CN110175540A - Road sign map structuring system and robot - Google Patents
Road sign map structuring system and robot Download PDFInfo
- Publication number
- CN110175540A CN110175540A CN201910391208.3A CN201910391208A CN110175540A CN 110175540 A CN110175540 A CN 110175540A CN 201910391208 A CN201910391208 A CN 201910391208A CN 110175540 A CN110175540 A CN 110175540A
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- road sign
- module
- sign map
- image
- structuring system
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- 230000000295 complement effect Effects 0.000 claims description 7
- 230000001502 supplementing effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims 1
- 239000013589 supplement Substances 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000011221 initial treatment Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
- G06F16/58—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
- G06F16/5866—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using information manually generated, e.g. tags, keywords, comments, manually generated location and time information
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
Abstract
The present invention provides a kind of road sign map structuring systems, comprising: image preview module, including identification module, identification module mark information for identification；Demarcating module, for providing distortion parameter；And module is built, road sign map is established according to the mark information.Road sign map structuring system provided by the invention, based on image preview module obtain mark information, it can be achieved that road sign map rapid build.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of road sign map structuring system and robot.
Background technique
The development of mobile robot be unable to do without the development of location and navigation technology.Common air navigation aid is mobile robot
Map is independently constructed according to the environment of its work, then completes move.Robotic vision location technology is to realize independently
The key technology of navigation.
Currently, frequently with the method that positioning identifier is manually arranged in the environment, using the equipment on robot body to fixed
Bit identification is identified, the location information of positioning identifier is obtained, to complete the positioning of robot.It is positioned using road sign,
It is to solve first and the problem of building figure is carried out to road sign.The work that road sign builds figure can be carried out quick, intelligently by also lacking at present
Tool.
Summary of the invention
The present invention completes in view of above-mentioned current condition, and its purpose is to provide a kind of road sign map structuring systems
And robot, it can be promoted and build figure efficiency.
To achieve the goals above, embodiment of the present invention provides the following technical solutions:
The present invention provides a kind of road sign map structuring system, comprising:
Image preview module, including identification module, identification module mark information for identification；
Demarcating module, for providing distortion parameter；And
Module is built, road sign map is established according to the mark information.
In this case, based on image preview module obtain mark information, it can be achieved that road sign map rapid build.
Wherein, described image previewing module further includes adjusting exposure module, for adjusting the exposure of image.
Primary treatment can be carried out to the image of acquisition as a result, and then promotes the image recognition efficiency of identification module, promotion obtains
The accuracy of the mark information taken.
Wherein, the mark information includes the location information and road sign number of road sign.
In this case, it is numbered by the location information and road sign that obtain road sign, on the map for building module building
Road sign and number can be made to correspond, target of conveniently satisfying the need maintenance and adjustment.
Wherein, the demarcating module includes demarcating module of taking pictures, and the demarcating module of taking pictures is for obtaining the image of shooting
The distortion parameter.
Thus, it is possible to fast acquiring distortion parameter.
Wherein, the distortion parameter is pre-stored data.
In such a case, it is possible to be pre-processed by calling the distortion parameter prestored to figure.
Wherein, the module of building includes complementary module, and the complementary module is used on the basis of the road sign map
Supplement new road sign.
Thus, it is desirable to, without rebuilding map, supplement road sign behaviour need to only be executed on existing map when supplementing new road sign
Work.
Wherein, the module of building includes deleting module, and the module of deleting is on the basis of the road sign map
Delete existing road sign.
Thus, it is desirable to, without rebuilding map, need to only be executed on existing map when deleting road sign and delete road sign operation i.e.
It can.
It wherein, further include enquiry module, the enquiry module exports the image of corresponding road sign according to the number of input.
In this case, can quick search to the road sign image for requiring to look up or safeguarding, promote arrangement road sign and ground
Scheme the working efficiency of maintenance.
Wherein, including duplicate checking module, the duplicate checking module judge the image of the road sign according to the image of the road sign of acquisition
Whether have added in the road sign map.
After shooting road sign image as a result, the enquiry module real-time judge road sign whether input system.It avoids because of weight
Road sign is arranged again and causes position error excessive.
The present invention also provides a kind of robot, the robot includes road sign map structuring system as described above.
In this case, robot can carry out intelligent road sign and build figure, improve and build figure efficiency.
Provided road sign map structuring system according to the present invention can based on the mark information that image preview module obtains
Realize the rapid build of road sign map.
Detailed description of the invention
Fig. 1 shows the composition schematic diagram of road sign map structuring system involved in embodiments of the present invention.
Specific embodiment
Hereinafter, explaining the preferred embodiment of the present invention in detail with reference to attached drawing.In the following description, for identical
Component assign identical symbol, the repetitive description thereof will be omitted.Scheme in addition, attached drawing is only schematical, the mutual ruler of component
Very little shape of ratio or component etc. can be with actual difference.
As shown in Figure 1, road sign map structuring system 1 involved in present embodiment includes: image preview module 10, calibration
Module 20 and build module 30.Image preview module 10 includes identification module.Identification module mark information for identification.Calibration
Module 20 is for providing distortion parameter.It builds module and road sign map is established according to mark information.In this case, it is based on image
Previewing module obtain mark information, it can be achieved that road sign map rapid build.
In some instances, road sign map structuring system 1 can also include image capture module.Image capture module acquisition
After road sign image, image preview module 10 identifies mark information.
In some instances, distortion parameter is for handling road sign image.The effect of the identification for logo image of satisfying the need can be promoted as a result,
Rate and accuracy.
In some instances, it builds module 30 to handle based on the analysis of the road sign image to acquisition, with mark information, build
Vertical road sign map.Mark information can visualize on road sign map.It is easy to use complete independently road sign map structuring, drop as a result,
Low arrangement road sign and the difficulty for building figure.
In the present embodiment, image preview module 10 further includes adjusting exposure module, for adjusting the exposure of image.By
This, can carry out primary treatment, and then promote the image recognition efficiency of identification module to the image of acquisition, promote the road sign letter of acquisition
The accuracy of breath.
In the present embodiment, mark information includes the location information and road sign number of road sign.In this case, pass through
The location information and road sign number for obtaining road sign, on the map for building module building road sign and number can correspond,
Target of conveniently satisfying the need maintenance and adjustment.
In some instances, road sign may include two-dimensional barcode information.Identification module obtains road by identification two-dimensional barcode information
Target location information and road sign number.
In the present embodiment, demarcating module 20 includes demarcating module of taking pictures.Demarcating module of taking pictures is used to obtain shooting
The distortion parameter of image.Thus, it is possible to fast acquiring distortion parameter.
In some instances, by acquiring chessboard table images, demarcating module of taking pictures obtains the distortion parameter of chessboard table images.
In the present embodiment, distortion parameter is pre-stored data.In such a case, it is possible to by calling the distortion prestored
Parameter pre-processes figure.
In some instances, distortion parameter can prestore beyond the clouds or server.Demarcating module 20 can be called and be obtained
Distortion parameter.Distortion parameter can also be pre-stored in road sign map structuring system 1, to call at any time.
In the present embodiment, building module 30 includes complementary module.Complementary module is used on the basis of road sign map
Supplement new road sign.Thus, it is desirable to which when supplementing new road sign, without rebuilding map, only supplement need to be executed on existing map
Road sign operation.
In some instances, by resurveying the image of the road sign of supplement, complementary module can add the road sign of supplement
It is added in existing road sign map.
In the present embodiment, building module 30 includes deleting module.Module is deleted for the base in the road sign map
Existing road sign is deleted on plinth.Thus, it is desirable to, without rebuilding map, need to only execute and delete on existing map when deleting road sign
Subtract road sign operation.
In the present embodiment, road sign map structuring system 1 further includes enquiry module.Enquiry module is according to the number of input
Export corresponding road sign image.In this case, can quick search to the road sign image for requiring to look up or safeguarding, promote arrangement
Road sign and the working efficiency of map maintenance.
In the present embodiment, road sign map structuring system 1 includes duplicate checking module, and duplicate checking module is according to the road sign figure of acquisition
Picture, judges whether the road sign image has added in the road sign map.After shooting road sign image as a result, enquiry module
The real-time judge road sign whether input system.Avoid causes position error excessive because repeating arrangement road sign.
The present invention also provides a kind of robot (not shown).Robot includes road sign map structuring system 1 as described above.
In this case, robot can carry out intelligent road sign and build figure, improve and build figure efficiency.About road sign map structuring system
1 this will not be repeated here.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modification, equivalent replacement and improvement etc., should be included in the protection model of the technical solution within the spiritual and principle of mode
Within enclosing.
Claims (10)
1. a kind of road sign map structuring system characterized by comprising
Image preview module, including identification module, identification module mark information for identification；
Demarcating module, for providing distortion parameter；And
Module is built, road sign map is established according to the mark information.
2. road sign map structuring system as described in claim 1, which is characterized in that described image previewing module further includes adjusting to expose
Optical module, for adjusting the exposure of image.
3. road sign map structuring system as described in claim 1, which is characterized in that the mark information includes the position of road sign
Information and road sign number.
4. road sign map structuring system as described in claim 1, which is characterized in that the demarcating module includes calibration mold of taking pictures
Block, the distortion parameter of image of the demarcating module of taking pictures for obtaining shooting.
5. road sign map structuring system as described in claim 1, which is characterized in that the distortion parameter is pre-stored data.
6. road sign map structuring system as described in claim 1, which is characterized in that the module of building includes complementary module,
The complementary module is for supplementing new road sign on the basis of the road sign map.
7. road sign map structuring system as described in claim 1, which is characterized in that the module of building includes deleting module,
The module of deleting is for deleting existing road sign on the basis of the road sign map.
8. road sign map structuring system as described in claim 1, which is characterized in that it further include enquiry module, the inquiry mould
Root tuber exports the image of corresponding road sign according to the number of input.
9. road sign map structuring system as described in claim 1, which is characterized in that including duplicate checking module, the duplicate checking module
According to the image of the road sign of acquisition, judge whether the image of the road sign has added in the road sign map.
10. a kind of robot, which is characterized in that the robot includes such as the described in any item road sign maps of claim 1-9
Building system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910391208.3A CN110175540A (en) | 2019-05-11 | 2019-05-11 | Road sign map structuring system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910391208.3A CN110175540A (en) | 2019-05-11 | 2019-05-11 | Road sign map structuring system and robot |
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| Publication Number | Publication Date |
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| CN110175540A true CN110175540A (en) | 2019-08-27 |
Family
ID=67690770
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| CN201910391208.3A Pending CN110175540A (en) | 2019-05-11 | 2019-05-11 | Road sign map structuring system and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123926A (en) * | 2019-12-20 | 2020-05-08 | 上海点甜农业专业合作社 | Method for building automatic navigation scene based on two-dimensional code road sign |
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| US20100302361A1 (en) * | 2009-06-02 | 2010-12-02 | Yoneyama Shogo | Sign recognition device |
| CN102419178A (en) * | 2011-09-05 | 2012-04-18 | 中国科学院自动化研究所 | Mobile robot positioning system and method based on infrared road sign |
| CN103353758A (en) * | 2013-08-05 | 2013-10-16 | 青岛海通机器人系统有限公司 | Indoor robot navigation device and navigation technology thereof |
| CN106651990A (en) * | 2016-12-23 | 2017-05-10 | 芜湖哈特机器人产业技术研究院有限公司 | Indoor map construction method and indoor map-based indoor locating method |
| CN108469826A (en) * | 2018-04-23 | 2018-08-31 | 宁波Gqy视讯股份有限公司 | A kind of ground drawing generating method and system based on robot |
| CN109074085A (en) * | 2018-07-26 | 2018-12-21 | 深圳前海达闼云端智能科技有限公司 | A kind of autonomous positioning and map method for building up, device and robot |
-
2019
- 2019-05-11 CN CN201910391208.3A patent/CN110175540A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100302361A1 (en) * | 2009-06-02 | 2010-12-02 | Yoneyama Shogo | Sign recognition device |
| CN102419178A (en) * | 2011-09-05 | 2012-04-18 | 中国科学院自动化研究所 | Mobile robot positioning system and method based on infrared road sign |
| CN103353758A (en) * | 2013-08-05 | 2013-10-16 | 青岛海通机器人系统有限公司 | Indoor robot navigation device and navigation technology thereof |
| CN106651990A (en) * | 2016-12-23 | 2017-05-10 | 芜湖哈特机器人产业技术研究院有限公司 | Indoor map construction method and indoor map-based indoor locating method |
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| CN111123926A (en) * | 2019-12-20 | 2020-05-08 | 上海点甜农业专业合作社 | Method for building automatic navigation scene based on two-dimensional code road sign |
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