CN113008252A - High-precision navigation device and navigation method based on panoramic photo - Google Patents
High-precision navigation device and navigation method based on panoramic photo Download PDFInfo
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- CN113008252A CN113008252A CN202110403467.0A CN202110403467A CN113008252A CN 113008252 A CN113008252 A CN 113008252A CN 202110403467 A CN202110403467 A CN 202110403467A CN 113008252 A CN113008252 A CN 113008252A
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- G—PHYSICS
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention relates to the technical field of automatic navigation of unmanned automobiles, in particular to a high-precision navigation device and a navigation method based on panoramic photos. The specific technical scheme is as follows: firstly establishing a reference characteristic line database of the panoramic picture, then comparing the panoramic picture shot when the vehicle normally runs with the reference characteristic line database, and immediately positioning after the result is obtained by comparison. Simultaneously, through navigation head's cooperation, make panoramic camera can adjust in real time and the roof between the distance, even have the front truck to shelter from also can accurately carry out accurate quick location to the vehicle that traveles at present under the unable condition of fixing a position. Therefore, the invention effectively solves the problem that the specific position of the running vehicle in the road cannot be determined quickly and accurately in the prior art.
Description
Technical Field
The invention relates to the technical field of automatic navigation of unmanned automobiles, in particular to a high-precision navigation device and a navigation method based on panoramic photos.
Background
The existing navigation of the unmanned automobile still adopts a GPS navigation mode, when the unmanned automobile meets a complex road environment, such as an upper, middle and lower three-layer three-dimensional overpass, the navigation can be better realized if the unmanned automobile navigates before entering the overpass, but if the unmanned automobile navigates after entering the overpass or enters a wrong road after entering the overpass, the navigation is failed because the GPS cannot identify the height; and the vehicle positioned at the lowest layer still has the problem of not receiving the GPS signal.
Therefore, in the prior art, a photo + GPS mode is generally adopted to assist navigation, that is, a photo of the road environment ahead is taken, then feature extraction is performed, and the extracted feature line is compared with a feature line in an established database, so as to determine the specific position of the vehicle on the road; however, the existing photographing mode only aims at a single scene, namely only one vehicle exists in a road, when no shielding object exists in the front of the vehicle, the road environment in the front of the vehicle is photographed, the actual scene is that other vehicles possibly approach and shield the front and two sides of the vehicle, the number of the extracted characteristic lines is reduced after shielding, so that the photographed picture can not be effectively subjected to characteristic recognition, when the vehicle shields, the characteristic lines of the front shielded vehicle can be extracted in the picture recognition process, and the part of the characteristic lines are invalid characteristic lines, which can interfere with the comparison process, and even can report errors.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a high-precision navigation device and a navigation method based on panoramic photos, and solves the problem that the specific position of a running vehicle in a road cannot be quickly and accurately determined in the prior art.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention discloses a high-precision navigation method based on panoramic photos.
Preferably, the reference characteristic line database is obtained in the following manner: according to a panoramic camera with a GPS positioning device arranged on the top of a data collection vehicle, 360-degree photographing is carried out on the surrounding environment in the driving process to form continuous panoramic photos with positioning data, a photo group 1 is obtained by collection, and a characteristic line is independently extracted from the photo group 1 to form a database I; then, vehicles of different vehicle types are arranged at a certain distance around the data collection vehicle, and the picture group 2 is obtained by repeatedly obtaining the picture group 1; in the photo group 2, the vehicle outline around the data collection vehicle is recognized, all the images of the vehicle outline inside are ignored, and the characteristic lines are extracted from the images which are not ignored in the photo group 2 to form the database II.
Preferably, the panoramic photograph is taken in a manner that: depending on GPS positioning, when the vehicle enters a complex terrain, a panoramic camera positioned at the top of the vehicle starts to shoot a front photo in real time, is combined with GPS positioning data, and then is compared with a database I and is positioned; when the vehicle enters a complex terrain and other vehicles are in front of the vehicle, and the distance between the other vehicles in front and the running vehicle is less than L0, the panoramic camera positioned at the top of the vehicle starts to take a picture in front in real time, is combined with GPS positioning data, and then is compared with the database II and is positioned;
if the sheltered vehicle in front cannot be positioned, the height difference between the sheltered vehicle and the running vehicle is judged through the photos shot by the panoramic camera, and the following steps are executed:
A1. taking the roof of a running vehicle as a horizontal line, if the height of the sheltered vehicle is lower than or equal to that of the running vehicle, rotating the panoramic camera towards one side by 90 degrees, shooting a panoramic photo in a panoramic photo mode in the rotating process, wherein the shooting range of the panoramic photo is 180 degrees; if the panoramic picture still cannot be positioned, continuing rotating to enable the shooting range of the panoramic picture to be 270 degrees till 360 degrees; comparing the finally shot panoramic picture with a database I collected in advance, and immediately positioning after the result is obtained through comparison; if the positioning is still impossible finally, step A2 is executed;
A2. controlling a navigation device to lift the height between the panoramic camera and a running vehicle, matching the rotation of the panoramic camera at the height until the shooting range of the panoramic camera is 360 degrees, finally shooting a panoramic photo, comparing the panoramic photo with a database I collected in advance, and immediately positioning after comparing the result;
A3. if the height of the sheltered vehicle is higher than that of the running vehicle, the panoramic camera rotates to shoot until the shooting range is 360 degrees, a panoramic photo is finally shot, the panoramic photo is compared with a database II collected in advance, and the panoramic photo can be immediately positioned after the comparison result is obtained; if the positioning cannot be performed, performing step A4;
A4. controlling the navigation device to lift the distance between the panoramic camera and the running vehicle, taking a picture of the front at the height, comparing the picture with a database II collected in advance, and positioning, wherein if the positioning fails, the step A5 is executed;
A5. the panoramic camera is matched to rotate at the height until the shooting range of the panoramic camera is 360 degrees, a panoramic photo is finally shot, the panoramic photo is compared with a database II collected in advance, and the panoramic photo can be positioned immediately after a result is compared.
Correspondingly, high accuracy navigation head based on panorama photo is including setting up the hollow storage barrel of vehicle top and inside that traveles, the through-hole has been seted up at the top of storage barrel, be provided with telescopic machanism in the storage barrel, telescopic machanism is corresponding with the through-hole, telescopic machanism's top is provided with the panoramic camera who is located the storage barrel outside, be provided with the actuating mechanism that drives telescopic machanism and carry out the flexible action in the storage barrel.
Preferably, telescopic machanism is including fixing the solid fixed cylinder of bottom in the containing cylinder, gu fixed cylinder slidable sleeve is equipped with the activity section of thick bamboo that the several cup jointed each other, and the top that is located outermost activity section of thick bamboo is fixed with through the base panoramic camera, every be provided with on the lateral wall of activity section of thick bamboo with the inside communicating fixed frame that is "Jiong" font of activity section of thick bamboo, every fixed frame cover is established together, and every through the vertical rack that has the angle of buckling that is provided with of spliced pole on the lateral wall of fixed frame, actuating mechanism and rack mesh mutually.
Preferably, symmetrical strip-shaped grooves are vertically formed in the inner wall of the movable cylinder, limiting blocks matched with the strip-shaped grooves are respectively arranged on the outer side walls of the rest of the movable cylinders and the fixed cylinders, which are positioned between the outermost movable cylinder and the outermost fixed cylinder, and the outer side walls of the fixed cylinders, the limiting blocks are arranged on the side walls close to the tops of the movable cylinder and the fixed cylinders, limiting holes are formed in the movable cylinder and the fixed cylinders, which are provided with the limiting blocks, the limiting holes are positioned below the limiting blocks, and limiting assemblies are arranged in the strip-shaped grooves and at the bottoms of the strip-shaped grooves; when the outermost movable cylinder slides upwards to the maximum distance, the limiting block on the movable cylinder adjacent to the outermost cylinder is abutted against the limiting assembly, and the limiting column on the limiting assembly is just inserted into the limiting hole for limiting.
Preferably, the limiting assembly comprises a limiting cylinder, a limiting groove is formed in the side wall of the limiting cylinder, a limiting column matched with the limiting groove is transversely arranged in the limiting groove, the limiting column is connected with the limiting cylinder through a first elastic part, the end face of the limiting column is arc-shaped and abuts against the outer side wall of the adjacent movable cylinder and the outer side wall of the fixed cylinder, and the first elastic part is compressed; when the movable cylinder slides upwards until the limiting column corresponds to the limiting hole, the reaction force generated after the first elastic piece is compressed enables the limiting column to be inserted into the limiting hole for limiting.
Preferably, the bottom of the rack on the outermost fixed frame is bent towards the inside of the fixed frame, the bent end face of the rack is positioned on the same plane with the inner side wall of the fixed frame where the rack is positioned, and the top of the rack on the innermost fixed frame is bent towards the inner wall of the adjacent fixed frame and is attached to the inner wall of the adjacent fixed frame; the top of the rack on the fixing frame positioned between the innermost side and the outermost side is bent and attached towards the inner side wall of the adjacent fixing frame, the bottom of the rack is bent towards the inside of the fixing frame where the respective rack is positioned and is positioned on the same plane with the inner side wall of the fixing frame, and the fixing frames are provided with notches for the racks to pass through; the angle that rack top and/or bottom were buckled is the same, and when the activity section of thick bamboo rose in proper order, the bottom bending part of rack just docks with the top bending part of adjacent rack, simultaneously, the stopper just offsets with the top of a spacing section of thick bamboo.
Preferably, the driving mechanism comprises a sliding rail which is arranged at the top in the storage barrel and is parallel to the top, a sliding block is arranged on the sliding rail, a fixed plate is arranged on the sliding block, an L-shaped support plate is arranged at one end of the bottom of the fixed plate, a motor is arranged on the support plate, a second elastic piece is arranged between the support plate and the inner wall of the storage barrel, a gear meshed with the outermost rack is fixed on an output shaft of the motor, guide assemblies are rotatably arranged on the output shaft and on two sides of the gear, and the outermost rack is located in the guide assemblies.
Preferably, the guide assembly comprises a guide plate rotatably arranged on output shafts located on two sides of the gear, the end face of the other end of the guide plate is of a connecting fork structure, a first roller is rotatably arranged on the connecting fork through a rotating shaft, a support plate is arranged on the inner wall corresponding to the guide plate, symmetrical supports are respectively arranged on the side walls corresponding to the support plate and the gear, a second roller is rotatably arranged on the supports through a rotating shaft, and the second roller is in contact with the back face of the rack.
The invention has the following beneficial effects:
the invention utilizes the panoramic camera to carry out real-time comparison on the panoramic picture shot by 360 degrees and the data in the reference characteristic line database extracted in advance, thereby positioning the current position of the running vehicle, having quick and accurate whole positioning process and being particularly suitable for positioning complex terrains such as overpasses, winding roads and the like. Meanwhile, the distance between the panoramic camera and the roof of the running vehicle can be flexibly adjusted by matching with the navigation device, so that the current position of the running vehicle can be quickly and accurately positioned under the condition that shielding vehicles with different heights exist around the running vehicle.
Drawings
FIG. 1 is a schematic diagram of a panoramic camera taking a photograph of a front;
FIG. 2 is a schematic diagram of recognizing and contouring a vehicle ahead from a photograph when the vehicle ahead is occluded;
FIG. 3 is a schematic view of an image within a front vehicle occlusion portion delineated for omission;
FIG. 4 is a schematic view of the navigation device on the roof of the vehicle;
FIG. 5 is a schematic view of a navigation device;
FIG. 6 is a view taken along line A-A of FIG. 5;
FIG. 7 is an enlarged view of a portion A of FIG. 5;
FIG. 8 is an enlarged view of portion B of FIG. 7;
FIG. 9 is a view from the B-B direction of FIG. 5;
FIG. 10 is an enlarged view of portion C of FIG. 9;
FIG. 11 is an enlarged view of portion D of FIG. 10;
FIG. 11 is a schematic view of a guide assembly;
FIG. 12 is a schematic view of the guide assembly installation;
FIG. 13 is a diagram showing the connection state of the movable tubes when the panoramic camera is raised to the highest position;
in the figure: the device comprises a storage barrel 1, a through hole 2, a panoramic camera 3, a fixed barrel 4, a movable barrel 5, an outermost movable barrel 51, a movable barrel 52, an innermost movable barrel 53, a fixed frame 6, an outermost fixed frame 61, a fixed frame 62, an innermost fixed frame 63, a connecting column 7, a rack 8, a rack 81, a rack 82, a rack 83, a strip-shaped groove 9, a limiting block 10, a limiting hole 11, a limiting barrel 12, a limiting groove 13, a limiting column 14, a first elastic part 15, a notch 16, a sliding rail 17, a sliding block 18, a fixed plate 19, a supporting plate 20, a motor 21, a second elastic part 22, an output shaft 23, a gear 24, a guide plate 25, a rotating shaft 26, a first roller 27, a supporting plate 28 and a second roller 29.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless otherwise indicated, the technical means used in the examples are conventional means well known to those skilled in the art.
The invention discloses a high-precision navigation method based on panoramic photos.
Referring to fig. 2 to 3, the reference characteristic line database is obtained in the following manner: according to a panoramic camera with a GPS positioning device arranged on the top of a data collection vehicle, 360-degree photographing is carried out on the surrounding environment in the driving process to form continuous panoramic photos with positioning data, a photo group 1 is obtained by collection, and a characteristic line is independently extracted from the photo group 1 to form a database I; then, vehicles (such as cars, SUVs, trucks, special vehicles and the like) of different vehicle types are arranged at a certain distance around the data collection vehicle, and the picture group 2 is obtained by repeatedly obtaining the picture group 1; in the photo group 2, the vehicle outline around the data collection vehicle is recognized, all the images of the vehicle outline inside are ignored, and the characteristic lines are extracted from the images which are not ignored in the photo group 2 to form the database II. If the number of the characteristic lines in the database II is small, the situation is recorded as being incapable of positioning; if the number of the characteristic lines exceeds a certain value (for example, the picture of the photo is 100%, the blocked vehicle accounts for 60% of the picture, and the ratio of the characteristic lines in the rest 40% of the picture reaches more than 5-10%), the data is marked as valid data and can be used for subsequent comparison.
The shooting mode of the panoramic photo when the vehicle normally runs is as follows: depending on GPS positioning, when a vehicle enters a complex terrain (the complex terrain refers to places which cannot be positioned or are difficult to position, such as overpasses and winding roads), a panoramic camera positioned at the top of the vehicle (the panoramic camera can rotate 360 degrees in a horizontal plane) starts to shoot a front photo in real time, specifically, as shown in FIG. 1, and is combined with GPS positioning data, and then is compared with a database I and positioned; when the vehicle enters a complex terrain with other vehicles in front and the distance between the other vehicles in front and the running vehicle is less than L0, the panoramic camera located on the top of the vehicle starts taking a photograph of the front in real time and is combined with the GPS positioning data and then compared with database II and positioned.
There is also a case where:
if the sheltered vehicle in front cannot be positioned, the height difference between the sheltered vehicle and the running vehicle is judged through the photos shot by the panoramic camera, and the following steps are executed:
A1. taking the roof of a running vehicle as a horizontal line, if the height of the sheltered vehicle is lower than or equal to that of the running vehicle, rotating the panoramic camera towards one side by 90 degrees, shooting a panoramic photo in a panoramic photo mode in the rotating process, wherein the shooting range of the panoramic photo is 180 degrees; if the panoramic picture still cannot be positioned, continuing rotating to enable the shooting range of the panoramic picture to be 270 degrees till 360 degrees; comparing the finally shot panoramic picture with a database I collected in advance, and immediately positioning after the result is obtained through comparison; if the positioning is still impossible finally, step A2 is executed;
A2. controlling a navigation device to lift the height between the panoramic camera and a running vehicle, matching the rotation of the panoramic camera at the height, wherein the rotation shooting range of the panoramic camera is the same as that in the step A1 until the shooting range of the panoramic camera is 360 degrees, finally shooting a panoramic photo, comparing the panoramic photo with a database I collected in advance, and immediately positioning after comparing the result;
A3. if the height of the sheltered vehicle is higher than that of the running vehicle, the panoramic camera rotates to shoot until the shooting range is 360 degrees, a panoramic photo is finally shot, the panoramic photo is compared with a database II collected in advance, and the panoramic photo can be immediately positioned after the comparison result is obtained; if the positioning cannot be performed, performing step A4;
A4. controlling the navigation device to lift the distance between the panoramic camera and the running vehicle, taking a picture of the front at the height, comparing the picture with a database II collected in advance, and positioning, wherein if the positioning fails, the step A5 is executed;
A5. and (4) rotating in cooperation with the panoramic camera at the height, wherein the rotating shooting range of the panoramic camera is the same as that in the step A1 until the shooting range of the panoramic camera is 360 degrees, finally shooting a panoramic photo, comparing the panoramic photo with a database II acquired in advance, and immediately positioning after comparing the result. The final use scene is shown in fig. 2, and the characteristic lines which can be extracted from the photo include elevated bridges and overpasses on the left and right of the road, a signboard above the elevated bridges and road lines.
For step a3, it should be noted that: if the height that shelters from the vehicle (like SUV or freight train) is higher than the vehicle that traveles, cause serious shelter from to the vehicle that traveles, when unable fixing a position, can directly rotate panoramic camera 90, shoot to left side or right side, can shoot the vehicle rear even after 180 rotations to fix a position. The timing for starting the navigation device can be manually set according to the requirements of the driver. The positioning speed of the running vehicle is only faster by performing the steps a4-a5 than by performing the steps a4-a 5.
When the method is used for photographing the periphery of the running vehicle, the problem of interference caused by other vehicles around the running vehicle is considered in advance, and the position of the running vehicle at the moment is judged more quickly and more accurately by comparing the picture photographed by the running vehicle in the running or static process with the characteristic lines in the database I and the database II photographed in advance. When the vehicle runs on a road with a non-complex terrain, real-time positioning can be realized only by combining a GPS, and at the moment, the panoramic camera is used for setting according to the actual condition of a driver.
Referring to fig. 4-13, the invention also discloses a navigation device capable of increasing the height between the panoramic camera and the roof of the traveling vehicle, the navigation device comprises a hollow storage barrel 1 arranged at the top of the traveling vehicle, a through hole 2 is arranged at the top of the storage barrel 1, a telescopic mechanism is arranged in the storage barrel 1 and corresponds to the through hole 2, the telescopic mechanism can extend out of the storage barrel 1 through the through hole 2, the panoramic camera 3 positioned outside the storage barrel 1 is arranged at the top of the telescopic mechanism, and a driving mechanism for driving the telescopic mechanism to perform telescopic action is arranged in the storage barrel 1.
Specifically, the method comprises the following steps: the telescopic mechanism comprises a fixed cylinder 4 fixed at the bottom in the containing cylinder 1, and the fixed cylinder 4 can be hollow or solid; a plurality of movable barrels 5 which are mutually sleeved are slidably sleeved outside the fixed barrel 4, the top of the movable barrel 51 positioned on the outermost side is fixed with the panoramic camera 3 through a base, the top of the movable barrel 51 positioned on the outermost side can be opened, and the base is fixed on the top of the movable barrel 51 and serves as the top of the movable barrel 51; of course, the movable barrel 51 may have a top portion itself. In this embodiment, the top of the movable tube 51 extends into the through hole 2, and the top surface thereof is flush with the top surface of the storage tube 1. The side wall of each movable cylinder 5 is provided with a fixed frame 6 which is in Jiong shape and communicated with the inside of the movable cylinder 5, each fixed frame 6 is sleeved together, the outer side wall of each fixed frame 6 is vertically provided with a rack 8 with a bending angle through a connecting column 7, and a driving mechanism is meshed with the rack 8. It should be noted that: the innermost fixed frame 63 (i.e., the fixed frame 63 closest to the fixed cylinder 4) is fitted into the adjacent fixed frame 62, and the other fixed frames are arranged in this manner. The side walls of the movable barrels 5 are provided with through strip-shaped gaps, so that the fixed frames 6 are communicated with the insides of the movable barrels 5, and the fixed frames on different movable barrels can be overlapped or sleeved together. It should be noted that: for the arrangement of the fixing frame 63 on the movable cylinder 53, the fixing frame 63 can be selectively arranged according to the matching and spatial relationship between the components, if the position allows, the rack 83 can be directly arranged on the side wall of the movable cylinder 53, and the arrangement can be specifically carried out according to the actual requirement.
For the movable cylinder 5, the fixed frame 6 and the rack 8 of the present invention, it is noted that: the movable cylinder 5, the fixed frame 6 and the rack 8 are general names of the movable cylinder, the fixed frame and the rack, and the movable cylinder, the fixed frame and the rack in different positions are labeled in the embodiment and respectively: the movable barrel 51 located outermost, the fixed frame 61 and the rack 81 on the movable barrel 51, the movable barrel 53 located innermost (the movable barrel closest to the fixed barrel 4), the fixed frame 63 and the rack 83 on the movable barrel 53, the plurality of movable barrels 52 located between outermost and innermost, the fixed frame 62 and the rack 82 on the movable barrel 52. In order to facilitate the description of the movable cylinder, the fixed frame and the rack at different positions, the same structures at different positions are respectively described by specific corresponding reference numerals.
Further, in order to realize the directional sliding between different movable barrels, symmetrical strip-shaped grooves 9 are vertically formed in the inner wall of the movable barrel 5, the outer side wall of the rest of the movable barrels 52 between the outermost movable barrel 51 and the fixed barrel 4 and the outer side wall of the fixed barrel 4 are respectively provided with a limiting block 10 matched with the strip-shaped grooves 9, and the limiting blocks 10 slide up and down in the strip-shaped grooves 9, so that the height of the movable barrel 5 is adjusted. The limiting block 10 is arranged on the side wall close to the top of the movable cylinder 52 and the fixed cylinder 4, the movable cylinder 52 and the fixed cylinder 4 provided with the limiting block 10 are provided with limiting holes 11, the limiting holes 11 are positioned below the limiting block 10, and limiting components are arranged in the strip-shaped grooves 9 and at the bottoms of the limiting holes; when the outermost movable cylinder 51 slides upwards to the maximum distance, the limiting block 10 on the outermost adjacent movable cylinder 52 abuts against the limiting component, and the limiting column 14 on the limiting component is just inserted into the limiting hole 11 for limiting, so that the two movable cylinders are connected and fixed.
It should be noted that: the strip-shaped grooves 9 can be arranged in a plurality of ways, at least one group of grooves is arranged symmetrically, and the limiting blocks 10 correspond to the strip-shaped grooves 9 in the same number. In order to make spacing post 14 insert spacing hole 11 more easily, the top of spacing hole 11 is the inclined plane towards fixed cylinder 4 slope, and the tip of spacing post 14 is the arcwall face, can be comparatively easy slide in spacing hole 11 through the inclined plane of spacing hole 11, and finally the card is in the minimum diameter department in spacing hole 11, thereby realize the connection between two adjacent movable cylinders and fix, thereby adjust the distance between panoramic camera 3 and the vehicle roof of traveling, thereby better shoot the location. In the invention, the movable cylinders are fixedly connected in the above mode for positioning. Finally, the maximum height that the panoramic camera 3 can lift is the total length of all the movable cylinders 5 connected to each other and the innermost movable cylinder 53 connected to the fixed cylinder 4. Of course, the height of each movable cylinder and the height of the fixed cylinder 4 can be set according to actual needs, and meanwhile, the heights from the outermost movable cylinder 51 to the innermost movable cylinder 53 are gradually reduced, so that all the movable cylinders can be overlapped and sleeved together.
Wherein, spacing subassembly includes a spacing section of thick bamboo 12, has seted up spacing groove 13 on the lateral wall of a spacing section of thick bamboo 12, and the opening of spacing groove 13 sets up towards adjacent movable cylinder and fixed cylinder, and the opening diameter is less than the inside diameter, spacing inslot 13 transversely is provided with the spacing post 14 rather than the looks adaptation, and the cross-section of spacing post 14 is the T type, can block in spacing groove 14, is connected through first elastic component 15 between spacing post 14 and the spacing section of thick bamboo 12. In order to save the space of the limiting groove 14, a groove is transversely arranged at the bottom of the limiting column 14, and two ends of the first elastic element 15 are fixed between the groove and the limiting groove 14, so that the first elastic element 15 is better compressed in the groove. The first elastic member 15 may be a spring, a spring leaf, or other elastic component. The end surface of the limit column 14 is arc-shaped and is abutted against the outer side wall of the adjacent movable cylinder 52 and the outer side wall of the fixed cylinder 4, and at the moment, the first elastic part 15 is compressed; when the movable cylinder 51 slides upwards to the position-limiting column 14 corresponding to the position-limiting hole 11, the reaction force of the compressed first elastic element 15 enables the position-limiting column 14 to be inserted into the position-limiting hole 11 for limiting, and the rest of the movable cylinders 52 and 53 are also connected and fixed through the matching of the position-limiting column 14 and the position-limiting hole 11, so that the panoramic camera 3 can be lifted to different heights according to actual conditions.
Further, the bottom of the rack 81 on the outermost fixed frame 61 is bent toward the inside of the fixed frame 61, the bent end surface of the rack 81 is on the same plane as the inner side wall of the fixed frame 61 where the rack 81 is located, the top of the rack 83 on the innermost fixed frame 63 is bent toward the inner wall of the adjacent fixed frame 62 and is attached to the inner wall of the adjacent fixed frame 62, and a stopper is arranged at the bottom of the rack 83 to prevent the gear 24 from being separated from the rack 83; the tops of the racks 82 on all the fixing frames 62 positioned between the innermost and outermost surfaces are bent and attached towards the inner side walls of the adjacent fixing frames 62 and 61, the bottoms of the racks 82 are bent towards the inner parts of the fixing frames 62 and 61 where the racks 82 and 81 are positioned, and the racks and the inner side walls of the fixing frames 62 and 61 are positioned on the same plane, and the fixing frames 61 and 62 are provided with notches 16 for the racks 81 and 82 to pass through; the bending angles of the top and/or the bottom of the rack 8 are the same, when the movable cylinder 5 sequentially ascends, the bottom bending parts of the racks 81 and 82 are just butted with the top bending parts of the adjacent racks 82 and 83, and meanwhile, the limiting block 10 is just propped against the top of the limiting cylinder 12.
It should be noted that: the rack 83 on the movable barrel 52 is shaped like an "S", i.e., the top and bottom of the rack 83 are bent in different directions. The size of the notch 16 is such that it does not interfere with the passage of the guide assembly. As for the rack 82, as shown in fig. 10, the end surface of the rack 82 bent at the top is attached to the inner wall of the fixing frame 61, so that the end surface of the rack 81 at the bottom is attached to the end surface of the rack 82 at the top; similarly, the end face of the rack 82 bent at the bottom is attached to the inner wall of the fixing frame 62, so that the end face of the rack 82 at the bottom is attached to the end face of the rack 83 at the top. When there are multiple movable barrels 52 and racks 82, so is the requirement and location for the racks 82 to bend.
Further, the driving mechanism comprises a sliding rail 17 which is arranged at the top in the storage barrel 1 and is parallel to the top, a sliding block 18 is arranged on the sliding rail 17, a fixing plate 19 is arranged on the sliding block 18, and the fixing plate 19 can be a telescopic plate and is used for compensating the transverse distance between the rack 81 and the rack 83, so that the gear 24 can be finally meshed with the rack 83. An L-shaped support plate 20 is arranged at one end of the bottom of the fixing plate 19, a motor 21 is arranged on the support plate 20, a second elastic piece 22 is arranged between the support plate 20 and the inner wall of the containing barrel 1, the second elastic piece 22 is preferably a spring, a gear 24 meshed with an outermost rack 81 is fixed on an output shaft 23 of the motor 21, guide assemblies are rotatably arranged on the output shaft 23 and on two sides of the gear 24, and the outermost rack 81 is located in the guide assemblies. It should be noted that: when the movable cylinder 5 is in the initial state, the gear 24 is engaged with the rack 81, and the second elastic member 22 is in a compressed state. And the reaction force of the second elastic member 22 after being compressed causes the gear 24 to be always tightly engaged with the rack 81. When the gear 24 rotates to drive the rack 81 to move to the bent portion of the rack 81, the second elastic member 22 pushes the motor 21 to move toward the rack 81 through the cooperation of the slide rail 17 and the slider 18, so that the gear 24 is always engaged with the rack 81, that is, the bent inclined plane of the gear 24 and the rack 81 is also in an engaged state, so that the gear 24 drives the rack 81 to transition to the rack 82, and so on, and finally moves to the rack 83, thereby achieving the extension and retraction of the movable cylinder 5. The guide assembly is arranged to prevent the gear 24 from running off the rack 8 or from being disengaged from the rack 8.
Specifically, the method comprises the following steps: the guide assembly comprises guide plates 25 fixed on the output shafts 23 on two sides of the gear 24 through bearings, the guide plates 25 can rotate relative to the output shafts 23, the end faces of the other ends of the guide plates 25 are of a connecting fork structure, first idler wheels 27 are arranged on the connecting fork in a rotating mode through rotating shafts 26, and the first idler wheels 27 are always attached to the outer side wall of the movable cylinder 5 and roll along the vertical direction of the movable cylinder 5. The inner walls corresponding to the guide plates 25 are respectively provided with supporting plates 28 which are vertical to the guide plates 25, the side walls of each supporting plate 28 corresponding to the gear 24 are respectively provided with symmetrical supporting seats, the supporting seats are respectively provided with second rollers 29 in a rotating mode through rotating shafts, and the second rollers 29 are in contact with the back face of the rack 8. In order to avoid the separation or deviation of the second roller 29 and the rack 8, a strip-shaped groove is formed in the back face of the rack 8, and the second roller 29 is arranged in the strip-shaped groove, so that the second roller always rolls in the strip-shaped groove. The distance between the two support plates 28 is greater than the width of the connecting column 7, so that the connecting column 7 can pass through the guide assembly smoothly.
Further, in order to prevent the guide assembly from being clamped between the bent portion and the movable tube 5 when passing through the bent portion of the rack 8, a hole at the connection portion of the rotating shaft 26 and the guide plate 25 is preferably a horizontally disposed kidney-shaped hole 31, the rotating shaft 26 is a square column to prevent the rotating shaft 26 from rotating in the kidney-shaped hole 31, and pins 32 perpendicular to the axis of the rotating shaft 26 are inserted into two ends of the rotating shaft 26 extending out of the guide plate 25 to prevent the rotating shaft 26 from being separated from the guide plate 25. Meanwhile, a third elastic member 30 is disposed in the kidney-shaped hole 31 between the rotating shaft 26 and the inner wall of the kidney-shaped hole 31, and the third elastic member 30 may be a spring, a reed, or other elastic component, so as to press the second roller 27 against the outer sidewall of the movable tube 5. When the guide assembly needs to pass through the bent part of the rack 8, the third elastic member 30 and the waist-shaped hole 31 are arranged to give the second roller 27 a certain movement space, so that the second roller can be successfully transited to the side wall of another movable cylinder. Similarly, the rotating shaft of the second roller 29 can also be arranged in the same manner, and is not described in detail.
When the navigation device is used, the motor 21 is controlled to be started, the gear 24 drives the rack 81 to move upwards until the limiting block 10 abuts against the upper surface of the limiting cylinder 12, and meanwhile, the limiting column 14 is inserted into the limiting hole 11 under the action of the first elastic piece 15, so that the two movable cylinders are successfully connected together. If the height of the panoramic camera 3 is not high enough, the motor 21 is started continuously, the gear 24 drives the rack 81 to move to the bending part of the rack 81, the motor 21 moves the distance between the inclined plane and the vertical part of the rack 81 under the action of the second elastic part 22, and the distance is gradually increased until the gear 24 is meshed with the rack 82, so that the movable cylinder 52 is in butt joint with the adjacent movable cylinder sleeved inside the movable cylinder along with the movement of the motor 21. In the same manner until the gear 24 is engaged to the bottom end of the rack 83, thereby elevating the panoramic camera 3 to the highest height. When the movable barrels 5 need to be sleeved together, only the motor 21 needs to be controlled to turn over, the gear 24 drives the racks 83, 82 and 81 to move downwards in sequence, and under the action of the motor 21, the limiting column 14 is compressed into the limiting groove 13 along the inclined plane at the top of the limiting hole 11, so that the panoramic camera 3 is reset.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (10)
1. The high-precision navigation method based on the panoramic photo is characterized by comprising the following steps: firstly establishing a reference characteristic line database of the panoramic picture, then comparing the panoramic picture shot when the vehicle normally runs with the reference characteristic line database, and immediately positioning after the result is obtained by comparison.
2. The device and method of claim 1, wherein the device comprises: the reference characteristic line database is obtained in the following mode: according to a panoramic camera with a GPS positioning device arranged on the top of a data collection vehicle, 360-degree photographing is carried out on the surrounding environment in the driving process to form continuous panoramic photos with positioning data, a photo group 1 is obtained by collection, and a characteristic line is independently extracted from the photo group 1 to form a database I; then, vehicles of different vehicle types are arranged at a certain distance around the data collection vehicle, and the picture group 2 is obtained by repeatedly obtaining the picture group 1; in the photo group 2, the vehicle outline around the data collection vehicle is recognized, all the images of the vehicle outline inside are ignored, and the characteristic lines are extracted from the images which are not ignored in the photo group 2 to form the database II.
3. The method for high-precision navigation based on panoramic photos of claim 1, characterized in that: the shooting mode of the panoramic photo when the vehicle normally runs is as follows: depending on GPS positioning, when the vehicle enters a complex terrain, a panoramic camera positioned at the top of the vehicle starts to shoot a front photo in real time, is combined with GPS positioning data, and then is compared with a database I and is positioned; when the vehicle enters a complex terrain and other vehicles are in front of the vehicle, and the distance between the other vehicles in front and the running vehicle is less than L0, the panoramic camera positioned at the top of the vehicle starts to take a picture in front in real time, is combined with GPS positioning data, and then is compared with the database II and is positioned;
if the sheltered vehicle in front cannot be positioned, the height difference between the sheltered vehicle and the running vehicle is judged through the photos shot by the panoramic camera, and the following steps are executed:
A1. taking the roof of a running vehicle as a horizontal line, if the height of the sheltered vehicle is lower than or equal to that of the running vehicle, rotating the panoramic camera towards one side by 90 degrees, shooting a panoramic photo in a panoramic photo mode in the rotating process, wherein the shooting range of the panoramic photo is 180 degrees; if the panoramic picture still cannot be positioned, continuing rotating to enable the shooting range of the panoramic picture to be 270 degrees till 360 degrees; comparing the finally shot panoramic picture with a database I collected in advance, and immediately positioning after the result is obtained through comparison; if the positioning is still impossible finally, step A2 is executed;
A2. controlling a navigation device to lift the height between the panoramic camera and a running vehicle, matching the rotation of the panoramic camera at the height until the shooting range of the panoramic camera is 360 degrees, finally shooting a panoramic photo, comparing the panoramic photo with a database I collected in advance, and immediately positioning after comparing the result;
A3. if the height of the sheltered vehicle is higher than that of the running vehicle, the panoramic camera rotates to shoot until the shooting range is 360 degrees, a panoramic photo is finally shot, the panoramic photo is compared with a database II collected in advance, and the panoramic photo can be immediately positioned after the comparison result is obtained; if the positioning cannot be performed, performing step A4;
A4. controlling the navigation device to lift the distance between the panoramic camera and the running vehicle, taking a picture of the front at the height, comparing the picture with a database II collected in advance, and positioning, wherein if the positioning fails, the step A5 is executed;
A5. the panoramic camera is matched to rotate at the height until the shooting range of the panoramic camera is 360 degrees, a panoramic photo is finally shot, the panoramic photo is compared with a database II collected in advance, and the panoramic photo can be positioned immediately after the result is compared.
4. High accuracy navigation head based on panorama photo, including setting up vehicle top and inside hollow storage cylinder (1) of traveling, its characterized in that: the panoramic camera is characterized in that a through hole (2) is formed in the top of the storage barrel (1), a telescopic mechanism is arranged in the storage barrel (1) and corresponds to the through hole (2), a panoramic camera (3) located outside the storage barrel (1) is arranged at the top of the telescopic mechanism, and a driving mechanism for driving the telescopic mechanism to stretch and retract is arranged in the storage barrel (1).
5. The panorama photo-based high precision navigation device of claim 4, wherein: telescopic machanism is including fixing solid fixed cylinder (4) at the bottom in storage cylinder (1), gu fixed cylinder (4) outer slip cover is equipped with movable section of thick bamboo (5) that the several cup jointed each other, and the top that is located outermost activity section of thick bamboo (51) is fixed with through the base panorama camera (3), every be provided with on the lateral wall of activity section of thick bamboo (5) with the inside communicating fixed frame (6) that are "Jiong" font of activity section of thick bamboo (5), every fixed frame (6) cover is established together, and every vertically be provided with rack (8) that have the angle of buckling through spliced pole (7) on the lateral wall of fixed frame (6), actuating mechanism meshes with rack (8) mutually.
6. The panorama photo-based high precision navigation device of claim 5, wherein: symmetrical strip-shaped grooves (9) are vertically formed in the inner wall of the movable barrel (5), limiting blocks (10) matched with the strip-shaped grooves (9) are respectively arranged on the outer side walls of the rest of the movable barrels (52) between the outermost movable barrel (51) and the outermost fixed barrel (4) and on the outer side wall of the fixed barrel (4), the limiting blocks (10) are arranged on the side walls close to the tops of the movable barrel (52) and the fixed barrel (4), limiting holes (11) are formed in the movable barrel (52) and the fixed barrel (4) provided with the limiting blocks (10), the limiting holes (11) are located below the limiting blocks (10), and limiting assemblies are arranged in the strip-shaped grooves (9) and at the bottoms of the strip-shaped grooves; when the outermost movable barrel (51) slides upwards to the maximum distance, the limiting block (10) on the movable barrel (52) adjacent to the outermost part abuts against the limiting assembly, and the limiting column (14) on the limiting assembly is just inserted into the limiting hole (11) for limiting.
7. The panoramic photo based high precision navigation device of claim 6, wherein: the limiting assembly comprises a limiting barrel (12), a limiting groove (13) is formed in the side wall of the limiting barrel (12), a limiting column (14) matched with the limiting groove (13) is transversely arranged in the limiting groove (13), the limiting column (14) is connected with the limiting barrel (12) through a first elastic piece (15), the end face of the limiting column (14) is arc-shaped and abuts against the outer side wall of the adjacent movable barrel (52) and the outer side wall of the fixed barrel (4), and the first elastic piece (15) is compressed at the moment; when the movable cylinder (51) slides upwards until the limiting column (14) corresponds to the limiting hole (11), the reaction force generated after the first elastic piece (15) is compressed enables the limiting column (14) to be inserted into the limiting hole (11) for limiting.
8. The panoramic photo based high precision navigation device of claim 7, wherein: the bottom of the rack (81) on the outermost fixed frame (61) is bent towards the inside of the fixed frame (61), the bent end face of the rack (81) is positioned on the same plane with the inner side wall of the fixed frame (61) where the rack (81) is positioned, and the top of the rack (83) on the innermost fixed frame (63) is bent towards the inner wall of the adjacent fixed frame (62) and is attached to the inner wall of the adjacent fixed frame (62); the top of the rack (82) on the fixing frame (62) positioned between the innermost surface and the outermost surface is bent and attached towards the inner side wall of the adjacent fixing frame (62, 61), the bottom of the rack is bent towards the inner side wall of the fixing frame (62, 61) where the respective rack (82, 81) is positioned and is positioned on the same plane with the inner side wall of the fixing frame (62, 61), and notches (16) for the racks (81, 82) to pass through are arranged on the fixing frames (61, 62); the angle that rack (8) top and/or bottom were buckled is the same, when activity section of thick bamboo (5) rose in proper order, the bottom bending part of rack (81, 82) just docks with the top bending part of adjacent rack (82, 83), simultaneously, stopper (10) just offsets with the top of spacing section of thick bamboo (12).
9. The panorama photo-based high precision navigation device of claim 5, wherein: the driving mechanism comprises a sliding rail (17) which is arranged at the inner top of the containing barrel (1) and is parallel to the inner top of the containing barrel, a sliding block (18) is arranged on the sliding rail (17), a fixing plate (19) is arranged on the sliding block (18), an L-shaped support plate (20) is arranged at one end of the bottom of the fixing plate (19), a motor (21) is arranged on the support plate (20), a second elastic part (22) is arranged between the support plate (20) and the inner wall of the containing barrel (1), a gear (24) which is meshed with the outermost rack (81) is fixed on an output shaft (23) of the motor (21), guide assemblies are rotatably arranged on two sides of the output shaft (23) which are located on the gear (24), and the outermost rack (81) is located in the guide assemblies.
10. The panoramic photograph-based high-precision navigation device of claim 9, wherein: the direction subassembly is including rotating deflector (25) that sets up on output shaft (23) that are located gear (24) both sides, the terminal surface of deflector (25) other end is the hookup fork structure, it is provided with first gyro wheel (27) to rotate through axis of rotation (26) on the hookup fork, be provided with backup pad (28) on the corresponding inner wall of deflector (25), be provided with symmetrical support on backup pad (28) and the corresponding lateral wall of gear (24) respectively, it is provided with second gyro wheel (29) to rotate through the pivot on the support respectively, the back contact of second gyro wheel (29) and rack (8).
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