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A Locating Method for Moving Objects Based on Landmarks

A technology of moving objects and positioning methods, which is applied in navigation, instrumentation, surveying and navigation, etc., can solve the problems of inaccurate and fast positioning, and achieve the effects of fast calculation, strong environmental adaptability, and elimination of positioning failures

Active Publication Date: 2019-11-12
KEENON ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a positioning method for moving objects based on road signs, which is used to solve the problem of inaccurate and fast positioning in the prior art in a large-area working environment

Method used

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  • A Locating Method for Moving Objects Based on Landmarks
  • A Locating Method for Moving Objects Based on Landmarks
  • A Locating Method for Moving Objects Based on Landmarks

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Embodiment

[0036] This embodiment discloses a landmark-based positioning method for a moving object, which adopts manual landmark positioning. The moving object is movable in the indoor environment, and the working state of the moving object is as follows: figure 1 As shown, the road sign 100 is set on the ceiling of the working environment; the moving object is set with a camera 210 , an inclination detection unit 220 and an analysis and positioning unit 230 . The camera 210 is arranged on the top of the moving object, and is used to capture the image of the road sign 100 located on the top of the moving object; the inclination detection unit 220 adopts an inclination sensor, which is used to detect the inclination of the camera 210 relative to the world coordinates; the positioning analysis unit 230 is configured on the mobile The inside of the object is used for analyzing, calculating and locating the world coordinate value of the position of the moving object according to the data co...

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Abstract

The invention provides a method for locating a moving object based on a landmark. The method comprising landmark design and placement: according to a working environment of a moving object, designing the number and patterns of required landmarks, wherein the landmarks composed of marking points comprise a positioning part, a marking part and a calibration part, and placing the landmarks which is attached to the ceiling, and moving object position world coordinate positioning based on a landmark position table: acquiring landmark recognition images, verifying landmark data integrity according to a verifying part of the acquired recognized landmark, acquiring a relative position of the moving object according to the positioning part, acquiring landmark ID according to the marking part, acquiring world coordinates of the landmark according to the landmark ID and the landmark position table, and carrying out conversion of world coordinates of the moving object according to the related positions and the landmark world coordinates. The method highlights the landmark, enhances the robustness, has a fast computation rate and has good environment adaptability and the positioning accuracy.

Description

technical field [0001] The invention relates to a positioning technology of a mobile object, in particular to a positioning method of a mobile object based on road signs applied indoors. Background technique [0002] Mobile robots are widely used in industrial (such as automated logistics and inspection) and civil (such as smart cars and service robots) and other fields. Self-localization technology is a key technology in the field of mobile robots, and its robustness and accuracy determine the work efficiency of mobile robot systems to a large extent. [0003] Self-location technology is generally divided into two categories: natural landmark positioning and artificial landmark positioning. Among them, the natural landmark positioning method uses the characteristics in the natural environment for positioning, which has good universality and does not require environmental modification. However, this type of positioning method is too complicated, has poor robustness, limite...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 唐旋来杨亚运李通邓敏林
Owner KEENON ROBOTICS CO LTD
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