Automatic positioning navigation line drawing method, system, and storage medium

Abstract

The present invention relates to the field of ground line drawing technology, and more specifically to an automatic positioning and navigation line drawing method, system, and storage medium, comprising the following steps: line drawing calibration: drawing a blueprint of a site requiring construction, and calibrating the coordinates required for line drawing in the drawn blueprint; data transmission: inputting the drawn blueprint and parameters such as the coordinates into a line drawing trolley; line drawing trolley positioning: the line drawing trolley drives on the construction site and positions the trolley to confirm the distance between the trolley and the line drawing coordinates; line drawing positioning: the line drawing trolley drives to the position of the line drawing coordinates and locates the line drawing points using RTK positioning; line drawing: after locating the line drawing points, the required lines are drawn by moving the trolley in combination with RTK positioning. The present invention draws lines according to the calibrated positions of the blueprint, can realize remote control and automatic line drawing, and can draw lines of any shape according to the design of the line drawing trolley, thus having strong practicality.

Description

Technical Field

[0001] The present invention relates to the technical field of ground line drawing, and in particular to an automatic positioning navigation line drawing method, system, and storage medium. Background Art

[0002] Ground marking refers to the drawing of directional markings on the ground for purposes such as guidance or publicity. The existing marking process requires first drawing a waterline outline of the marking, followed by filling in the outline. Marking includes various signs that convey traffic information such as guidance, restrictions, and warnings to traffic participants, requiring outlines of various shapes. Currently, most marking is done manually, using a ruler or mold. This method is inefficient, time-consuming, and labor-intensive. Summary of the Invention

[0003] To solve the above problems, the present invention provides a method, system, and storage medium for automatic positioning and navigation line drawing that can draw lines according to the calibrated positions of the drawings, realize remote control and automatic line drawing, and can draw lines of any shape according to the design of the line drawing trolley. It is highly practical.

[0004] The technical solution adopted by the present invention is: an automatic positioning navigation line drawing method, comprising the following steps:

[0005] S1, line drawing and calibration: draw a blueprint of the site to be constructed, and make the coordinates of the lines to be drawn in the blueprint for calibration;

[0006] S2, data transmission: input the drawn drawing and coordinates and other parameters into the drawing car;

[0007] S3, positioning of the marking trolley: The marking trolley drives on the construction site and is positioned to confirm the distance between the marking trolley and the marking coordinates;

[0008] S4, line drawing positioning, the line drawing car moves to the line drawing coordinate position and locates the line drawing point through RTK positioning;

[0009] S5, line drawing: After locating the line drawing points, move the line drawing car and combine it with RTK positioning to draw the required lines.

[0010] A further improvement to the above solution is that, in step S1, a two-dimensional plan of the construction site is drawn, and the coordinates of the drawn lines are calibrated, and at the same time, a moving route of the line drawing vehicle is planned according to at least one coordinate.

[0011] A further improvement to the above solution is that in step S2, the drawing and parameters such as coordinates are transmitted to the line drawing vehicle via a wired or wireless method.

[0012] A further improvement to the above scheme is that in step S3, the line drawing vehicle is positioned and the relative coordinates of the spraying point and the RTK antenna are calibrated; the relative coordinates are represented by the rotation matrix R and the displacement matrix T. The vehicle is controlled to perform circular motion of different radii, and the spraying point path calculated by the two-wheel motion is aligned with the RTK antenna path. The relative coordinates R and T are obtained using the least squares method.

[0013]

[0014] The goal of least squares is to minimize the matrix binorm above.

[0015] A further improvement to the above scheme is that in step S4, line drawing positioning: calibrate the drawing coordinates and RTK coordinates. The calibration parameters adopt the four-parameter method commonly used in the surveying and mapping industry. The software reads the drawing and the calibration point layer in the drawing. The mouse selects a calibration point, controls the RTK antenna to the position of the point, and clicks the match button to complete the matching of a pair of points. Repeat this more than twice to obtain more than two pairs of matching points to complete the four-parameter calculation. The four parameters will convert the drawing coordinates to RTK coordinates. After calibration is completed, the program will read the line layer elements and perform coordinate conversion to obtain the RTK coordinates of the elements and perform path coordinate tracking.

[0016] A further improvement to the above scheme is that the conversion formula of the four-parameter method is:

[0017]

[0018] The four parameters (∆x, ∆y, α, m) can be obtained by using least squares.

[0019] A further improvement to the above solution is that, in step S4, line drawing positioning is performed based on radar-IMU odometer positioning;

[0020] When RTK is blocked and fails, the radar-IMU odometry will take over and complete the positioning solution function. The radar will match the point cloud of the upper and lower frames and fuse the IMU data to complete the pose solution based on nonlinear Kalman filtering.

[0021] Assume that the first frame of radar is point cloud , the second frame radar point cloud is , there is also a pose change between the two radar frames obtained by IMU ;

[0022] From this we can get the state transition formula of Kalman filter ;

[0023] The Kalman filter measurement value is ;

[0024] The Kalman gain is ,in Point Cloud , The noise variance matrix of

[0025] Kalman estimator ;

[0026] Solving the pose transformation matrix , the vehicle’s posture change can be obtained, thereby calculating the current position.

[0027] A further improvement to the above solution is that, in step S5, line drawing: trajectory / path coordinate tracking algorithm;

[0028] The vehicle's motion is decoupled into linear velocity v and angular velocity w. For each path (arc or straight line), the program plans the target linear velocity value and angle value (i.e., curve tangent angle) of each position (path point). In each control cycle, the vehicle will find the path point closest to the spraying point on the spraying path, and track the target linear velocity value and angle value of the path point. After obtaining the difference between the target value and the current vehicle state value, feedback control based on the LQR algorithm can be performed.

[0029] An automatic positioning, navigation and line drawing system is used to implement the automatic positioning, navigation and line drawing method.

[0030] A storage medium comprises the automatic positioning, navigation and line drawing system.

[0031] The beneficial effects of the present invention are:

[0032] Compared with the existing construction line drawing, the present invention is suitable for marking traffic signs and the like. The drawings of the site where the lines need to be drawn and the calibration of the lines to be drawn are transmitted to the line drawing cart. The line drawing cart is equipped with RTK positioning and line drawing devices. With the support of RTK positioning technology, the positioning accuracy is high. During the line drawing process, the lines are drawn according to the calibrated positions of the drawings, and remote control automatic line drawing can be realized. Moreover, according to the design of the line drawing cart, lines of any shape can be drawn, which is highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of the process of the automatic positioning navigation line drawing method of the present invention. DETAILED DESCRIPTION

[0034] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0035] It should be noted that when an element is referred to as being “fixed to” another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or there may be an intermediate element.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0037] like Figure 1 As shown, in one embodiment of the present invention, a method for automatic positioning, navigation and line drawing is provided, comprising the following steps:

[0038] S1, line drawing and calibration: draw a blueprint of the site to be constructed, and make the coordinates of the lines to be drawn in the blueprint for calibration;

[0039] S2, data transmission: input the drawn drawing and coordinates and other parameters into the drawing car;

[0040] S3, positioning of the marking trolley: The marking trolley drives on the construction site and is positioned to confirm the distance between the marking trolley and the marking coordinates;

[0041] S4, line drawing positioning, the line drawing car moves to the line drawing coordinate position and locates the line drawing point through RTK positioning;

[0042] S5, line drawing: After locating the line drawing points, move the line drawing car and combine it with RTK positioning to draw the required lines.

[0043] In step S1, a two-dimensional plan is drawn for the construction site, and the coordinates of the drawn lines are calibrated. At the same time, a walking route of the drawing vehicle is planned according to at least one coordinate. In this embodiment, by drawing the plan, the drawing vehicle can follow the walking route and draw lines according to the positioning of the coordinates.

[0044] In step S2, the drawing and parameters such as coordinates are transmitted to the drawing vehicle via wired or wireless means. In the corresponding embodiment, wireless or wired transmission can be achieved. The vehicle then moves according to the environmental detection, draws a three-dimensional scene graph based on the detection, and walks and draws lines based on the three-dimensional scene graph.

[0045] In step S3, the line drawing vehicle is positioned and the relative coordinates of the spraying point and the RTK antenna are calibrated. The relative coordinates are represented by the rotation matrix R and the displacement matrix T. The vehicle is controlled to perform circular motions of different radii. The spraying point path calculated by the two-wheel motion is aligned with the RTK antenna path. The relative coordinates R and T are obtained using the least squares method.

[0046]

[0047] The goal of least squares is to minimize the matrix binorm above.

[0048] In step S4, line drawing positioning: calibrate the drawing coordinates and RTK coordinates. The calibration parameters adopt the four-parameter method commonly used in the surveying and mapping industry. The software reads the drawing and the calibration point layer in the drawing. Select a calibration point with the mouse, control the RTK antenna to the position of the point, and click the match button to complete the matching of a pair of points. Repeat more than 2 times to obtain more than 2 pairs of matching points to complete the four-parameter calculation. The four parameters will convert the drawing coordinates to RTK coordinates. After calibration is completed, the program will read the line layer elements and perform coordinate conversion to obtain the RTK coordinates of the elements and perform path coordinate tracking.

[0049] The conversion formula of the four-parameter method is:

[0050]

[0051] The four parameters (∆x, ∆y, α, m) can be obtained by using least squares.

[0052] In step S4, line drawing positioning is performed based on radar-IMU odometer positioning;

[0053] When RTK is blocked and fails, the radar-IMU odometry will take over and complete the positioning solution function. The radar will match the point cloud of the upper and lower frames and fuse the IMU data to complete the pose solution based on nonlinear Kalman filtering.

[0054] Assume that the first frame of radar is point cloud , the second frame radar point cloud is , there is also a pose change between the two radar frames obtained by IMU ;

[0055] From this we can get the state transition formula of Kalman filter ;

[0056] The Kalman filter measurement value is ;

[0057] The Kalman gain is ,in Point Cloud , The noise variance matrix of

[0058] Kalman estimator ;

[0059] Solving the pose transformation matrix , the vehicle’s posture change can be obtained, thereby calculating the current position.

[0060] In step S5, line drawing: trajectory / path coordinate tracking algorithm;

[0061] The vehicle's motion is decoupled into linear velocity v and angular velocity w. For each path (arc or straight line), the program plans the target linear velocity value and angle value (i.e., curve tangent angle) of each position (path point). In each control cycle, the vehicle will find the path point closest to the spraying point on the spraying path, and track the target linear velocity value and angle value of the path point. After obtaining the difference between the target value and the current vehicle state value, feedback control based on the LQR algorithm can be performed.

[0062] The present invention is suitable for drawing lines on traffic signs and the like. A drawing of the site where lines need to be drawn and the calibration of the lines to be drawn are transmitted to a line drawing trolley. The line drawing trolley is equipped with RTK positioning and line drawing devices. With the support of RTK positioning technology, the positioning accuracy is high. During the line drawing process, the lines are drawn according to the calibrated positions on the drawings, and remote control automatic line drawing can be realized. Moreover, according to the design of the line drawing trolley, lines of any shape can be drawn, and the trolley is highly practical.

[0063] An automatic positioning, navigation and line drawing system is used to implement the automatic positioning, navigation and line drawing method.

[0064] A storage medium comprises the automatic positioning, navigation and line drawing system.

[0065] The above embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. An automatic positioning navigation line drawing method, characterized by: The steps include: S1, line drawing and calibration: draw a blueprint of the site to be constructed, and make the coordinates of the lines to be drawn in the blueprint for calibration; S2, data transmission: input the drawn drawings and coordinate parameters into the line drawing car; S3, positioning of the marking trolley: The marking trolley drives on the construction site and is positioned to confirm the distance between the marking trolley and the marking coordinates; S4, line drawing positioning, the line drawing car moves to the line drawing coordinate position and locates the line drawing point through RTK positioning; S5, line drawing: After locating the line drawing points, move the line drawing trolley and combine it with RTK positioning to draw the required lines; In step S3, the line drawing vehicle is positioned and the relative coordinates of the spraying point and the RTK antenna are calibrated. The relative coordinates are represented by the rotation matrix R and the displacement matrix T. The vehicle is controlled to perform circular motions of different radii. The spraying point path calculated by the two-wheel motion is aligned with the RTK antenna path. The relative coordinates R and T are obtained using the least squares method. The goal of least squares is to minimize the above matrix binorm; In step S4, line drawing positioning: calibrate the drawing coordinates and RTK coordinates. The calibration parameters adopt the four-parameter method commonly used in the surveying and mapping industry. The software reads the drawing and the calibration point layer in the drawing. Select a calibration point with the mouse, control the RTK antenna to the position of the point, and click the match button to complete the matching of a pair of points. Repeat more than 2 times to obtain more than 2 pairs of matching points to complete the four-parameter calculation. The four parameters will convert the drawing coordinates to RTK coordinates. After calibration is completed, the program will read the line layer elements and perform coordinate conversion to obtain the RTK coordinates of the elements and perform path coordinate tracking. The conversion formula of the four-parameter method is: The four parameters Δx, Δy, α, and m can be obtained by using least squares; In step S4, line drawing positioning is performed based on radar-IMU odometer positioning; When RTK is blocked and fails, the radar-IMU odometry will take over and complete the positioning solution function. The radar will match the point cloud of the upper and lower frames and fuse the IMU data to complete the pose solution based on nonlinear Kalman filtering. Assume that the point cloud of the first radar frame is p1, the point cloud of the second radar frame is p2, and there is a pose change Δp obtained by IMU between the two radar frames; From this we can get the state transfer formula of Kalman filter Δp*p1; The Kalman filter measurement value is p2; The Kalman gain is Where P1, P2 are the noise variance matrices of point clouds p1, p2; Kalman estimate p′2 = p1 + K*(p2-p1); Solve the posture transformation matrix ΔT, ΔT*p1=p′2, and you can get the posture change of the vehicle, and thus calculate the current position; Trajectory / path coordinate tracking algorithm; The vehicle's motion is decoupled into linear velocity v and angular velocity w. For each path arc or straight line, the program plans the target linear velocity value and angle value of each position path point, that is, the curve tangent angle. In each control cycle, the vehicle will find the path point closest to the spraying point on the spraying path, and track the target linear velocity value and angle value of the path point as the target value. After obtaining the difference between the target value and the current vehicle state value, feedback control based on the LQR algorithm can be performed.

2. The automatic positioning navigation line drawing method according to claim 1, characterized in that In step S1, a two-dimensional plan of the construction site is drawn, and the coordinates of the drawn lines are calibrated, while the walking route of the drawing vehicle is planned according to at least one coordinate.

3. The automatic positioning navigation line drawing method according to claim 1, characterized in that : In step S2, the drawing and coordinate parameters are transmitted to the drawing vehicle via wired or wireless means.

4. An automatic positioning navigation line drawing system, characterized in that: Used to implement the automatic positioning navigation line drawing method described in any one of claims 1 to 3.

5. A storage medium, characterized in that: Including the automatic positioning navigation line drawing system as described in claim 4.

Images