CN110220531A - A kind of intelligent guidance system of view-based access control model network - Google Patents
A kind of intelligent guidance system of view-based access control model network Download PDFInfo
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- CN110220531A CN110220531A CN201910678019.4A CN201910678019A CN110220531A CN 110220531 A CN110220531 A CN 110220531A CN 201910678019 A CN201910678019 A CN 201910678019A CN 110220531 A CN110220531 A CN 110220531A
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
-
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
Abstract
The present invention relates to communication and control technology fields, specifically disclose a kind of intelligent guidance system of view-based access control model network.The system includes: more than one visual network system, intelligent processing system and mobile target；The visual network system for acquiring the real-time image information of navigation area, and is sent to intelligent processing system；Routing instruction for generating dynamic map according to the real-time image information of navigation area, and according to the position planning path of mobile target, and is sent to mobile target by the intelligent processing system；The mobile target, for receiving the routing instruction of intelligent processing system transmission, and by the mobile target of routing instruction navigation.The present invention has both flexible and inexpensive advantage, while also greatly reducing the requirement to application environment, while safeguarding also very simple and fast.
Description
Technical field
The present invention relates to communication and control technology fields, and in particular to a kind of intelligent guidance system of view-based access control model network.
Background technique
In recent years, with robot in all trades and professions using more and more extensive, technology has also obtained quick hair
Exhibition and optimization.Location and navigation technology is one of the key technology of robot industry, is applied there are many more airmanships at present
Mode, such as magnetic navigation, laser navigation and two-dimension code navigation etc..Magnetic navigation is to be laid with tape on ground, is incuded by tape and is believed
Number realize guiding, the disadvantage is that: it can only run better simply path, and change that path is more complex not only to need change directive card,
Also tape is re-lay in ground slot grooving, to influence normal job schedule；Other metals can all pass magnetic navigation
Sensor has an impact, therefore adaptive capacity to environment is poor, and later period magnetic stripe frequency of maintenance is high, and maintenance cost is also high.Laser navigation system sheet
Body is complex, though installation simply only needs to install reflector on the wall, resulting cost is expensive, reflecting plate and laser
There cannot be barrier between sensor, be not suitable for the occasion for having logistics in the air.Two-dimension code navigation is that location information is generated correlation in advance
Image in 2 D code is then affixed to corresponding position, will scan the two dimensional code when mobile object with camera passes through,
So that path planning and guide are carried out, but the disadvantage is that: path needs periodic maintenance, if place is complicated, needs to frequently replace
Two dimensional code.
In summary the shortcomings that 3 kinds of navigation modes, in order to solve the disadvantages of path planning change is not flexible, expensive,
Develop it is a kind of have many advantages, such as flexibly to change path, cost is relatively low, the simple Intelligent navigation control system of maintenance have it is wide
Application prospect.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of intelligent guidance systems of view-based access control model network.Described
A kind of intelligent guidance system of view-based access control model network can flexibly change that path, cost is relatively low, maintenance is simple.
Above-mentioned technical problem to be solved by this invention, by being achieved with technical solution:
A kind of intelligent guidance system of view-based access control model network comprising: more than one visual network system, Intelligent treatment
System and mobile target；
The visual network system for acquiring the real-time image information of navigation area, and is sent to Intelligent treatment system
System；
The intelligent processing system, for generating dynamic map, Yi Jigen according to the real-time image information of navigation area
According to the position planning path of mobile target, and routing instruction is sent to mobile target；
The mobile target is navigated for receiving the routing instruction of intelligent processing system transmission, and by the routing instruction
Mobile target.
Preferably, the visual network system specifically includes image acquisition units and network communication unit；
The image acquisition units are used to acquire the real-time image information of navigation area, and the network communication unit is used
In real-time image information is sent to intelligent processing system.
It is further preferred that the image acquisition units are that video acquisition camera or CCD/COMS Image Acquisition sense
Device；Most preferably, the video acquisition camera selects more mesh cameras.
Preferably, the intelligent processing system includes image processing unit, dynamic map generation unit, dynamic object knowledge
Other tracing unit, active path planning unit and communication unit；
The image processing unit is used to obtain the image information of navigation area, and optimizes place to image information
Reason；
The dynamic map generation unit is used to create dynamic map according to the image information after optimization processing；
The dynamic object recognition tracing unit is used to position mobile target and obtains position and the ruler of mobile target
Very little information, and obtain Obstacle Position and dimension information and mark obstacle information onto dynamic map；
The active path planning unit is used to be divided into dynamic map multiple according to the dimension information of mobile target
Size and the mobile matched grid of target size, cook up the path that mobile target needs to go to destination based on grid；
The communication unit is used to receive the real-time image information of visual network system transmission and sends out routing instruction
Give mobile target.
It is further preferred that the image processing unit to image information optimize processing include to image information into
Row filtering, denoising and enhancing processing.
It is further preferred that the dynamic map generation unit is further used for according to the image information after optimization processing
Semantic segmentation is also carried out, is come map plane as background and other object segmentations, the SLAM technology creation of recycling has two
The Dynamic High-accuracy map of dimension or three-dimensional geometry feature.
It is further preferred that the dynamic object recognition tracing unit passes through the mark unit being arranged in mobile target
Obtain the location information of mobile target；The dynamic object recognition tracing unit is utilized by the image information of navigation area
Object detection technology judges the category attribute of material, then obtains obstacle location and dimension information by image cutting technique.
It is further preferred that most short distance of the active path planning unit based on grid computing starting point to destination address
From cooking up the path that mobile target needs to go to destination.
It is further preferred that the active path planning unit is according to the other mobile targets and obstacle in navigation area
Object mobile trend, the shortest distance and/or optimal time based on grid computing starting point to destination address, cooking up mobile target needs
Go to the path of destination.
Preferably, the mobile target includes wireless communication unit, driving and execution unit and mobile target identification
Unit；
The wireless communication unit is used to receive the routing instruction of intelligent processing system transmission；
The driving and execution unit instructs for execution route and mobile target is driven to instruct movement by path；
The mobile target identification unit is used to identify the information and state of mobile target.
The utility model has the advantages that the present invention provides a kind of intelligent guidance systems of completely new view-based access control model network；The intelligence
Navigation system includes multiple visual network systems, and visual network system real-time image information is sent to intelligent processing system, intelligence
Processing system completes the dynamic restructuring of cartographic information by intelligence computation and dynamic modeling.And according to point of destination set by user,
Dynamic Programming goes out the mobile path of a mobile target, this paths can according to the map the change of information and dynamic in real time adjust
It is whole.The present invention obtains the cartographic information of monitor area and the position letter of mobile target by the visual network system
Breath further sends the mobile target of instruction control by intelligent processing system and completes specified path.The invention have both it is flexible and it is low at
This advantage, while the requirement to application environment is also greatly reduced, while safeguarding also very simple and fast.
Detailed description of the invention
Fig. 1 is that the present invention is based on the block diagrams of the intelligent guidance system of visual web.
Fig. 2 is that the present invention is based on the refinement block diagrams of the intelligent guidance system of visual web.
Fig. 3 is visual network system distribution map of the present invention.Wherein 1 is camera, and 2 be barrier, for the purpose of 3
Ground, 4 be path.
Specific embodiment
As illustrated in fig. 1 and 2, the present invention provides a kind of intelligent guidance systems of view-based access control model network；It is described based on view
The intelligent guidance system for feeling network includes multiple visual network systems 100, intelligent processing system 200 and mobile target 300；
Specifically, the visual network system 100 specifically includes image acquisition units 101 and network communication unit
102；The image acquisition units 101 are used to acquire the real-time image information of navigation area, the network communication unit 102
For real-time image information to be sent to intelligent processing system；Image Acquisition described in mode is preferably carried out at wherein one
Unit 101 specifically selects video acquisition camera or CCD/COMS image acquiring sensor；The video acquisition camera choosing
With more mesh cameras (such as: RGB+ black and white enhancing or bionical binocular camera)；The building of the visual network system 100 with
It is standard that the region for needing to navigate, which can be completely covered,.
Specifically, the intelligent processing system 200 include image processing unit 201, dynamic map generation unit 202,
Dynamic object recognition tracing unit 203, active path planning unit 204, communication unit 205；
The image processing unit 201 is used to obtain the image information of navigation area, and optimizes to image information
Processing；Specifically, image processing unit 201 be used for image information optimize processing include image information is filtered,
Denoising and enhancing processing.Image information after this part of optimization processing will be used for dynamic map generation unit 202 and generate dynamic
Map.
The dynamic map generation unit 202 is used to create dynamic map according to the image information after optimization processing；Tool
Body, dynamic map generation unit 202 is used to also carry out semantic segmentation according to the image information after optimization processing, by map plane
It comes as background and other object segmentations, the SLAM technology creation of recycling has the characteristics that the high-precision of two dimension or three-dimensional geometry is dynamic
State map.
The dynamic object recognition tracing unit 203 be used for position mobile target and obtain mobile target position and
Dimension information, and obtain Obstacle Position and dimension information and mark obstacle information onto dynamic map；Specifically, it moves
State target identification tracing unit 203 is used to obtain Obstacle Position and dimension information to be believed specifically by the image of navigation area
Breath is judged the category attribute of material using object detection technology, then obtains obstacle location and size letter by image cutting technique
Breath.
The active path planning unit 204 is used to be divided into dynamic map according to the dimension information of mobile target
Multiple sizes and the mobile matched grid of target size, cook up the path that mobile target needs to go to destination based on grid.
Specifically, active path planning unit 204 is used for according to the other mobile targets and barrier mobile trend in navigation area, base
In the shortest distance or optimal time of grid computing starting point to destination address, the road that mobile target needs to go to destination is cooked up
Diameter.
The map of navigation area is divided into a certain size according to the size of mobile target by the intelligent processing system 200
Grid.Based on these grids, which can need to go to the path of destination with the mobile target of planning department.
The real-time image information in the navigation area of acquisition can be by the shortest distance of starting point in raster symbol-base to destination address, together
When the intelligent processing system 200 also can dynamic comprehensive consider the movement routines of other mobile targets in entire navigation area, in order to
It avoids being lined up and avoids caused traffic jam, Dynamic Programming module in path can still comprehensively consider the path of optimal time, protect in this way
Demonstrate,proving mobile target can arrive at the destination as soon as possible.
Specifically, the mobile target 300 includes wireless communication unit 301, driving and execution unit 302 and mobile mesh
Mark mark unit 303；The wireless communication unit 301 is used to receive the routing instruction of the transmission of intelligent processing system 200；It is described
Driving and execution unit 302 instruct and mobile target 300 driven to instruct movement by path for execution route；The movement
Target identification unit 303 is used to identify the information and state of mobile target 300；More specifically target identification unit 303 can be
Two-dimension code label and/or "T"-shaped or " △ " shape mark.In another preferred embodiment, the mobile target 300 also has
Autonomous anti-collision, Emergency avoidance and brake when encountering personnel or other mobile objects swarm into movement routine suddenly.For
Realize that the mobile target 300 of the function also needs one comprising supersonic sounding, infrared, laser radar, camera monitoring and microwave radar
Kind or several combinations.
Above-mentioned intelligent guidance system is by being sent to intelligent processing system for the real-time image information of visual network system 100
200, intelligent processing system 200 completes the dynamic restructuring of cartographic information by intelligence computation and dynamic modeling.And it is set according to user
Fixed point of destination, Dynamic Programming go out the mobile path of a mobile target, this paths can the change of information and reality according to the map
When dynamically adjust.The present invention obtains cartographic information and the movement of monitor area by the visual network system 200
The location information of target further sends instruction by intelligent processing system 300 and controls mobile target completion specified path.This is based on
The intelligent guidance system of visual web has both flexible and inexpensive advantage, while also greatly reducing and wanting to application environment
It asks, while safeguarding also very simple and fast.
Claims (10)
1. a kind of intelligent guidance system of view-based access control model network characterized by comprising more than one visual network system,
Intelligent processing system and mobile target；
The visual network system for acquiring the real-time image information of navigation area, and is sent to intelligent processing system；
The intelligent processing system, for generating dynamic map according to the real-time image information of navigation area, and according to shifting
The position planning path of moving-target, and routing instruction is sent to mobile target；
The mobile target, for receiving the routing instruction of intelligent processing system transmission, and by routing instruction navigation movement
Target.
2. the intelligent guidance system of view-based access control model network according to claim 1, which is characterized in that the visual web
System specifically includes image acquisition units and network communication unit；
The image acquisition units are used to acquire the real-time image information of navigation area, and the network communication unit is used for will
Real-time image information is sent to intelligent processing system.
3. the intelligent guidance system of view-based access control model network according to claim 2, which is characterized in that the Image Acquisition
Unit is video acquisition camera or CCD/COMS image acquiring sensor；Most preferably, video acquisition camera choosing
With more mesh cameras.
4. the intelligent guidance system of view-based access control model network according to claim 1, which is characterized in that the Intelligent treatment
System include image processing unit, dynamic map generation unit, dynamic object recognition tracing unit, active path planning unit with
And communication unit；
The image processing unit is used to obtain the image information of navigation area, and optimizes processing to image information；
The dynamic map generation unit is used to create dynamic map according to the image information after optimization processing；
The dynamic object recognition tracing unit is used to position mobile target and obtains the positions and dimensions letter of mobile target
Breath, and obtain Obstacle Position and dimension information and mark obstacle information onto dynamic map；
The active path planning unit is used to that dynamic map to be divided into multiple sizes according to the dimension information of mobile target
With the mobile matched grid of target size, the path that mobile target needs to go to destination is cooked up based on grid；
The communication unit is used to receive the real-time image information of visual network system transmission and is sent to routing instruction
Mobile target.
5. the intelligent guidance system of view-based access control model network according to claim 4, which is characterized in that the image procossing
Unit to image information optimize processing include image information is filtered, denoise and enhancing handle.
6. the intelligent guidance system of view-based access control model network according to claim 4, which is characterized in that the dynamic map
Generation unit is further used for also carrying out semantic segmentation according to the image information after optimization processing, using map plane as background and
Other object segmentations come, and the SLAM technology creation of recycling has the characteristics that the Dynamic High-accuracy map of two dimension or three-dimensional geometry.
7. the intelligent guidance system of view-based access control model network according to claim 4, which is characterized in that the dynamic object
Identification tracing unit passes through the location information that the mark unit being arranged in mobile target obtains mobile target；The dynamic mesh
Image information of the other tracing unit by navigation area is identified, the category attribute of material is judged using object detection technology, then lead to
It crosses image cutting technique and obtains obstacle location and dimension information.
8. the intelligent guidance system of view-based access control model network according to claim 4, which is characterized in that the dynamic route
The shortest distance of the planning unit based on grid computing starting point to destination address cooks up the road that mobile target needs to go to destination
Diameter.
9. the intelligent guidance system of view-based access control model network according to claim 8, which is characterized in that the dynamic route
Planning unit is according to the other mobile targets and barrier mobile trend in navigation area, to target based on grid computing starting point
The shortest distance and/or optimal time of location cook up the path that mobile target needs to go to destination.
10. the intelligent guidance system of view-based access control model network according to claim 1, which is characterized in that the mobile mesh
Mark includes wireless communication unit, driving and execution unit and mobile target identification unit；
The wireless communication unit is used to receive the routing instruction of intelligent processing system transmission；
The driving and execution unit instructs for execution route and mobile target is driven to instruct movement by path；The shifting
Moving-target mark unit is used to identify the information and state of mobile target.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113992864A (en) * | 2021-10-20 | 2022-01-28 | 中国电信股份有限公司 | AGV visual navigation system, method, device, electronic equipment and medium |
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Application publication date: 20190910 |