CN109459013A - The airborne label of monitoring navigation and system monitor and navigation - Google Patents
The airborne label of monitoring navigation and system monitor and navigation Download PDFInfo
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- CN109459013A CN109459013A CN201811268395.8A CN201811268395A CN109459013A CN 109459013 A CN109459013 A CN 109459013A CN 201811268395 A CN201811268395 A CN 201811268395A CN 109459013 A CN109459013 A CN 109459013A
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
- G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
- G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
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Abstract
The embodiment of the present invention provides the airborne label of monitoring navigation and system monitor and navigation, the label is corresponded with every target machine, wherein facilitate the label design of image recognition containing monitoring camera, to allow control centre can be according to image recognition machine, position, posture and the speed of machine are calculated, while can identify machine code from image.The present invention solves the problems, such as there is the more preferable beneficial effect for carrying out identification number identification and navigation to solve identification number identification in the prior art and navigator fix inaccuracy.
Description
Technical field
The present embodiments relate to Computer navigation surgery field more particularly to a kind of airborne label of monitoring navigation and monitoring
Navigation system.
Background technique
The navigation system of machine is machine " eyes ", and more technologies combinations are the directions of future development.Navigation system is responsible for
Position, the speed, mobile posture isovector information of reference frame are provided to machine, guidance machine is mobile according to advertised route,
The navigator being equivalent in man-machine system.
The prior art makes level sensor by oneself on each machine, can provide the position of oneself；Monitoring camera is according to machine
The position of device notification and error range, the machine identified in this range image are exactly the machine accordingly numbered.But if machine
Device makes that level sensor is inaccurate, and error is too big by oneself, may have more machines through this range, leads to not the volume for determining machine
Number.
Summary of the invention
The embodiment of the present invention provides monitoring navigation methods and systems, inaccurate to solve machine navigation positioning in the prior art
True problem, to play the more preferable beneficial effect for carrying out machine navigation.
First aspect according to an embodiment of the present invention provides a kind of monitoring navigation airborne label, upper label area, coding
Label area and lower label area:
Upper label area is rectangle, is made of side by side the rectangular grid of n the first colors and the second color；
Lower label area is rectangle, is made of side by side the rectangular grid of n the first colors and the second color；
Upper label area is side by side arranged it with lower label area, collectively forms posture label area, posture label area
It is a respectively first color rectangular grid, two the first color rectangular grids, three the first color rectangular grids on four angles
Son and a first color rectangular grid；Four angles of orientation label area and the relative position of monitoring camera are for characterizing monitoring
Navigate the current pose of the affiliated machine of airborne label；
Code tag region is rectangle, is placed between label area and lower label area, code tag region by m row,
Every row n-2 the first color rectangular grids and the combination of the second color rectangular grid are constituted；N-2 in the most lastrow of code tag region
A rectangular grid is aligned with remaining rectangular grid for removing both ends rectangular grid in upper label area；Code tag region is most next
N-2 rectangular grid is aligned with remaining rectangular grid for removing both ends rectangular grid in lower label area in row；Wherein m is positive whole
Number；For characterizing machine code, the machine code is unique and navigates with monitoring for the combination of rectangular grid in code tag region
The airborne affiliated machine of label is corresponding.
Further, the rectangular grid of the first color represents 1 in code tag region, and the rectangular grid of the second color represents 0,
Numerical order representated by each rectangular grid combines numeric string obtained for characterizing machine code in code tag region.
According to the second aspect of the invention, a kind of system monitor and navigation, including control centre, at least one monitoring are provided
Camera and the airborne label of monitoring navigation, the airborne label of monitoring navigation are placed on target machine:
Control centre obtains current first location information, the first posture information and the First Speed information of target machine；
Control centre is based on first location information, the first posture information and First Speed information, and it is current to choose target machine
Monitoring camera corresponding to present position；
Control centre's control monitoring camera is based on the airborne label of the corresponding monitoring navigation of target machine and obtains target in real time
The current second location information of machine, the second posture information and second speed information；
Control centre is based on second location information, the second posture information and second speed information realization target machine navigation road
The generation or modification of diameter.
Wherein, the airborne label of monitoring navigation, including upper label area, code tag region and lower label area:
Upper label area is rectangle, is made of side by side the rectangular grid of n the first colors and the second color；
Lower label area is rectangle, is made of side by side the rectangular grid of n the first colors and the second color；
Upper label area is side by side arranged it with lower label area, collectively forms posture label area, posture label area
It is a respectively first color rectangular grid, two the first color rectangular grids, three the first color rectangular grids on four angles
Son and a first color rectangular grid；Four angles of orientation label area and the relative position of monitoring camera are for characterizing monitoring
Navigate the current pose of the affiliated machine of airborne label；
Code tag region is rectangle, is placed between label area and lower label area, code tag region by m row,
Every row n-2 the first color rectangular grids and the combination of the second color rectangular grid are constituted；N-2 in the most lastrow of code tag region
A rectangular grid is aligned with remaining rectangular grid for removing both ends rectangular grid in upper label area；Code tag region is most next
N-2 rectangular grid is aligned with remaining rectangular grid for removing both ends rectangular grid in lower label area in row；Wherein m is positive whole
Number；For characterizing machine code, the machine code is unique and navigates with monitoring for the combination of rectangular grid in code tag region
The airborne affiliated machine of label is corresponding.
Further, monitoring camera is also used to obtain when target machine continues to move to encounter according to current navigation path
The coarse information of barrier；
The coarse information of barrier is sent to target machine by control centre, and target machine obtains the specific letter of barrier
Breath；Target machine guidance path is modified based on the specifying information of barrier by control centre.
Further, when monitoring camera is multiple；Control centre is also used to: preferential close to multiple monitoring camera lines
The path constituted generates or modifies target machine guidance path.
Further, the control centre is also used to:
When interior when target machine is in any monitoring camera range capable of taking pictures, it is based on first location information, first
Posture information and First Speed information choose target machine and are presently in monitoring camera corresponding to position；
When interior when target machine is in any monitoring camera range not capable of taking pictures, it is based on target machine history bit
Confidence breath, history posture information and historical speed information calculate target machine current approximate position information, are believed based on approximate location
Breath constituency target machine is presently in monitoring camera corresponding to position.
Further, the control centre is also used to: rough location information is sent to each of rough location information periphery
Monitoring camera；The acquisition to target machine information is carried out based on rough location information for each monitoring camera.
Further, it is provided with obstacle avoidance sensor on target machine, for obtaining the specifying information of barrier；Obstacle avoidance sensor
For one of ultrasonic sensor, infrared sensor, radar sensor and camera or a variety of combinations.
Further, the control centre and machine are in the wireless network passed through, and external lack of competence equipment can not
Access the content of wireless network；Control centre can be cross over outer net, with remaining service interfacing.
Further, have on the fuselage of machine for image recognition and with the one-to-one label design of machine code, for
Monitoring camera identification.
The embodiment of the present invention provides the airborne label of monitoring navigation and system monitor and navigation, the label and every target machine
It corresponds, wherein facilitating the label design of image recognition, containing monitoring camera control centre can be known according to image
Other machine, calculates position, posture and the speed of machine, while machine code can be identified from image.The present invention solves
To solve the problems, such as identification number identification in the prior art and navigator fix inaccuracy, there is more preferable progress identification number identification
And the beneficial effect of navigation.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is an example structure schematic diagram of the airborne label of present invention monitoring navigation；
Fig. 2 is an example structure schematic diagram of system monitor and navigation of the present invention；
Fig. 3 is the embodiment entity structure schematic diagram of electronic equipment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Machine navigation refers to that machine determines the method or process of its position, posture and speed in moving process, is related to counting
Multiple subjects such as, mechanics, optics, electronics, automatic control and computer.The performance of navigation system directly determines that machine is
It is no to complete task, because machine can only be automatically moved by navigation signal realization.
But the prior art, level sensor is made by oneself on each machine, can provide the position of oneself；Monitoring camera
It is exactly the machine accordingly numbered according to the position of machine notification and error range, the machine identified in this range image.But
If machine makes that level sensor is inaccurate, and error is too big by oneself, there may be more machines through this range, lead to not determine machine
The number of device.
To solve above-mentioned at least one technical problem, the present invention provides a kind of airborne label of monitoring navigation and system, described
Label is corresponded with every target machine, wherein facilitating the label design of image recognition containing monitoring camera, is controlled with allowing
Center can calculate position, posture and the speed of machine according to image recognition machine, while machine can be identified from image
Coding.
Such as Fig. 1, an example structure schematic diagram of the airborne label of specific embodiment of the invention monitoring navigation is shown.It is whole
On, including upper label area A11, code tag region A13 and lower label area A12:
Upper label area A11 is rectangle, is made of side by side the rectangular grid of n the first colors and the second color；For example,
First color and the second color can be respectively red and white；
Lower label area A12 is rectangle, is made of side by side the rectangular grid of n the first colors and the second color；
Upper label area A11 is side by side arranged it with lower label area A12, collectively forms posture label area, appearance
It is a respectively first color rectangular grid on four angles of state label area, two the first color rectangular grids, three first
Color rectangular grid and a first color rectangular grid；Four angles of orientation label area and the relative position of monitoring camera are used
In the current pose of the airborne affiliated machine of label of characterization monitoring navigation；Orientation when encoding is distinguished convenient for monitoring camera.
Code tag region A13 be rectangle, be placed between label area A11 and lower label area A12, label area by
M row, every row n-2 the first color rectangular grids and the combination of the second color rectangular grid are constituted；Code tag region A13 most upper one
N-2 rectangular grid is aligned with remaining rectangular grid for removing both ends rectangular grid in upper label area A11 in row；Code tag
N-2 rectangular grid and remaining rectangular grid that both ends rectangular grid is removed in lower label area A12 in region A13 most next line
Alignment；Wherein m is positive integer；The combination of rectangular grid is for characterizing machine code, the machine code in code tag region
It is unique and corresponding with the monitoring airborne affiliated machine of label of navigation.
Wherein, as long as the color of the first color and the second color rectangular grid can mutually be distinguished, other are any
The combination of two kinds of color difference rectangular grids can wait be all this programme protection scope, the embodiment of the present invention do not limit specifically
It is fixed.Grid is all rectangle, mainly the rectangle three parameter course angles, pitch angle and the roll angle that better calculate label posture
(deflection, pitching, inclination).
Further, label uses four red rectangle grid as four angles, and to facilitate, in target machine, there are no complete
Machine can be detected when into camera view.
Further, based on identifying to airborne label, the current location information of target machine, speed letter can be identified
Breath and posture information.
On the basis of any above-mentioned specific embodiment of the invention, provide a kind of monitoring navigation airborne label:
The rectangular grid of the first color represents 1 in the A13 of code tag region, and the rectangular grid of the second color represents 0, coding
Numerical order representated by each rectangular grid combines numeric string obtained for characterizing machine code in label area A13.
Wherein, as long as 1 and 0 specific value can mutually be distinguished, other any two kinds several combinatorics on words all may be used
With etc. be all this programme protection scope, the embodiment of the present invention is not especially limited.
Such as Fig. 2, present invention specific implementation system monitor and navigation overall structure diagram is shown.On the whole, including in control
It heart A01, at least one monitoring camera A02 and navigates airborne label A 03 with monitoring, the monitoring airborne label A 03 that navigates is placed in mesh
It marks on machine:
Control centre A01 obtains current first location information, the first posture information and the First Speed information of target machine；
Control centre A01 is based on first location information, the first posture information and First Speed information, chooses target machine and works as
Monitoring camera A02 corresponding to preceding present position；
Control centre A01 controls monitoring camera A02 and is based on the airborne label A 03 of the corresponding monitoring navigation of target machine in real time
Obtain the current second location information of target machine, the second posture information and second speed information；
Control centre A01 is based on second location information, the second posture information and second speed information realization target machine and leads
The generation or modification of bit path.
Wherein, the airborne label of monitoring navigation, including upper label area, code tag region and lower label area:
Upper label area is rectangle, is made of side by side the rectangular grid of n the first colors and the second color；
Lower label area is rectangle, is made of side by side the rectangular grid of n the first colors and the second color；
Upper label area is side by side arranged it with lower label area, collectively forms posture label area, posture label area
It is a respectively first color rectangular grid, two the first color rectangular grids, three the first color rectangular grids on four angles
Son and a first color rectangular grid；Four angles of orientation label area and the relative position of monitoring camera are for characterizing monitoring
Navigate the current pose of the affiliated machine of airborne label；
Code tag region is rectangle, is placed between label area and lower label area, code tag region by m row,
Every row n-2 the first color rectangular grids and the combination of the second color rectangular grid are constituted；N-2 in the most lastrow of code tag region
A rectangular grid is aligned with remaining rectangular grid for removing both ends rectangular grid in upper label area；Code tag region is most next
N-2 rectangular grid is aligned with remaining rectangular grid for removing both ends rectangular grid in lower label area in row；Wherein m is positive whole
Number；For characterizing machine code, the machine code is unique and navigates with monitoring for the combination of rectangular grid in code tag region
The airborne affiliated machine of label is corresponding.
It is for when carrying out the generation or modification in machine navigation path that air navigation aid is monitored in the embodiment, it is contemplated that machine
The problem of self poisoning inaccuracy, based on the monitoring camera arranged in advance realize generation for target machine guidance path or
Modification.
Further, first location information current for target machine, the first posture information and First Speed information obtain
Take is to position the respective objects machine that can be preset and can get target machine；Target machine current first
The acquisition of location information, the first posture information and First Speed information both can be target machine active reporting or control
Center processed or server actively obtain；The specific storage mode embodiment of the present invention is not especially limited.
Further, control centre or server are based on first location information, the first posture information and First Speed letter
Breath chooses target machine and is presently in monitoring camera corresponding to position.
Further, control monitoring camera obtains the current second location information of target machine, the second posture letter in real time
Breath and second speed information；So that control centre or server are based on more accurate second location information, the second posture information
With the accurate calculating of second speed information realization target machine location, posture and speed, while airborne navigational system is corrected.
Wherein, as long as the color of red white rectangular grid can mutually be distinguished, other any two kinds of colors difference squares
The combination of shape grid can wait be all this programme protection scope, the embodiment of the present invention is not especially limited.
Further, label uses four red rectangle grid as four angles, and to facilitate, in target machine, there are no complete
Machine can be detected when into camera view.
Further, based on identifying to airborne label, the current location information of target machine, speed letter can be identified
Breath and posture information.
On the basis of any of the above-described specific embodiment of the invention, a kind of system monitor and navigation is provided, which is characterized in that prison
Control camera is also used to obtain the coarse information for working as the barrier that target machine continues to move to encounter according to current navigation path；
The information of barrier is sent to target machine by control centre, and target machine obtains the specifying information of barrier；Control
Center processed target machine guidance path is modified based on the specifying information of barrier.
Wherein, when target machine is advanced according to current guidance path, if barrier will be encountered, because of prison
It is bigger to control camera view, the information of barrier can be obtained ahead of time, the information of barrier is sent to target machine, target machine
Device based on itself sensor (such as one of ultrasonic sensor, infrared sensor, radar sensor and camera or
A variety of combinations) obtain barrier real time information.Wherein may include in the obstacle information and real time information location information,
Elevation information, volume information, shape information, velocity information etc., the embodiment of the present invention is not especially limited.
On the basis of any of the above-described specific embodiment of the invention, a kind of system monitor and navigation is provided, monitoring camera is worked as
When being multiple；Control centre is also used to: it is preferential close to the path that multiple monitoring camera lines are constituted, generate or modify target
Machine navigation path.
On the basis of any of the above-described specific embodiment of the invention, a kind of system monitor and navigation is provided, control centre generates
Or preferentially in any monitoring camera range Nei Shinei capable of taking pictures when modification target machine guidance path.
On the basis of any of the above-described specific embodiment of the invention, a kind of system monitor and navigation is provided, control centre generates
Guidance path, target machine can independently modify Local Navigation path according to obstacle.
On the basis of any of the above-described specific embodiment of the invention, a kind of system monitor and navigation, the control centre are provided
It is also used to:
When interior when target machine is in any monitoring camera range capable of taking pictures, it is based on first location information, first
Posture information and First Speed information choose target machine and are presently in monitoring camera corresponding to position；
When interior when target machine is in any monitoring camera range not capable of taking pictures, it is based on target machine history bit
Confidence breath, history posture information and historical speed information calculate target machine current approximate position information, are believed based on approximate location
Breath constituency target machine is presently in monitoring camera corresponding to position.
On the basis of any of the above-described specific embodiment of the invention, a kind of system monitor and navigation, the control centre are provided
It is also used to: rough location information is sent to each monitoring camera on rough location information periphery；For each monitoring camera
Head carries out the acquisition to target machine information based on rough location information.
On the basis of any of the above-described specific embodiment of the invention, a kind of system monitor and navigation is provided, is set on target machine
It is equipped with obstacle avoidance sensor, for obtaining the specifying information of barrier；Obstacle avoidance sensor is ultrasonic sensor, infrared ray sensing
One of device, radar sensor and camera or a variety of combinations.
On the basis of any of the above-described specific embodiment of the invention, a kind of system monitor and navigation, the control centre are provided
It is in the wireless network passed through with machine, external lack of competence equipment can not access the content of wireless network；Control centre
It can be cross over outer net, with remaining service interfacing.
On the basis of any of the above-described specific embodiment of the invention, a kind of system monitor and navigation is provided, on the fuselage of machine
Have for image recognition and with the one-to-one label design of machine code, for monitoring camera identification.
On the basis of any of the above-described specific embodiment of the invention, a kind of system monitor and navigation is provided, control centre is used for:
Timing and each machine communication tell machine its task path, position, posture and speed:
When starting: (a) notifying each machine, control centre's starting wants each machine to report position, posture and speed；(b)
After obtaining each machine location, posture and speed, position, posture and the speed of machine are accurately calculated；
When operation: machine when (a) in any monitoring camera range capable of taking pictures, opsition dependent and error location institute
Target detection is carried out in camera；(b) in any monitoring camera range not capable of taking pictures machine when estimates position
It sets, posture, speed and error, is notified to its nearest camera.
On the basis of any of the above-described specific embodiment of the invention, a kind of system monitor and navigation is provided, machine is used for:
When starting: (a) notifying the starting of control centre's machine, report machine code, position, posture；(b) most close-shot is obtained
As head；
When task: periodically being communicated with control centre, tell its current location, posture and speed.
On the basis of any of the above-described specific embodiment of the invention, a kind of monitoring navigation example is provided.Using monitoring camera
Head navigates.Monitoring camera is positioned as God's Eye for target machine, provides position, posture and speed to target machine
Spend information.Work flow is as follows.
(1) user's key issues machinery operation mission requirements；
(2) service center allows/refuses this job task by operation regulation；
(3) if to send out goods and materials, machine that is vacant and there are enough electricity is selected, control centre issues task to machine and leads to
Know；
(4) machine is gone at goods and materials granting；
(5) goods and materials are provided, control centre provides starting signal to machine；
(6) control centre provides global path；
(7) machine goes to destination by global path；
(8) obstacle is found in road, modifies local path；
(9) machine arrives at the destination, and gives notice to control centre；
(10) handling of scrapped goods and materials finishes, and provides signal to control centre；
(11) terminate this subtask.
Fig. 3 is the entity structure schematic diagram of electronic equipment provided in an embodiment of the present invention, as shown in figure 3, the electronic equipment
It may include: processor (processor) 310,320, memory communication interface (Communications Interface)
(memory) 330 and communication bus 340, wherein processor 310, communication interface 320, memory 330 pass through communication bus 340
Complete mutual communication.Processor 310 can call the meter that is stored on memory 330 and can run on processor 310
Calculation machine program, to execute the transmission method of the various embodiments described above offer, for example, obtain the current first position of target machine
Information, the first posture information and First Speed information；Based on first location information, the first posture information and First Speed information,
It chooses target machine and is presently in monitoring camera corresponding to position；It is current that control monitoring camera obtains target machine in real time
Second location information, the second posture information and second speed information；Based on second location information, the second posture information and the second speed
Spend the generation or modification of information realization target machine guidance path.
In addition, the logical order in above-mentioned memory 330 can be realized by way of SFU software functional unit and conduct
Independent product when selling or using, can store in a computer readable storage medium.Based on this understanding, originally
The technical solution of the inventive embodiments substantially part of the part that contributes to existing technology or the technical solution in other words
It can be embodied in the form of software products, which is stored in a storage medium, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes the present invention respectively
The all or part of the steps of a embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk
Etc. the various media that can store program code.
The embodiment of the present invention also provides a kind of non-transient computer readable storage medium, is stored thereon with computer program,
The computer program is implemented to carry out the transmission method of the various embodiments described above offer when being executed by processor, for example, obtain
The current first location information of target machine, the first posture information and First Speed information；Based on first location information, the first appearance
State information and First Speed information choose target machine and are presently in monitoring camera corresponding to position；Control monitoring camera
Head obtains the current second location information of target machine, the second posture information and second speed information in real time；Based on second confidence
The generation or modification of breath, the second posture information and second speed information realization target machine guidance path.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
- The airborne label 1. a kind of monitoring is navigated, which is characterized in that including upper label area, code tag region and lower label area Domain:Upper label area is rectangle, is made of side by side the rectangular grid of n the first colors and the second color；Lower label area is rectangle, is made of side by side the rectangular grid of n the first colors and the second color；Upper label area is side by side arranged it with lower label area, collectively forms posture label area, and posture label area four To be respectively a first color rectangular grid on angle, two the first color rectangular grids, three the first color rectangular grids and One the first color rectangular grid；Four angles of orientation label area and the relative position of monitoring camera are for characterizing monitoring navigation The current pose of the airborne affiliated machine of label；Code tag region is rectangle, is placed between label area and lower label area, code tag region is by m row, every row N-2 the first color rectangular grids and the combination of the second color rectangular grid are constituted；N-2 square in the most lastrow of code tag region Shape grid is aligned with remaining rectangular grid for removing both ends rectangular grid in upper label area；In the most next line of code tag region N-2 rectangular grid is aligned with remaining rectangular grid for removing both ends rectangular grid in lower label area；Wherein m is positive integer； For characterizing machine code, the machine code is unique and airborne with monitoring navigation for the combination of rectangular grid in code tag region The affiliated machine of label is corresponding.
- 2. airborne label according to claim 1, it is characterised in that:The rectangular grid of the first color represents 1 in code tag region, and the rectangular grid of the second color represents 0, code tag area Numerical order representated by each rectangular grid combines numeric string obtained for characterizing machine code in domain.
- 3. a kind of system monitor and navigation, which is characterized in that including control centre, at least one monitoring camera and monitoring guiding aircraft Label is carried, the airborne label of monitoring navigation is placed on target machine:Control centre obtains current first location information, the first posture information and the First Speed information of target machine；Control centre is based on first location information, the first posture information and First Speed information, chooses target machine and is presently in Monitoring camera corresponding to position；Control centre's control monitoring camera is based on the airborne label of the corresponding monitoring navigation of target machine and obtains target machine in real time Current second location information, the second posture information and second speed information；Control centre is based on second location information, the second posture information and second speed information realization target machine guidance path It generates or modifies；Wherein, the airborne label of monitoring navigation, including upper label area, code tag region and lower label area:Upper label area is rectangle, is made of side by side the rectangular grid of n the first colors and the second color；Lower label area is rectangle, is made of side by side the rectangular grid of n the first colors and the second color；Upper label area is side by side arranged it with lower label area, collectively forms posture label area, and posture label area four To be respectively a first color rectangular grid on angle, two the first color rectangular grids, three the first color rectangular grids and One the first color rectangular grid；Four angles of orientation label area and the relative position of monitoring camera are for characterizing monitoring navigation The current pose of the airborne affiliated machine of label；Code tag region is rectangle, is placed between label area and lower label area, code tag region is by m row, every row N-2 the first color rectangular grids and the combination of the second color rectangular grid are constituted；N-2 square in the most lastrow of code tag region Shape grid is aligned with remaining rectangular grid for removing both ends rectangular grid in upper label area；In the most next line of code tag region N-2 rectangular grid is aligned with remaining rectangular grid for removing both ends rectangular grid in lower label area；Wherein m is positive integer； For characterizing machine code, the machine code is unique and airborne with monitoring navigation for the combination of rectangular grid in code tag region The affiliated machine of label is corresponding.
- 4. system according to claim 3, which is characterized in that monitoring camera is also used to obtain when target machine is according to working as Preceding guidance path continues to move to the coarse information for the barrier that can be encountered；The coarse information of barrier is sent to target machine by control centre, and target machine obtains the specifying information of barrier；Control Center processed target machine guidance path is modified based on the specifying information of barrier.
- 5. system according to claim 3, which is characterized in that when monitoring camera is multiple；Control centre is also used to: The path that preferential close multiple monitoring camera lines are constituted, generates or modifies target machine guidance path.
- 6. system according to claim 3, which is characterized in that the control centre is also used to:When interior when target machine is in any monitoring camera range capable of taking pictures, it is based on first location information, the first posture Information and First Speed information choose target machine and are presently in monitoring camera corresponding to position；When interior when target machine is in any monitoring camera range not capable of taking pictures, it is based on target machine history bit confidence Breath, history posture information and historical speed information calculate target machine current approximate position information, are selected based on rough location information Area's target machine is presently in monitoring camera corresponding to position.
- 7. system according to claim 6, which is characterized in that the control centre is also used to: rough location information is sent out Give each monitoring camera on rough location information periphery；It is carried out pair so that each monitoring camera is based on rough location information The acquisition of target machine information.
- 8. system according to claim 4, which is characterized in that obstacle avoidance sensor is provided on target machine, for obtaining The specifying information of barrier；Obstacle avoidance sensor is in ultrasonic sensor, infrared sensor, radar sensor and camera One or more combinations.
- 9. according to any system of claim 3 to 8, which is characterized in that the control centre and machine are in same In wireless network, external lack of competence equipment can not access the content of wireless network；Control centre can be cross over outer net, with remaining industry Business docking.
- 10. according to any system of claim 3 to 8, which is characterized in that have on the fuselage of machine for image recognition and With the one-to-one label design of machine code, for monitoring camera identification.
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