CN112179358A - Map data comparison auxiliary positioning system and method thereof - Google Patents
Map data comparison auxiliary positioning system and method thereof Download PDFInfo
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- CN112179358A CN112179358A CN201910603168.4A CN201910603168A CN112179358A CN 112179358 A CN112179358 A CN 112179358A CN 201910603168 A CN201910603168 A CN 201910603168A CN 112179358 A CN112179358 A CN 112179358A
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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
Abstract
The invention provides a map data comparison auxiliary positioning system and a method thereof, wherein the map data comparison auxiliary positioning system is arranged on a mobile platform and comprises an original map establishing module, an instant map generating module, a comparison module and a positioning module. The original map establishing module is used for establishing original map data, and original positioning reference coordinates of positions of a plurality of original characteristic objects are marked in the original map data. The real-time map generation module is used for generating real-time map data in real time, and the real-time map data is marked with a plurality of real-time positioning reference coordinates representing a plurality of real-time characteristic objects. The comparison module is used for comparing the original positioning reference coordinate with the instant positioning reference coordinate and defining the same one as the effective reference coordinate. The positioning module uses the effective reference coordinates to assist in positioning the current position coordinates of the mobile platform.
Description
Technical Field
The present invention relates to a system and a method, and more particularly, to a map data comparison aided positioning system and a method thereof.
Background
The technology for positioning robots or Automated Guided Vehicles (AGVs) was first proposed in the International Conference on Robotics and Automation in the year 1999 in West America.
With the progress of science and technology, various robots or automated guided vehicles have become popular and are widely used in various fields, such as: a meal delivery robot, a service robot, a floor sweeping robot, a Chinese Qingdao unmanned wharf and the like.
In the process of positioning, a robot or an automated guided vehicle usually acquires feature points to assist in positioning. However, the robot or the automated guided vehicle may acquire the moving feature points to assist the robot or the automated guided vehicle in positioning, which may affect the determination of positioning, cause positioning deviation, and even affect the system performance of the navigation system of the robot or the automated guided vehicle.
Disclosure of Invention
In view of the fact that in the prior art, when moving feature points or unsuitable feature points are acquired, determination of positioning is easily affected, and positioning deviation and various problems derived therefrom are caused. A primary objective of the present invention is to provide a map data comparison auxiliary positioning system for solving at least one problem in the prior art.
The invention aims to solve the problems in the prior art, and adopts necessary technical means to provide a map data comparison auxiliary positioning system which is arranged on a mobile platform and comprises an original map establishing module, an instant map generating module, a comparison module and a positioning module.
The original map establishing module is used for establishing original map data, and a plurality of original positioning reference coordinates representing the positions of a plurality of original characteristic objects are marked in the original map data. The real-time map generation module is used for generating real-time map data in real time, and the real-time map data is marked with a plurality of real-time positioning reference coordinates representing a plurality of real-time characteristic objects. And the comparison module is electrically connected with the original map establishing module and the instant map generating module and used for receiving the original map data and the instant map data, comparing the original positioning reference coordinate with the instant positioning reference coordinate and defining at least one of the original positioning reference coordinate and the instant positioning reference coordinate which is the same as each other as at least one effective reference coordinate. And the positioning module is electrically connected with the comparison module and the real-time map generation module and used for receiving the effective reference coordinate and positioning a current position coordinate of the mobile platform in the real-time map data in an auxiliary manner by utilizing the effective reference coordinate.
Based on the above-mentioned necessary technical means, an accessory technical means derived by the present invention is an original map building module in a map data comparison aided positioning system, comprising an original analysis unit for analyzing an original feature object, wherein the original feature object is composed of a plurality of original boundaries and a plurality of original obstacles.
Based on the above-mentioned necessary technical means, an accessory technical means derived by the present invention is a real-time map scanning module in a map data comparison auxiliary positioning system, comprising a real-time analysis unit for analyzing a real-time feature object, wherein the real-time feature object is composed of a plurality of real-time boundaries and a plurality of real-time obstacles.
Based on the above-mentioned necessary technical means, an accessory technical means derived by the present invention is that the comparison module in the map data comparison auxiliary positioning system comprises an obstacle comparison unit, and the obstacle comparison unit is used for comparing the original positioning reference coordinate of the original obstacle position with the instant positioning reference coordinate of the instant obstacle position.
Based on the above-mentioned necessary technical means, an accessory technical means derived by the present invention is that the map data is compared with a comparison module in the auxiliary positioning system, and the map data comparison system further comprises a boundary comparison unit, and the boundary comparison unit is used for comparing an original positioning reference coordinate of the position of the original boundary with an instant positioning reference coordinate of the position of the instant boundary.
Based on the above-mentioned necessary technical means, an accessory technical means derived by the present invention is a comparison module in the map data comparison auxiliary positioning system, further comprising a comparison processing unit electrically connected to the obstacle comparison unit and the boundary comparison unit for activating the obstacle comparison unit to compare the original positioning reference coordinate of the original obstacle position with the instant positioning reference coordinate of the instant obstacle position, and driving the boundary comparison unit to compare the original positioning reference coordinate of the original boundary position with the instant positioning reference coordinate of the instant boundary position when the original obstacle feature point and the instant obstacle feature point are compared without a common one.
The present invention is directed to solving the problems of the prior art, and the technical solutions necessary for the present invention are to provide a map data comparison aided positioning method, which is implemented by using the map data comparison aided positioning system and is applied to a mobile platform for aided positioning.
Step (a): establishing the original map data by using an original map establishing module, and marking original positioning reference coordinates representing the positions of original characteristic objects in the original map data; step (b): utilizing a real-time map generation module to generate real-time map data in real time, wherein the real-time map data is marked with a real-time positioning reference coordinate representing the position of a real-time characteristic object; step (c): receiving the original map data and the instant map data by using a comparison module, comparing the original positioning reference coordinate with the instant positioning reference coordinate, and defining the same one of the original positioning reference coordinate and the instant positioning reference coordinate as an effective reference coordinate; and, step (d): and receiving the effective reference coordinate by using a positioning module, and assisting to position the current position coordinate of the mobile platform in the instant map data by using the effective reference coordinate.
In summary, the map data comparison auxiliary positioning system provided by the present invention compares the original positioning reference coordinate with the real-time positioning reference coordinate, defines the mutual common coordinate as the effective reference coordinate, and then uses the effective reference coordinate to assist in positioning the current position coordinate of the mobile platform.
Drawings
FIG. 1 is a block diagram of a map data comparison aided positioning system according to a preferred embodiment of the present invention;
FIG. 2 is a diagram illustrating a map data comparison based on an original map data set up by an aided location system according to a preferred embodiment of the present invention;
FIG. 3 is a diagram illustrating a map data comparison system for comparing map data with real-time map data generated by an aided location system according to a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of the map data comparison aided positioning system comparing an original positioning reference coordinate with a real-time positioning reference coordinate according to the preferred embodiment of the invention; and
fig. 5 is a schematic diagram illustrating a map data comparison aided positioning system defining effective reference coordinates according to a preferred embodiment of the invention.
The reference numbers illustrate:
1 map data comparison auxiliary positioning system
11 original map building module
111 original analysis unit
12 instant map generation module
121 real-time analysis unit
13 comparing module
131 obstacle matching unit
132 boundary comparison unit
133 comparison processing unit
14 positioning module
CO original position coordinates
CT instantaneous position coordinates
MO original map data
MT instant map data
CO1a, CO1b, CO1c, CO1d, original positioning reference coordinates
CO1e、CO1f、CO1g、CO1h、
CO1i、CO1j、CO1k、CO1m、
CO2a、CO2b、CO2c、CO2d、
CO2e、CO2f、CO2g、CO2h、
CO2i、CO2j、CO2k、CO2m
CT1a, CT1b, CT1c, CT1d, instantaneous location reference coordinate
CT1e、CT1f、CT1g、CT1h、
CT1i、CT1j、CT1k、CT1m、
CT2a、CT2b、CT2c、CT2d、
CT2e、CT2f、CT2g、CT2h、
CT2i、CT2j、CT2k、CT2m
CV1a, CV1b, CV1c, CV1d, effective reference coordinates
CV1e、CV1f、CV1g、CV1h、
CV2a、CV2b、CV2c、CV2d、
CV2e、CV2f、CV2g、CV2h、
CV2i、CV2j、CV2k、CV2m
Detailed Description
Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the scope of the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Referring to fig. 1, fig. 1 is a block diagram illustrating a map data comparison aided positioning system according to a preferred embodiment of the invention. As shown in the figure, an auxiliary positioning system 1 for map data comparison includes an original map building module 11, an instant map generating module 12, a comparison module 13 and a positioning module 14, wherein the comparison module 13 is electrically connected to the original map building module 11, the instant map generating module 12 and the positioning module 14.
The original map creating module 11 includes an original analyzing unit 111, the real-time map generating module 12 includes a real-time analyzing unit 121, and the comparing module 13 includes an obstacle comparing unit 131, a boundary comparing unit 132, and a comparing unit 133.
Next, please refer to fig. 1 to 5, wherein fig. 2 shows original map data created by the map data comparison auxiliary positioning system according to the preferred embodiment of the present invention; FIG. 3 is a diagram illustrating a map data comparison system for comparing map data with real-time map data generated by an aided location system according to a preferred embodiment of the present invention; FIG. 4 is a schematic diagram of the map data comparison aided positioning system comparing an original positioning reference coordinate with a real-time positioning reference coordinate according to the preferred embodiment of the invention; fig. 5 is a schematic diagram illustrating a map data comparison aided positioning system defining effective reference coordinates according to a preferred embodiment of the present invention.
In practice, the map data comparison auxiliary positioning system 1 is often disposed on a mobile platform, and the mobile platform may be a mobile device requiring positioning, such as a robot, an automatic guided vehicle, and the like.
The original map creating module 11 is used for creating an original map data MO. The original map data MO is marked with a plurality of original positioning reference coordinates, the original positioning reference coordinates represent positions of a plurality of original feature objects, and the original feature objects are composed of at least original obstacles and original boundaries, so the original positioning reference coordinates are further divided into original positioning reference coordinates CO1a, CO1b, CO1c, CO1d, CO1e, CO1f, CO1g, CO1h, CO1i, CO1j, CO1k, CO1m and original positioning reference coordinates CO2a, CO2b, CO2c, CO2d, CO2e, CO2f, CO2g, CO2h, CO2i, CO2j, CO2k and CO2m of the original boundaries. In addition, the original map data MO is also marked with an original position coordinate CO representing the original position of the mobile platform.
In the present embodiment, the original positioning reference coordinates are marked at the turning points of the line segments, but not limited thereto. In an embodiment of the present invention, the original positioning reference coordinates are marked by fixed distances, for example, three original positioning reference coordinates are inserted between the original positioning reference coordinates CO2a and CO2b, and the distances between any two adjacent original positioning reference coordinates are equal. In another embodiment of the present invention, a center point of each primitive feature object is used as the primitive positioning reference coordinate.
The real-time map generation module 12 is used for generating a real-time map data MT in real time, and the real-time map data MT is marked with a plurality of real-time positioning reference coordinates, and the real-time feature object at least consists of a real-time obstacle and a real-time boundary. Therefore, the instant positioning reference coordinates are further divided into instant positioning reference coordinates CT1a, CT1b, CT1c, CT1d, CT1e, CT1f, CT1g, CT1h, CT1i, CT1j, CT1k, CT1m of the instant obstacle and instant positioning reference coordinates CT2a, CT2b, CT2c, CT2d, CT2e, CT2f, CT2g, CT2h, CT2i, CT2j, CT2k, and CT2m of the instant boundary. In addition, the real-time map data MT is also marked with a real-time position coordinate CT representing the real-time location of the mobile platform. The real-time positioning reference coordinate is the same as the original positioning reference coordinate in a coordinate point mode, so that the detailed description is omitted.
A comparison module 13 electrically connected to the original map creation module 11 and the instant map generation module 12 for receiving the original map data MO and the instant map data MT and comparing the original positioning reference coordinates CO1a, CO1b, CO1c, CO1d, CO2d and the instant positioning reference coordinates CT1d, CT2d, d.
The comparison module 13 defines the same one of the above coordinates as a valid reference coordinate. As shown, the instantaneous positioning reference coordinates CT1i, CT1j, CT1k and CT1m in the instantaneous map data MT are significantly different from the original positioning reference coordinates CO1i, CO1j, CO1k and CO1m in the original map data MO. That is, the instant feature objects represented by the instant positioning reference coordinates CT1i, CT1j, CT1k, CT1m may be moved from the original feature objects represented by the original positioning reference coordinates CO1i, CO1j, CO1k, CO1m, or may be present in other ways. It may be determined that the instant feature object does not exist when the original map creation module 11 creates the original map data MO. Therefore, the alignment module 13 does not refer to the instantaneous positioning reference coordinates CT1i, CT1j, CT1k and CT1 m.
The other instantaneous positioning reference coordinates CT1a, CT1b, CT1c, CT1d, CT1e, CT1f, CT1g, CT1h, CT2a, CT2b, CT2c, CT2d, CT2e, CT2f, CT2g, CT2h, CT2i, CT2j, CT2k, CT2m correspond to the original positioning reference coordinates CO1a, CO1b, CO1c, CO1d, CO1e, CO1f, CO1g, CO1h, CO2a, CO2b CO2c, CO2d, CO2e, CO2f, CO2g, CO2h, CO2i, CO2j, CO2k, CO2m, which are identical to each other. Thus, the alignment module 13 defines the above-mentioned mutually identical effective reference coordinates CV1a, CV1b, CV1c, CV1d, CV1e, CV1f, CV1g, CV1h, CV2a, CV2b, CV2c, CV2d, CV2e, CV2f, CV2g, CV2h, CV2i, CV2j, CV2k, CV2 m.
In the present embodiment, the original analysis unit 111 analyzes the original feature object and determines whether the original feature object is an original obstacle or an original boundary. Similarly, the real-time analysis unit 121 is also used for analyzing and determining whether the real-time feature object is a real-time obstacle or a real-time boundary.
Therefore, the obstacle comparing unit 131 in the comparing module 13 compares the original positioning reference coordinates CO1a, CO1b, CO1c, CO1d, and CO1d at the position of the original obstacle with the instant positioning reference coordinates CT1d, and CT1d at the position of the instant obstacle. Since the obstacle comparison unit 131 defines the valid reference coordinates in the present embodiment, the comparison processing unit 133 does not operate.
If the obstacle comparing unit 131 does not find the same obstacle after the comparison, that is, the valid reference coordinate cannot be defined, the comparison processing unit 133 drives the boundary comparing unit 132 to compare the original positioning reference coordinate CO2a, CO2b CO2c, CO2d, CO2e, CO2f, CO2g, CO2h, CO2i, CO2j, CO2k, CO2m of the position of the original boundary with the instant positioning reference coordinate CT2a, CT2b, CT2c, CT2d, CT2e, CT2f, CT2g, CT2h, CT2i, CT2j, CT2k, and CT2m of the position of the instant boundary. Similarly, if there are the same ones, the boundary comparison unit 132 defines the same ones as effective reference coordinates, i.e. effective reference coordinates CV2a, CV2b, CV2c, CV2d, CV2e, CV2f, CV2g, CV2h, CV2i, CV2j, CV2k, and CV2 m.
Since the calculation amount is larger whether the original boundary or the real-time boundary, in the embodiment, the comparison between the original obstacle with a smaller calculation amount and the real-time obstacle is preferentially performed. When it is determined that the effective reference coordinate cannot be defined, the original boundary with a large calculation amount is compared with the real-time boundary, so that the calculation resources can be effectively utilized, and the system efficiency of the map data comparison auxiliary positioning system 1 is improved.
The same as each other can be defined as the effective reference coordinate, which is shown by the thick black line in FIG. 4.
The positioning module 14 is electrically connected to the comparison module 13 and the real-time map generation module 12, and is configured to receive the effective reference coordinates CV1a, CV1b, CV1c, CV1d, CV1e, CV1f, CV1g, CV1h, CV2a, CV2b, CV2c, CV2d, CV2e, CV2f, CV2g, CV2h, CV2i, CV2j, CV2k, and CV2m, and assist in locating a current position coordinate of the mobile platform in the real-time map data TM, and may correct the real-time position coordinate CT, which may be the current position coordinate.
An embodiment of the present invention provides a map data comparison aided positioning method, which is implemented by using the map data comparison aided positioning system 1 shown in fig. 1, and includes the following steps S101 to S104.
Step S101: and establishing the original map data by using the original map establishing module, so that the original positioning reference coordinates representing the positions of the original characteristic objects are marked in the original map data.
Step S102: and utilizing the real-time map generation module to generate the real-time map data in real time, wherein the real-time map data is marked with the real-time positioning reference coordinates representing the real-time characteristic objects.
Step S103: the comparison module is used for receiving the original map data and the instant map data, comparing the original positioning reference coordinates with the instant positioning reference coordinates, and defining at least one of the original positioning reference coordinates and the instant positioning reference coordinates which is the same as each other as the at least one effective reference coordinate.
Step S104: and receiving the at least one effective reference coordinate by using the positioning module, and assisting to position the current position coordinate of the mobile platform in the instant map data by using the at least one effective reference coordinate.
In step S101, the original map creation module 11 shown in fig. 1 is used, and original map data MO shown in fig. 2 is created.
In step S102, the instant map generation module 12 shown in fig. 1 is utilized, and instant map data MT shown in fig. 3 is generated.
In step S103, the alignment module 13 shown in fig. 1 is used to perform the alignment shown in fig. 4.
In step S104, the positioning module 14 shown in fig. 1 is utilized, and the effective reference coordinates shown in fig. 5 are utilized to assist in positioning the current position coordinates of the mobile platform.
In summary, the map data comparison auxiliary positioning system and method provided by the present invention utilize the comparison module to compare the original positioning reference coordinate with the real-time positioning reference coordinate, and define the reference coordinates that are the same as each other as the effective reference coordinates. And then, the positioning module is used for assisting in positioning the current position coordinate of the mobile platform according to the effective reference coordinate. Compared with the prior art, the method and the device can effectively filter moving objects, and avoid the positioning error caused by the fact that the obtained wrong coordinate point is used as an auxiliary positioning point, and further influence on system efficiency.
The foregoing detailed description of the preferred embodiments is intended to more clearly illustrate the features and spirit of the present invention, and not to limit the scope of the invention by the preferred embodiments disclosed above. On the contrary, it is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims.
Claims (7)
1. An auxiliary positioning system for map data comparison is arranged on a mobile platform, and is characterized by comprising:
the original map establishing module is used for establishing original map data, and a plurality of original positioning reference coordinates representing the positions of a plurality of original characteristic objects are marked in the original map data;
the real-time map generation module is used for generating real-time map data in real time, and the real-time map data is marked with a plurality of real-time positioning reference coordinates representing a plurality of real-time characteristic objects;
a comparison module, electrically connected to the original map creation module and the instant map generation module, for receiving the original map data and the instant map data, comparing the original positioning reference coordinates with the instant positioning reference coordinates, and defining at least one of the original positioning reference coordinates and the instant positioning reference coordinates which is the same as each other as at least one effective reference coordinate; and
and the positioning module is electrically connected with the comparison module and the instant map generation module and used for receiving the at least one effective reference coordinate and positioning a current position coordinate of the mobile platform in the instant map data in an auxiliary manner by utilizing the at least one effective reference coordinate.
2. The map data comparison aided positioning system of claim 1, wherein the raw map creation module comprises a raw analysis unit configured to analyze the plurality of raw feature objects, wherein the plurality of raw feature objects are composed of a plurality of raw boundaries and a plurality of raw obstacles.
3. The map data comparison aided positioning system of claim 2, wherein the real-time map scanning module comprises a real-time analysis unit configured to analyze the plurality of real-time feature objects, wherein the plurality of real-time feature objects are composed of a plurality of real-time boundaries and a plurality of real-time obstacles.
4. The map data comparison auxiliary positioning system of claim 3, wherein the comparison module comprises an obstacle comparison unit, and the obstacle comparison unit is configured to compare the original positioning reference coordinates of the original obstacle positions with the instant positioning reference coordinates of the instant obstacle positions.
5. The map data comparison auxiliary positioning system of claim 4, wherein the comparison module further comprises a boundary comparison unit for comparing the original positioning reference coordinates of the original positions of the original boundaries with the instant positioning reference coordinates of the instant positions of the instant boundaries.
6. The map data comparison auxiliary positioning system of claim 5, wherein the comparison module further comprises a comparison processing unit electrically connected to the obstacle comparison unit and the boundary comparison unit for pre-driving the obstacle comparison unit to compare the original positioning reference coordinates of the original obstacle positions with the instant positioning reference coordinates of the instant obstacle positions, and driving the boundary comparison unit to compare the original positioning reference coordinates of the original boundary positions with the instant positioning reference coordinates of the instant boundary positions when the original obstacle feature points and the instant obstacle feature points are compared without a common one.
7. A map data comparison aided positioning method implemented by the map data comparison aided positioning system of claim 1 and applied to aided positioning of the mobile platform, the map data comparison aided positioning method comprising the steps of:
(a) establishing the original map data by using the original map establishing module, so that a plurality of original positioning reference coordinates representing the positions of the original characteristic objects are marked in the original map data;
(b) utilizing the instant map generation module to generate the instant map data in real time, wherein the instant map data is marked with a plurality of instant positioning reference coordinates representing the instant feature objects;
(c) receiving the original map data and the instant map data by using the comparison module, comparing the original positioning reference coordinates with the instant positioning reference coordinates, and defining at least one of the original positioning reference coordinates and the instant positioning reference coordinates which is the same as each other as the effective reference coordinate; and
(d) and receiving the at least one effective reference coordinate by using the positioning module, and assisting to position the current position coordinate of the mobile platform in the instant map data by using the at least one effective reference coordinate.
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