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Visual line patrol positioning method and system and computer readable storage medium

A line positioning and visual technology, applied in the field of navigation and positioning, can solve the problems of high-precision positioning, cumulative positioning errors, and inability to maintain for a long time, and achieve the effect of avoiding missed detection intervals

Pending Publication Date: 2022-02-01
ZHEJIANG DAHUA TECH CO LTD
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  • Claims
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Problems solved by technology

[0003] The sensor generally uses an odometer or an inertial measurement unit (IMU). Although both the odometer and the IMU can realize the positioning of the robot, both the odometer and the IMU will produce a cumulative error in positioning as time goes on, so that it cannot be used for a long time. Maintain higher precision positioning

Method used

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  • Visual line patrol positioning method and system and computer readable storage medium
  • Visual line patrol positioning method and system and computer readable storage medium
  • Visual line patrol positioning method and system and computer readable storage medium

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Embodiment Construction

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0032] see figure 1 and figure 2 , figure 1 It is a schematic flow chart of an embodiment of the visual line inspection positioning method of the present application, figure 2 is the schematic diagram of robot positioning. The visual line inspection positioning method includes:

[0033] S1: Acquire the first image and the second image acquired by the image acquisition device at intervals of a predetermined time.

[0034] Specifically, as figure 2 As s...

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Abstract

The invention discloses a visual line patrol positioning method and system and a computer readable storage medium, and the method comprises the steps of: acquiring a first image and a second image which are collected and obtained by an image collection device at a preset time interval, wherein the first image and the second image comprise a plurality of target line segments located on the same straight line, and an interval is arranged between two adjacent target line segments; acquiring a first distance between a robot and a closest interval in the advancing direction of the robot from the first image, and acquiring a second distance between the robot and the closest interval in the advancing direction of the robot from the second image; determining a first advancing distance of the robot according to the first distance, the second distance, a first length of the target line segment in the advancing direction and a second length of the interval in the advancing direction; and correcting a second advancing distance obtained by a sensor located on the robot by using the first advancing distance to obtain first positioning information of the robot in the advancing direction of the robot. And high-precision global positioning information can be obtained.

Description

technical field [0001] The present application relates to the technical field of navigation and positioning, and in particular to a visual line inspection and positioning method, system and computer-readable storage medium. Background technique [0002] Currently commonly used positioning solutions for robots include laser SLAM positioning, two-dimensional code positioning, texture navigation positioning, and visual line inspection positioning. Laser SLAM positioning is greatly affected by changes in the dynamic environment, and has high requirements for the surrounding environment; two-dimensional code positioning is mainly used for indoor robot positioning, and the early layout and post-maintenance of two-dimensional codes require a lot of manpower; The ground texture and cleanliness requirements are higher, and there are fewer application scenarios; the current visual dotted line gap detection and positioning method mainly provides horizontal (perpendicular to the forward...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 涂曙光马子昂刘征宇殷俊
Owner ZHEJIANG DAHUA TECH CO LTD
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