter positioning (such as GPS positioning), determines the color where mobile machine
Then beacon element 130 is more accurately positioned by the color coding in color beacon element 130.
Four, the preferred embodiment of the method for the present invention
In an embodiment of the present invention, a kind of high-precision locating method, comprising:
Beacon element positioning step (coarse positioning): third parameter is obtained using third parameter acquisition device, to position movement
Color beacon element where machine.Wherein, third parameter can be GPS positioning data and/or LED light address location data
And/or wireless network (bluetooth, WIFI etc.) location data and/or visible light color lump etc., corresponding third parameter acquisition device can be with
It is that GPS signal reception device and/or LED light address reading device and/or wireless network (bluetooth, WIFI etc.) location data receive dress
It sets and/or visible light color lump reading device etc..
Coordinate setting step (fine positioning): the beacon knot being arranged on road surface is read using airborne read color sensor array
Structure.It issues infrared ray excited color block using light source emitter to shine, read color sensor array reads color block hair
The color-coded information of light.
Query Location step: the color-coded information read according to read color sensor array inquires electronic map
Database (electronic map database has recorded color and encodes corresponding location information), determines the coordinate (position of pilotless automobile
Confidence breath).
Application scenarios embodiment one
As shown in fig. 6, road surface is carriageway surfacing in the present embodiment, mobile machine is pilotless automobile.The present embodiment needle
Following design is done to the characteristics of carriageway surfacing driving: firstly, since carriageway surfacing running speed is fast, it is desirable that pilotless automobile
Road pavement beacon is read fastly, so color block encodes the single color block to be formed using single color, reading rate can be improved.Its
It is secondary, the foundation of road surface coordinate system: because highway is sometimes straight way and is sometimes bend, it is unified on the basis of lane line 101
XY coordinate system is established, regardless of lane line 101 is straight line or curve, being defined as parallel lane line 101 is X-coordinate axle, vertically
In lane line 101 be Y-coordinate axle, so x-line can be straight line and be also possible to curve.It is laid with along X-coordinate axis direction more
A color beacon element has the place of GPS signal using GPS positioning using GPS positioning data and light address as third parameter
Data distinguish different color beacon elements as third parameter；There is no the place of GPS signal using LED light address location number
Different road surface units are distinguished according to as third parameter.(corresponding pilotless automobile beacon highway embodiment diagram.)
Specifically, the vertical lane line 101 of a plurality of X-coordinate color region 110 is arranged, X-coordinate system is constituted.A plurality of Y coordinate
The parallel lane line 101 of color region 120 is arranged, and constitutes Y coordinate system, and lane line 101 can be straight line and be also possible to curve, and two
A coordinate system is mutually perpendicular to constitute XY coordinate system, and because vehicle runs on high speed, color block is using single color, corresponding first exciting light
Difference X-coordinate color block 111 line of demarcation in source is x-line 112, and different coding corresponds to different x-lines (X1, X2), corresponding
Second excitation light source difference Y coordinate color block, 121 line of demarcation be y-line 122, different coding be different y-lines (Y1,
Y2、Y3、Y4)。
Application scenarios embodiment two
As shown in fig. 7, application scenarios are the region road surfaces of going slowly such as square, parking lot, vacant lot road surface in the present embodiment, move
Movement machine is mobile robot.The present embodiment for go slowly region road surface running vehicle the characteristics of done following design: firstly, since slow
Row region road surface running speed is slow, and road is relative complex, and the color encoding amount requirement of beacon infrastructure is more, so color block uses
More colors encode the more color mixing blocks to be formed.Secondly, road surface coordinate line is straight line, can be spliced with PVC floor brick；
Again, region road surface of going slowly uniformly is divided into multiple color beacon regions, can (can with visible light (environment light) location data
Light-exposed different color blocks) different color beacon elements is distinguished as third parameter.
Specifically, irradiating infrared fluorescent material, excitation using infrared excitation light source K in a color beacon element
The color of different fluorescent materials such as K1, K2, K3, K4, K5 ... KN out, wherein N represents different visible light color；It further include transverse direction
Swashed to position the ordinate in square region using ultraviolet light in the line of demarcation of the ultraviolet fluorescent material for the adjacent different colours being arranged
Light emitting source G irradiates ultraviolet fluorescent material, inspires respective material color, such as color G1, G2, G3, G4, G5 ... GN, wherein N generation
Table different visible light color；Above-mentioned longitudinally disposed infrared fluorescent material is mutually handed over the ultraviolet fluorescent material being laterally arranged
It is folded, constitute latticed coordinate system.
More color encoded blocks can also be used in it, i.e. two or more color material mixes one volume of composition
Code, such as two kinds of color codings are as follows: K1K2, K1K3, K1K4 ... K2K3, K2K4 ... K3K5 etc. constitutes different coding, similarly
G1G2, G1G3, G1G4 ... G2G3, G2G4 ... G3G5 etc. constitutes different coding；Three kinds of colors for such as printing infrared material are compiled
Code are as follows: 10 kinds of colors such as K1K2K3, K1K2K4, K1K2K5 ... K2K3K4 ... K2K3K5 can obtain 120 kinds by every three color coding
Coding, 120 kinds of codings can also be obtained by similarly corresponding to ultraviolet material, and total encoding amount is 120 × 120=14400 kind coding.Grid
Each grid in shape coordinate system corresponds to different co-ordinate position informations, i.e., will corresponding infrared fluorescent material and corresponding Ultraluminescence
Arbitrary mess together is melted in material mixing, is made of respectively different color codings.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of beacon infrastructure, which is characterized in that the beacon infrastructure is used as telltale mark, the letter for being arranged on road surface
It marks structure and color coding is realized using the embedded photoluminescent material of at least one color, so that mobile machine can be by reading road surface
On beacon infrastructure realize positioning.
2. a kind of beacon infrastructure according to claim 1, which is characterized in that the beacon infrastructure includes at least one color
Beacon element, the color beacon element include constituting the X-coordinate region and Y coordinate region of plane coordinate system；
The X-coordinate region includes by multiple X-coordinate color regions by the first aligned transfer, the X-coordinate color region packet
At least one X-coordinate color block is included, the X-coordinate color block is matched with the first excitation light source；The X-coordinate color region
Including at least two X-coordinate color blocks, the color block that the different X-coordinate color blocks is joined together to form is demarcated
Line constitutes x-line；
The Y coordinate region includes by multiple Y coordinate color regions by the second aligned transfer, the Y coordinate color region packet
At least one Y coordinate color block is included, the Y coordinate color block is matched with the second excitation light source；The Y coordinate color region
Including at least two Y coordinate color blocks, the line of demarcation that the Y coordinate color block is joined together to form constitutes y-line；
The X-coordinate color block and/or Y coordinate color block are single color block or more color mixing color blocks；
First excitation light source is three kinds of infrared excitation light source, excited by visible light light source or ultraviolet light excitation light source exciting lights
Source, second excitation light source are infrared excitation light source, are different from first in excited by visible light light source, ultraviolet light excitation light source
The excitation light source of any one of excitation light source；
Preferably, the plane coordinate system is plane right-angle coordinate；
First rule specifically: the multiple X-coordinate color region is successively arranged along a first direction；
Second rule specifically: the multiple Y coordinate color region is successively along the second direction perpendicular to first direction
It is arranged.
3. a kind of beacon road surface, which is characterized in that including road surface and the beacon infrastructure being set on road surface, the beacon infrastructure
For beacon infrastructure as claimed in claim 1 or 2.
4. a kind of airborne beacon reads sensing device, which is characterized in that including at least one read color sensor array,
In, the read color sensor array include by multiple Tansducer For Color Distiguishings of the first set distance word order so that
Read color sensor array can be by reading the beacon infrastructure acquisition location information on road surface with color coding.
5. a kind of airborne beacon according to claim 4 reads sensing device, which is characterized in that at least one described color
Read sensor array specifically includes: at least one X-coordinate read color sensor array and at least one Y coordinate read color
Sensor array；Tansducer For Color Distiguishing and the Y coordinate read color in the X-coordinate read color sensor array pass
Tansducer For Color Distiguishing orientation in sensor array is orthogonal；The location information includes X-coordinate value and/or X-coordinate
The course angle and/or Y-coordinate value in direction and/or the course angle of Y-direction.
6. a kind of mobile machine, which is characterized in that read sensing dress including a kind of airborne beacon as described in claim 4 or 5
It sets, the first excitation light source transmitter and the second excitation light source transmitter, the first excitation light source transmitter and the second exciting light
Source transmitter is used to excite the beacon infrastructure on road surface to shine, and reads sensing device for airborne beacon and reads.
7. a kind of mobile machine according to claim 6, which is characterized in that the mobile machine includes such as claim 5
A kind of airborne beacon reads sensing device, the X-coordinate read color sensor array and Y coordinate read color sensing
The working condition of device array includes scanning work state and not scanning work state；The first excitation light source transmitter and
The working condition of two excitation light source transmitters includes shine working condition and the working condition that do not shine；
The X-coordinate read color sensor array and Y coordinate read color sensor array work in the asynchronous scanning shape of timesharing
State, the scanning work state of X-coordinate read color sensor array and the luminous working condition of the first excitation light source transmitter are same
Step, the scanning work state of Y coordinate read color sensor array and the luminous working condition of the second excitation light source transmitter are same
Step.
8. a kind of high-accuracy position system, which is characterized in that including beacon road surface as claimed in claim 3 and at least one such as
Mobile machine described in claim 6 or 7, the mobile machine is by reading the beacon infrastructure on the beacon road surface, to obtain
Take the location information of mobile machine.
9. a kind of high-accuracy position system according to claim 8, which is characterized in that
The beacon infrastructure includes multiple color beacon elements, and the mobile machine further includes third parameter acquisition device, described
Third parameter acquisition device is for obtaining third parameter to position the color beacon element where mobile machine, the airborne beacon
It reads sensing device and is used to obtain location information to determine exact position of the mobile machine in color beacon element；
The high-accuracy position system further includes electronic map database, and the electronic map database includes color coding and determines
The corresponding relationship of position information；The location information for obtaining mobile machine specifically includes: being obtained by inquiring electronic map database
Take the location information of mobile machine.
10. a kind of high-precision locating method, which is characterized in that comprising steps of
The beacon infrastructure being arranged on road surface is read, corresponding position is encoded according to the color-coded information of beacon infrastructure and color
Information determines the current location of mobile machine.
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