Precision positioning / landmark referencing device, recognition system and method for mobile vehicles
By using a corner-reflecting unit array and an optical image capture device, the problems of positioning accuracy and computational cost in autonomous driving systems have been solved, enabling fast and accurate position recognition and data transmission, thereby improving system safety and market acceptance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- TRON ENERGY TECH CO LTD
- Filing Date
- 2021-11-22
- Publication Date
- 2026-06-09
AI Technical Summary
Existing technologies in autonomous driving systems suffer from problems such as insufficient positioning precision and accuracy, high computing platform costs, untimely map updates, and significant impact from environmental changes, resulting in the inability to operate accurately in real time.
By employing an array of corner back-reflection units with different reflectivities, colors, and sizes, combined with optical reflection and image capture devices, the relative position of the vehicle and environmental information can be calculated in real time through beam illumination and image capture, simplifying the computing platform and reducing costs.
It enables fast and accurate location identification and data transmission in various environments, reduces the cost of computing platforms, improves the market acceptance and operational security of the system, and reduces the risk of communication delays.
Smart Images
Figure CN116152482B_ABST
Abstract
Claims
1. An identification system with a precision positioning / marking reference device for a mobile vehicle, characterized in that, include: A reference device having multiple precision positioning / marking devices for mobile vehicles, each of the reference devices comprising an array of multiple back-reflecting units, wherein at least some of the back-reflecting units in the array have different reflectivities and / or colors and / or sizes and / or fluorescence; by selecting different arrangements, pixel sizes, colors or grayscale, the back-reflecting units in each array include at least multiple reference pixels and multiple positioning / marking pixels, wherein the reference pixels of each of the reference devices have a specific correlation rule; At least one movable carrier relative to the reference device is provided for mounting at least one light-emitting / image-capturing device, the light-emitting / image-capturing device including at least one light source having a main emission angle, and at least one image capturer capable of capturing optical images along the main emission angle; wherein within the illumination range of the light beam emitted by the light source, an assembly consisting of at least three of the reference devices is provided, such that when the light beam illuminates the assembly, the image capturer can receive image data reflected by the reference pixels and the positioning / marking pixels of all the reference devices; wherein one of the reference devices or the carrier is fixed at a specific position; A data storage device, which stores at least the reference pixel data of each of the reference devices, and the position data of the specific location; as well as A processing device that receives the image data and is signal-connected to the data storage device obtains the relative positional relationship between the carrier and the reference device assembly by comparing the received reflected image data from the reference pixel and the position data of the specific location in real time.
2. The identification system with a precision positioning / marking reference device for a mobile vehicle as described in claim 1, characterized in that, The corner back reflection units are each equipped with filters of different colors, and the light source is a broadband light source, so that after each corner back reflection unit is illuminated by the light beam emitted by the broadband light source, it reflects the reflected light of its corresponding filter.
3. The identification system with a precision positioning / marking reference device for a mobile vehicle as described in claim 1, characterized in that, The corner back reflector units have different fluorescence from each other, and the light source is a short-wavelength light source, so that after each corner back reflector unit is irradiated by the light beam emitted by the short-wavelength light source, it emits the fluorescence corresponding to each corner back reflector unit.
4. The identification system with a precision positioning / marking reference device for a mobile vehicle as described in claim 1, characterized in that, Each of the aforementioned reference devices further includes a driver, and at least a portion of the corner back reflective units in each reference device are respectively provided with an electrochromic unit actuated by the driver, thereby controlling the color and / or brightness of the reflected light after each of the corner back reflective units is irradiated by the light beam.
5. The identification system with a precision positioning / marking reference device for a mobile vehicle as described in any one of claims 1-4, characterized in that, It also includes a mobile vehicle having a body, wherein the at least three reference devices of the components are disposed on the body, and the mobile vehicle further includes a communication control device for driving the body to move, and the carrier is disposed on a fixed port to obtain the position of the mobile vehicle relative to the fixed port, and to cause the communication control device to drive the body to move relative to the fixed port under the instruction of the processing device.
6. The identification system with a precision positioning / marking reference device for a mobile vehicle as described in any one of claims 1-4, characterized in that, The component including the plurality of the reference devices is disposed on an object to be inspected, and the identification system further includes at least one inspection vehicle provided with the carrier, such that when the inspection vehicle passes the object to be inspected and the light beam shines on the component, the processing device can identify the relative position of each of the reference devices of the component and compare it with the position data of the specific position stored in the data storage device.
7. A precision positioning / marking reference device for a mobile vehicle, which is illuminated by at least one relatively moving light-emitting / image-capturing device to obtain at least one positioning / marking information, characterized in that, The light emission / image capture device includes at least one light source having a main emission angle, and at least one image capturer capable of capturing optical images along the main emission angle; the precision positioning / marking reference device for the mobile vehicle includes: Multiple corner back reflective units, wherein at least some of the corner back reflective units have different reflectivities and / or colors and / or sizes and / or fluorescence, and the corner back reflective units include at least a plurality of reference pixels and a plurality of positioning / marking pixels, by selecting different arrangements, pixel sizes, colors or grayscales such that when the light beam emitted by the light source illuminates the precision positioning / marking reference device for the mobile vehicle, the image capturer can receive and distinguish the image data reflected by all the reference pixels and the positioning / marking pixels in real time.
8. An identification method for an identification system having a precision positioning / marking reference device for a mobile vehicle, characterized in that, The identification system includes a reference device with multiple precision positioning / marking devices for mobile vehicles. Each reference device includes an array of multiple back-reflecting units, wherein at least some of the back-reflecting units in the array have different reflectivities and / or colors and / or sizes and / or fluorescence. By selecting different arrangements, pixel sizes, colors, or grayscale levels, the back-reflecting units in each array include at least multiple reference pixels and multiple positioning / marking pixels, wherein the reference pixels of each reference device have a specific correlation rule. At least one movable carrier relative to the reference devices is provided for mounting at least one light-emitting / image-capturing device, which includes at least one light source with a main emission angle and at least one image capturer capable of capturing optical images along the main emission angle. Within the illumination range of the light beam emitted by the light source, an assembly consisting of at least three of the reference devices is provided, wherein one of the reference devices or the carrier is fixed at a specific position. A data storage device stores at least the reference pixel data of each reference device and the position data of the specific position. And a processing device connected to the data storage device by a signal, wherein one of the reference device or the carrier is fixed at a specific position, the identification method comprising the following steps: (a) When the light beam emitted by the light source illuminates the component, the image capture device receives the images reflected by the reference pixels and the positioning / marker pixels of all the reference devices, and converts them into reflected image data to be transmitted to the processing device; (b) The processing device identifies the portion of the reflected image data that comes from the reference pixel to obtain the reference pixel data, and compares it with the reference pixel data of each reference device stored in the data storage device; (c) The relative position between the component and the carrier is obtained in real time by calculating the relative angles between at least three reference devices in the component and the carrier.
9. The identification method as described in claim 8, characterized in that, When the reference device is set at the specific location, and the carrier is set on a mobile vehicle, and the processing device is a vehicle computer, the identification method further includes, after step (b), a step (d) in which the vehicle computer interprets the content of the reflective image data of the positioning / marker pixel.
10. The identification method as described in claim 8, characterized in that, When the reference device is an object to be detected that is fixedly set at the specific position, the identification method further includes, after step (b), a step (e) to obtain the reflection image data of a fourth reference device other than the three reference devices, and to cross-check the fourth reference device with the respective setting positions of the three reference devices to confirm that there is no deviation from the specific position stored in the data storage device; and a step (f) to issue a warning signal once the deviation exceeds a predetermined threshold.