Unmanned tracked trolley positioning and navigation system and method

Abstract

The invention provides an unmanned tracked trolley positioning and navigation system and method. The unmanned tracked trolley positioning and navigation system comprises a tracked trolley, a long and short focus camera group, a control module and a plurality of signboards arranged at the edge of a site, a corresponding two-dimensional code is marked in each signboard, and the two-dimensional codes in different signboards are different; the control module controls the crawler trolley to advance; the control module controls the target shooting direction of the long-and-short-focus camera group; the long-focus and short-focus camera group shoots the signboards in different shooting directions to obtain signboard pictures and transmits the signboard pictures to the control module; the control module identifies and calculates the two-dimensional code in the signboard picture to obtain the current position of the crawler trolley; if the current position of the crawler trolley is the target position, the control module controls the crawler trolley to stop moving; otherwise, the control module controls the crawler trolley to continuously move towards the target position. The invention provides a high-precision positioning navigation scheme which is low in cost and flexible in arrangement.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicle positioning and navigation, and in particular to an unmanned tracked vehicle positioning and navigation system and method. Background Art

[0002] In agricultural processing and loading scenarios, the precise positioning and flexible movement of crawler vehicles are the key to improving work efficiency. However, these scenarios often face challenges such as frequent movement of personnel, roofs in some places, and no GPS signals.

[0003] In some exemplary technologies, positioning is achieved by arranging marking points into an equidistant grid. Frequent trampling by people may damage the marking points, affecting positioning accuracy. In addition, this method is costly, labor-intensive, and requires high layout quality, which limits its application in terms of flexibility and economy. In other exemplary technologies, gyroscopes are used to assist positioning, which improves positioning accuracy but significantly increases system costs.

[0004] Therefore, for agricultural processing and loading scenarios, how to achieve a low-cost, flexible and high-precision positioning and navigation solution has become an urgent problem to be solved. Summary of the invention

[0005] The present invention provides an unmanned tracked vehicle positioning and navigation system and method, which are used to solve the defects of high cost and poor layout flexibility of the positioning and navigation scheme in the prior art, and realize a high-precision positioning and navigation scheme with low cost and flexible layout.

[0006] The present invention provides an unmanned crawler vehicle positioning and navigation system, the unmanned crawler vehicle positioning and navigation system comprising: a crawler vehicle, a long-focus and short-focus camera group, a control module, and a plurality of identification plates arranged at the edge of a site, wherein the plurality of identification plates are respectively arranged at two edges perpendicular to each other, and are used to determine the position; Each of the identification plates is marked with a corresponding QR code, and the QR codes in different identification plates are different; The control module is installed on the crawler trolley, and the control module controls the crawler trolley to move; The control module is connected to the long-focus and short-focus camera group, and the control module is used to control the target shooting direction of the long-focus and short-focus camera group; The long-focus and short-focus camera group is installed on the crawler vehicle, and the long-focus and short-focus camera group is used to photograph the signboards in different shooting directions to obtain signboard images, and transmit the signboard images to the control module; The control module is also used to identify and calculate the QR code in the sign image to obtain the current position of the crawler vehicle, and determine whether the current position of the crawler vehicle is the target position; If the current position of the crawler vehicle is the target position, the control module controls the crawler vehicle to stop moving; otherwise, the control module controls the crawler vehicle to continue moving toward the target position.

[0007] According to an unmanned tracked vehicle positioning and navigation system provided by the present invention, the identification plate comprises a single first identification plate arranged in a first edge direction and a plurality of second identification plates arranged in a second edge direction; the first edge direction and the second edge direction are perpendicular to each other; The site includes a plurality of workstations, each of which corresponds to a corresponding second identification plate; In the process where the control module controls the crawler vehicle to move from the starting position to the target workstation position: The control module controls the crawler vehicle to move along the second edge direction at the starting position, and obtains the signboard image of the first signboard through the long-short focal length camera group, and obtains the current position coordinates of the crawler vehicle along the second edge direction by identifying and calculating the QR code in the signboard image of the first signboard; When it is determined that the current position coordinates of the crawler vehicle along the second edge direction have reached the second edge direction position coordinates of the target workstation, the crawler vehicle is controlled to turn and move along the first edge direction, and a signboard image of the second signboard is obtained by using the long- and short-focus camera group, and the QR code in the signboard image of the second signboard is identified and calculated to obtain the current position coordinates of the crawler vehicle along the first edge direction; When it is determined that the current position coordinate of the crawler vehicle along the first edge direction reaches the first edge direction position coordinate of the target workstation, the crawler vehicle is controlled to stop moving.

[0008] According to an unmanned tracked vehicle positioning and navigation system provided by the present invention, in the process in which the control module controls the tracked vehicle to move along the second edge direction at the starting position, the control module is also used to obtain the signboard image of the second signboard through the long-short focal length camera group, and obtain the current position coordinates of the tracked vehicle along the first edge direction by identifying and calculating the two-dimensional code in the signboard image of the second signboard, so as to avoid the deviation of the tracked vehicle in the first edge direction; When the control module controls the tracked vehicle to move along the first edge direction, it is also used to obtain the signboard image of the first signboard through the long- and short-focus camera group, and obtain the current position coordinates of the tracked vehicle along the second edge direction by identifying and calculating the QR code in the signboard image of the first signboard, so as to avoid the deviation of the tracked vehicle in the second edge direction.

[0009] According to an unmanned crawler vehicle positioning and navigation system provided by the present invention, during the process in which the control module controls the crawler vehicle to return from the target workstation position to the starting position: The control module controls the crawler trolley to retreat from the target workstation position along the first edge direction, and obtains the signboard image of the second signboard through the long-short focal length camera group, and obtains the current position coordinates of the crawler trolley along the first edge direction by recognizing and calculating the QR code in the signboard image of the second signboard; When it is determined that the current position coordinates of the crawler vehicle along the first edge direction have reached the first edge direction position coordinates of the starting position, the crawler vehicle is controlled to turn and retreat along the second edge direction, and a signboard image of the first signboard is acquired through the long- and short-focus camera group, and the current position coordinates of the crawler vehicle along the second edge direction are obtained by identifying and calculating the QR code in the signboard image of the first signboard; When it is determined that the current position coordinate of the crawler vehicle along the second edge direction reaches the second edge direction position coordinate of the starting position, the crawler vehicle is controlled to stop moving.

[0010] According to an unmanned tracked vehicle positioning and navigation system provided by the present invention, in the process in which the control module controls the tracked vehicle to retreat from the target workstation position along the first edge direction, the long- and short-focus camera group obtains the signboard image of the first signboard, and the current position coordinates of the tracked vehicle along the second edge direction are obtained by identifying and calculating the QR code in the signboard image of the first signboard, so as to avoid the tracked vehicle from deviating in the second edge direction; When the control module controls the tracked vehicle to retreat along the second edge direction, the long-focus and short-focus camera group obtains the signboard image of the second signboard, and the QR code in the signboard image of the second signboard is identified and calculated to obtain the current position coordinates of the tracked vehicle along the first edge direction, so as to avoid the deviation of the tracked vehicle in the first edge direction.

[0011] According to an unmanned tracked vehicle positioning and navigation system provided by the present invention, the long-focus and short-focus camera group includes: a long-focus camera, a short-focus camera, a bracket for the short-focus camera, a bracket for the long-focus camera, and a rotating unit; The short-focus camera is fixedly mounted on a bracket of the short-focus camera, the long-focus camera is fixedly mounted on a bracket of the long-focus camera, and both the bracket of the short-focus camera and the bracket of the long-focus camera are fixedly mounted on the rotating unit; The control module is connected to the rotation unit, and the control module is used to control the rotation of the rotation unit so that the telephoto camera and the short-focus camera rotate to the target shooting direction; The control module controls the telephoto camera and the short-focus camera to simultaneously photograph the first signboard to obtain two pictures, and compares the recognition results. If only one of the pictures contains a complete two-dimensional code, the two-dimensional code is recognized based on the picture containing the complete two-dimensional code; if both pictures contain complete two-dimensional codes, the signboard picture of the first signboard photographed by the short-focus camera is selected to recognize the two-dimensional code; The control module controls the telephoto camera and the short-focus camera to simultaneously photograph the second signboard to obtain two pictures, and compares the recognition results. If only one of the pictures contains a complete QR code, the QR code is recognized based on the picture containing the complete QR code; if both pictures contain complete QR codes, the signboard picture of the second signboard taken by the short-focus camera is selected for QR code recognition.

[0012] According to the unmanned crawler vehicle positioning and navigation system provided by the present invention, the control module includes: an industrial computer, a driver and a single-chip microcomputer; The industrial computer is fixedly mounted on the protective cover of the crawler trolley, and the industrial computer is connected to the telephoto camera and the short-focus camera respectively, and the industrial computer is used to obtain the signboard images taken by the telephoto camera and the short-focus camera; The industrial computer is connected to the single-chip computer, and the industrial computer is used to output a first control signal to the single-chip computer, wherein the first control signal represents a target shooting direction of the long-focus and short-focus camera group; The single chip microcomputer is connected to the driver, and the single chip microcomputer is used to convert the first control signal into a second control signal recognizable by the driver, and output the second control signal to the driver; The driver is connected to the rotating unit, and is used for converting the second control signal into a pulse signal for controlling the rotating unit, and outputting the pulse signal to the rotating unit to control the rotating unit to rotate.

[0013] According to an unmanned tracked vehicle positioning and navigation system provided by the present invention, the rotating unit comprises: a turntable and a motor; The bracket of the short-focus camera and the bracket of the long-focus camera are both fixedly mounted on the turntable, the turntable is fixedly mounted on the rotating shaft of the motor, and the motor is fixedly mounted on the protective cover of the crawler vehicle; The driver is connected to the motor, and is used to output the pulse signal to the motor to control the rotation of the motor.

[0014] The present invention also provides an unmanned tracked vehicle positioning and navigation method, which is applied to an unmanned tracked vehicle positioning and navigation system. The unmanned tracked vehicle positioning and navigation system comprises: a tracked vehicle, a long-focus and short-focus camera group, a control module, and a plurality of identification plates arranged at the edge of a site, wherein the plurality of identification plates are respectively arranged at two edges perpendicular to each other for determining the position; each of the identification plates is marked with a corresponding two-dimensional code, and the two-dimensional codes in different identification plates are different; The method is used in the control module and specifically includes: Controlling the crawler vehicle to move, and controlling the target shooting direction of the long-focus and short-focus camera groups during the moving process; Receiving a signboard picture obtained by photographing the signboard in the target shooting direction by the long-focus and short-focus camera group; Identify and calculate the QR code in the signboard image to obtain the current position of the crawler vehicle, and determine whether the current position of the crawler vehicle is the target position; If the current position of the crawler vehicle is the target position, the control module controls the crawler vehicle to stop moving; otherwise, the crawler vehicle is controlled to continue moving toward the target position.

[0015] According to a positioning and navigation method for an unmanned tracked vehicle provided by the present invention, the long-focus and short-focus camera group comprises: a long-focus camera and a short-focus camera; The identifying and calculating the QR code in the sign image to obtain the current position of the crawler vehicle specifically includes: The control module controls the telephoto camera and the short-focus camera to simultaneously photograph the first signboard to obtain two pictures, and compares the recognition results. If only one of the pictures contains a complete two-dimensional code, the two-dimensional code is recognized based on the picture containing the complete two-dimensional code; if both pictures contain complete two-dimensional codes, the signboard picture of the first signboard photographed by the short-focus camera is selected to recognize the two-dimensional code; The control module locates four corner points of the two-dimensional code of the sign image, and calculates the relative position of the camera corresponding to the sign image and the plane where the two-dimensional code is located in the camera coordinate system; wherein the camera corresponding to the sign image is a telephoto camera or a short-focus camera; The control module extracts a vertical distance parameter between the camera and the plane where the two-dimensional code is located according to the relative positions of the camera and the plane where the two-dimensional code is located in the camera coordinate system as a coordinate value of the crawler vehicle along the second edge direction; and

[0016] The control module controls the telephoto camera and the short-focus camera to simultaneously photograph the second signboard to obtain two pictures, and compares the recognition results. If only one of the pictures contains a complete QR code, the QR code is recognized based on the picture containing the complete QR code; if both pictures contain complete QR codes, the signboard picture of the second signboard photographed by the short-focus camera is selected to recognize the QR code; The control module locates four corner points of the two-dimensional code of the sign image, and calculates the relative position of the camera corresponding to the sign image and the plane where the two-dimensional code is located in the camera coordinate system; wherein the camera corresponding to the sign image is a telephoto camera or a short-focus camera; The control module extracts a vertical distance parameter between the camera and the plane where the two-dimensional code is located according to the relative positions of the camera and the plane where the two-dimensional code is located in the camera coordinate system as a coordinate value of the tracked vehicle along the first edge direction.

[0017] The unmanned tracked vehicle positioning and navigation system and method provided by the present invention controls the movement of the tracked vehicle through a control module; the control module controls the target shooting direction of the long- and short-focus camera group; the long- and short-focus camera group shoots signboards in different shooting directions to obtain signboard images, and transmits the signboard images to the control module; the control module identifies and calculates the QR code in the signboard image to obtain the current position of the tracked vehicle, and determines whether the current position of the tracked vehicle is the target position; if the current position of the tracked vehicle is the target position, the control module controls the tracked vehicle to stop moving; otherwise, the control module controls the tracked vehicle to continue moving toward the target position. In the scheme of the present invention, the control module identifies and calculates the QR code in the signboard image to obtain the current position of the tracked vehicle, and controls the operation of the tracked vehicle according to the current position of the tracked vehicle, which can achieve high-precision positioning and navigation of the tracked vehicle. By connecting a long-focus camera group and a control module to shoot signboards in different shooting directions to realize the positioning of the crawler vehicle, the number of cameras of the crawler vehicle can be reduced, and the cost of the positioning and navigation system can be reduced; and the multiple signboards at the edge of the site, each of which is marked with a corresponding QR code, can reduce the difficulty of positioning the crawler vehicle and improve the flexibility of the layout. Therefore, the present application provides a high-precision positioning and navigation solution with low cost and flexible layout. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the architecture of the unmanned tracked vehicle positioning and navigation system provided by the present invention.

[0020] Figure 2 It is a structural schematic diagram of a crawler vehicle provided by the present invention for installing a long-focus and short-focus camera group.

[0021] Figure 3 It is a side schematic diagram of the long-focus and short-focus camera group provided by the present invention.

[0022] Figure 4 It is a rear view schematic diagram of the long-focus and short-focus camera group provided by the present invention.

[0023] Figure 5 It is a schematic diagram of the sign provided by the present invention.

[0024] Figure 6 It is a structural schematic diagram of the long-focus and short-focus camera group provided by the present invention.

[0025] Figure 7 It is a structural schematic diagram of the turntable provided by the present invention.

[0026] Figure 8 It is a flow chart of the positioning and navigation method of the unmanned tracked vehicle provided by the present invention.

[0027] Reference numerals: 1: crawler car; 2: long-focus and short-focus camera group; 3: control module; 40-45: second identification plate; 46: first identification plate; 20: short-focus camera; 21: long-focus camera; 22: bracket for short-focus camera; 23: bracket for long-focus camera; 24: turntable; 25: first bolt; 26: second bolt; 27: positioning screw; 28: rotating shaft; 29: motor; 241: first bracket seat; 242: first fixing hole; 243: second fixing hole; 244: second bracket seat; 245: turntable seat; 246: positioning hole; 31: driver; 32: single-chip microcomputer; 33: industrial computer; 8: Apriltag code. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Combine the following Figure 1-Figure 7 The present invention describes the unmanned crawler vehicle positioning and navigation system.

[0030] Figure 1 This is a schematic diagram of the architecture of the unmanned crawler vehicle positioning and navigation system provided by the present invention, referring to Figure 1 The unmanned tracked vehicle positioning and navigation system includes: a tracked vehicle 1, a long-focus and short-focus camera group 2, a control module 3, and a plurality of signboards arranged at the edge of the site. The plurality of signboards are arranged at two edges perpendicular to each other for determining the position.

[0031] Each signboard is marked with a corresponding QR code, and the QR codes on different signboards are different.

[0032] Reference Figure 1 , the control module 3 is installed on the crawler trolley 1, and the control module 3 controls the crawler trolley 1 to move; The control module 3 is connected to the long-focus and short-focus camera group 2, and is used to control the target shooting direction of the long-focus and short-focus camera group 2; The long-focus and short-focus camera group 2 is installed on the crawler vehicle 1. The long-focus and short-focus camera group 2 is used to shoot the signboards in different shooting directions to obtain the signboard pictures, and transmit the signboard pictures to the control module 3; The control module 3 is also used to identify and calculate the QR code in the signboard image to obtain the current position of the crawler vehicle 1, and determine whether the current position of the crawler vehicle 1 is the target position; If the current position of the crawler vehicle 1 is the target position, the control module 3 controls the crawler vehicle 1 to stop moving; otherwise, the control module 3 controls the crawler vehicle 1 to continue moving toward the target position.

[0033] In this embodiment, the crawler trolley 1 is electrically driven, and the crawlers on the left and right sides can be controlled independently. The control module 3 is installed on the crawler trolley 1, and the control module 3 controls the crawler trolley 1 to move forward.

[0034] In this embodiment, the long-focus and short-focus camera group 2 can switch the shooting direction. Specifically, Figure 2 It is a structural schematic diagram of a crawler vehicle provided by the present invention for installing a long-focus and short-focus camera group. Figure 3 It is a side schematic diagram of the long-focus and short-focus camera group provided by the present invention. Figure 4 Schematic diagram of the rear view of the telephoto and short focal length camera group provided by the present invention. Figure 2 As shown, the shooting direction of the long-short focal length camera group 2 is straight ahead; Figure 3 As shown, the shooting direction of the long-short focal length camera group 2 is the right side; Figure 4 As shown, the shooting direction of the long-short focal length camera group 2 is backward.

[0035] As an example, Figure 1 The position of the crawler trolley 1 in the middle is taken as the initial position of the crawler trolley 1. Figure 1The front of the crawler trolley 1 is taken as the positive direction of the x-axis, and the left side of the crawler trolley 1 is taken as the positive direction of the y-axis. In practical applications, after the crawler trolley 1 is started, the control module 3 performs initialization settings to rotate the long-focus and short-focus camera group 2 to the initial angle, that is, the two cameras in the long-focus and short-focus camera group 2 face the front of the crawler trolley 1, such as Figure 2 shown.

[0036] like Figure 1 As shown, the plurality of identification signs include a second identification sign 40, a second identification sign 41, a second identification sign 42, a second identification sign 43, a second identification sign 44, a second identification sign 45 and a first identification sign 46. Among them, the second identification sign 40, the second identification sign 41, the second identification sign 42, the second identification sign 43, the second identification sign 44 and the second identification sign 45 are arranged on the right edge of the field at the initial position of the crawler trolley 1, and the first identification sign 46 is arranged on the field edge facing the initial position of the crawler trolley 1. As an example, the direction of the field edge facing the initial position of the crawler trolley is taken as the first edge direction, and the direction of the field edge on the right side of the initial position of the crawler trolley 1 is taken as the second edge direction.

[0037] Specifically, the QR code on each sign is different. In this embodiment, the artificial visual feature is produced by printing the QR code on the sign, which can provide higher recognition accuracy than the natural feature. In practical applications, the QR code can be an Apriltag code, ArUco code, etc. For example, the sign is printed with an Apriltag code, Figure 5 It is a schematic diagram of the sign provided by the present invention, such as Figure 5 As shown, the Apriltag code 8 is printed on the identification plate.

[0038] It can be understood that to determine the current position of the tracked vehicle 1, the long-focus and short-focus camera group 2 is required to photograph the signboards in the first edge direction and the second edge direction to obtain signboard images, and the control module 3 recognizes and calculates the QR codes in the signboard images in the two edge directions to obtain the current position of the tracked vehicle 1.

[0039] The following is a specific description of the positioning process of the crawler vehicle 1 by taking the determination of the initial position of the crawler vehicle 1 as an example. First, the x-coordinate of the long-focus and short-focus camera group 2 is determined. The control module 3 controls the target shooting direction of the long-focus and short-focus camera group 2 to be directly in front of the crawler vehicle 1, so that the long-focus and short-focus camera group 2 shoots the first sign 46 in the first edge direction to obtain a sign picture, and the sign picture of the first sign 46 is transmitted to the control module 3. The control module 3 recognizes and calculates the QR code in the sign picture of the first sign 46 to obtain the x-coordinate of the long-focus and short-focus camera group 2.

[0040] As an example, the Apriltag code is printed on the identification plate, such as Figure 5As shown, the Apriltag code 8 is printed on the sign. Specifically, the control module 3 locates the four corner points of the Apriltag code printed on the sign 46 according to the image of the sign 46, and obtains the pixel coordinates of the four corner points in the image. Taking the center of Apriltag code 8 as the origin of the world coordinate system, and the z value of the plane where the Apriltag code is located is 0, the world coordinates P of the four corner points in the world coordinate system can be obtained. worldX According to the pixel coordinates P of the four corner points imageX 、World coordinate P worldX The internal parameters of the cameras in the telephoto and short focal length camera group 2 are used to solve the camera rotation matrix M using the PnP (Perspective-n-Point) algorithm. rX and the translation matrix M tX ; Using the rotation matrix M rX and the translation matrix M tX Find the position of the camera relative to the center of the Apriltag code , then, from The vertical distance parameter from the camera to the sign 46 is extracted as the x-coordinate of the long-focus and short-focus camera group 2.

[0041] Then, the y coordinate of the telephoto camera group 2 is determined. The control module 3 controls the target shooting direction of the telephoto camera group 2 to be the right side of the crawler vehicle 1, so that the telephoto camera group 2 shoots the second signboard 40 in the second edge direction to obtain a signboard image of the second signboard 40, and transmits the signboard image of the second signboard 40 to the control module 3. The control module 3 recognizes and calculates the QR code in the signboard image of the second signboard 40 to obtain the y coordinate of the telephoto camera group 2.

[0042] Specifically, combined Figure 5 The control module 3 locates the four corner points of the Apriltag code printed on the identification plate 40 according to the image of the identification plate 40, and obtains the pixel coordinates of the four corner points in the image. Taking the center of Apriltag code 8 as the origin of the world coordinate system, and the z value of the plane where the Apriltag code is located is 0, the world coordinates P of the four corner points in the world coordinate system can be obtained. worldY According to the pixel coordinates P of the four corner points imageY 、World coordinate P worldY And the internal parameters of the cameras in the telephoto camera group 2, the rotation matrix M of the camera is solved by the PnP algorithm rY and the translation matrix M tY ; Using the rotation matrix M rY and the translation matrix M tY Find the position of the camera relative to the center of the Apriltag code , then, from The vertical distance parameter from the camera to the sign 40 is extracted as the y coordinate of the long-focus and short-focus camera group 2.

[0043] Finally, the x-coordinate and y-coordinate of the long-focus and short-focus camera group 2 are combined to obtain the position (x, y) of the long-focus and short-focus camera group. According to the installation position of the long-focus and short-focus camera group 2 on the crawler vehicle, the coordinate value of the initial position of the crawler vehicle 1 is obtained. .

[0044] In the present invention, the installation position of the long-focus and short-focus camera group 2 is not specifically limited. In one example, the long-focus and short-focus camera group 2 is arranged on the right side of the protective cover of the crawler vehicle 1. In another example, the long-focus and short-focus camera group 2 is arranged at the front of the crawler vehicle 1. In another example, the long-focus and short-focus camera group 2 is arranged at the rear of the crawler vehicle 1. In actual applications, the initial position of the crawler vehicle 1 is calculated according to the actual installation position of the long-focus and short-focus camera group 2 on the crawler vehicle.

[0045] During the movement of the crawler 1, the control module 3 controls the target shooting direction of the long-focus and short-focus camera group 2; the long-focus and short-focus camera group 2 shoots the signboard in the target shooting direction to obtain the signboard image, and transmits the signboard image to the control module 3; the control module 3 recognizes and calculates the QR code in the signboard image to obtain the current position of the crawler 1. After the control module 3 determines the current position of the crawler 1, it determines whether the current position of the crawler 1 is the target position, and further controls the movement state of the crawler 1. Specifically, if the current position of the crawler 1 is the target position, the control module 3 controls the crawler 1 to stop moving; otherwise, the control module 3 controls the crawler 1 to continue moving toward the target position.

[0046] In the scheme of this embodiment, the control module 3 identifies and calculates the QR code in the signboard image to obtain the current position of the tracked vehicle 1, and controls the operation of the tracked vehicle 1 according to the current position of the tracked vehicle 1, so as to achieve high-precision positioning and navigation of the tracked vehicle 1. The long- and short-focus camera group 2 and the control module 3 are connected to realize the shooting of signboards in different shooting directions to realize the positioning of the tracked vehicle 1, which can reduce the number of cameras of the tracked vehicle 1 and the cost of the positioning and navigation system; and, multiple signboards at the edge of the site, each of which is marked with a corresponding QR code, can reduce the difficulty of positioning the tracked vehicle 1 and improve the flexibility of the layout. Therefore, the present application provides a high-precision positioning and navigation solution with low cost and flexible layout.

[0047] Reference Figure 1The above-mentioned identification plate includes a first identification plate 46 arranged in the first edge direction and second identification plates 40, 41, 42, 43, 44 and 45 arranged in the second edge direction; the first edge direction and the second edge direction are perpendicular to each other. Figure 1 The multiple workstations are workstation 50, workstation 51, workstation 52, workstation 53 and workstation 54, among which workstation 50 corresponds to second identification plate 41, workstation 51 corresponds to second identification plate 42, workstation 52 corresponds to second identification plate 43, workstation 53 corresponds to second identification plate 44, and workstation 54 corresponds to second identification plate 45.

[0048] For the process of controlling the crawler trolley 1 to move from the initial position to the target workstation, as an example, in one embodiment, during the process of the control module 3 controlling the crawler trolley 1 to move from the initial position to the target workstation position: The control module 3 controls the crawler trolley 1 to move along the second edge direction at the starting position, and obtains the signboard image of the first signboard through the long-short focal length camera group 2, and obtains the current position coordinates of the crawler trolley 1 along the second edge direction by recognizing and calculating the QR code in the signboard image of the first signboard; When it is determined that the current position coordinates of the crawler vehicle 1 along the second edge direction have reached the second edge direction position coordinates of the target workstation, the crawler vehicle 1 is controlled to turn and move along the first edge direction, and a signboard image of the second signboard is obtained through the long-short focal length camera group 2, and the current position coordinates of the crawler vehicle 1 along the first edge direction are obtained by recognizing and calculating the QR code in the signboard image of the second signboard; When it is determined that the current position coordinate of the crawler vehicle 1 along the first edge direction reaches the first edge direction position coordinate of the target workstation, the crawler vehicle 1 is controlled to stop moving.

[0049] As an example, the following is an exemplary description of the positioning and navigation process of the crawler trolley 1 by taking the process of the crawler trolley 1 running from the initial position to the workstation 50. In combination with the above description, the control module 3 determines the initial position coordinates of the crawler trolley 1 according to the above crawler trolley positioning and navigation principle. .

[0050] Reference Figure 1Specifically, the crawler trolley 1 moves in a straight line along the second edge direction, i.e., the positive direction of the x-axis. In this process, the control module 3 controls the target shooting direction of the long-focus and short-focus camera group 2 to be directly forward; the long-focus and short-focus camera group 2 shoots the first identification plate 46, obtains the identification plate image of the first identification plate 46, and transmits the identification plate image of the first identification plate 46 to the control module 3. The control module 3 recognizes and calculates the identification plate image of the first identification plate 46, and obtains the current position coordinates of the crawler trolley 1 along the second edge direction, i.e., the x-coordinates of the crawler trolley.

[0051] Further, determine whether the current position coordinate of the tracked vehicle 1 along the second edge direction reaches the second edge direction position coordinate of the target workstation; if not, control the tracked vehicle 1 to continue moving along the second edge direction; if reached, control the tracked vehicle 1 to rotate 90 degrees counterclockwise on the spot, so that the front of the tracked vehicle 1 faces the positive direction of the y-axis and the front of the vehicle faces the workstation 50.

[0052] Furthermore, the crawler trolley 1 is controlled to move in the first edge direction, i.e., the positive direction of the y-axis. In this process, the control module 3 controls the target shooting direction of the long-short focal length camera group 2 to be the rear; the long-short focal length camera group 2 shoots the second sign 41, obtains the sign picture of the second sign 41, and transmits the sign picture of the second sign 41 to the control module 3. The control module 3 recognizes and calculates the sign picture of the second sign 41, and obtains the current position coordinates of the crawler trolley 1 along the first edge direction, i.e., the y coordinates of the crawler trolley.

[0053] Further, determine whether the current position coordinate of the crawler trolley 1 along the first edge direction reaches the first edge direction position coordinate of the workstation 50; if not, control the crawler trolley 1 to continue moving along the first edge direction; if reached, control the crawler trolley 1 to stop moving.

[0054] In the present embodiment, when the control module 3 controls the tracked vehicle 1 to move from the starting position to the target workstation position, the control module 3 controls the long-focus and short-focus camera groups 2 to take pictures of the signboards in the target shooting direction, and determines the position coordinates of the tracked vehicle 1 in real time, thereby controlling the operation of the tracked vehicle 1, thereby saving costs while ensuring the accuracy of the positioning and navigation system.

[0055] In actual applications, the site may be uneven, and there may be directional deviations during the operation of the crawler trolley 1. In order to ensure that the crawler trolley 1 runs in a straight line, as an example, in a possible implementation, when the control module 3 controls the crawler trolley 1 to move along the second edge direction at the starting position, it is also used to obtain the signboard image of the second signboard through the long-short focal length camera group 2, and obtain the current position coordinates of the crawler trolley 1 along the first edge direction by identifying and calculating the QR code in the signboard image of the second signboard, so as to avoid the deviation of the crawler trolley 1 in the first edge direction; When the control module 3 controls the tracked vehicle 1 to move along the first edge direction, it is also used to obtain the sign image of the first sign through the long- and short-focus camera group 2, and to identify and calculate the QR code in the sign image of the first sign to obtain the current position coordinates of the tracked vehicle 1 along the second edge direction, so as to avoid the deviation of the tracked vehicle 1 in the second edge direction.

[0056] In the present embodiment, when the tracked vehicle 1 is moving along the second edge direction, the long-focus and short-focus camera group 2 is used to obtain a signboard image of the second signboard, and the current position coordinates of the tracked vehicle 1 along the first edge direction are determined based on the signboard image of the second signboard, so as to avoid the deviation of the tracked vehicle 1 in the first edge direction; when the tracked vehicle 1 is moving along the first edge direction, the long-focus and short-focus camera group 2 is used to obtain a signboard image of the first signboard, and the current position coordinates of the tracked vehicle 1 along the second edge direction are determined based on the signboard image of the first signboard, so as to avoid the deviation of the tracked vehicle 1 in the second edge direction, thereby improving the accuracy of the tracked vehicle positioning and navigation.

[0057] For the process of controlling the crawler trolley 1 to return from the target workstation to the initial position, as an example, in one embodiment, during the process of the control module 3 controlling the crawler trolley 1 to return from the target workstation position to the initial position: The control module 3 controls the crawler trolley 1 to retreat from the target workstation position along the first edge direction, and obtains the signboard image of the second signboard through the long-short focal length camera group 2, and obtains the current position coordinates of the crawler trolley 1 along the first edge direction by recognizing and calculating the QR code in the signboard image of the second signboard; When it is determined that the current position coordinates of the crawler vehicle 1 along the first edge direction have reached the first edge direction position coordinates of the starting position, the crawler vehicle 1 is controlled to turn and retreat along the second edge direction, and a signboard image of the first signboard is obtained through the long-short focal length camera group 2, and the current position coordinates of the crawler vehicle 1 along the second edge direction are obtained by identifying and calculating the QR code in the signboard image of the first signboard; When it is determined that the current position coordinates of the crawler vehicle 1 along the second edge direction have reached the second edge direction position coordinates of the starting position, the crawler vehicle 1 is controlled to stop moving.

[0058] As an example, the positioning and navigation process of the crawler vehicle 1 is exemplified below by taking the process of the crawler vehicle returning from the work station 51 to the starting position.

[0059] Reference Figure 1 Specifically, the control module 3 controls the crawler trolley 1 to retreat along the first edge direction, that is, retreat along the negative direction of the y-axis. In this process, the control module 3 controls the target shooting direction of the long-short focal length camera group 2 to be the rear; the long-short focal length camera group 2 shoots the second sign 42, obtains the sign picture of the second sign 42, and transmits the sign picture of the second sign 42 to the control module 3. The control module 3 recognizes and calculates the sign picture of the second sign 42, and obtains the current position coordinates of the crawler trolley 1 along the first edge direction, that is, the y coordinates of the crawler trolley.

[0060] Further, determine whether the current position coordinates of the tracked vehicle 1 along the first edge direction have reached the first edge direction position coordinates of the starting position; if not, control the tracked vehicle 1 to continue to retreat along the first edge direction; if reached, control the tracked vehicle 1 to rotate 90 degrees clockwise on the spot.

[0061] Furthermore, the crawler trolley 1 is controlled to retreat along the second edge direction, that is, retreat along the negative direction of the x-axis. In this process, the control module 3 controls the target shooting direction of the long-short focal length camera group 2 to be directly forward; the long-short focal length camera group 2 shoots the first sign 46, obtains the sign image of the first sign 46, and transmits the sign image of the first sign 46 to the control module 3. The control module 3 recognizes and calculates the sign image of the first sign 46 to obtain the current position coordinates of the crawler trolley 1 along the second edge direction, that is, the x coordinates of the crawler trolley.

[0062] Further, determine whether the current position coordinates of the tracked vehicle 1 along the second edge direction have reached the second edge direction position coordinates of the starting position; if not, control the tracked vehicle 1 to continue to retreat along the second edge direction; if reached, control the tracked vehicle 1 to stop moving.

[0063] In the present embodiment, when the control module 3 controls the tracked vehicle 1 to retreat from the target workstation position to the starting position, the control module 3 controls the long-focus and short-focus camera groups 2 to take pictures of the signboards in the target shooting direction, and determines the position coordinates of the tracked vehicle 1 in real time, thereby controlling the operation of the tracked vehicle 1, thereby saving costs while ensuring the accuracy of the positioning and navigation system.

[0064] In actual applications, the site may be uneven, and there may be directional deviations during the operation of the crawler trolley 1. In order to ensure that the crawler trolley 1 runs in a straight line, as an example, in a possible implementation, when the control module 3 controls the crawler trolley 1 to retreat from the target workstation position along the first edge direction, the long-short focal length camera group 2 obtains the signboard image of the first signboard, and the QR code in the signboard image of the first signboard is identified and calculated to obtain the current position coordinates of the crawler trolley 1 along the second edge direction, so as to avoid the deviation of the crawler trolley 1 in the second edge direction; When the control module 3 controls the tracked vehicle 1 to retreat along the second edge direction, the long-focus and short-focus camera group 2 obtains the sign picture of the second sign, and the QR code in the sign picture of the second sign is identified and calculated to obtain the current position coordinates of the tracked vehicle 1 along the first edge direction, so as to avoid the deviation of the tracked vehicle 1 in the first edge direction.

[0065] In the present embodiment, during the process of the tracked vehicle 1 retreating along the first edge direction, the long- and short-focus camera group 2 is used to obtain a signboard image of the first signboard, and the current position coordinates of the tracked vehicle 1 along the second edge direction are determined based on the signboard image of the first signboard, so as to avoid the deviation of the tracked vehicle 1 in the second edge direction; during the process of the tracked vehicle 1 retreating along the second edge direction, the long- and short-focus camera group 2 is used to obtain a signboard image of the second signboard, and the current position coordinates of the tracked vehicle 1 along the first edge direction are determined based on the signboard image of the second signboard, so as to avoid the deviation of the tracked vehicle 1 in the first edge direction, thereby improving the accuracy of the tracked vehicle positioning and navigation.

[0066] In addition, the application scenario of the present invention also includes the case where the crawler trolley 1 moves from one workstation to another. Specifically, the current workstation of the crawler trolley 1 is on the left side of the target workstation. As an example, in the process of the control module 3 controlling the crawler trolley 1 to move from workstation 50 to workstation 51: The control module 3 controls the crawler trolley 1 to retreat from the workstation 50 along the first edge direction, and obtains the signboard image of the second signboard through the long-short focal length camera group 2, and obtains the current position coordinates of the crawler trolley 1 along the first edge direction by recognizing and calculating the QR code in the signboard image of the second signboard; When it is determined that the tracked vehicle 1 retreats along the first edge direction to a current position coordinate that is the same as the first edge direction position coordinate of the starting position, the tracked vehicle 1 is controlled to turn and move along the second edge direction, and a signboard image of the first signboard is obtained through the long- and short-focus camera group 2, and the current position coordinates of the tracked vehicle 1 along the second edge direction are obtained by identifying and calculating the QR code in the signboard image of the first signboard; Control the crawler trolley 1 to continue to move forward along the second edge direction. When it is determined that the current position coordinates of the crawler trolley 1 along the second edge direction have reached the second edge direction position coordinates of the workstation 51, control the crawler trolley 1 to turn and move along the first edge direction. The image of the second identification plate is obtained by the long- and short-focus camera group 2. The current position coordinates of the crawler trolley 1 along the first edge direction are obtained by recognizing and calculating the QR code in the image of the second identification plate. When it is determined that the current position coordinate of the crawler vehicle 1 along the first edge direction reaches the first edge direction position coordinate of the workstation 51, the crawler vehicle 1 is controlled to stop moving.

[0067] Specifically, the current workstation of the crawler trolley 1 is on the right side of the target workstation. As an example, in the process of the control module 3 controlling the crawler trolley 1 to run from workstation 52 to workstation 51: The control module 3 controls the crawler trolley 1 to retreat from the workstation 52 along the first edge direction, and obtains the signboard image of the second signboard through the long-short focal length camera group 2, and obtains the current position coordinates of the crawler trolley 1 along the first edge direction by recognizing and calculating the QR code in the signboard image of the second signboard; When it is determined that the tracked vehicle 1 retreats along the first edge direction to a current position coordinate that is the same as the first edge direction position coordinate of the starting position, the tracked vehicle 1 is controlled to turn and retreat along the second edge direction, and a signboard image of the first signboard is obtained through the long- and short-focus camera group 2, and the current position coordinates of the tracked vehicle 1 along the second edge direction are obtained by identifying and calculating the QR code in the signboard image of the first signboard; Control the crawler trolley 1 to continue to retreat along the second edge direction. When it is determined that the current position coordinates of the crawler trolley 1 along the second edge direction have reached the second edge direction position coordinates of the workstation 51, control the crawler trolley 1 to turn and move along the first edge direction. Obtain a signboard image of the second signboard through the long- and short-focus camera group 2. Obtain the current position coordinates of the crawler trolley 1 along the first edge direction by identifying and calculating the QR code in the signboard image of the second signboard. When it is determined that the current position coordinate of the crawler vehicle 1 along the first edge direction reaches the first edge direction position coordinate of the workstation 51, the crawler vehicle 1 is controlled to stop moving.

[0068] In addition, as for the specific structure of the long-focus and short-focus camera group, as an example, in a possible implementation, the long-focus and short-focus camera group 2 includes: a short-focus camera 20, a bracket 22 for the short-focus camera, a long-focus camera 21, a bracket 23 for the long-focus camera, and a rotating unit; The short-focus camera 20 is fixedly mounted on a bracket 22 of the short-focus camera, and the long-focus camera 21 is fixedly mounted on a bracket 23 of the long-focus camera. The bracket 22 of the short-focus camera and the bracket 23 of the long-focus camera are both fixedly mounted on the rotating unit; The control module 3 is connected to the rotation unit, and the control module 3 is used to control the rotation of the rotation unit so that the telephoto camera 21 and the short-focus camera 20 are rotated to the target shooting direction; The control module 3 controls the long-focus camera 21 and the short-focus camera 20 to simultaneously photograph the first signboard, obtains two pictures, and compares the recognition results. If only one of the pictures contains a complete QR code, the QR code is recognized based on the picture containing the complete QR code. If both pictures contain complete QR codes, the signboard picture of the first signboard photographed by the short-focus camera 20 is selected for QR code recognition. The control module 3 controls the telephoto camera 21 and the short-focus camera 20 to simultaneously photograph the second signboard to obtain two pictures, and compares the recognition results. If only one of the pictures contains a complete QR code, the QR code is recognized based on the picture containing the complete QR code. If both pictures contain complete QR codes, the signboard picture of the second signboard taken by the short-focus camera 20 is selected for QR code recognition.

[0069] In this solution, by combining the short-focus camera 20 and the long-focus camera 21, accurate positioning of long distance and short distance can be achieved. By combining the short-focus camera 20 and the long-focus camera 21, the variable focal length camera can be replaced, reducing the cost of positioning and navigation of the crawler vehicle. By combining the short-focus camera 20 and the long-focus camera 21, it can be used in scenes without GNSS signals or GPS signals, improving the reliability of positioning and navigation of the crawler vehicle.

[0070] In actual applications, the telephoto camera 21 is used to photograph distant signboards, and the short-focus camera 20 is used to photograph nearby signboards. Through the calculation of the control module 3, it is only necessary to photograph two signboards with known coordinates to complete any spatial positioning, avoiding the ground being arranged into a grid matrix, reducing cost and complexity. Specifically, in the process of taking a picture of a signboard by the long- and short-focus camera group 2, the short-focus camera 20 is used to photograph the signboard first. If the control module 3 cannot recognize the picture of the signboard taken by the short-focus camera 20, the telephoto camera 21 is controlled to photograph the signboard, so that accurate recognition of the signboard can be achieved.

[0071] Specifically, for the structure of the control module 3, as an example, refer to Figure 2 In a possible implementation, the control module 3 includes: an industrial computer 33, a driver 31 and a single-chip computer 32; The industrial computer 33 is fixedly mounted on the protective cover of the crawler vehicle 1. The industrial computer 33 is connected to the telephoto camera 21 and the short-focus camera 20 respectively. The industrial computer 33 is used to obtain the signboard images taken by the telephoto camera 21 and the short-focus camera 20. The industrial computer 33 is connected to the single-chip computer 32, and the industrial computer 33 is used to output a first control signal to the single-chip computer 32, wherein the first control signal represents the target shooting direction of the long-focus and short-focus camera groups; The single chip microcomputer 32 is connected to the driver 31, and is used for converting the first control signal into a second control signal recognizable by the driver 31, and outputting the second control signal to the driver 31; The driver 31 is connected to the rotating unit, and is used for converting the second control signal into a pulse signal for controlling the rotating unit, and outputting the pulse signal to the rotating unit to control the rotating unit to rotate.

[0072] In actual applications, when the shooting direction of the long-focus and short-focus camera group 2 needs to be adjusted, the industrial computer 33 outputs a first control signal to the single-chip computer 32, the single-chip computer 32 outputs a second control signal to the driver 31, and the driver 31 outputs a pulse signal to the rotating unit. The driver 31 controls the rotating unit to rotate, driving the two cameras in the long-focus and short-focus camera group 2 to face the target shooting direction.

[0073] In this embodiment, the long-focus and short-focus camera group 2, the industrial computer 33, the driver 31 and the single-chip microcomputer 32 work together to realize the shooting of signboards in different shooting directions to realize the positioning of the tracked vehicle 1. This can reduce the number of cameras of the tracked vehicle 1 and save the cost of the positioning and navigation system.

[0074] It can be understood that the rotating unit is connected to the driver 31, receives the pulse signal, drives the short-focus camera 20 and the long-focus camera 21 to rotate, and rotates the shooting direction of the long-focus and short-focus camera group 2 to the target shooting direction. Based on the above embodiment, for the structure of the rotating unit, in one example, Figure 6 Schematic diagram of the structure of the long-focus and short-focus camera group provided by the present invention. Figure 6 As shown, the rotating unit comprises: a rotating table 24 and a motor 29; The bracket 22 of the short-focus camera and the bracket 23 of the long-focus camera are both fixedly mounted on the turntable 24, the turntable 24 is fixedly mounted on the rotating shaft of the motor 29, and the motor is fixedly mounted on the protective cover of the crawler trolley 1; The driver 31 is connected to the motor 29 and is used to output a pulse signal to the motor to control the rotation of the motor.

[0075] In actual applications, the short-focus camera 20 and the long-focus camera 21 can be arranged left and right, or up and down. Specifically, the short-focus camera 20 and the long-focus camera 21 are arranged left and right, and the turntable 24 is a left-right symmetrical structure. Correspondingly, the short-focus camera 20 and the long-focus camera 21 are arranged up and down, and the turntable 24 is a top-to-bottom symmetrical structure.

[0076] As an example, the short-focus camera 20 and the long-focus camera 21 are arranged on the left and right. Figure 7 Schematic diagram of the structure of the turntable provided by the present invention, such as Figure 7 As shown, the turntable 24 includes a turntable seat 245, a first bracket seat 241, a first fixing hole 242, a second fixing hole 243, a second bracket seat 244 and a positioning hole 246, and the turntable 24 is a left-right symmetrical structure.

[0077] Specific, combined Figure 6 and Figure 7 The short-focus camera 20 is fixed on the bracket 22 of the short-focus camera, and the bracket 22 of the short-focus camera is fixed in the first bracket seat 241 by the first bolt 25. The long-focus camera 21 is fixed on the bracket 23 of the long-focus camera, and the bracket 23 of the long-focus camera is fixed in the second bracket seat 244 by the second bolt 26. The turntable 24 is installed on the rotating shaft 28 of the motor 29 through the turntable seat 245, and the turntable is fixed on the rotating shaft 28 by the positioning screw 27.

[0078] like Figure 2 As shown, the motor 29 is fixedly mounted on the protective cover of the crawler vehicle 1, and the motor 29 is connected to the driver 31. The motor 29 is used to respond to the pulse signal to drive the rotating shaft 28 of the motor 29 to rotate so as to rotate the shooting direction of the long-focus and short-focus camera group 2 to the target shooting direction.

[0079] The motor 29 can be a servo motor or a stepper motor. Specifically, the short-focus camera 20 and the long-focus camera 21 are connected to the USB interface of the industrial computer 33 through data cables, the industrial computer 33 is connected to the single-chip computer 32 through a USB to TTL cable, the single-chip computer 32 is connected to the PWM port of the driver 31 through a signal line, the driver 31 is connected to the motor 29, and the motor 29 adopts a position mode.

[0080] In addition, in one implementation, a motor and a turntable may be provided for the short-focus camera 20 and the long-focus camera 21 respectively to adjust the shooting direction.

[0081] In the unmanned tracked vehicle positioning and navigation system provided by the present embodiment, the tracked vehicle is controlled to move by a control module; the control module controls the target shooting direction of the long- and short-focus camera group; the long- and short-focus camera group shoots signboards in different shooting directions to obtain signboard images, and transmits the signboard images to the control module; the control module identifies and calculates the QR code in the signboard image to obtain the current position of the tracked vehicle, and determines whether the current position of the tracked vehicle is the target position; if the current position of the tracked vehicle is the target position, the control module controls the tracked vehicle to stop moving; otherwise, the control module controls the tracked vehicle to continue moving toward the target position. In the scheme of the present embodiment, the control module identifies and calculates the QR code in the signboard image to obtain the current position of the tracked vehicle, and controls the operation of the tracked vehicle according to the current position of the tracked vehicle, which can achieve high-precision positioning and navigation of the tracked vehicle. By connecting a long-focus camera group and a control module to shoot signboards in different shooting directions to realize the positioning of the crawler vehicle, the number of cameras of the crawler vehicle can be reduced, and the cost of the positioning and navigation system can be reduced; and the multiple signboards at the edge of the site, each of which is marked with a corresponding QR code, can reduce the difficulty of positioning the crawler vehicle and improve the flexibility of the layout. Therefore, the present application provides a high-precision positioning and navigation solution with low cost and flexible layout.

[0082] The unmanned tracked vehicle positioning and navigation method provided by the present invention is described below. The unmanned tracked vehicle positioning and navigation method described below and the unmanned tracked vehicle positioning and navigation system described above can be referenced to each other.

[0083] The unmanned crawler vehicle positioning and navigation method provided in this embodiment is applied to the control module 3 in the unmanned crawler vehicle positioning and navigation system. Figure 1 The unmanned tracked vehicle positioning and navigation system includes: a tracked vehicle 1, a long-focus and short-focus camera group 2, a control module 3, and a plurality of signboards arranged at the edge of the site. The plurality of signboards are arranged at two edges perpendicular to each other for determining the position; each signboard is marked with a corresponding QR code, and the QR codes in different signboards are different.

[0084] Figure 8 FIG. 1 is a flow chart of the positioning and navigation method of the unmanned tracked vehicle provided by the present invention, such as Figure 8 As shown, the unmanned tracked vehicle positioning and navigation method includes steps 801 to 806.

[0085] Step 801: Control the crawler vehicle to move, and control the target shooting direction of the long-focus and short-focus camera groups during the moving process.

[0086] Step 802: Receive a signboard image obtained by photographing the signboard in the target shooting direction with the long-focus and short-focus camera groups.

[0087] Step 803: Identify and calculate the QR code in the sign image to obtain the current position of the crawler vehicle.

[0088] Step 804: Determine whether the current position of the crawler vehicle is the target position.

[0089] Step 805: If the current position of the crawler vehicle is the target position, the control module controls the crawler vehicle to stop moving.

[0090] Step 806: If the current position of the crawler vehicle is not the target position, the crawler vehicle is controlled to continue moving toward the target position.

[0091] In this embodiment, the crawler trolley 1 is electrically driven, and the crawlers on the left and right sides can be controlled independently. The control module 3 is installed on the crawler trolley 1, and the control module 3 controls the crawler trolley 1 to move forward.

[0092] In this embodiment, the long-focus and short-focus camera group 2 can switch the shooting direction. Figure 2 As shown, the shooting direction of the long-short focal length camera group 2 is straight ahead; Figure 3 As shown, the shooting direction of the long-short focal length camera group 2 is the right side; Figure 4 As shown, the shooting direction of the long-short focal length camera group 2 is backward.

[0093] As an example, Figure 1 The position of the crawler trolley 1 in the middle is taken as the initial position of the crawler trolley 1. Figure 1 The front of the crawler trolley 1 is taken as the positive direction of the x-axis, and the left side of the crawler trolley 1 is taken as the positive direction of the y-axis. In practical applications, after the crawler trolley 1 is started, the control module 3 performs initialization settings to rotate the long-focus and short-focus camera group 2 to the initial angle, that is, the two cameras in the long-focus and short-focus camera group 2 face the front of the crawler trolley 1, such as Figure 2 shown.

[0094] like Figure 1 As shown, the plurality of identification signs include a second identification sign 40, a second identification sign 41, a second identification sign 42, a second identification sign 43, a second identification sign 44, a second identification sign 45 and a first identification sign 46. Among them, the second identification sign 40, the second identification sign 41, the second identification sign 42, the second identification sign 43, the second identification sign 44 and the second identification sign 45 are arranged on the right edge of the field at the initial position of the crawler trolley 1, and the first identification sign 46 is arranged on the field edge facing the initial position of the crawler trolley 1. As an example, the direction of the field edge facing the initial position of the crawler trolley is taken as the first edge direction, and the direction of the field edge on the right side of the initial position of the crawler trolley 1 is taken as the second edge direction.

[0095] Specifically, the QR code on each sign is different. In this embodiment, the artificial visual feature is produced by printing the QR code on the sign, which can provide higher recognition accuracy than the natural feature. In practical applications, the QR code can be an Apriltag code, ArUco code, etc. For example, the sign is printed with an Apriltag code, Figure 5 It is a schematic diagram of the sign provided by the present invention, such as Figure 5 As shown, the Apriltag code 8 is printed on the identification plate.

[0096] It can be understood that to determine the current position of the tracked vehicle 1, the long-focus and short-focus camera group 2 is required to photograph the signboards in the first edge direction and the second edge direction to obtain signboard images, and the control module 3 recognizes and calculates the QR codes in the signboard images in the two edge directions to obtain the current position of the tracked vehicle 1.

[0097] The following is a specific description of the positioning process of the crawler vehicle 1 by taking the determination of the initial position of the crawler vehicle 1 as an example. First, the x-coordinate of the long-focus and short-focus camera group 2 is determined. The control module 3 controls the target shooting direction of the long-focus and short-focus camera group 2 to be directly in front of the crawler vehicle 1, so that the long-focus and short-focus camera group 2 shoots the first sign 46 in the first edge direction to obtain a sign picture, and the sign picture of the first sign 46 is transmitted to the control module 3. The control module 3 recognizes and calculates the QR code in the sign picture of the first sign 46 to obtain the x-coordinate of the long-focus and short-focus camera group 2.

[0098] Then, the y coordinate of the telephoto camera group 2 is determined. The control module 3 controls the target shooting direction of the telephoto camera group 2 to be the right side of the crawler vehicle 1, so that the telephoto camera group 2 shoots the second signboard 40 in the second edge direction to obtain a signboard image of the second signboard 40, and transmits the signboard image of the second signboard 40 to the control module 3. The control module 3 recognizes and calculates the QR code in the signboard image of the second signboard 40 to obtain the y coordinate of the telephoto camera group 2.

[0099] Finally, the x-coordinate and y-coordinate of the long-focus and short-focus camera group 2 are combined to obtain the position (x, y) of the long-focus and short-focus camera group. According to the installation position of the long-focus and short-focus camera group 2 on the crawler vehicle, the coordinate value of the initial position of the crawler vehicle 1 is obtained. .

[0100] In the present invention, the installation position of the long-focus and short-focus camera group 2 is not specifically limited. In one example, the long-focus and short-focus camera group 2 is arranged on the right side of the protective cover of the crawler vehicle 1. In another example, the long-focus and short-focus camera group 2 is arranged at the front of the crawler vehicle 1. In another example, the long-focus and short-focus camera group 2 is arranged at the rear of the crawler vehicle 1. In actual applications, the initial position of the crawler vehicle 1 is calculated according to the actual installation position of the long-focus and short-focus camera group 2 on the crawler vehicle.

[0101] During the movement of the crawler 1, the control module 3 controls the target shooting direction of the long-focus and short-focus camera group 2; the long-focus and short-focus camera group 2 shoots the signboard in the target shooting direction to obtain the signboard image, and transmits the signboard image to the control module 3. The control module 3 recognizes and calculates the QR code in the signboard image to obtain the current position of the crawler 1. After the control module 3 determines the current position of the crawler 1, it determines whether the current position of the crawler 1 is the target position, and further controls the movement state of the crawler 1. Specifically, if the current position of the crawler 1 is the target position, the control module 3 controls the crawler 1 to stop moving; otherwise, the control module 3 controls the crawler 1 to continue moving toward the target position.

[0102] In the scheme of this embodiment, the control module 3 identifies and calculates the QR code in the signboard image to obtain the current position of the tracked vehicle 1, and controls the operation of the tracked vehicle 1 according to the current position of the tracked vehicle 1, so as to achieve high-precision positioning and navigation of the tracked vehicle 1. The long- and short-focus camera group 2 and the control module 3 are connected to realize the shooting of signboards in different shooting directions to realize the positioning of the tracked vehicle 1, which can reduce the number of cameras of the tracked vehicle 1 and the cost of the positioning and navigation system; and, multiple signboards at the edge of the site, each of which is marked with a corresponding QR code, can reduce the difficulty of positioning the tracked vehicle 1 and improve the flexibility of the layout. Therefore, the present application provides a high-precision positioning and navigation solution with low cost and flexible layout.

[0103] In a possible implementation, the long-focus and short-focus camera group includes: a long-focus camera and a short-focus camera. The step 803 specifically includes: The control module controls the telephoto camera and the short-focus camera to simultaneously shoot the first signboard to obtain two pictures, and compares the recognition results. If only one of the pictures contains a complete QR code, the QR code is recognized based on the picture containing the complete QR code. If both pictures contain a complete QR code, the signboard picture of the first signboard taken by the short-focus camera is selected for QR code recognition.

[0104] Furthermore, the control module locates the four corner points of the QR code of the sign image, and calculates the relative position of the camera corresponding to the sign image and the plane where the QR code is located in the camera coordinate system; wherein the camera corresponding to the sign image is a telephoto camera or a short-focus camera.

[0105] Specifically, in one example, the control module locates the four corner points of the QR code of the sign image, and calculates the relative position of the camera corresponding to the sign image and the plane where the QR code is located in the camera coordinate system, specifically including: The control module locates the four corner points of the Apriltag code printed on the sign according to the image of the sign and obtains the pixel coordinates of the four corner points .

[0106] Taking the center of Apriltag code 8 as the origin of the world coordinate system, the z value of the plane where the Apriltag code is located is 0, then the world coordinates PworldX of the four corner points in the world coordinate system can be obtained.

[0107] According to the pixel coordinates PimageX of the four corner points, the world coordinates PworldX and the internal parameters of the camera, the PnP (Perspective-n-Point) algorithm is used to solve the camera's rotation matrix MrX and translation matrix MtX.

[0108] According to the rotation matrix M rX , translation matrix M tX And the world coordinate values ​​of the four corner points , calculate the relative position of the camera relative to the plane where Apriltag is located in the camera coordinate system Then, from The vertical distance parameter from the camera to the signboard is extracted as the x-coordinate of the long-focus and short-focus camera group 2.

[0109] Furthermore, the control module extracts a vertical distance parameter between the camera and the plane where the QR code is located according to the relative positions of the camera and the plane where the QR code is located in the camera coordinate system as a coordinate value of the tracked vehicle along the second edge direction.

[0110] Furthermore, the control module controls the telephoto camera and the short-focus camera to simultaneously photograph the second signboard to obtain two pictures, and compares the recognition results. If only one of the pictures contains a complete QR code, the QR code is recognized based on the picture containing the complete QR code; if both pictures contain complete QR codes, the signboard picture of the second signboard taken by the short-focus camera is selected for QR code recognition.

[0111] Furthermore, the control module locates the four corner points of the QR code of the sign image, and calculates the relative position of the camera corresponding to the sign image and the plane where the QR code is located in the camera coordinate system; wherein the camera corresponding to the sign image is a telephoto camera or a short-focus camera.

[0112] Specifically, in one example, the control module locates the four corner points of the QR code of the sign image, and calculates the relative position of the camera corresponding to the sign image and the plane where the QR code is located in the camera coordinate system, specifically including: The control module locates the four corner points of the Apriltag code printed on the sign according to the image of the sign and obtains the pixel coordinates of the four corner points .

[0113] Taking the center of Apriltag code 8 as the origin of the world coordinate system, and the z value of the plane where the Apriltag code is located is 0, the world coordinates P of the four corner points in the world coordinate system can be obtained. worldY .

[0114] According to the pixel coordinates P of the four corner points imageY 、World coordinate P worldY And the internal parameters of the camera, the rotation matrix M of the camera is solved by the PnP algorithm rY and the translation matrix M tY .

[0115] According to the rotation matrix M rY , translation matrix M tY And the world coordinate values ​​of the four corner points , calculate the relative position of the camera relative to the plane where Apriltag is located in the camera coordinate system Then, from The vertical distance parameter from the camera to the signboard is extracted as the y coordinate of the long-focus and short-focus camera group 2.

[0116] Furthermore, the control module extracts a vertical distance parameter between the camera and the plane where the QR code is located according to the relative positions of the camera and the plane where the QR code is located in the camera coordinate system as a coordinate value of the tracked vehicle along the first edge direction.

[0117] In the positioning and navigation method of the unmanned tracked vehicle provided in this embodiment, the tracked vehicle is controlled to move by a control module; the control module controls the target shooting direction of the long- and short-focus camera group; the long- and short-focus camera group shoots the signboards in different shooting directions to obtain the signboard pictures, and transmits the signboard pictures to the control module; the control module identifies and calculates the QR code in the signboard picture to obtain the current position of the tracked vehicle, and determines whether the current position of the tracked vehicle is the target position; if the current position of the tracked vehicle is the target position, the control module controls the tracked vehicle to stop moving; otherwise, the control module controls the tracked vehicle to continue moving toward the target position. In the scheme of this embodiment, the control module identifies and calculates the QR code in the signboard picture to obtain the current position of the tracked vehicle, and controls the operation of the tracked vehicle according to the current position of the tracked vehicle, which can achieve high-precision positioning and navigation of the tracked vehicle. By connecting a long-focus camera group and a control module to shoot signboards in different shooting directions to realize the positioning of the crawler vehicle, the number of cameras of the crawler vehicle can be reduced, and the cost of the positioning and navigation system can be reduced; and the multiple signboards at the edge of the site, each of which is marked with a corresponding QR code, can reduce the difficulty of positioning the crawler vehicle and improve the flexibility of the layout. Therefore, the present application provides a high-precision positioning and navigation solution with low cost and flexible layout.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned tracked vehicle positioning and navigation system, characterized in that: The unmanned crawler vehicle positioning and navigation system comprises: a crawler vehicle, a long-focus and short-focus camera group, a control module, and a plurality of signboards arranged at the edge of the site, wherein the plurality of signboards are respectively arranged at two edges perpendicular to each other for determining the position; Each of the identification plates is marked with a corresponding QR code, and the QR codes in different identification plates are different; The control module is installed on the crawler trolley, and the control module controls the crawler trolley to move; The control module is connected to the long-focus and short-focus camera group, and the control module is used to control the target shooting direction of the long-focus and short-focus camera group; The long-focus and short-focus camera group is installed on the crawler vehicle, and the long-focus and short-focus camera group is used to photograph the signboards in different shooting directions to obtain signboard images, and transmit the signboard images to the control module; The control module is also used to identify and calculate the QR code in the sign image to obtain the current position of the crawler vehicle, and determine whether the current position of the crawler vehicle is the target position; If the current position of the crawler vehicle is the target position, the control module controls the crawler vehicle to stop moving; otherwise, the control module controls the crawler vehicle to continue moving toward the target position.

2. The unmanned tracked vehicle positioning and navigation system according to claim 1, characterized in that: The identification plate includes a single first identification plate arranged in a first edge direction and a plurality of second identification plates arranged in a second edge direction; the first edge direction and the second edge direction are perpendicular to each other; The site includes a plurality of workstations, each of which corresponds to a corresponding second identification plate; In the process where the control module controls the crawler vehicle to move from the starting position to the target workstation position: The control module controls the crawler vehicle to move along the second edge direction at the starting position, and obtains the signboard image of the first signboard through the long-short focal length camera group, and obtains the current position coordinates of the crawler vehicle along the second edge direction by identifying and calculating the QR code in the signboard image of the first signboard; When it is determined that the current position coordinates of the crawler vehicle along the second edge direction have reached the second edge direction position coordinates of the target workstation, the crawler vehicle is controlled to turn and move along the first edge direction, and a signboard image of the second signboard is obtained by using the long- and short-focus camera group, and the QR code in the signboard image of the second signboard is identified and calculated to obtain the current position coordinates of the crawler vehicle along the first edge direction; When it is determined that the current position coordinate of the crawler vehicle along the first edge direction reaches the first edge direction position coordinate of the target workstation, the crawler vehicle is controlled to stop moving.

3. The unmanned tracked vehicle positioning and navigation system according to claim 2, characterized in that: In the process of the control module controlling the crawler trolley to move along the second edge direction at the starting position, the control module is also used to obtain the signboard image of the second signboard through the long-short focal length camera group, and obtain the current position coordinates of the crawler trolley along the first edge direction by identifying and calculating the QR code in the signboard image of the second signboard, so as to avoid the deviation of the crawler trolley in the first edge direction; When the control module controls the tracked vehicle to move along the first edge direction, it is also used to obtain the signboard image of the first signboard through the long- and short-focus camera group, and obtain the current position coordinates of the tracked vehicle along the second edge direction by identifying and calculating the QR code in the signboard image of the first signboard, so as to avoid the deviation of the tracked vehicle in the second edge direction.

4. The unmanned tracked vehicle positioning and navigation system according to claim 2, characterized in that: In the process where the control module controls the crawler vehicle to return from the target workstation position to the starting position: The control module controls the crawler trolley to retreat from the target workstation position along the first edge direction, and obtains the signboard image of the second signboard through the long-short focal length camera group, and obtains the current position coordinates of the crawler trolley along the first edge direction by recognizing and calculating the QR code in the signboard image of the second signboard; When it is determined that the current position coordinates of the crawler vehicle along the first edge direction have reached the first edge direction position coordinates of the starting position, the crawler vehicle is controlled to turn and retreat along the second edge direction, and a signboard image of the first signboard is acquired through the long- and short-focus camera group, and the current position coordinates of the crawler vehicle along the second edge direction are obtained by identifying and calculating the QR code in the signboard image of the first signboard; When it is determined that the current position coordinate of the crawler vehicle along the second edge direction reaches the second edge direction position coordinate of the starting position, the crawler vehicle is controlled to stop moving.

5. The unmanned tracked vehicle positioning and navigation system according to claim 4, characterized in that: In the process of the control module controlling the crawler trolley to retreat from the target workstation position along the first edge direction, the long-focus and short-focus camera group obtains the signboard image of the first signboard, and the current position coordinates of the crawler trolley along the second edge direction are obtained by identifying and calculating the QR code in the signboard image of the first signboard, so as to avoid the deviation of the crawler trolley in the second edge direction; When the control module controls the tracked vehicle to retreat along the second edge direction, the long-focus and short-focus camera group obtains the signboard image of the second signboard, and the QR code in the signboard image of the second signboard is identified and calculated to obtain the current position coordinates of the tracked vehicle along the first edge direction, so as to avoid the deviation of the tracked vehicle in the first edge direction.

6. The unmanned tracked vehicle positioning and navigation system according to any one of claims 2 to 5, characterized in that: The long-focus and short-focus camera group includes: a long-focus camera, a short-focus camera, a bracket for the short-focus camera, a bracket for the long-focus camera, and a rotating unit; The short-focus camera is fixedly mounted on a bracket of the short-focus camera, the long-focus camera is fixedly mounted on a bracket of the long-focus camera, and both the bracket of the short-focus camera and the bracket of the long-focus camera are fixedly mounted on the rotating unit; The control module is connected to the rotation unit, and the control module is used to control the rotation of the rotation unit so that the telephoto camera and the short-focus camera rotate to the target shooting direction; The control module controls the telephoto camera and the short-focus camera to simultaneously photograph the first signboard to obtain two pictures, and compares the recognition results. If only one of the pictures contains a complete two-dimensional code, the two-dimensional code is recognized based on the picture containing the complete two-dimensional code; if both pictures contain complete two-dimensional codes, the signboard picture of the first signboard photographed by the short-focus camera is selected to recognize the two-dimensional code; The control module controls the telephoto camera and the short-focus camera to simultaneously photograph the second signboard to obtain two pictures, and compares the recognition results. If only one of the pictures contains a complete QR code, the QR code is recognized based on the picture containing the complete QR code; if both pictures contain complete QR codes, the signboard picture of the second signboard taken by the short-focus camera is selected for QR code recognition.

7. The unmanned tracked vehicle positioning and navigation system according to claim 6, characterized in that: The control module includes: an industrial computer, a driver and a single-chip microcomputer; The industrial computer is fixedly mounted on the protective cover of the crawler trolley, and the industrial computer is connected to the telephoto camera and the short-focus camera respectively, and the industrial computer is used to obtain the signboard images taken by the telephoto camera and the short-focus camera; The industrial computer is connected to the single-chip computer, and the industrial computer is used to output a first control signal to the single-chip computer, wherein the first control signal represents a target shooting direction of the long-focus and short-focus camera group; The single chip microcomputer is connected to the driver, and the single chip microcomputer is used to convert the first control signal into a second control signal recognizable by the driver, and output the second control signal to the driver; The driver is connected to the rotating unit, and is used for converting the second control signal into a pulse signal for controlling the rotating unit, and outputting the pulse signal to the rotating unit to control the rotating unit to rotate.

8. The unmanned tracked vehicle positioning and navigation system according to claim 7, characterized in that: The rotating unit comprises: a turntable and a motor; The bracket of the short-focus camera and the bracket of the long-focus camera are both fixedly mounted on the turntable, the turntable is fixedly mounted on the rotating shaft of the motor, and the motor is fixedly mounted on the protective cover of the crawler vehicle; The driver is connected to the motor, and is used to output the pulse signal to the motor to control the rotation of the motor.

9. A positioning and navigation method for an unmanned tracked vehicle, characterized in that: Applied to the positioning and navigation system of an unmanned tracked vehicle, the positioning and navigation system of the unmanned tracked vehicle comprises: a tracked vehicle, a long-focus and short-focus camera group, a control module, and a plurality of identification plates arranged at the edge of the site, wherein the plurality of identification plates are respectively arranged at two edges perpendicular to each other for determining the position; each of the identification plates is marked with a corresponding QR code, and the QR codes in different identification plates are different; The method is used in the control module and specifically includes: Controlling the crawler vehicle to move, and controlling the target shooting direction of the long-focus and short-focus camera groups during the moving process; Receiving a signboard picture obtained by photographing the signboard in the target shooting direction by the long-focus and short-focus camera group; Identify and calculate the QR code in the signboard image to obtain the current position of the crawler vehicle, and determine whether the current position of the crawler vehicle is the target position; If the current position of the crawler vehicle is the target position, the control module controls the crawler vehicle to stop moving; otherwise, the crawler vehicle is controlled to continue moving toward the target position.

10. The unmanned tracked vehicle positioning and navigation method according to claim 9, characterized in that: The long-focus and short-focus camera group includes: a long-focus camera and a short-focus camera; The identifying and calculating the QR code in the sign image to obtain the current position of the crawler vehicle specifically includes: The control module controls the telephoto camera and the short-focus camera to simultaneously photograph the first signboard to obtain two pictures, and compares the recognition results. If only one of the pictures contains a complete two-dimensional code, the two-dimensional code is recognized based on the picture containing the complete two-dimensional code; if both pictures contain complete two-dimensional codes, the signboard picture of the first signboard photographed by the short-focus camera is selected to recognize the two-dimensional code; The control module locates four corner points of the two-dimensional code of the sign image, and calculates the relative position of the camera corresponding to the sign image and the plane where the two-dimensional code is located in the camera coordinate system; wherein the camera corresponding to the sign image is a telephoto camera or a short-focus camera; The control module extracts a vertical distance parameter between the camera and the plane where the two-dimensional code is located according to the relative positions of the camera and the plane where the two-dimensional code is located in the camera coordinate system as a coordinate value of the crawler vehicle along the second edge direction; and The control module controls the telephoto camera and the short-focus camera to simultaneously photograph the second signboard to obtain two pictures, compares the recognition results, and if only one of the pictures contains a complete QR code, performs QR code recognition based on the picture containing the complete QR code; if both pictures contain complete QR codes, selects the signboard picture of the second signboard photographed by the short-focus camera to perform QR code recognition; The control module locates four corner points of the two-dimensional code of the sign image, and calculates the relative position of the camera corresponding to the sign image and the plane where the two-dimensional code is located in the camera coordinate system; wherein the camera corresponding to the sign image is a telephoto camera or a short-focus camera; The control module extracts a vertical distance parameter between the camera and the plane where the two-dimensional code is located according to the relative positions of the camera and the plane where the two-dimensional code is located in the camera coordinate system as a coordinate value of the tracked vehicle along the first edge direction.

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