CN113008252B - 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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- CN113008252B CN113008252B CN202110403467.0A CN202110403467A CN113008252B CN 113008252 B CN113008252 B CN 113008252B CN 202110403467 A CN202110403467 A CN 202110403467A CN 113008252 B CN113008252 B CN 113008252B
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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
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The invention relates to the technical field of automatic navigation of unmanned automobiles, in particular to a panoramic photo-based high-precision navigation device and a navigation method. The specific technical scheme is as follows: firstly, a panoramic photo reference characteristic line database is established, then, according to the panoramic photo shot when the vehicle is running normally, the panoramic photo is compared with the reference characteristic line database, and the panoramic photo can be immediately positioned after the result is compared. Meanwhile, through the cooperation of the navigation device, the panoramic camera can adjust the distance between the panoramic camera and the car roof in real time, and the current running car can be accurately and rapidly positioned even if the front car is shielded and cannot be positioned. Therefore, the method and the device effectively solve the problem that the specific position of the running vehicle in the road cannot be determined rapidly 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 panoramic photo-based high-precision navigation device and a navigation method.
Background
The existing navigation of the unmanned automobile still adopts a GPS navigation mode, meets complex road environments, such as an upper three-layer three-dimensional overpass, a middle three-layer three-dimensional overpass and a lower three-layer three-dimensional overpass, can better realize the navigation if the unmanned automobile navigates before entering the overpass, but fails because the GPS cannot identify the height if the unmanned automobile navigates after entering the overpass or enters an incorrect road after entering the overpass; and the vehicle at the lowest layer has a problem of not receiving GPS signals.
Therefore, in the prior art, a photo+GPS mode is generally adopted for assisting navigation, namely, a photo of the environment of a road in front is shot, then feature extraction is carried out, and the extracted feature lines are compared with the feature lines in an established database, so that the specific position of the vehicle in the road is determined; however, the existing photographing mode is only aimed at a single scene, namely, only the vehicle is arranged in the road, when the front is free of a shielding object, the road environment in front is photographed, the actual scene is that other vehicles possibly approach and are shielded at the front and two sides of the vehicle, and the characteristic lines which can be extracted after shielding are reduced, so that the photographed photo can not be effectively subjected to characteristic recognition, and when the vehicle is shielded, the characteristic lines which are not effective characteristic lines can be formed to interfere with the comparison process and even be wrong are extracted from the front shielding vehicle in the photo recognition process.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a panoramic photo-based high-precision navigation device and a navigation method, which solve the problem that the specific position of a running vehicle in a road cannot be determined rapidly and accurately in the prior art.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
the invention discloses a panoramic photo-based high-precision navigation method, which comprises the steps of firstly establishing a panoramic photo reference characteristic line database, then comparing the panoramic photo taken during normal running of a vehicle with the reference characteristic line database, and immediately positioning after the result is compared.
Preferably, the reference characteristic line database is obtained by the following steps: according to a panoramic camera with a GPS positioning device arranged at the top of a data collection vehicle, in the running process, 360-degree photographing is carried out on the surrounding environment to form continuous panoramic photos with positioning data, a photo group 1 is obtained through aggregation, and characteristic lines are extracted from the photo group 1 independently to form a database I; then, vehicles of different types are arranged at certain distances around the data collection vehicle, and a photo group 2 is obtained by repeating the manner of obtaining the photo group 1; in the photo group 2, the vehicle contour around the data collection vehicle is identified, the images from the vehicle contour to the interior are ignored, and the feature lines are extracted from the images which are not ignored in the photo group 2 to form a database II.
Preferably, the shooting mode of the panoramic photo during normal running of the vehicle is as follows: when a vehicle enters a complex terrain by means of GPS positioning, a panoramic camera positioned at the top of the vehicle starts to take a front photo in real time, combines the front photo with GPS positioning data, and then compares and positions the front photo with a database I; when a 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 smaller than L0, a panoramic camera positioned at the top of the vehicle starts to take a front photo in real time, combines the front photo with GPS positioning data, and then compares and positions the front photo with a database II;
if the shielding vehicle cannot be positioned in front, judging the height difference between the shielding vehicle and the running vehicle through the photo shot by the panoramic camera, and executing the following steps:
A1. taking the roof of a running vehicle as a horizontal line, if the height of a shielding vehicle is lower than or equal to that of the running vehicle, rotating the panoramic camera by 90 degrees towards one side, and taking a panoramic photo in a panoramic photo mode in the rotating process, wherein the photographing range of the panoramic photo is 180 degrees; if the panoramic photo still cannot be positioned, continuing to rotate to enable the shooting range of the panoramic photo to be 270 degrees until 360 degrees; comparing the finally shot panoramic photo with a database I acquired in advance, and immediately positioning after comparing out the result; if the positioning is still impossible finally, executing the step A2;
A2. controlling the navigation device to lift the height between the panoramic camera and the 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 picture, comparing with a database I acquired in advance, and immediately positioning after comparing the result;
A3. if the height of the shielding vehicle is higher than that of the driving vehicle, the panoramic camera rotates to shoot until the shooting range 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; if the positioning cannot be performed, executing the step A4;
A4. controlling a navigation device to lift the distance between the panoramic camera and the running vehicle, shooting a front photo at the height, comparing with a database II acquired in advance, positioning, and executing the step A5 if positioning fails;
A5. and the panoramic camera is matched to rotate under the height until the shooting range of the panoramic camera is 360 degrees, finally, a panoramic picture is shot, then the panoramic picture is compared with a database II acquired in advance, and the panoramic picture can be immediately positioned after the result is compared.
Correspondingly, the high-precision navigation device based on panoramic photos comprises a storage barrel which is arranged at the top of a running vehicle and is hollow in the interior, a through hole is formed in the top of the storage barrel, a telescopic mechanism is arranged in the storage barrel and corresponds to the through hole, a panoramic camera positioned outside the storage barrel is arranged at the top of the telescopic mechanism, and a driving mechanism for driving the telescopic mechanism to conduct telescopic action is arranged in the storage barrel.
Preferably, the telescopic mechanism comprises a fixed cylinder fixed at the inner bottom of the storage cylinder, a plurality of movable cylinders sleeved with each other are sleeved outside the fixed cylinder in a sliding manner, the panoramic camera is fixed at the top of the outermost movable cylinder through a base, a fixed frame which is communicated with the inside of the movable cylinder and is shaped like is arranged on the side wall of each movable cylinder, each fixed frame is sleeved together, racks with bending angles are vertically arranged on the outer side wall of each fixed frame through connecting columns, and the driving mechanism is meshed with the racks.
Preferably, symmetrical bar-shaped grooves are vertically formed in the inner wall of the movable cylinder, limiting blocks matched with the bar-shaped grooves are respectively arranged on the outer side walls of the rest movable cylinders and the outer side walls of the fixed cylinders which are positioned between the outermost movable cylinder and the fixed cylinder, the limiting blocks are arranged on the side walls close to the tops of the movable cylinder and the fixed cylinder, limiting holes are formed in the movable cylinder and the fixed cylinder which are provided with the limiting blocks, the limiting holes are positioned below the limiting blocks, and limiting components are arranged in the bar-shaped grooves and positioned at the bottoms of the limiting blocks; when the outermost movable cylinder slides upwards to the maximum distance, the limiting block on the movable cylinder adjacent to the outermost movable cylinder is abutted against the limiting component, and the limiting column on the limiting component 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 piece, 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 at the moment, the first elastic piece is compressed; when the movable cylinder slides upwards to the position where the limit column corresponds to the limit hole, the reaction force of the compressed first elastic piece enables the limit column to be inserted into the limit 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 and the inner side wall of the fixed frame where the rack is positioned are on the same plane, 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 each rack on the fixing frame between the innermost and outermost is bent towards the inner side wall of the adjacent fixing frame and is attached, the bottom of each rack is bent towards the inside of the fixing frame where the corresponding rack is positioned and is 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 angles of the top and/or bottom bending of the racks are the same, when the movable cylinders rise in sequence, the bottom bending parts of the racks are just butted with the top bending parts of the adjacent racks, and meanwhile, the limiting blocks are just butted with the tops of the limiting cylinders.
Preferably, the driving mechanism comprises a sliding rail which is arranged at the inner top of the storage barrel and is parallel to the sliding rail, a sliding block is arranged on the sliding rail, a fixing plate is arranged on the sliding block, an L-shaped support plate is arranged at one end of the bottom of the fixing 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 an outermost rack is fixed on an output shaft of the motor, a guide assembly is rotatably arranged on two sides of the output shaft and positioned on the gear, and the outermost rack is positioned in the guide assembly.
Preferably, the guide assembly comprises a guide plate which is arranged on an output shaft positioned on two sides of the gear in a rotating mode, the end face of the other end of the guide plate is of a connecting fork structure, a first roller is arranged on the connecting fork in a rotating mode through a rotating shaft, a supporting plate is arranged on the corresponding inner wall of the guide plate, symmetrical supporting seats are respectively arranged on the corresponding side walls of the supporting plate and the gear, second rollers are respectively arranged on the supporting seats in a rotating mode through rotating shafts, and the second rollers are in back contact with the racks.
The invention has the following beneficial effects:
the invention utilizes the panoramic camera to carry out real-time comparison of the panoramic photo shot at 360 degrees and the data in the reference characteristic line database extracted in advance, thereby positioning the current position of the running vehicle, and the whole positioning process is rapid and accurate, and is particularly suitable for positioning complex terrains such as overpasses, mountain-coiling highways 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 rapidly 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 front photograph;
FIG. 2 is a schematic illustration of a front vehicle identified from a photograph and outlined when there is a vehicle occlusion in front;
FIG. 3 is a schematic illustration of a front vehicle occlusion outlined image omitted;
FIG. 4 is a schematic view of a navigation device on a vehicle roof;
FIG. 5 is a schematic diagram of a navigation device;
FIG. 6 is a view in the A-A direction of FIG. 5;
FIG. 7 is an enlarged view of part of A in FIG. 5;
FIG. 8 is an enlarged view of part of B in FIG. 7;
FIG. 9 is a B-B view of FIG. 5;
FIG. 10 is an enlarged view of part of C in FIG. 9;
FIG. 11 is an enlarged view of part of D of FIG. 10;
FIG. 11 is a schematic view of a guide assembly;
FIG. 12 is a schematic view of a guide assembly installation;
FIG. 13 is a view showing the connection state of each movable tube when the panoramic camera is lifted to the highest position;
in the figure: the panoramic camera 3, the fixed cylinder 4, the movable cylinder 5, the outermost movable cylinder 51, the movable cylinder 52, the innermost movable cylinder 53, the fixed frame 6, the outermost fixed frame 61, the fixed frame 62, the innermost fixed frame 63, the connecting column 7, the rack 8, the rack 81, the rack 82, the rack 83, the bar slot 9, the stopper 10, the stopper hole 11, the stopper cylinder 12, the stopper slot 13, the stopper column 14, the first elastic member 15, the notch 16, the slide rail 17, the slide block 18, the fixed plate 19, the support plate 20, the motor 21, the second elastic member 22, the output shaft 23, the gear 24, the guide plate 25, the rotating shaft 26, the first roller 27, the support plate 28, and the second roller 29.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The technical means used in the examples are conventional means well known to those skilled in the art unless otherwise indicated.
The invention discloses a panoramic photo-based high-precision navigation method, which comprises the steps of firstly establishing a panoramic photo reference characteristic line database, then comparing the panoramic photo taken during normal running of a vehicle with the reference characteristic line database, and immediately positioning after the result is compared.
Referring to fig. 2 to 3, the reference feature line database is obtained by: according to a panoramic camera with a GPS positioning device arranged at the top of a data collection vehicle, in the running process, 360-degree photographing is carried out on the surrounding environment to form continuous panoramic photos with positioning data, a photo group 1 is obtained through aggregation, and characteristic lines are extracted from the photo group 1 independently to form a database I; then, vehicles of different types (such as a sedan, SUV, truck, special vehicle and the like) are arranged at a certain distance around the data collection vehicle, and the photo group 2 is obtained by repeating the manner of obtaining the photo group 1; in the photo group 2, the vehicle contour around the data collection vehicle is identified, the images from the vehicle contour to the interior are ignored, and the feature lines are extracted from the images which are not ignored in the photo group 2 to form a database II. If the number of the characteristic lines in the database II is small, the situation is marked as the situation that the positioning is impossible; if the number of the characteristic lines exceeds a certain value (for example, the picture of the photo is 100%, the covered vehicle occupies 60% of the picture, and the characteristic line ratio in the rest 40% of the pictures reaches more than 5-10%), the effective data is recorded and can be used for subsequent comparison.
The shooting mode of the panoramic photo during normal running of the vehicle is as follows: when a vehicle enters a complex terrain (the complex terrain refers to places which cannot be positioned or are difficult to position, such as an overpass and a mountain-turning highway) by means of GPS positioning, a panoramic camera (the panoramic camera can rotate 360 degrees in a horizontal plane) positioned at the top of the vehicle starts to take a front photo in real time, and the front photo is specifically shown in FIG. 1, combined with GPS positioning data, compared with a database I and positioned; when a 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 smaller than L0, a panoramic camera positioned at the top of the vehicle starts to take a front photo in real time, combines the front photo with GPS positioning data, and then compares and positions the front photo with a database II.
Yet another case is:
if the shielding vehicle cannot be positioned in front, judging the height difference between the shielding vehicle and the running vehicle through the photo shot by the panoramic camera, and executing the following steps:
A1. taking the roof of a running vehicle as a horizontal line, if the height of a shielding vehicle is lower than or equal to that of the running vehicle, rotating the panoramic camera by 90 degrees towards one side, and taking a panoramic photo in a panoramic photo mode in the rotating process, wherein the photographing range of the panoramic photo is 180 degrees; if the panoramic photo still cannot be positioned, continuing to rotate to enable the shooting range of the panoramic photo to be 270 degrees until 360 degrees; comparing the finally shot panoramic photo with a database I acquired in advance, and immediately positioning after comparing out the result; if the positioning is still impossible finally, executing the step A2;
A2. controlling the navigation device to lift the height between the panoramic camera and the 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 of the step A1 until the shooting range of the panoramic camera is 360 degrees, finally shooting a panoramic photo, comparing with a database I acquired in advance, and immediately positioning after comparing the result;
A3. if the height of the shielding vehicle is higher than that of the driving vehicle, the panoramic camera rotates to shoot until the shooting range 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; if the positioning cannot be performed, executing the step A4;
A4. controlling a navigation device to lift the distance between the panoramic camera and the running vehicle, shooting a front photo at the height, comparing with a database II acquired in advance, positioning, and executing the step A5 if positioning fails;
A5. and (3) rotating the panoramic camera under the height, wherein the rotating shooting range of the panoramic camera is the same as that of the step A1 until the shooting range of the panoramic camera is 360 degrees, finally shooting a panoramic picture, comparing with a database II acquired in advance, and immediately positioning after comparing the result. The final field Jing Canjian is shown in fig. 2, and the characteristic lines which can be extracted in the photograph are the left and right overhead and overpasses of the road, the signboard above and the line of the road.
For step A3, it should be noted that: if the height of the shielding vehicle (such as SUV or truck) is higher than that of the driving vehicle, serious shielding is caused to the driving vehicle, and when the positioning cannot be performed, the panoramic camera can be directly rotated by 90 degrees to the left or right for shooting, and even the rear of the vehicle can be shot after 180 degrees of rotation, so that the positioning is performed. And the time for starting the navigation device can be manually set according to the needs of a driver. The steps A4-A5 are performed only at a faster speed for locating the traveling vehicle than the steps A4-A5.
When photographing the periphery of the running vehicle, the invention considers the interference problem formed by other vehicles around the running vehicle in advance, and the position of the running vehicle at the moment is judged more quickly and the accuracy is higher by comparing the photographed picture of the running vehicle in the running or static process with the characteristic lines in the database I and the database II obtained by photographing in advance. When the vehicle runs on a road with non-complex terrain, the real-time positioning can be realized by combining with a GPS, and the panoramic camera is used according to the actual situation of a driver.
Referring to fig. 4-13, the invention also discloses a navigation device capable of lifting the height between a panoramic camera and the roof of a running vehicle, the navigation device comprises a storage barrel 1 which is arranged at the top of the running vehicle and is hollow in the interior, a through hole 2 is formed in the top of the storage barrel 1, a telescopic mechanism is arranged in the storage barrel 1, the telescopic mechanism corresponds to the through hole 2, the telescopic mechanism can extend out of the storage barrel 1 through the through hole 2, the top of the telescopic mechanism is provided with a panoramic camera 3 positioned outside the storage barrel 1, and a driving mechanism for driving the telescopic mechanism to perform telescopic action is arranged in the storage barrel 1.
Specific: the telescopic mechanism comprises a fixed cylinder 4 fixed at the inner bottom of the accommodating cylinder 1, and the fixed cylinder 4 can be hollow or solid; the fixed cylinder 4 is sleeved with a plurality of movable cylinders 5 which are sleeved with each other in a sliding way, the panoramic camera 3 is fixed at the top of the outermost movable cylinder 51 through a base, the top of the outermost movable cylinder 51 can be opened, and the base is fixed at the top of the movable cylinder 51 at the moment and serves as the top of the movable cylinder 51; of course, the movable drum 51 may itself have a top. In this embodiment, the top of the movable barrel 51 extends into the through hole 2, and the top surface thereof is flush with the top surface of the housing barrel 1. The side wall of each movable cylinder 5 is provided with a fixed frame 6 which is communicated with the inside of the movable cylinder 5 and is shaped like a Chinese character , 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 fixing frame 63 (i.e. the fixing frame 63 closest to the fixing cylinder 4) is nested in the adjacent fixing frame 62, and the other fixing frames are all arranged in this manner. The side walls of the movable cylinders 5 are provided with through strip-shaped notches, so that the fixed frames 6 are communicated with the inside of the movable cylinders 5, and further the fixed frames on different movable cylinders can be overlapped or sleeved together. It should be noted that: for the arrangement of the fixed frame 63 on the movable barrel 53, the fixed frame 63 can be selectively arranged according to the matching and the spatial relationship between the components, and if the position allows, the rack 83 can be directly arranged on the side wall of the movable barrel 53, and the arrangement can be specifically carried out according to actual needs.
The movable cylinder 5, the fixed frame 6 and the rack 8 of the present invention are described as follows: the movable cylinder 5, the fixed frame 6 and the rack 8 are the general names of the movable cylinder, the fixed frame and the rack, and the movable cylinder, the fixed frame and the rack which are aimed at different positions are marked in the embodiment respectively as follows: the fixed frame 61 and the rack 81 on the outermost movable cylinder 51, the innermost movable cylinder 53 (the movable cylinder closest to the fixed cylinder 4), the fixed frame 63 and the rack 83 on the movable cylinder 53, the plurality of movable cylinders 52 between the outermost and innermost, the fixed frame 62 and the rack 82 on the movable cylinder 52. In order to facilitate the description of the movable cylinder, the fixed frame and the rack at different positions, the descriptions of the same structures at different positions are respectively carried out by specific corresponding reference numerals.
Further, in order to realize directional sliding between different movable barrels, 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 movable barrels 52 between the outermost movable barrel 51 and the fixed barrel 4 and the outer side wall of the fixed barrel 4, 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 tops of the movable cylinder 52 and the fixed cylinder 4, limiting holes 11 are formed in the movable cylinder 52 and the fixed cylinder 4 provided with the limiting block 10, the limiting holes 11 are positioned below the limiting block 10, and limiting components are arranged in the strip-shaped groove 9 and at the bottom of the strip-shaped groove; when the outermost movable cylinder 51 slides up to the maximum distance, the limiting block 10 on the movable cylinder 52 adjacent to the outermost one is abutted 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 connection and fixation of the two movable cylinders are realized.
It should be noted that: the number of the strip-shaped grooves 9 can be multiple, at least one group is symmetrically arranged, and the number of the limiting blocks 10 is the same as that of the strip-shaped grooves 9. In order to make the spacing post 14 insert in the spacing hole 11 relatively easily, the top of spacing hole 11 is the inclined plane towards fixed section of thick bamboo 4 slope, and the tip of spacing post 14 is the arcwall face, can be comparatively easy in the slope through spacing hole 11 slides spacing hole 11 to finally block in the minimum diameter department of spacing hole 11, thereby realize that the connection between two adjacent movable barrels is fixed, thereby adjust the panoramic camera 3 and travel the distance between the vehicle roof, thereby better carry out the location of shooing. In the invention, the connection and fixation between the movable cylinders are all positioned in the mode. Finally, the highest height that the panoramic camera 3 can be lifted is the total length after all the movable barrels 5 are connected to each other and the innermost movable barrel 53 is connected and fixed to the fixed barrel 4. Of course, the height of each movable tube and the height of the fixed tube 4 are set according to actual needs, and at the same time, the height from the outermost movable tube 51 to the innermost movable tube 53 is gradually decreased, so that all the movable tubes can be overlapped and sleeved.
Wherein, spacing subassembly includes spacing section of thick bamboo 12, has seted up spacing groove 13 on the lateral wall of spacing section of thick bamboo 12, and the opening orientation of spacing groove 13 sets up with fixed section of thick bamboo towards adjacent movable section of thick bamboo, and the opening diameter is less than inside diameter, transversely is provided with the spacing post 14 rather than the looks adaptation in the spacing groove 13, 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 piece 15 are fixed between the groove and the limiting groove 14, so that the first elastic piece 15 is better compressed in the groove. The first elastic member 15 may be a spring, a reed, or the like having elasticity. The end face of the limiting column 14 is arc-shaped and abuts 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 piece 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 piece 15 enables the position-limiting column 14 to be inserted into the position-limiting hole 11 for limiting, and other movable cylinders 52 and 53 are connected and fixed through the cooperation 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 towards the inside of the fixed frame 61, the bent end face of the rack 81 and the inner side wall of the fixed frame 61 where the rack 81 is located are on the same plane, 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, and a stop block 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 between the innermost and outermost are bent towards the inner side walls of the adjacent fixing frames 62, 61 and are attached, the bottoms of the racks 82 are bent towards the inside of the fixing frames 62, 61 where the racks 82, 81 are located and are on the same plane with the inner side walls of the fixing frames 62, 61, and the fixing frames 61, 62 are provided with notches 16 for the racks 81, 82 to pass through; the angles of the top and/or bottom bending of the racks 8 are the same, when the movable barrel 5 rises in sequence, 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 butted with the top of the limiting barrel 12.
It should be noted that: the shape of the rack 83 on the movable cylinder 52 is similar to an "S" shape, i.e., the top and bottom of the rack 83 are bent in different directions. Whereas the size of the notch 16 is such that the guide assembly penetration is not affected. 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 fixed frame 61, so that the bottom end surface of the rack 81 is attached to the top end surface of the rack 82; similarly, the end surface of the bottom of the rack 82 bent is attached to the inner wall of the fixed frame 62, so that the bottom end surface of the rack 82 is attached to the top end surface of the rack 83. When there are multiple movable drums 52 and racks 82, so does the requirement and location for bending of racks 82.
Further, the driving mechanism comprises a sliding rail 17 which is arranged at the inner top of the storage barrel 1 and is parallel to the sliding rail, a sliding block 18 is arranged on the sliding rail 17, a fixing plate 19 is arranged on the sliding block 18, 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, and therefore the gear 24 can be finally meshed with the rack 83. One end of the bottom of the fixing plate 19 is provided with an L-shaped support plate 20, the support plate 20 is provided with a motor 21, a second elastic piece 22 is arranged between the support plate 20 and the inner wall of the storage 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 components are rotatably arranged on the output shaft 23 and positioned on two sides of the gear 24, and the outermost rack 81 is positioned in the guide components. 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 the compressed state. And the reaction force of the second elastic member 22 after being compressed causes the gear 24 to be tightly engaged with the rack 81 at all times. When the gear 24 rotates to drive the rack 81 to move to the bending part of the rack 81, the second elastic piece 22 pushes the motor 21 to move towards the rack 81 through the cooperation of the sliding rail 17 and the sliding block 18, so that the gear 24 is always meshed with the rack 81, namely, the inclined plane of the gear 24 bent with the rack 81 is also in a meshed state, so that the gear 24 drives the rack 81 to transition to the rack 82, and the like, and finally moves to the rack 83, thereby realizing the expansion and contraction of the movable cylinder 5. The guide assembly is provided to avoid the gear 24 from being deviated on the rack 8 or separated from the rack 8.
Specific: the guide assembly comprises a guide plate 25 fixed on an output shaft 23 on two sides of a gear 24 through bearings, the guide plate 25 can rotate relative to the output shaft 23, the end face of the other end of the guide plate 25 is of a connecting fork structure, a first roller 27 is rotatably arranged on the connecting fork through a rotating shaft 26, and the first roller 27 is always attached to the outer side wall of the movable cylinder 5, so that the movable cylinder 5 rolls along the vertical direction. The inner walls corresponding to the guide plates 25 are respectively provided with support plates 28 perpendicular to the guide plates 25, the side walls of each support plate 28 corresponding to the gears 24 are respectively provided with symmetrical supports, the supports are respectively provided with second rollers 29 through rotating shafts, and the second rollers 29 are in contact with the back surfaces of the racks 8. In order to avoid the second roller 29 from being separated from or deviating from the rack 8, a strip-shaped groove is arranged on the back surface 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 post 7, so that the connecting post 7 passes smoothly through the guide assembly.
Further, in order to avoid that the guide assembly is clamped between the bending part and the movable barrel 5 when passing through the bending part of the rack 8, the hole at the joint of the rotating shaft 26 and the guide plate 25 is preferably a waist-shaped hole 31 which is transversely arranged, the rotating shaft 26 is a square column, the rotating shaft 26 is prevented from rotating in the waist-shaped hole 31, the two ends of the rotating shaft 26 extending out of the guide plate 25 are inserted with bolts 32 perpendicular to the axis of the rotating shaft 26, and the rotating shaft 26 is prevented from being separated from the guide plate 25. Meanwhile, in the waist-shaped hole 31, a third elastic member 30 is disposed between the rotation shaft 26 and the inner wall of the waist-shaped hole 31, and the third elastic member 30 may be a spring, a reed, or other elastic component, so as to support the second roller 27 against the outer sidewall of the movable barrel 5. When the guide assembly needs to pass through the bending part of the rack 8, the third elastic member 30 and the waist-shaped hole 31 can provide a certain movable space for the second roller 27, so that the second roller can be successfully transited to the side wall of another movable barrel. Similarly, the rotation shafts on the second roller 29 may be set in the same manner, and will not be described in detail.
When the navigation device is used, only the motor 21 is required to be controlled to start, so that the gear 24 drives the rack 81 to walk 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 elevation of the panoramic camera 3 is insufficient at this time, only the motor 21 is required to be continuously started, so that the gear 24 drives the rack 81 to move to the bending position of the rack 81, and under the action of the second elastic piece 22, the motor 21 moves the distance between the inclined plane of the rack 81 and the vertical part, and the distance gradually increases until the gear 24 is meshed with the rack 82, and then the movable cylinder 52 and the movable cylinder sleeved in the movable cylinder are in butt joint and fixed 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 level. When the movable cylinders 5 are required to be sleeved together, the motor 21 is controlled to overturn, the racks 83, 82 and 81 are driven by the gear 24 to sequentially move downwards, and the limiting columns 14 are compressed into the limiting grooves 13 along the inclined planes at the tops of the limiting holes 11 under the action of the motor 21, so that the panoramic camera 3 is reset.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solutions of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the design spirit of the present invention.
Claims (6)
1. The high-precision navigation method based on panoramic photos is characterized by comprising the following steps of: firstly, establishing a panoramic photo reference characteristic line database, then comparing the panoramic photo taken during normal running of the vehicle with the reference characteristic line database, and immediately positioning after the result is compared; the reference characteristic line database is obtained in the following manner: according to a panoramic camera with a GPS positioning device arranged at the top of a data collection vehicle, in the running process, 360-degree photographing is carried out on the surrounding environment to form continuous panoramic photos with positioning data, a photo group 1 is obtained through aggregation, and characteristic lines are extracted from the photo group 1 independently to form a database I; then, vehicles of different types are arranged at certain distances around the data collection vehicle, and a photo group 2 is obtained by repeating the manner of obtaining the photo group 1; in the photo group 2, identifying the vehicle outline around the data collection vehicle, completely ignoring the images from the vehicle outline to the interior, and extracting characteristic lines from the images which are not ignored in the photo group 2 to form a database II; when a vehicle enters a complex terrain by means of GPS positioning, a panoramic camera positioned at the top of the vehicle starts to take a front photo in real time, combines the front photo with GPS positioning data, and then compares and positions the front photo with a database I; when a 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 smaller than L0, a panoramic camera positioned at the top of the vehicle starts to take a front photo in real time, combines the front photo with GPS positioning data, and then compares and positions the front photo with a database II;
if the shielding vehicle cannot be positioned in front, judging the height difference between the shielding vehicle and the running vehicle through the photo shot by the panoramic camera, and executing the following steps:
A1. taking the roof of a running vehicle as a horizontal line, if the height of a shielding vehicle is lower than or equal to that of the running vehicle, rotating the panoramic camera by 90 degrees towards one side, and taking a panoramic photo in a panoramic photo mode in the rotating process, wherein the photographing range of the panoramic photo is 180 degrees; if the panoramic photo still cannot be positioned, continuing to rotate to enable the shooting range of the panoramic photo to be 270 degrees until 360 degrees; comparing the finally shot panoramic photo with a database I acquired in advance, and immediately positioning after comparing out the result; if the positioning is still impossible finally, executing the step A2;
A2. controlling the navigation device to lift the height between the panoramic camera and the 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 picture, comparing with a database I acquired in advance, and immediately positioning after comparing the result;
A3. if the height of the shielding vehicle is higher than that of the driving vehicle, the panoramic camera rotates to shoot until the shooting range 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; if the positioning cannot be performed, executing the step A4;
A4. controlling a navigation device to lift the distance between the panoramic camera and the running vehicle, shooting a front photo at the height, comparing with a database II acquired in advance, positioning, and executing the step A5 if positioning fails;
A5. and under the height, the panoramic camera is matched for rotation until the shooting range of the panoramic camera is 360 degrees, finally, a panoramic picture is shot, then, the panoramic picture is compared with a database II library acquired in advance, and the panoramic picture can be immediately positioned after the result is compared.
2. The panoramic photo-based high-precision navigation device corresponding to the panoramic photo-based high-precision navigation method of claim 1, wherein: the telescopic device comprises a storage barrel (1) which is arranged at the top of a running vehicle and is hollow in the interior, a through hole (2) is formed in the top of the storage barrel (1), a telescopic mechanism is arranged in the storage barrel (1), the telescopic mechanism corresponds to the through hole (2), a panoramic camera (3) which is positioned outside the storage barrel (1) is arranged at the top of the telescopic mechanism, and a driving mechanism which drives the telescopic mechanism to perform telescopic action is arranged in the storage barrel (1); the telescopic mechanism comprises a fixed cylinder (4) fixed at the inner bottom of the storage cylinder (1), a plurality of movable cylinders (5) sleeved with each other are sleeved outside the fixed cylinder (4) in a sliding mode, the panoramic camera (3) is fixed at the top of the outermost movable cylinder (51) through a base, fixed frames (6) which are communicated with the inside of the movable cylinder (5) and are shaped like are arranged on the side wall of each movable cylinder (5), the fixed frames (6) are sleeved together, racks (8) with bending angles are vertically arranged on the outer side wall of each fixed frame (6) through connecting columns (7), and the driving mechanism is meshed with the racks (8);
the bottom of a rack (81) positioned on the outermost fixed frame (61) is bent towards the inside of the fixed frame (61), the bent end surface of the rack (81) and the inner side wall of the fixed frame (61) where the rack (81) is positioned are on the same plane, and the top of a rack (83) positioned 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 a rack (82) positioned between the innermost and the outermost fixed frames (62) is bent towards the inner side walls of adjacent fixed frames (62, 61), the bottom of the rack is bent towards the inside of the fixed frames (62, 61) where the racks (82, 81) are positioned, and the rack is arranged on the same plane with the inner side walls of the fixed frames (62, 61), and the fixed frames (61, 62) are respectively provided with a notch (16) for the racks (81, 82) to pass through; the angles of the top and/or bottom bending of the racks (8) are the same, when the movable cylinder (5) rises in sequence, the bottom bending parts of the racks (81, 82) are just butted with the top bending parts of the adjacent racks (82, 83), and meanwhile, the limiting block (10) is just butted with the top of the limiting cylinder (12).
3. The panoramic photo-based high-precision navigation device of claim 2, wherein: symmetrical strip-shaped grooves (9) are vertically formed in the inner wall of the movable barrel (5), limiting blocks (10) which are matched with the strip-shaped grooves (9) are respectively arranged on the outer side walls of the rest movable barrels (52) between the outermost movable barrels (51) and the fixed barrels (4) and the outer side walls of the fixed barrels (4), the limiting blocks (10) are arranged on the side walls which are close to the tops of the movable barrels (52) and the fixed barrels (4), limiting holes (11) are formed in the movable barrels (52) and the fixed barrels (4) which are provided with the limiting blocks (10), the limiting holes (11) are located below the limiting blocks (10), and limiting components are arranged in the strip-shaped grooves (9) and at the bottoms of the limiting blocks. When the outermost movable cylinder (51) slides upwards to the maximum distance, the limiting block (10) on the movable cylinder (52) adjacent to the outermost movable cylinder is abutted against the limiting component, and the limiting column (14) on the limiting component is just inserted into the limiting hole (11) for limiting.
4. A panoramic photo based high precision navigation device as recited in claim 3 wherein: the limiting assembly comprises a limiting cylinder (12), a limiting groove (13) is formed in the side wall of the limiting cylinder (12), a limiting column (14) matched with the limiting groove is transversely arranged in the limiting groove (13), the limiting column (14) is connected with the limiting cylinder (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 an adjacent movable cylinder (52) and the outer side wall of a fixed cylinder (4), and at the moment, the first elastic piece (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 first elastic piece (15) after compression enables the position limiting column (14) to be inserted into the position limiting hole (11) for position limiting.
5. The panoramic photo-based high-precision navigation device of claim 2, wherein: the driving mechanism comprises a sliding rail (17) which is arranged at the inner top of the storage barrel (1) and is parallel to the sliding rail, a sliding block (18) is arranged on the sliding rail (17), a fixing plate (19) is arranged on the sliding block (18), a support plate (20) which is L-shaped 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 storage barrel (1), a gear (24) which is meshed with an outermost rack (81) is fixed on an output shaft (23) of the motor (21), a guide assembly is arranged on two sides of the gear (24) in a rotating mode, and the outermost rack (81) is arranged in the guide assembly.
6. The panoramic photo-based high-precision navigation device of claim 5, wherein: the guide assembly comprises guide plates (25) which are arranged on output shafts (23) located on two sides of a gear (24) in a rotating mode, the end faces of the other ends of the guide plates (25) are of a connecting fork structure, first rollers (27) are rotatably arranged on connecting forks through rotating shafts (26), supporting plates (28) are arranged on corresponding inner walls of the guide plates (25), symmetrical supporting seats are respectively arranged on corresponding side walls of the supporting plates (28) and the gear (24), second rollers (29) are respectively arranged on the supporting seats in a rotating mode through rotating shafts, and the second rollers (29) are in back contact with racks (8).
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