CN112256007A - Auxiliary positioning system for reflective sticker - Google Patents
Auxiliary positioning system for reflective sticker Download PDFInfo
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- CN112256007A CN112256007A CN201910594083.4A CN201910594083A CN112256007A CN 112256007 A CN112256007 A CN 112256007A CN 201910594083 A CN201910594083 A CN 201910594083A CN 112256007 A CN112256007 A CN 112256007A
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- 238000012545 processing Methods 0.000 claims abstract description 16
- 238000012937 correction Methods 0.000 claims abstract description 15
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000010586 diagram Methods 0.000 description 12
- 230000007613 environmental effect Effects 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
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Abstract
The invention provides an auxiliary positioning system for reflective stickers, which comprises a plurality of reflective stickers and a mobile platform. The reflective sticker is arranged in a navigation space. The mobile platform comprises a map establishing module, a positioning module, a laser scanning and analyzing module, a coordinate processing module, a judging and comparing module and a correcting module. The map building module is used for building a whole-area map corresponding to the navigation space. The positioning module is used for positioning a positioning coordinate. The laser scanning analysis module is used for scanning the navigation space and acquiring a scanning azimuth distance coordinate of the reflective sticker relative to the mobile platform. The coordinate processing module forms a positioning azimuth distance coordinate according to a sticker point coordinate and the positioning coordinate. The judgment and comparison module compares the scanning azimuth distance coordinate with the positioning azimuth distance coordinate, and corrects the positioning coordinate through the correction module.
Description
Technical Field
The invention relates to a positioning system, in particular to an auxiliary positioning system for a reflective sticker.
Background
With the progress of science and technology, robots are widely applied, and are applied to the fields of carrying, serving, food delivery and the like. Positioning is a very important technique for robots.
Generally, the positioning of a robot requires an on-line state estimation (on-line spatial state estimation), wherein the robot needs to estimate its position in a global coordinate system. However, as the robot moves in the navigation space corresponding to the global coordinate system, the robot usually changes the environmental feature in the navigation space and the mileage error accumulated by the odometer during the movement, which further affects the positioning accuracy of the robot. When the robot is positioned in a deviated manner, the robot may be positioned in a wrong way, a wrong moving path may be generated, and an error in determining an obstacle may be caused. Thereby making the robot unable to reach the instruction and possibly even causing damage to the robot. Even though the robots are popularized day by day, the manufacturing cost and the maintenance price of the robots are still not good.
Disclosure of Invention
In view of the positioning problems faced by robots in the prior art. The invention mainly aims to provide an auxiliary positioning system for a reflective sticker, which is used for assisting a robot in positioning so as to solve the problems in the prior art.
The invention aims to solve the problems in the prior art, and adopts a necessary technical means to provide an auxiliary positioning system for a reflective sticker, which comprises a plurality of reflective stickers and a mobile platform. The reflective sticker is arranged in a navigation space. The mobile platform comprises a map establishing module, a positioning module, a laser scanning and analyzing module, a coordinate processing module, a judging and comparing module and a correcting module.
The map building module is used for building a whole-area map corresponding to the navigation space, and enabling each reflective sticker to respectively have at least one first reflective area and at least one second reflective area which are arranged according to an arrangement code, and each arrangement code corresponds to a sticker point coordinate where each reflective sticker is located. And the positioning module is electrically connected with the map establishing module and used for positioning a positioning coordinate on the whole area map.
The laser scanning analysis module is used for generating a laser to scan the navigation space so as to receive a reflected signal reflected back from the navigation space, so as to analyze a signal intensity, when a background area of the navigation space is scanned, the signal intensity is a background reflection intensity, when one of the reflection stickers in the navigation space is scanned, the signal intensity is a sticker reflection intensity with the intensity larger than that of the background reflection signal, when the signal intensity is the sticker reflection intensity, a scanning azimuth distance coordinate of the scanned reflection sticker relative to the mobile platform is further obtained, and the corresponding arrangement code is analyzed from the reflection signal.
And the coordinate processing module is electrically connected with the laser scanning analysis module and used for receiving the arrangement codes and converting the arrangement codes into the sticker point coordinates of the scanned reflective stickers, and the sticker point coordinates and the positioning coordinates form a positioning azimuth distance coordinate. And the judgment comparison module is electrically connected with the coordinate processing module and the laser scanning analysis module and is used for receiving and comparing the scanning azimuth distance coordinate and the positioning azimuth distance coordinate so as to generate a correction signal. And the correction module is electrically connected with the judgment and comparison module and the map building module and used for correcting the positioning coordinates of the whole area map according to the correction signal after receiving the correction signal.
Based on the above-mentioned technical solutions, an accessory technical solution derived from the present invention is to make each of the reflective stickers in the reflective sticker auxiliary positioning system include a body layer and at least one mask layer. The body layer is provided with a reflecting surface. The mask layer covers part of the light-reflecting surface, so that a second reflecting area is formed on the part, covered by the mask layer, of the light-reflecting surface, and a first reflecting area is formed on the part, not covered by the mask layer, of the light-reflecting surface.
Based on the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to arrange each of the reflective stickers in the reflective sticker auxiliary positioning system on a fixed object in the navigation space.
Based on the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the positioning module in the reflective sticker auxiliary positioning system include a mileage calculating unit, a direction unit and a positioning unit. The mileage calculation unit is used for calculating a mileage value moved by the mobile platform. The direction unit is used for sensing a moving direction of the moving platform. And the positioning unit is electrically connected with the mileage calculation unit and the direction unit and used for positioning a positioning coordinate by utilizing the mileage numerical value and the moving direction.
Based on the above-mentioned necessary technical means, an accessory technical means derived from the present invention is a laser scanning analysis module in the reflective sticker auxiliary positioning system, which comprises a laser emitting unit, a receiving unit, a judging unit and an analysis unit. The laser emitting unit is used for generating laser. The receiving unit is used for receiving the reflected signal. And the judging unit is used for judging whether the signal intensity of the reflected signal is the sticker reflection intensity or not. And the analysis unit is used for acquiring the scanning azimuth distance coordinate and analyzing the arrangement code from the reflection signal when the judgment unit judges that the signal intensity is the reflection intensity of the sticker.
Based on the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is that the coordinate processing module in the reflective sticker auxiliary positioning system comprises a coordinate calculation unit, and the coordinate calculation unit subtracts the sticker point coordinate from the positioning coordinate to form a positioning azimuth distance coordinate.
Based on the above-mentioned necessary technical means, an accessory technical means derived by the present invention is that the judgment and comparison module in the reflective sticker auxiliary positioning system comprises a judgment and comparison unit, and the judgment and comparison unit subtracts the scanning azimuth distance coordinate from the positioning azimuth distance coordinate to generate a correction signal accordingly.
Based on the above-mentioned necessary technical means, an auxiliary technical means derived from the invention is to make the reflection intensity of the sticker in the reflective sticker auxiliary positioning system greater than five times of the background reflection signal.
In summary, the auxiliary positioning system for the reflective sticker provided by the present invention utilizes the reflective sticker and the mobile platform to correct the positioning coordinates in the whole area map when the scanning azimuth distance coordinate is judged to be different from the positioning azimuth distance coordinate.
Drawings
FIG. 1 is a block diagram of a reflective sticker assisted positioning system according to a preferred embodiment of the present invention;
FIG. 2 is a perspective view of a reflective sticker positioning system according to a preferred embodiment of the present invention;
FIG. 3 is a schematic view of a map of a whole area of a reflective sticker assisted positioning system according to a preferred embodiment of the present invention;
FIG. 4 is a graph showing the background reflection signal strength of the reflective sticker assisted positioning system provided by the present invention;
FIG. 5 is a schematic view of a map of a whole area showing a reflective sticker assisted positioning system provided by the present invention;
FIG. 6 is a graph showing the intensity of the sticker reflection signal for the reflective sticker assisted positioning system provided by the present invention;
FIG. 7 is a schematic diagram of a map of a whole area of a reflective sticker assisted positioning system according to a preferred embodiment of the present invention;
FIG. 8 is a perspective view of a reflective sticker positioning system according to a preferred embodiment of the present invention;
FIG. 9 is a schematic diagram showing another intensity of the sticker reflection signal for the reflective sticker assisted positioning system provided by the present invention; and
FIG. 10 is a schematic diagram showing a corrected map of a full area of the reflective sticker assisted positioning system of the present invention.
Description of the reference numerals
100 reflection sticker auxiliary positioning system
1 moving platform
11 map building module
12 positioning module
121 mileage calculation unit
122 direction unit
123. Positioning unit
13 laser scanning analysis module
131 laser emitting unit
132 receiving unit
133 judging unit
134 analysis unit
14 coordinate processing module
141 coordinate calculation unit
15 judging and comparing module
151 judging and comparing unit
16 correction module
2a, 2b, 2c reflective sticker
21a, 21b, 21c bulk layer
22a, 22b, 22c mask layer
3. 4, 5 fixed article
AM, AC map azimuth
AS scanning azimuth
C1, C1a, C1C location coordinates
C2a, C2b, C2C paste the dot coordinate
C3 object coordinates
D correcting direction
D1a, D1 a' first reflection region
D2a second reflecting area
dM, dC map distance
dS scanning distance
LR reference line
MG whole area map
Ra, Rb and Rc reflecting surface
SN navigation space
Position, azimuth and distance coordinates of VM and VC
VS scanning azimuth distance coordinate
X auxiliary line
Detailed Description
Referring to fig. 1 to 3, fig. 1 is a block diagram of a reflective sticker auxiliary positioning system according to a preferred embodiment of the present invention; FIG. 2 is a perspective view of a reflective sticker positioning system according to a preferred embodiment of the present invention; FIG. 3 is a schematic diagram of a global map showing a reflective sticker assisted positioning system according to a preferred embodiment of the invention. As shown, a reflective sticker assistant positioning system 100 includes a plurality of reflective stickers (shown schematically by reflective stickers 2a, 2b, 2 c) and a mobile platform 1.
The reflective sticker is disposed on a fixed object (the attached figures indicate fixed objects 3, 4, and 5), wherein the fixed object is an object fixedly disposed in the navigation space SN, and may be a wall, a floor, a beam column, a floor slab, or the like. In the present embodiment, the reflective stickers 2a and 2b are disposed on the fixed object 4, and the reflective sticker 2c is disposed on the fixed object 5.
Each reflective sticker is provided with a body layer and at least one mask layer, the body layer is provided with a reflective surface, the mask layers are arranged on the reflective surface, each mask layer corresponds to one second reflective area, and each reflective surface which is not covered by the mask layers corresponds to one first reflective area. Illustrated by reflective sticker 2 a: the reflective sticker 2a has a body layer 21a and a mask layer 22 a. The body layer 21a has a reflective surface Ra, and the mask layer 22a is disposed on a portion of the reflective surface Ra and corresponds to a second reflective region D2 a. While the reflective surfaces Ra not shielded by the mask layer 22a correspond to the first reflective regions D1a, D1 a', respectively.
Similarly, the reflective sticker 2b includes two mask layers 22b, so there are two second reflective regions, and the reflective surface Rb of the body layer 21b not masked by the mask layers 22b corresponds to three first reflective regions. The reflective sticker 2c includes three mask layers 22c, so there are three second reflective regions, and the reflective surface Rc of the body layer 21c not masked by the mask layers 22c corresponds to four first reflective regions.
The mobile platform 1 includes a map building module 11, a positioning module 12, a laser scanning analysis module 13, a coordinate processing module 14, a judgment and comparison module 15, and a calibration module 16.
The map creating module 11 creates a map MG of the whole area according to the navigation space SN, so that the reflective pasters 2a, 2b, 2C in the navigation space SN all have corresponding paster point coordinates C2a, C2b, C2C, and the fixed object 3 also has an object coordinate C3. For convenience of understanding and explanation, each point coordinate on the whole area map MG is illustrated in its shape, not as a single dot.
The positioning module 12 is electrically connected to the map building module 11 for positioning a positioning coordinate C1 of the mobile platform 1 on the global map MG. The positioning module 12 includes a mileage calculating unit 121, a direction unit 122, and a positioning unit 123. The mileage calculating unit 121 is used for calculating the mileage value moved by the mobile platform 1. The direction unit 122 is used for sensing the moving direction of the mobile platform 1. The positioning unit 123 is electrically connected to the mileage calculating unit 121 and the direction unit 122, and calculates a positioning coordinate C1 by using the mileage value and the moving direction.
The laser scanning and analyzing module 13 is used for generating a laser to scan the navigation space SN and receive a reflected signal reflected in the navigation space SN. Because the navigation space SN has the fixed objects 3, 4, 5 and the reflective stickers 2a, 2b, 2c, the reflected signal can be further subdivided into sticker reflected signals corresponding to the reflective stickers 2a, 2b, 2c and background reflected signals corresponding to background areas, wherein the background areas generally refer to areas formed by objects (e.g., the fixed objects 3, 4, 5) other than the reflective stickers 2a, 2b, 2c in the navigation space SN. When receiving the reflection signal, the laser scanning analysis module 13 analyzes a signal intensity of the reflection signal.
When the background area in the navigation space SN is scanned, the signal intensity is a background reflection intensity, and when the reflective stickers 2a, 2b, 2c in the navigation space SN are scanned, the signal intensity is a sticker reflection intensity having an intensity greater than the background reflection intensity. And when the signal intensity is the reflection intensity of the paster, further acquiring a scanning azimuth distance coordinate of the scanned reflection paster relative to the mobile platform 1, and simultaneously analyzing the arrangement code of the reflection paster from the reflection signal. Preferably, the reflective intensity of the sticker is at least five times greater than the reflective intensity of the background.
The arrangement codes can be regarded as identification codes of the reflective stickers, each reflective sticker corresponds to one arrangement code, and the arrangement codes of the reflective stickers are different from each other. As shown in the figure, the arrangement code of the reflective sticker 2a is "white, black, white", the arrangement code of the reflective sticker 2b is "white, black, white", and the arrangement code of the reflective sticker 2c is "white, black, white". The body layers 21a, 21b, 21c and the corresponding first reflective regions represent "white", and the mask layers 22a, 22b, 22c and the corresponding second reflective regions represent "black". In the present embodiment, the mask layers 22a, 22b, and 22c may be a layer structure formed by a material that can block part of the light source, such as black cloth or black tape.
In the present embodiment, the laser scanning analysis module 13 includes a laser emitting unit 131, a receiving unit 132, a determining unit 133 and an analyzing unit 134. Preferably, the laser scanning and analyzing module 13 can be a light detection and ranging (LiDAR) module.
The coordinate processing module 14 is electrically connected to the laser scanning and analyzing module 13 for receiving the arrangement codes and converting the arrangement codes into the coordinates of the sticker points where the reflective stickers corresponding to the arrangement codes are located. Then, the coordinate processing module 14 calculates the pasted point coordinate and the positioning coordinate C1 to form a positioning direction distance coordinate. In the present embodiment, the coordinate processing module 14 includes a coordinate calculation unit 141.
The judgment and comparison module 15 is electrically connected to the coordinate processing module 14 and the laser scanning analysis module 13, and is configured to receive and compare the scanning position distance coordinate and the positioning position distance coordinate, so as to generate a correction signal. In the present embodiment, the judgment and comparison module 15 includes a judgment and comparison unit 151.
The calibration module 16 is electrically connected to the determination and comparison module 15 and the map creation module 11, and is configured to calibrate the positioning coordinate C1 of the map MG according to the calibration signal after receiving the calibration signal.
Next, please refer to fig. 1 to 6, wherein fig. 4 is a schematic diagram illustrating the intensity of the background reflection signal of the reflection sticker auxiliary positioning system provided by the present invention; FIG. 5 is a schematic view of a map of a whole area showing a reflective sticker assisted positioning system provided by the present invention; and FIG. 6 is a schematic diagram showing the intensity of the sticker reflection signal of the reflective sticker assistant positioning system provided by the present invention.
When the mobile platform 1 faces the fixed object 3, as shown in fig. 2, and the laser emitting unit 131 emits laser, the signal intensity of the reflected signal received by the receiving unit 132 is schematically shown in fig. 4. And when the moving platform 1 faces the reflective sticker 2a as shown in fig. 5 and the laser is emitted by the laser emitting unit 131, the intensity of the reflected signal received by the receiving unit 132 is schematically shown in fig. 6. An auxiliary line X is a direction toward which the mobile platform 1 faces, and is used to clearly express which object the mobile platform 1 faces.
Referring to fig. 4 and fig. 6, the determining unit 133 determines the signal intensity of the reflected signal. When the reflected signal is reflected by the fixed object 3, the signal intensity is the background reflection intensity, and when the reflected signal is reflected by the reflective sticker 2a, the signal intensity is greater than the sticker reflection intensity of the background reflection intensity. In more detail, referring to FIG. 6, the dashed line represents the background reflection intensity and the solid line represents the sticker reflection intensity. When the signal intensity has at least one maximum value that is significantly greater than the other intensities, the reflected signal is determined to be the sticker reflected signal reflected by the reflective sticker. When the signal intensity is only slightly oscillating, the reflected signal is determined as the background reflected signal reflected by the fixed object 3, as shown in fig. 4. When the judging unit 133 judges that the signal intensity of the reflection signal is the sticker reflection intensity, the analyzing unit 134 further analyzes the reflection signal.
As shown in fig. 5 and 6, in the intensity diagram, two distinct local maximum regions appear with a local minimum region sandwiched therebetween. The maximum area corresponds to a reflection surface of the body layer that is not covered (here, the reflection surface Ra of the body layer 21a that is not covered), and the reflection surface has high reflectivity, so that the signal intensity of the reflection signal received by the receiving unit 132 can be amplified. The minimum value region corresponds to a mask layer (here, the mask layer 22a) because the mask layer blocks and absorbs part of the laser beam, which weakens the signal strength of the reflected signal received by the receiving unit 132. Therefore, the analysis unit 134 can determine that the arrangement code corresponding to the reflection signal is "white, black, and white", which indicates that the reflection signal is reflected by the reflection sticker 2a having the arrangement code of "white, black, and white".
Then, the analysis unit 134 further determines the scanning azimuth distance coordinate of the reflective sticker 2a with respect to the moving platform 1 from the sticker reflection intensity of the reflection signal. Since the scanning azimuth distance coordinate is actually scanned and analyzed by the laser scanning and analyzing module 13, the scanning azimuth distance coordinate can be regarded as the actual relative position relationship between the reflective sticker 2a and the mobile platform 1.
Finally, please refer to fig. 1 and fig. 7 to fig. 10, wherein fig. 7 is a schematic diagram of a whole-area map of a reflective sticker assisted positioning system according to a preferred embodiment of the present invention; FIG. 8 is a perspective view of a reflective sticker positioning system according to a preferred embodiment of the present invention; FIG. 9 is a schematic diagram showing another intensity of the sticker reflection signal for the reflective sticker assisted positioning system provided by the present invention; and FIG. 10 is a schematic diagram showing a corrected whole-area map of the reflective sticker assisted positioning system provided by the present invention.
As shown in fig. 7, the map MG of the whole area shows that the positioning coordinate C1a is located directly below the sticker dot coordinate C2b, corresponding to the navigation space SN indicating that the mobile platform 1 should be located directly in front of the reflective sticker 2 b. The pasted point coordinates C2b are converted by the coordinate processing module 14 receiving the arrangement code analyzed by the laser scanning analysis module 13. Moreover, the pastel point coordinate C2b and the positioning coordinate C1a form a positioning azimuth distance coordinate VM, wherein the positioning azimuth distance coordinate VM includes a map azimuth AM and a map distance dM. The map azimuth AM is formed by a reference line LR and a positioning azimuth distance coordinate VM, that is, the mobile platform 1 rotates from an extending direction facing the reference line LR to an angle facing the sticker dot coordinate C2 b.
As shown in fig. 8 and 9, in the navigation space SN, the laser scanning analysis module 13 analyzes the arrangement code corresponding to the sticker reflection signal, analyzes that the sticker reflection signal is reflected by the reflection sticker 2b, and further obtains the scanning azimuth distance coordinate VS of the reflection sticker 2b relative to the moving platform 1. The scanning azimuth AS coordinate VS includes a scanning azimuth AS and a scanning distance dS, wherein the scanning azimuth AS is formed by the reference line LR and the scanning azimuth coordinate VS, i.e. the moving platform 1 rotates from the extending direction facing the reference line LR to the angle facing the reflective sticker 2 b. The scanning azimuth distance coordinate VS and the positioning azimuth distance coordinate VM can be regarded as vectors in mathematical terms.
At this time, the determination and comparison module 15 receives and compares the positioning azimuth distance coordinate VM and the scanning azimuth distance coordinate VS. In the present embodiment, the determination and comparison unit 151 in the determination and comparison module 15 subtracts the positioning direction distance coordinate VM and the scanning direction distance coordinate VS, so as to compare the scanning direction distance coordinate VS and the positioning direction distance coordinate VM. That is, the determination and comparison unit 151 subtracts the scanning azimuth AS from the map azimuth AM, and also subtracts the scanning distance dS from the map distance dM. When any of the above results is not 0, it indicates that the positioning azimuth distance coordinate VM and the scanning azimuth distance coordinate VS are different from each other, and therefore, it is necessary to perform correction. The differences may be caused by changes of environmental features and mileage errors caused by accumulated walking mileage of the mobile platform 1.
AS is apparent from the drawing, the scanning azimuth AS is different from the map azimuth AM, and the scanning distance dS is also different from the map distance dM. Therefore, the position of the mobile platform 1 in the navigation space SN at this time does not correspond to the positioning coordinate C1a on the full-area map MG. If the navigation mobile platform 1 moves forward toward the reflective sticker 2b according to the positioning coordinates C1a and the sticker point coordinates C2b on the map MG, the mobile platform 1 in the navigation space SN will be caused to hit the fixed object 3.
Therefore, when the comparison module 15 compares that there is a difference between the scanning position distance coordinate VS and the positioning position distance coordinate VM, a calibration signal is generated accordingly. The calibration module 16 is electrically connected to the determination and comparison module 15, receives the calibration signal, and calibrates the positioning coordinate C1a along a calibration direction D to a positioning coordinate C1C according to the calibration signal.
The positioning coordinates C1C and the pastel point coordinates C2b form another positioning azimuth distance coordinate VC, and the positioning azimuth distance coordinate VC includes a map azimuth AC and a map distance dC, wherein the map azimuth AC is equal to the scanning azimuth AS, and the map distance dC is equal to the scanning distance dS, so the correction module 16 has completed the correction, so that the positioning coordinates C1C in the map MG of the whole area correspond to the position of the mobile platform 1 in the navigation space SN.
In addition, the mobile platform 1 can also be positioned by using a plurality of reflective stickers to improve the positioning accuracy.
In summary, the reflection sticker assisted positioning system provided by the present invention utilizes the reflection sticker and the mobile platform to correct the positioning coordinates in the whole area map when it is determined that the scanning azimuth distance coordinate is different from the positioning azimuth distance coordinate, so that the position of the mobile platform in the navigation space corresponds to the positioning coordinates in the whole area map. Therefore, various problems derived from positioning errors in the prior art are solved.
In addition, the mobile platform can also utilize a plurality of reflective stickers to position so as to improve the accuracy of positioning coordinates.
The foregoing detailed description of the preferred embodiments is intended to more clearly illustrate the features and spirit of the present invention, and not to limit the scope of the invention by the preferred embodiments disclosed above. On the contrary, it is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims.
Claims (8)
1. A reflective sticker assist positioning system, comprising:
a plurality of reflective stickers disposed in the navigation space; and
a mobile platform, comprising:
the map building module is used for building a whole-area map corresponding to the navigation space, and enabling each reflective sticker to respectively have at least one first reflective area and at least one second reflective area which are arranged according to arrangement codes, and each arrangement code corresponds to a sticker point coordinate where each reflective sticker is located;
the positioning module is electrically connected with the map establishing module and used for positioning a positioning coordinate on the whole area map;
a laser scanning analysis module for generating laser to scan the navigation space to receive the reflected signal reflected from the navigation space, so as to analyze out a signal intensity, wherein the signal intensity is a background reflection intensity when a background area of the navigation space is scanned, the signal intensity is a sticker reflection intensity with an intensity greater than the background reflection intensity when one of the plurality of reflective stickers in the navigation space is scanned, and when the signal intensity is the sticker reflection intensity, the scanning azimuth distance coordinate of the scanned one of the plurality of reflective stickers relative to the mobile platform is further obtained, and the corresponding arrangement code is analyzed from the reflected signal;
the coordinate processing module is electrically connected with the laser scanning and analyzing module and used for receiving the arrangement codes and converting the arrangement codes into the sticker point coordinates of the scanned reflective stickers, and the sticker point coordinates and the positioning coordinates form positioning azimuth distance coordinates;
the judgment comparison module is electrically connected with the coordinate processing module and the laser scanning analysis module and is used for receiving and comparing the scanning azimuth distance coordinate and the positioning azimuth distance coordinate so as to generate a correction signal; and
and the correction module is electrically connected with the judgment and comparison module and the map building module and used for correcting the positioning coordinates of the whole area map according to the correction signal after receiving the correction signal.
2. The reflective sticker assistant positioning system of claim 1, wherein each of the plurality of reflective stickers comprises:
a body layer having a reflective surface; and
at least one mask layer is used for covering part of the light reflecting surface, so that the part of the light reflecting surface covered by the at least one mask layer forms the at least one second reflecting area, and the part of the light reflecting surface not covered by the at least one mask layer forms the at least one first reflecting area.
3. The reflective sticker assisted positioning system of claim 1, wherein each of the plurality of reflective stickers is disposed on a stationary object in the navigation space.
4. The reflective sticker assisted positioning system of claim 1, wherein the positioning module comprises:
the mileage calculation unit is used for calculating the mileage value moved by the mobile platform;
a direction unit for sensing a moving direction of the moving platform; and
and the positioning unit is electrically connected with the mileage calculation unit and the direction unit and used for positioning the positioning coordinate by utilizing the mileage numerical value and the moving direction.
5. The reflective sticker positioning aid system of claim 1, wherein the laser scanning resolution module comprises:
a laser emitting unit to generate the laser light;
a receiving unit for receiving the reflected signal;
the judging unit is used for judging whether the signal intensity of the reflection signal is the reflection intensity of the sticker; and
and the analysis unit is used for acquiring the scanning azimuth distance coordinate and analyzing the arrangement code from the reflection signal when the judgment unit judges that the signal intensity is the reflection intensity of the paster.
6. The reflective sticker auxiliary positioning system of claim 1, wherein the coordinate processing module includes a coordinate calculation unit, and the coordinate calculation unit subtracts the sticker dot coordinates from the positioning coordinates to form the positioning azimuth distance coordinates.
7. The auxiliary positioning system for reflective stickers according to claim 1, wherein the judgment and comparison module comprises a judgment and comparison unit, and the judgment and comparison unit subtracts the scanning azimuth distance coordinate from the positioning azimuth distance coordinate to generate the calibration signal.
8. The reflective sticker assisted positioning system of claim 1, wherein the sticker reflective intensity is at least five times greater than the background reflective signal.
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| CN116068564A (en) * | 2023-02-14 | 2023-05-05 | 南京天创电子技术有限公司 | Robot laser positioning method in long-distance tunnel scene |
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