Visual navigation method for intelligent trolley

An intelligent car, visual navigation technology, applied in the field of robotics, can solve the problems of low matching accuracy, weak image texture, slow matching speed, etc.

Inactive Publication Date: 2020-10-23
ZHENJIANG COLLEGE
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AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a visual navigation method for smart cars, which solves the problems of weak image texture, low matching accuracy and slow matching speed based on the stereo matching algorithm based on the minimum spanning tree structure, and provides the environmental information required for path planning, thereby realizing Accurate 3D path reconstruction provides necessary prior knowledge for subsequent path planning and obstacle avoidance

Method used

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  • Visual navigation method for intelligent trolley
  • Visual navigation method for intelligent trolley
  • Visual navigation method for intelligent trolley

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Embodiment Construction

[0070] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0071] Such as figure 1 As shown, the smart car includes a power module 4, a controller 5, a vehicle body 6, a driving wheel 7, a guide wheel 8, a steering gear 9, a navigation positioning device 11, and an obstacle avoidance device 12. Four wheels are installed at the bottom of the vehicle body 6, two Two driving wheels 7 are installed at the rear for driving the trolley, and two guide wheels 8 are installed at the front for steering; the power module 4 is a lithium battery for providing electric energy; the navigation and positioning device 11 includes 2 cameras 1 and 2 steering gears 9, the steering gear 9 is arranged at the front of the vehicle body 6, the camera 1 is placed on the steering gear 9, and the steering gear 9 drives the camera 1 to rotate; the obstacle avoidance device 12 includes a laser The range finder 2, the ultrasoni...

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Abstract

The invention discloses a visual navigation method for an intelligent trolley. A stereo matching algorithm based on the minimum spanning tree structure solves problems of weak image texture, low matching precision and low matching speed, and provides the environment information required by path planning so as to realize path three-dimensional accurate reconstruction, and provides necessary prioriknowledge for subsequent path planning and obstacle avoidance. The foreground image belongs to a weak texture area under the condition of dim light, a traditional matching algorithm is poor in effecton a weak texture area and high in mismatching rate; the CENSUS transformation algorithm has good robustness to illumination and interference, the position characteristics of pixels in a window are reserved, CENSUS changes are combined with a tree structure, and a problem that a traditional stereo matching algorithm is high in weak texture area matching error rate is solved.

Description

technical field [0001] The invention relates to a smart car, in particular to a visual navigation method for a smart car, belonging to the technical field of robots. Background technique [0002] Factories often use trolleys to carry workpieces and goods. The trolleys in the prior art are usually wirelessly controlled by remote controllers such as infrared rays and bluetooth to realize the automation of the trolleys. The control of the car through the wireless remote control does not completely liberate the user. During the operation of the car, the user still needs to issue instructions to the car through the remote control in real time. In order to further realize the intelligence of the trolley movement, it is necessary to use various sensing devices to enable the trolley to have the function of identifying and judging the current road conditions and motion states, and to make self-decisions, so that the trolley can be completely unmanned. Operate according to the prescr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06T7/33G06T7/73G06T17/00
CPCG05D1/0214G05D1/0223G05D1/024G05D1/0246G05D1/0255G06T17/00G06T2207/10012G06T7/33G06T7/73
Inventor 徐沛黄海峰
Owner ZHENJIANG COLLEGE
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