CN206757401U - The space positioning system of trackless Ferris Wheel - Google Patents

Abstract

A kind of space positioning system of trackless Ferris Wheel,Apply it is photogrammetric in single image space resection principle,Polylith coding maker plate is installed above the travel space of trackless Ferris Wheel,Infrared LED lamp bead is regularly installed on per block mark plate,The space physics coordinate of lamp bead is measured by total powerstation,The mark plate directly over car body is shot with the infrared camera being installed on car,The image coordinate of lamp bead in the picture on the coding and mark plate of clapped mark plate is identified by the image processing algorithm of dsp interface plate,The physical space coordinates and image coordinate of lamp bead, which are substituted into single image space resection principle, can calculate the space physics coordinate of camera,So as to obtain the space physics coordinate of dolly,Therefore more reasonable structure of the present utility model,Using after this alignment system adjust Ferris Wheel run trace when will not increase cost,And then really realize any walking of trolley-bus in space.

Description

The space positioning system of trackless Ferris Wheel

Technical field

It the utility model is related to a kind of space positioning system and method for trackless Ferris Wheel.

Background technology

Tradition tour formula recreation facility be all carrying trolley travelling on fixed track, and limited by track, track The run trace of car can be also subject to certain restrictions.In recent years there is new-type trackless vehicle device, it is blurred such as Hong Kong Disneyland Villa garden project application has arrived trolley-bus technology.Trackless vehicle device in the market is mostly widely used using industrial AGV dollies Magnetic field guide mode, pass to alternating current in the underground preburied cable of the run trace of plan, pre-buried cable, so as to The magnetic field of alternation is produced around cable, is installed on dolly chassis and picks up electrically and magnetically field detecting element, by magnetic induction effect simultaneously Vehicle-mounted power supply and navigation are carried out for dolly.Although the current relative maturity of this airmanship, is applied on recreation facility In the presence of some limitations, such as due to needing the pre-buried cable under run trace, this not only adds construction cost, and once construct Completion is then difficult to change run trace, in addition, also being limited by buried cable, radius of turn can not be too small, it is impossible to realizes picture " right-angled bend " comparison stimulus, joyful forms of motion etc..

The content of the invention

The purpose of this utility model is to be overcome the deficiencies in the prior art, it is proposed that a kind of trackless of more reasonable structure is seen Look at the space positioning system of car, using cost will not be increased when adjusting the run trace of Ferris Wheel after this alignment system, and then Really realize any walking of trolley-bus in space.

In order to solve above-mentioned technical problem, the utility model uses following technical proposals：

A kind of space positioning system of trackless Ferris Wheel, including polylith be located at mark plate above Ferris Wheel travel space, Infrared camera and dsp interface plate on trolley-bus car body, wherein：

Multiple index points are provided with the mark plate, single or multiple be arranged in a straight line is installed on each index point Infrared lamp bead, in addition to head and the tail index point, the distance between contiguous tokens point is identical, and less than between head and the tail index point away from From；The distance between nearest index point of contiguous tokens plate is more than the distance between head and the tail index point of every block of plate；

The infrared camera is fixed on trolley-bus car body and towards mark plate；

The dsp interface plate is the pcb board with dsp chip, and it is connected with the infrared camera.

In the improvement project to the space positioning system of above-mentioned trackless Ferris Wheel, filter is installed additional before the infrared camera Mating plate.

Compared with prior art, the beneficial effects of the utility model：Due to it apply it is photogrammetric in single image space Resection principle, polylith coding maker plate is installed above the travel space of trackless Ferris Wheel, there are rule on every block mark plate Infrared LED lamp bead is installed to rule, the space physics coordinate of lamp bead is measured by total powerstation, with the infrared camera being installed on car Mark plate directly over car body is shot, the volume of clapped mark plate is identified by the image processing algorithm of dsp interface plate The image coordinate of lamp bead in the picture on code and mark plate, the physical space coordinates and image coordinate of lamp bead are substituted into single as empty Between resection principle can calculate the space physics coordinate of camera, so as to obtain the space physics coordinate of dolly, so After completing positioning, the vehicle control syetem of dolly is contrasted with the travel track of this coordinate and pre-programmed, so as to correct itself Course, the function of navigation is realized, when the default travel track of Ferris Wheel will change, it is only necessary to operate vehicle-mounted control system System reprogramming, without being adjusted to alignment system, it can be seen that cost of the present utility model is than tradition positioning system To unite much lower, there is cost advantage, it need not reduce difficulty of construction as traditional AGV dollies in underground preburied cable, And programming realization is leaned on completely without the limitation of pre-buried cable, the travel path of trolley-bus so that cleverer in playing method planning It is living, also allow for transforming project, therefore more reasonable structure of the present utility model, toured using after this alignment system in adjustment Cost will not be increased during the run trace of car, and then really realize any walking of trolley-bus in space.

The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings：

【Brief description of the drawings】

Fig. 1 is the sample car structural representation of the utility model embodiment；

Fig. 2 is the mark plate schematic diagram of the utility model embodiment；

Fig. 3 is the total arrangement structural representation of the utility model embodiment；

Fig. 4 is single image space resection schematic diagram.

【Embodiment】

A kind of space positioning system of trackless Ferris Wheel, as shown in Figures 1 to 4, including polylith is located above travel space Mark plate 1, infrared camera 3 and dsp interface plate on trolley-bus car body 2（Not shown in figure）, wherein：

As shown in Fig. 2 multiple index points 11 are provided with the mark plate 1（Here, all index points are arranged in n-type）, Single or multiple infrared lamp beads are installed on each index point 11, wherein single lamp bead represents coding " 0 ", it is multiple to be arranged in directly The infrared lamp bead of line represents coding " 1 ", a binary coding 00010100 is combined into order along n-type arrangement, then such as Fig. 2 The mark plate of signal is encoded to 0x14.On the other hand, infrared camera 3 is fixed on trolley-bus car body 2, before camera generally Optical filter can be installed additional to remove the interference of visible ray, camera is connected to one block of dsp interface plate（It is using dsp chip as core Pcb board）On, a whole set of image procossing and resection algorithm are run on the interface board, dsp interface plate is a kind of common numeral Signal-processing board, it will not be described in detail herein.Using when, dolly is walked in space, and camera is carried out against the mark plate 1 of surface Shooting, as shown in Figure 3.After shooting obtains one including at least one piece of complete mark plate, the image procossing journey in dsp interface plate Sequence can first judge how many hot spot in image and find their centre coordinate（Index point on respective flag plate is infrared LED lamp bead）, then judge which hot spot belongs to same according to the centre distance between hot spot and hot spot by clustering algorithm Mark plate and it is mutual put in order, a shaped laser spot or wire hot spot may determine that by the relative size of hot spot It is " 0 " or " 1 " so as to determine the bit flag point, so far the coding on a block mark plate can completely be drawn, by tabling look-up The space physics coordinate of each index point on this mark plate can be drawn；With reference to the space physics coordinate of index point, image coordinate, take the photograph As head parameter etc., using list as resection principle algorithm can draw the elements of exterior orientation of camera, that is, camera place Space physics coordinate and posture.Because camera is integrally fixed on car body, therefore camera and the geometry at car body center close System is also fixed, as long as the space physics coordinate for obtaining camera can be released, then the space physics coordinate of car body can lead to Cross fixed geometrical relationship to be converted to, so as to the locus of Ferris Wheel.After Ferris Wheel obtains the position of car body, vehicle-mounted control System processed assesses the departure degree of car body and planned course according to gained car body coordinate and the travel track data of pre-programmed, Suitable control algolithm guiding trolley-bus is chosen according to this departure degree to walk along desired trajectory.Vehicle-mounted control system Compare, can use industrial PLC or industry control PC or other etc..

Fig. 4 show single image space resection principle, is widely used to physical space field, will not be described in detail herein.

As seen from the above, the utility model is that camera is installed on trackless vehicle device, then in traveling space above Installation Mark point, location navigation is carried out to trolley-bus by shooting index point, should be not required in this way then at embedded underground Cable, the travel track planning of trolley-bus is more flexible, and alignment system cost is cheaper, and is easy to repair travel track Change, be advantageous to transform project.

Although the utility model is described in detail with reference to above example, by the disclosure for people in the art Member is not it is readily apparent that departing from the described principle of the present utility model of claim restriction and the situation of scope Under, the utility model can be made a variety of changes or be changed.Therefore, the detailed description of the embodiment of the present disclosure is only used for explaining, and The utility model is not intended to limit, but is defined by the subject-matter of the claims the scope of protection.

Claims (2)

1. a kind of space positioning system of trackless Ferris Wheel, it is characterised in that be located at including polylith above Ferris Wheel travel space Mark plate, the infrared camera on trolley-bus car body and dsp interface plate, wherein：

Multiple index points are provided with the mark plate, be provided with each index point it is single or multiple be arranged in a straight line it is red Outer lamp bead, in addition to head and the tail index point, the distance between contiguous tokens point is identical, and less than the distance between head and the tail index point；Phase The distance between nearest index point of adjacent mark plate is more than the distance between head and the tail index point of every block of plate；

The infrared camera is fixed on trolley-bus car body and towards mark plate；

The dsp interface plate is the pcb board with dsp chip, and it is connected with the infrared camera.

2. the space positioning system of trackless Ferris Wheel according to claim 1, it is characterised in that in the infrared camera Preceding installation optical filter.