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 PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
trolley
image
data base
target position
background data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910822821.6A
Other languages
Chinese (zh)
Inventor
李天建
蔡拯雨
张荣梓
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujian University of Technology
Original Assignee
Fujian University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fujian University of Technology filed Critical Fujian University of Technology
Priority to CN201910822821.6A priority Critical patent/CN110426048A/en
Publication of CN110426048A publication Critical patent/CN110426048A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20Instruments for performing navigational calculations
    • G01C21/206Instruments for performing navigational calculations specially adapted for indoor navigation

Landscapes

  • 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

A kind of vision trolley localization method based on the local ken
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.
CN201910822821.6A 2019-09-02 2019-09-02 A kind of vision trolley localization method based on the local ken Pending CN110426048A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910822821.6A CN110426048A (en) 2019-09-02 2019-09-02 A kind of vision trolley localization method based on the local ken

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910822821.6A CN110426048A (en) 2019-09-02 2019-09-02 A kind of vision trolley localization method based on the local ken

Publications (1)

Publication Number Publication Date
CN110426048A true CN110426048A (en) 2019-11-08

Family

ID=68417080

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910822821.6A Pending CN110426048A (en) 2019-09-02 2019-09-02 A kind of vision trolley localization method based on the local ken

Country Status (1)

Country Link
CN (1) CN110426048A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Similar Documents

Publication Publication Date Title
CN109275095B (en) Bluetooth-based indoor positioning system, positioning equipment and positioning method
US10021515B1 (en) Method and system for location estimation
CN109076191B (en) Monitoring system, method, non-transitory computer-readable medium, and control unit
US11943696B2 (en) System and method for detecting and controlling contraband devices
US9684060B2 (en) Ultrasound-based localization of client devices with inertial navigation supplement in distributed communication systems and related devices and methods
CN110913331A (en) Base station interference source positioning system and method
WO2016083937A1 (en) Positioning method and system based on wireless signals
CN103591958A (en) Intelligent spectacle based worker navigation system and method
US20160041251A1 (en) Ultrasound-based location determination and inertial navigation with accuracy improvement in determining client device location
CN110572786A (en) block indoor positioning system and method based on wifi and face recognition
CN114095853B (en) Method and device for generating indoor map
CN110113709A (en) A kind of UWB indoor position error elimination algorithm based on support vector machines
CN112000133A (en) Low-altitude aircraft/flyer identification system, counter-braking system and identification method
CN106028284A (en) Method for identifying relative positions between smart devices and smart device
CN111090074A (en) Indoor visible light positioning method and equipment based on machine learning
CN113885579A (en) Urban environment unmanned aerial vehicle detection and countercheck system and method
CN105444755A (en) Indoor positioning method based on space clutter signal
CN113556680B (en) Fingerprint data processing method, medium and mobile robot
CN110868734A (en) Unmanned aerial vehicle cluster dynamic topology mining method based on spectrum data analysis
CN114359834A (en) Data processing method and device, electronic equipment, readable medium and product
CN110596734A (en) Multi-mode Q learning-based unmanned aerial vehicle positioning interference source system and method
JP2008039603A (en) Positioning system
CN110426048A (en) A kind of vision trolley localization method based on the local ken
JP2015040749A (en) Position estimation device and position estimation program
Xu et al. Indoor localization based on hybrid Wi-Fi hotspots

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20191108