Inertial guided vehicle navigation method based on binocular stereo vision and inertial guided vehicle
A binocular vision, guided vehicle technology, applied in the field of inertial guided vehicles, can solve problems such as affecting operations and accumulating errors, and achieve the effects of easy layout, reduced requirements for site shape, and improved navigation reliability.
Active Publication Date: 2017-10-20
CHINA JILIANG UNIV
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However, these methods have their limitations. With the development of technology, some new guiding technologies have emerged, such as two-dimensional code positioning and guiding technology. This method can effectively increase the complexity of path design, but it requires equidistant Lay a large number of QR code labels, and after a long time of work, it is easy to accumulate errors and affect normal operations
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[0015] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.
[0016] Such as figure 1 Shown, a kind of inertial guidance vehicle navigation method based on binocular stereo vision, comprises the following steps:
[0017] Step 1. Set a ground coordinate system in the application site 1 of the inertial guided vehicle. A binocular vision sensor 2 and a high-speed image acquisition system 10 are installed in the application site 1. The position of the binocular vision sensor 2 is used as the ground coordinate The origin of the system; a final control machine 3 and a visual system processor 11 are set in the application site 1, and a spatial coordinate system with a point correspondence relationship with the ground coordinate system is set in the final control machine 3;
[0018] Step 2, the final control machine 3 establishes a wireless bridge with the industrial computer ...
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The invention discloses an inertial guided vehicle navigation method based on binocular stereo vision and an inertial guided vehicle. A binocular vision sensor and a high-speed image acquisition system are arranged at an application site, and the position of the binocular vision sensor is the origin of a ground coordinate system; a motion trajectory is set in a terminal control machine; the binocular vision sensor and high-speed image acquisition system measures, a vision system processor determines the position, and a gyroscope measures the speed, direction and acceleration; the terminal control machine calculates the advancing displacement, direction and deflection angle of an inertial guided vehicle; and an industrial personal computer controls a drive module to complete the calibration. According to the invention, the method adopts the binocular stereo vision positioning principle for navigation, has the advantages of timeliness, work efficiency, high sensitivity and accurate positioning and enables the site setting to be easy to realize compared with the two-dimensional code positioning technology, the aging loss is not easy to fail, the requirements of the ground surface flatness and site shape are greatly reduced, the navigation reliability is improved, and the applicability is also greatly enhanced.
Description
technical field [0001] The invention relates to the field of vehicle guidance, in particular to an inertial guided vehicle navigation method based on binocular stereo vision and an inertial guided vehicle. Background technique [0002] With the development of science and technology, the automatic guidance technology of vehicles is widely used. Vehicles can run automatically according to the planned route without manual operation, which can greatly improve work efficiency and save labor costs. [0003] The current automatic guidance methods are mainly optical guidance, electromagnetic guidance and other methods. However, these methods have their limitations. With the development of technology, some new guiding technologies have emerged, such as two-dimensional code positioning and guiding technology. This method can effectively increase the complexity of path design, but it requires equidistant Lay a large number of QR code labels, and after a long time of work, it is easy...
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IPC IPC(8): G05D1/02
CPCG05D1/027Y02P90/02
Inventor 刘奇罗哉陶建国李东
Owner CHINA JILIANG UNIV