CN114942641A - Road bridge autonomous walking marking system controlled by multiple sensor data fusion stereoscopic vision - Google Patents
Road bridge autonomous walking marking system controlled by multiple sensor data fusion stereoscopic vision Download PDFInfo
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Abstract
A road bridge autonomous walking marking-off system controlled by multiple sensor data fusion stereoscopic vision comprises: the system comprises a scribing vehicle, a plurality of groups of laser radar sensing devices and a plurality of groups of stereoscopic vision control and controllers, wherein each controller comprises a scribing vehicle automatic navigation module and a scribing control module; the scribing vehicle automatic navigation module and the scribing control module transmit signals by means of the ROS intermediate communication module; and when the second laser radar sensing device and the second binocular vision sensing device detect that accumulated errors exist between the lines marked by the line marking machine and the lines given by navigation, the accumulated errors are fed back to the controller, and the controller instructs the end mechanism to adjust so as to correct the deviation. The control connection design is reasonable, the controller controls a plurality of groups of laser radar sensing devices and binocular vision sensing devices to be integrated, and the forward navigation and obstacle avoidance of the scribed automatic scribing vehicle can be detected, and the relative position of the scribing vehicle and the cement railing at the side of the highway can be positioned; and the error fusion and compensation enable the motion trail of the scribing machine to be adjusted.
Description
Technical Field
The invention relates to a road and bridge autonomous walking scribing system controlled by multiple sensor data fusion stereoscopic vision.
Background
According to market research and relevant published documents, the existing marking-off of urban and rural roads, expressways and bridge roads is manual marking-off. Although the patent documents and some technical result documents describe that the independent application technologies of the laser radar and the stereoscopic vision sensing technology for automatic marking and ranging are mature, the independent application technologies are not found in the automatic road marking machine.
The walking route of the automatic walking scribing machine is consistent with the scribing route, if the positioning precision of a Beidou (GPS) navigation system is still in the centimeter level, particularly on a highway, the positioning precision is influenced by roadside high-rise buildings, mountain bodies and high objects, aerial cloud layers and weather, and the error is at least 20-50 centimeters, so that the problem is a problem which troubles the application of an automatic scribing machine in practical engineering. In fact, the drawing line comprises two errors, namely an error of Beidou navigation during machine walking, and an error generated during drawing and drawing of the tail end mechanism of the drawing line, and the two errors are added to form a comprehensive error so that the drawing line is inaccurate. For example, the document describes that a machine vision is used for searching a waterline to realize accurate positioning ([1] stone epiblema, an unmanned highway marking vehicle, Shandong province, Shandong transport institute, 2020-12-30. the system mainly uses image recognition to guide marking equipment to realize posture adjustment and automatic driving along a preset route, also has unavoidable navigation detection errors, is unreasonable in system control setting, and can also disclose a multi-sensor data fusion stereoscopic vision control road and bridge autonomous walking marking system.
Therefore, a road and bridge autonomous walking scribing system controlled by multiple sensor data fusion stereoscopic vision is developed.
Disclosure of Invention
The invention aims to solve the technical problem of providing a road and bridge autonomous walking and scribing system controlled by multiple sensor data fusion stereoscopic vision, which is reasonable in control connection design, controls a plurality of groups of laser radar sensing devices and binocular vision sensing devices to be integrated into a whole through a controller, and can implement forward navigation and obstacle avoidance of a scribing vehicle automatic scribing vehicle for detecting scribing and positioning of the relative position of the scribing vehicle and a highway side cement railing; adjusting the motion trail of the scribing machine by means of error fusion and compensation; thereby making the scribing car easy to implement and apply.
In order to achieve the purpose, the technical scheme adopted by the invention is to provide a road and bridge autonomous walking scribing system controlled by multiple sensor data fusion stereoscopic vision, which is characterized by comprising the following steps:
marking off a vehicle;
a first lidar sensing arrangement and a first binocular vision sensing arrangement, and
a second lidar sensing device and a second binocular vision sensing device;
the controller is in communication connection with the first laser radar sensing device, the first binocular vision sensing device, the second laser radar sensing device and the second binocular vision sensing device; the controller comprises an automatic navigation module of the scribing vehicle and a scribing control module; the automatic navigation module and the scribing control module of the scribing vehicle are used for carrying out walking control, tail end mechanism scribing control, a first laser radar sensing device, a first binocular vision sensing device, a second laser radar sensing device and a second binocular vision sensing device which are included by the scribing vehicle through the ROS middle communication module, and are in interactive linkage so as to send out an instruction;
and when the second laser radar sensing device and the second binocular vision sensing device detect that accumulated errors exist between the lines marked by the line marking machine and the lines given by navigation, the accumulated errors are fed back to the controller, and the controller instructs the end mechanism to adjust so as to correct the deviation.
In one or more embodiments of the invention, the automatic guidance module of the line marking vehicle comprises a positioning module and a path module, and the automatic guidance module of the line marking vehicle comprises a positioning module and a path module which are in bidirectional communication connection with the ROS intermediate communication module.
In one or more embodiments of the present invention, the line marking control module comprises a point cloud algorithm reconstruction module and an end mechanism; the point cloud algorithm reconstruction module and the end mechanism are in two-way communication connection with the ROS intermediate communication module.
In one or more embodiments of the invention, the first lidar sensing device and the first binocular vision sensing device are adapted for autonomous line marking vehicle forward navigation and obstacle avoidance.
In one or more embodiments of the invention, the second lidar sensing means and the second binocular vision sensing means are adapted for positioning of the line marking vehicle relative to the roadside cement barrier.
In one or more embodiments of the invention, the second binocular vision sensing device is used for detecting the size of the drawn line by the end mechanism of the line drawing machine and feeding back the detected size to the controller;
when the accumulated error between the detected line and the line given by navigation is within a set range value, the tail end mechanism is adjusted to correct the deviation in real time;
when the accumulated error between the detected line and the navigation line exceeds the set range value, the error data is transmitted to the laser sensor, and the controller walks the path of the vehicle through error fusion and compensation.
In one or more embodiments of the present invention, the second binocular vision sensing device detects the width of the scribe line and the distance between the width center line and the front left handrail in the scribe line, and feeds back the distance between the corresponding width center line and the front left handrail to the controller for comparison with the second lidar sensing device, and determines whether the distance is within the tolerance range; if the error exists, the error data is sent to the controller for correction.
Compared with the background art, the invention has the following effects:
by adopting the scheme, the control connection design is reasonable, the controller controls a plurality of groups of laser radar sensing devices and binocular vision sensing devices to be integrated, and the front navigation and obstacle avoidance of the automatic marking vehicle for marking vehicle running for detecting and marking and the positioning of the relative position of the marking vehicle and the cement railing on the side of the highway can be implemented; adjusting the motion trail of the scribing machine by means of error fusion and compensation; thereby making the scribing car easy to implement and apply.
Drawings
FIG. 1 is a schematic diagram of a road and bridge autonomous walking scribing system with multi-sensor data fusion stereo vision control according to an embodiment of the present invention;
FIG. 2 is a control integration block diagram of a road and bridge autonomous walking scribing system with multi-sensor data fusion stereo vision control according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the state of the road bridge autonomous walking scribing system with multi-sensor data fusion stereo vision control according to one embodiment of the present invention;
those skilled in the art will appreciate that the shapes, configurations and concepts illustrated in the accompanying drawings are not necessarily to scale, and that the various features and elements of the drawings may be exaggerated or minimized in size to more clearly illustrate the embodiments of the present invention described herein.
Detailed Description
1-2, however, those skilled in the art will readily appreciate that the detailed description given herein with respect to these figures is for explanatory purposes only and should not be construed as limiting, and that the present embodiment provides a multi-sensor data fusion stereo vision controlled road bridge autonomous walking striping system comprising: the line marking vehicle comprises a line marking vehicle 1, a first laser radar sensing device 2, a first binocular vision sensing device 3, a second laser radar sensing device 4, a second binocular vision sensing device 5 and a controller 6, wherein the controller 6 is in communication connection with the first laser radar sensing device 2, the first binocular vision sensing device 3, the second laser radar sensing device 4 and the second binocular vision sensing device 5; the controller 5 comprises an automatic scribing vehicle navigation module and a scribing control module; the automatic navigation module and the scribing control module of the scribing vehicle are used for interactively linking the walking control, the tail end mechanism scribing control, the first laser radar sensing device, the first binocular vision sensing device, the second laser radar sensing device and the second binocular vision sensing device which are included by the scribing vehicle by means of the ROS middle communication module so as to send an instruction.
When the second laser radar sensing device and the second binocular vision sensing device detect that accumulated errors exist between the lines marked by the line marking machine and the lines given by navigation, the accumulated errors are fed back to the controller 6, and the controller instructs the end mechanism 7 to adjust so as to correct the deviation.
The line marking vehicle automatic navigation module comprises a positioning module and a path module, and the line marking vehicle automatic navigation module comprises a positioning module, a path module and an ROS middle communication module which are in two-way communication connection.
The scribing control module comprises a point cloud algorithm reconstruction module and a terminal mechanism; the point cloud algorithm reconstruction module and the end mechanism are in two-way communication connection with the ROS intermediate communication module. The first laser radar sensing device and the first binocular vision sensing device are matched for the forward navigation and obstacle avoidance of the automatic line marking vehicle. A second lidar sensing means and a second binocular vision sensing means adapted to locate the position of the line marking vehicle relative to the roadside cement barrier.
The second binocular vision sensing device is used for detecting the size of the drawn line by the tail end mechanism of the line drawing machine and feeding back the detected size to the controller; when the accumulated error between the detected line and the line given by navigation is within a set range value, the tail end mechanism is adjusted to correct the deviation in real time; when the accumulated error between the detected line and the navigation line exceeds the set range value, the error data is transmitted to the laser sensor, and the controller walks the path of the vehicle through error fusion and compensation. The second binocular vision sensing device detects the width of the scribed line and the distance between the width center line and the front left railing in the scribed line, and the distance is fed back to the controller for comparison with the distance between the corresponding width center line and the front left railing measured by the second laser radar sensing device, so as to judge whether the distance is within the tolerance range; if the error exists, the error data is sent to the controller for correction. In this way, two groups of laser radars are used for providing data for autonomous forward navigation and vehicle body positioning of the scribing machine 1, the first group is used for forward navigation of the automatic scribing vehicle, the second group is used for accurate positioning of the relative position of the scribing vehicle and the cement railing on the side of the highway, the type with the detection accuracy of 2mm of the laser radar can be selected, and the relative positioning ensures that the scribing line is parallel to the railing and can also meet the requirements of straight lines and arc lines; simultaneously, two sets of three-dimensional vision are used, a first set of binoculars are used for walking route navigation and real-time obstacle avoidance, data of the binoculars are fused with data of a first set of laser radar to realize accurate navigation and obstacle avoidance, binocular vision of the binocular vision sensing device can detect the size of a drawn line by a line marking machine end mechanism, when the detected drawn line and the line provided by navigation have accumulated errors, the line marking machine end mechanism is controlled by the vision to carry out micro adjustment, deviation is corrected in real time, when the error exceeds the micro adjustment amount of the mechanism, large error data are transmitted to a laser sensor, and the controller walks the path of the vehicle through error fusion and compensation.
The binocular vision sensing device can preferably use a YOLOV5 algorithm to analyze the road, the railings at two sides, obstacles and organisms and images to accurately identify the road ahead, ensure that the relative distance L1 between the vehicle and the railings is unchanged, and identify overtaking, sidewalk and road obstacles. The scribed dimension of the second binocular vision sensing device can be used, the scribed width is included, the distance between the center line of the width and the left railing ahead is calculated to be within the scribing tolerance range, the dimension is compared with the dimension measured by the second laser radar sensing device 4, and if an error exists, the error data is sent to the control system for correction; the height of the end marking mechanism and the ground is required to be kept at a designed height value, if the height is within a tolerance range, the control is not changed, and if the height is too high or too low, the controller adjusts.
As shown in fig. 3, when the tail end marking mechanism finishes drawing a line and returns, and draws a second line, the drawn line is detected by the first binocular vision sensing device 3, and the calculated line and the barrier distance data measured by the second binocular vision sensing device 5 are calculated and fused; carrying out multi-target classification identification by adopting a YOLOV5 algorithm, detecting the distance between the center line of the first drawn line and the center line of the current drawn line, and controlling the relative position of the vehicle in real time, wherein the relative position calculation is fused with the laser radar data; the classification recognition algorithm can classify objects such as outgoing lines, obstacles, vehicles, organisms and the like; and then, conducting obstacle avoidance path planning through data fusion of vision and the laser radar. Therefore, the control connection design is reasonable, and the controller controls a plurality of groups of laser radar sensing devices and binocular vision sensing devices, so that the forward navigation and obstacle avoidance of the marking vehicle-running automatic marking vehicle for detecting marking and the positioning of the relative position of the marking vehicle and the cement railing on the side of the highway can be implemented; adjusting the motion trail of the scribing machine by means of error fusion and compensation; thereby making the scribing car easy to implement and apply.
The foregoing description, for purposes of explanation, used specific nomenclature to provide a thorough understanding of the embodiments. However, it will be apparent to one skilled in the art that the specific details are not required in order to practice the embodiments. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and modifications and substitutions based on the known art are possible within the scope of the present invention, which is defined by the claims.
Claims (8)
1. The utility model provides a road bridge autonomous walking marking off system of multiple sensor data fusion stereovision control which characterized in that, it includes:
marking off a vehicle;
a first lidar sensing device and a first binocular vision sensing device arranged on the line marking vehicle, an
A second lidar sensing device and a second binocular vision sensing device;
the controller is in communication connection with the first laser radar sensing device, the first binocular vision sensing device, the second laser radar sensing device and the second binocular vision sensing device; the controller comprises an automatic navigation module of the scribing vehicle and a scribing control module; the automatic navigation module and the scribing control module of the scribing vehicle are used for interactively linking a walking control device, a tail end mechanism scribing control device, a first laser radar sensing device, a first binocular vision sensing device, a second laser radar sensing device and a second binocular vision sensing device which are included by the scribing vehicle by virtue of the ROS intermediate communication module so as to send an instruction;
and when the second laser radar sensing device and the second binocular vision sensing device detect that accumulated errors exist between the lines marked by the line marking machine and the lines given by navigation, the accumulated errors are fed back to the controller, and the controller instructs the end mechanism to adjust so as to correct the deviation.
2. The road bridge autonomous walking scribing system for multiple sensor data fusion stereoscopic vision control according to claim 1, wherein: the automatic navigation module of the line marking vehicle comprises a positioning module and a path module, and the automatic navigation module of the line marking vehicle comprises a positioning module, a path module and an ROS middle communication module which are in two-way communication connection.
3. The multi-sensor data fusion stereoscopic vision controlled road-bridge autonomous walking scribing system of claim 2, wherein: the scribing control module comprises a point cloud algorithm reconstruction module and a terminal mechanism; the point cloud algorithm reconstruction module and the end mechanism are in bidirectional communication connection with the ROS intermediate communication module.
4. The road bridge autonomous walking scribing system controlled by multiple sensor data fusion stereo vision according to claim 3, characterized in that: the first laser radar sensing device and the first binocular vision sensing device are matched for forward navigation and obstacle avoidance of the automatic line marking vehicle.
5. The multi-sensor data fusion stereovision controlled road-bridge autonomous walking line-drawing system of claim 4, wherein: the second laser radar sensing device and the second binocular vision sensing device are used for positioning the relative position of the marking vehicle and the cement railing at the side of the road.
6. The multi-sensor data fusion stereovision controlled road-bridge autonomous walking line-drawing system of claim 5, wherein: the second binocular vision sensing device is used for detecting the size of the drawn line by the tail end mechanism of the line drawing machine and feeding back the detected size to the controller;
when the accumulated error between the detected line and the line given by navigation is within a set range value, the tail end mechanism is adjusted to correct the deviation in real time;
when the accumulated error between the detected line and the navigation line exceeds the set range value, the error data is transmitted to the laser sensor, and the controller walks the path of the vehicle through error fusion and compensation.
7. The multi-sensor data fusion stereovision controlled road-bridge autonomous walking line-drawing system of claim 6, wherein: the second binocular vision sensing device detects the width of the scribed line and the distance between the width center line and the front left railing in the scribed line, and the distance is fed back to the controller for comparison with the distance between the corresponding width center line and the front left railing measured by the second laser radar sensing device, so as to judge whether the distance is within the tolerance range; if the error exists, the error data is sent to the controller for correction.
8. The multi-sensor data fusion stereovision controlled road-bridge autonomous walking line-drawing system of claim 7, wherein: the height of the tail end marking mechanism and the ground keeps a designed height value, height deviation occurs, and the second binocular vision sensing device feeds back to the controller for adjustment.
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| CN115509122A (en) * | 2022-11-21 | 2022-12-23 | 山东高速集团有限公司创新研究院 | Online optimization control method and system for unmanned line marking vehicle based on machine vision navigation |
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| CN115509122A (en) * | 2022-11-21 | 2022-12-23 | 山东高速集团有限公司创新研究院 | Online optimization control method and system for unmanned line marking vehicle based on machine vision navigation |
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