CN111123926A - Method for building automatic navigation scene based on two-dimensional code road sign - Google Patents
Method for building automatic navigation scene based on two-dimensional code road sign Download PDFInfo
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- CN111123926A CN111123926A CN201911325341.5A CN201911325341A CN111123926A CN 111123926 A CN111123926 A CN 111123926A CN 201911325341 A CN201911325341 A CN 201911325341A CN 111123926 A CN111123926 A CN 111123926A
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- dimensional code
- guideboard
- automatic navigation
- road sign
- code guideboard
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- 238000000034 method Methods 0.000 title claims description 13
- 238000004519 manufacturing process Methods 0.000 claims abstract description 4
- 238000013507 mapping Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Navigation (AREA)
Abstract
The invention discloses a construction method of an automatic navigation scene based on a two-dimension code road sign, which relates to the technical field of map construction, and comprises the following steps: manufacturing a two-dimensional code guideboard and numbering the two-dimensional code guideboard; fixing the two-dimensional code guideboard in an actual scene; calibrating the pose of the two-dimensional code guideboard by using a calibrator; and transmitting the pose information of the two-dimensional code guideboard to the user side corresponding to the serial number of the two-dimensional code guideboard for drawing. The two-dimensional code guideboards are calibrated to enable the two-dimensional code guideboards to have pose information under a world coordinate system, one serial number corresponds to one two-dimensional code guideboard to enable each two-dimensional code guideboard to be unique all the time in application of an actual scene, and after calibration is completed, the pose information is transmitted to a user side to build a map, namely the map building in the actual scene is completed. The robot is placed in an actual scene, and the robot scans the two-dimensional code guideboard by utilizing the camera of the robot to acquire pose information so as to perform automatic navigation operation.
Description
Technical Field
The invention relates to the technical field of map construction, in particular to a construction method of an automatic navigation scene based on a two-dimensional code road sign.
Background
The positioning navigation technology enables the robot to realize autonomous walking, obstacle avoidance and smooth destination reaching even under the condition of unmanned control, the robot is the same as a human drawn map, the robot needs to depend on the map in the process of describing and recognizing the environment, the current environment information of the robot is described by mainly utilizing the map, and different map description forms are adopted along with the difference of the used algorithm and the sensor.
In view of the foregoing, it is desirable to provide an automatic navigation map for a robot, so as to facilitate automatic navigation and positioning of the robot according to the map.
Disclosure of Invention
Aiming at the problem in practical application, the invention aims to provide a construction method of an automatic navigation scene based on a two-dimensional code road sign, and the specific scheme is as follows:
a building method of an automatic navigation scene based on a two-dimension code road sign comprises the following steps:
s1, manufacturing a two-dimensional code guideboard and numbering the two-dimensional code guideboard;
s2, fixing the two-dimensional code guideboard in an actual scene;
s3, calibrating the pose of the two-dimensional code guideboard by using a calibrator;
and S4, transmitting the pose information of the two-dimensional code guideboard to the user side to build a picture corresponding to the serial number of the two-dimensional code guideboard.
Further preferably, in S2, the actual scene is evaluated and a fixed position is selected, and then the two-dimensional code guideboard is inserted into the fixed position.
Further preferably, in the S5, automatic mapping or manual mapping may be adopted.
Compared with the prior art, the invention has the following beneficial effects:
the method comprises the steps of formulating a certain number of two-dimensional code guideboards, numbering the guideboards individually, enabling one number to correspond to one two-dimensional code guideboard so that each two-dimensional code guideboard is always unique in application of an actual scene, calibrating the pose of each two-dimensional code guideboard by utilizing an RTK (real time kinematic) and a camera calibration instrument, recording the pose information of each two-dimensional code guideboard in the calibration process, correspondingly combining the pose information with the number of the two-dimensional code guideboard so that the two-dimensional code guideboard has the pose information under a world coordinate system, and transmitting the pose information to a user side to build a map after calibration is completed, namely completing map building in the actual scene. The robot is placed in an actual scene, and the robot scans the two-dimensional code guideboard by utilizing the camera of the robot to acquire pose information so as to perform automatic navigation operation.
Drawings
FIG. 1 is an overall flow chart of the present invention;
fig. 2 is an exemplary map constructed by the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited to these examples.
As shown in fig. 1, a method for building an automatic navigation scene based on a two-dimensional code road sign includes the following steps:
s1, manufacturing a two-dimensional code guideboard and numbering the two-dimensional code guideboard;
s2, fixing the two-dimensional code guideboard in an actual scene;
s3, calibrating the pose of the two-dimensional code guideboard by using a calibrator;
and S4, transmitting the pose information of the two-dimensional code guideboard to the user side to build a picture corresponding to the serial number of the two-dimensional code guideboard.
Specifically, when the step S2 is performed, the actual scene is evaluated and the fixed position is selected, and then the two-dimensional code guideboard is inserted into the fixed position. Preferably, the fixed position may select a corner point, a work target point, an obstacle start point, an obstacle end point, and the like in an actual scene. In the step S5, SLAM mapping or manual mapping may be adopted to build all obstacles in the actual scene into an automatic navigation map according to the pose information of the two-dimensional code guideboard in the actual scene. As shown in fig. 2, the lines represent the outlines of obstacles such as walls, ditches, rooms, a row of trees, virtual fences, etc., and the circles represent the locations where the two-dimensional code guideboards are arranged.
The specific implementation process is as follows:
the method comprises the steps of formulating a certain number of two-dimensional code guideboards, numbering the guideboards individually, enabling one number to correspond to one two-dimensional code guideboard so that each two-dimensional code guideboard is always unique in application of an actual scene, calibrating the pose of each two-dimensional code guideboard by utilizing an RTK (real time kinematic) and a camera calibration instrument, recording the pose information of each two-dimensional code guideboard in the calibration process, correspondingly combining the pose information with the number of the two-dimensional code guideboard so that the two-dimensional code guideboard has the pose information under a world coordinate system, and transmitting the pose information to a user side to build a map after calibration is completed, namely completing map building in the actual scene. The robot is placed in an actual scene, and the robot scans the two-dimensional code guideboard by utilizing the camera of the robot to acquire pose information so as to perform automatic navigation operation.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (3)
1. A building method based on a two-dimension code road sign automatic navigation scene is characterized by comprising the following steps:
s1, manufacturing a two-dimensional code guideboard and numbering the two-dimensional code guideboard;
s2, fixing the two-dimensional code guideboard in an actual scene;
s3, calibrating the pose of the two-dimensional code guideboard by using a calibrator;
and S4, transmitting the pose information of the two-dimensional code guideboard to the user side to build a picture corresponding to the serial number of the two-dimensional code guideboard.
2. The building method of the automatic navigation scene based on the two-dimensional code road sign of claim 1, wherein in the step S2, the actual scene is evaluated and the fixed position is selected, and then the two-dimensional code road sign is inserted into the fixed position.
3. The building method of the automatic navigation scene based on the two-dimensional code road sign according to claim 1, wherein in the step S5, automatic mapping or manual mapping can be adopted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911325341.5A CN111123926A (en) | 2019-12-20 | 2019-12-20 | Method for building automatic navigation scene based on two-dimensional code road sign |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911325341.5A CN111123926A (en) | 2019-12-20 | 2019-12-20 | Method for building automatic navigation scene based on two-dimensional code road sign |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111123926A true CN111123926A (en) | 2020-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911325341.5A Pending CN111123926A (en) | 2019-12-20 | 2019-12-20 | Method for building automatic navigation scene based on two-dimensional code road sign |
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| CN (1) | CN111123926A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112462762A (en) * | 2020-11-16 | 2021-03-09 | 浙江大学 | Robot outdoor autonomous moving system and method based on roadside two-dimensional code unit |
| CN116343433A (en) * | 2023-05-30 | 2023-06-27 | 广州市德赛西威智慧交通技术有限公司 | High-precision driving school safety monitoring method and system based on RTK |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106881718A (en) * | 2017-03-13 | 2017-06-23 | 哈尔滨工业大学 | Six degree of freedom serial manipulator error calibrating method based on genetic algorithm |
| WO2019034115A1 (en) * | 2017-08-16 | 2019-02-21 | 北京极智嘉科技有限公司 | Label incorporating simultaneous localization and mapping navigation method, device and system |
| CN109725327A (en) * | 2019-03-07 | 2019-05-07 | 山东大学 | A kind of method and system of multimachine building map |
| CN110175540A (en) * | 2019-05-11 | 2019-08-27 | 深圳市普渡科技有限公司 | Road sign map structuring system and robot |
-
2019
- 2019-12-20 CN CN201911325341.5A patent/CN111123926A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106881718A (en) * | 2017-03-13 | 2017-06-23 | 哈尔滨工业大学 | Six degree of freedom serial manipulator error calibrating method based on genetic algorithm |
| WO2019034115A1 (en) * | 2017-08-16 | 2019-02-21 | 北京极智嘉科技有限公司 | Label incorporating simultaneous localization and mapping navigation method, device and system |
| CN109725327A (en) * | 2019-03-07 | 2019-05-07 | 山东大学 | A kind of method and system of multimachine building map |
| CN110175540A (en) * | 2019-05-11 | 2019-08-27 | 深圳市普渡科技有限公司 | Road sign map structuring system and robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112462762A (en) * | 2020-11-16 | 2021-03-09 | 浙江大学 | Robot outdoor autonomous moving system and method based on roadside two-dimensional code unit |
| CN112462762B (en) * | 2020-11-16 | 2022-04-19 | 浙江大学 | Robot outdoor autonomous moving system and method based on roadside two-dimensional code unit |
| CN116343433A (en) * | 2023-05-30 | 2023-06-27 | 广州市德赛西威智慧交通技术有限公司 | High-precision driving school safety monitoring method and system based on RTK |
| CN116343433B (en) * | 2023-05-30 | 2023-10-24 | 广州市德赛西威智慧交通技术有限公司 | High-precision driving school safety monitoring method and system based on RTK |
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