CN110426048A - A kind of vision trolley localization method based on the local ken - Google Patents
A kind of vision trolley localization method based on the local ken Download PDFInfo
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- CN110426048A CN110426048A CN201910822821.6A CN201910822821A CN110426048A CN 110426048 A CN110426048 A CN 110426048A CN 201910822821 A CN201910822821 A CN 201910822821A CN 110426048 A CN110426048 A CN 110426048A
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- trolley
- image
- data base
- target position
- background data
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Image Analysis (AREA)
Abstract
The invention discloses a kind of vision trolley localization method based on the local ken, comprising: the 1) client for starting trolley makes itself and background data base communication connection;2) current position image is obtained using the camera that trolley carries, and image is sent to background data base by treated;3) back-end data is compared background data base with image, matches closest image scene, confirms mobile terminal current location point with this;4) target position is inputted;5) background data base exports the scene image of target position according to the target position of input, after manual confirmation, exports the different routing informations between current location point and target position, then after chosen confirmation, trolley is guided according to selected path.The present invention needs not rely on locator to realize, for relatively existing indoor positioning technologies, problem that can be small to avoid signal interference, range of signal, and can be effectively reduced positioning cost.
Description
Technical field
The present invention relates to field of locating technology more particularly to a kind of vision trolley localization methods based on the local ken.
Background technique
In current indoor locating system, it is most of use be all using radio (i.e. RSS,
ReceivedSignalStrength principle), infrared ray, ultrasonic wave these types propagation medium is carried as the realization of locating scheme
Body.In this case, each major company has developed many kinds of indoor positioning schemes, as Nokia use HAIP technology,
The technology needs to install a kind of localizing emission platform indoors, and bluetooth module communicates, and is completed by the communication between the two
Positioning, still, bluetooth positioning are mainly used in small range positioning, for complicated space environment, the stabilization of bluetooth positioning system
Property it is slightly worse, interfered by noise signal big;For another example the RADAR system developed by Microsoft, which is earliest based on WiFi network
Positioning system, it use radio-frequency fingerprint matching process, i.e., search immediate several neighbours from fingerprint base, take their coordinates
The average coordinate estimated data as positioning target, but the area that WiFi access point usually all can only be 90 meters of covering radius or so
Domain, and it is highly susceptible to the interference of other signals, to influence its precision.
In current indoor positioning technologies, either bluetooth positioning or infrared positioning, or be that Wi-Fi technology is fixed
Position, requires to be laid with locator indoors without exception.The hardware facility investment of early period is big, and with careat, region
The corresponding cost of the promotion of complexity is also constantly increasing.Also, reusable property is not high, and target changes indoors
In the case where, it needs to re-start planning, locator is set.
Summary of the invention
The object of the present invention is to provide a kind of vision trolley localization method based on the local ken.
For achieving the above object, the technical scheme is that a kind of vision trolley positioning based on the local ken
Method, comprising:
1) client for starting trolley makes itself and background data base communication connection;
2) current position image is obtained using the camera that trolley carries, and image is sent to background data base by treated;
3) back-end data picture is compared background data base with image, matches closest scene image, really with this
Recognize mobile terminal current location point;
4) target position is inputted;
5) background data base exports the scene image of target position according to the target position of input, and after manual confirmation, output is worked as
Different routing informations between front position point and target position, then after chosen confirmation, trolley is drawn according to selected route
It leads.
Further, further include step 6), in bootup process, trolley and user mobile phone bluetooth connection, with monitor trolley with
Distance between user, and speed is guided according to distance adjustment trolley.
Further, the background data base includes indoor plane figure, is formed with different location on indoor plane figure
Information flag, the material picture under the position different angle is respectively associated in each information flag, and respectively believes with other
Different routing informations between breath label.
Further, the routing information includes route and the path of navigation that the information flag passed through on the way is constituted.
The beneficial effects of the present invention are: the present invention is communicated using trolley with the background data base established in advance, pass through trolley
The current position image and background data base of intake are compared to determine current location point, further according to the target position of input, output
The path of point-to-point transmission is simultaneously guided by trolley, and the present invention needs not rely on locator to realize, relatively existing indoor positioning technologies
For, problem that can be small to avoid signal interference, range of signal, and can be effectively reduced positioning cost.
Specific embodiment
The following is a clear and complete description of the technical scheme in the embodiments of the invention.
A kind of vision trolley localization method based on the local ken, comprising:
1) client for starting trolley makes itself and background data base communication connection.
The background data base includes indoor plane figure, and the information flag of different location is formed on indoor plane figure,
The material picture under the position different angle is respectively associated in each information flag, and between other each information flags
Different routing informations.
Described image information can be absorbed under different angle by the camera on trolley, such as: manually guide small
Car weight answers each paths in surrounded chamber, and 360 degree of camera to indoor panoramic scanning.
The routing information includes route and the path of navigation that the information flag passed through on the way is constituted.
2) current position image is obtained using the camera that trolley carries, and image is sent to back-end data by treated
Library.
The processing of image is, using graph processing technique, by a series of operation, carries out processing sampling to picture, note
Record the key message of picture.
3) back-end data picture is compared background data base with image, matches closest scene image, with
This confirmation mobile terminal current location point.
4) target position is inputted.
5) background data base exports the scene image of target position according to the target position of input, defeated after manual confirmation
Different routing informations between current location point and target position out, then after chosen confirmation, trolley according to selected route into
Row guidance.
Selection for path, situations such as needing to consider the stream of people, stroke utilize institute's band by adding stream of people's statistical function
Camera counts the stream of people in respective paths by face recognition technology.Statistical are as follows: the database on each trolley backstage
It is shared, as long as there is a trolley that will identify under current picture using face recognition technology by corresponding section
Number, and feed data back to backstage.There is no direct communications between each trolley, and are to rely on the shared number in backstage
Data sharing is realized according to library.Meanwhile in order to guarantee the case where data are not in redundancy, while the speed mobile in view of the stream of people
Degree, each data updating decision, and update after abandon before data, so that it is not taken up space.
6) carry Bluetooth function on trolley, in bootup process, trolley and user mobile phone bluetooth connection, with monitor trolley with
Distance between user, and speed is guided according to distance adjustment trolley.
The present invention communicate with the background data base established in advance using trolley, by the current position image of trolley intake and
Background data base is compared to determine current location point, further according to the target position of input, exports the path of point-to-point transmission and by small
Vehicle guidance, the present invention need not rely on locator to realize, for relatively existing indoor positioning technologies, can do to avoid signal
It disturbs, the problem that range of signal is small, and can be effectively reduced positioning cost.
Trolley of the present invention can also carry out loading other than can be with path of navigation.When being used for other indoor environments, trolley
It may be replaced by other hardware facilities, there is very strong portability.
Described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, belongs to the scope of the present invention.
Claims (4)
1. a kind of vision trolley localization method based on the local ken characterized by comprising
1) client for starting trolley makes itself and background data base communication connection;
2) current position image is obtained using the camera that trolley carries, and image is sent to background data base by treated;
3) back-end data picture is compared background data base with image, matches closest scene image, really with this
Recognize mobile terminal current location point;
4) target position is inputted;
5) background data base exports the scene image of target position according to the target position of input, and after manual confirmation, output is worked as
Different routing informations between front position point and target position, then after chosen confirmation, trolley is drawn according to selected route
It leads.
2. a kind of vision trolley localization method based on the local ken as described in claim 1, which is characterized in that further include step
It is rapid 6), in bootup process, trolley and user mobile phone bluetooth connection, with monitor trolley between user at a distance from, and adjusted according to distance
Whole trolley guides speed.
3. a kind of vision trolley localization method based on the local ken as described in claim 1, which is characterized in that the backstage
Database includes indoor plane figure, and the information flag of different location, each information flag are formed on indoor plane figure
The material picture under the position different angle, and the different routing informations between other each information flags are respectively associated.
4. a kind of vision trolley localization method based on the local ken as claimed in claim 3, which is characterized in that the path
Information includes route and the path of navigation that the information flag passed through on the way is constituted.
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JP2014067142A (en) * | 2012-09-25 | 2014-04-17 | Olympus Corp | Image processing apparatus, image processing method, imaging apparatus, and imaging method |
CN104808663A (en) * | 2015-03-18 | 2015-07-29 | 广东工业大学 | Trolley capable of automatically following mobile terminal to walk |
CN105371847A (en) * | 2015-10-27 | 2016-03-02 | 深圳大学 | Indoor live-action navigation method and system |
CN107329474A (en) * | 2017-07-26 | 2017-11-07 | 五邑大学 | Intelligent carriage control method |
CN110017841A (en) * | 2019-05-13 | 2019-07-16 | 大有智能科技(嘉兴)有限公司 | Vision positioning method and its air navigation aid |
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2019
- 2019-09-02 CN CN201910822821.6A patent/CN110426048A/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2014067142A (en) * | 2012-09-25 | 2014-04-17 | Olympus Corp | Image processing apparatus, image processing method, imaging apparatus, and imaging method |
CN104808663A (en) * | 2015-03-18 | 2015-07-29 | 广东工业大学 | Trolley capable of automatically following mobile terminal to walk |
CN105371847A (en) * | 2015-10-27 | 2016-03-02 | 深圳大学 | Indoor live-action navigation method and system |
CN107329474A (en) * | 2017-07-26 | 2017-11-07 | 五邑大学 | Intelligent carriage control method |
CN110017841A (en) * | 2019-05-13 | 2019-07-16 | 大有智能科技(嘉兴)有限公司 | Vision positioning method and its air navigation aid |
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Application publication date: 20191108 |