Navigation switching method and device, navigation vehicle and medium

Abstract

The invention relates to the technical field of navigation, and discloses a navigation switching method and device, a navigation vehicle and a medium, and the method comprises the following steps: collecting environment information of a target navigation vehicle; judging whether the target navigation vehicle is in a high-dynamic environment based on the environment information; when the target navigation vehicle is in the high dynamic environment, a preset reference object is identified, a preset two-dimensional code area is determined based on the preset reference object, and at least one two-dimensional code is arranged in the preset two-dimensional code area; and controlling the target navigation vehicle to navigate to the preset two-dimensional code area, identifying the preset two-dimensional code area, and switching the target navigation vehicle into a two-dimensional code navigation mode when any two-dimensional code is identified. When the navigation vehicle carries out two-dimensional code navigation switching, it can be guaranteed that the navigation vehicle is accurately located in a two-dimensional code recognition area, accurate switching of navigation modes can be achieved, meanwhile, the switching opportunity and precision of the navigation modes can be guaranteed, and the efficient operation requirement of the navigation vehicle is greatly met.

Description

Technical Field

[0001] The present invention relates to the field of navigation technology, and in particular to a navigation switching method, device, navigation vehicle and medium. Background Art

[0002] SLAM (Simultaneous Localization and Mapping) technology mainly solves the problem of positioning and mapping in unknown environments using only the sensors carried by the main body. It is widely used in the field of navigation technology because of its high positioning accuracy and flexible positioning methods.

[0003] At present, when a navigation vehicle, such as a SLAM navigation vehicle, uses SLAM autonomous navigation in a high-dynamic environment (i.e., an environment with a large number of dynamic changes, such as a real environment with a large number of moving objects, pedestrians, vehicles, etc.), it may cause the navigation vehicle to have inaccurate positioning, resulting in deviation and a series of other problems. Based on such problems, the existing technology overcomes the problem of poor positioning accuracy of a single navigation method by adding QR code navigation.

[0004] However, the environment deployment of QR code navigation is difficult, and when SLAM navigation switches to QR code recognition mode, there may be problems with QR code recognition errors or omissions, which in turn causes the vehicle to be unable to accurately enter the QR code scanning area, resulting in inappropriate navigation switching timing, and therefore cannot guarantee that the navigation vehicle can accurately stay on the QR code.

[0005] In summary, when the existing navigation vehicle switches to QR code navigation, it cannot ensure that the navigation vehicle can be accurately located in the recognition area of ​​the QR code, which leads to switching errors in the navigation mode and makes it difficult to ensure the efficient operation requirements of the navigation vehicle. Summary of the invention

[0006] In view of this, the present invention provides a navigation switching method, device, navigation vehicle and medium to solve the problem that existing navigation vehicles are difficult to accurately recognize QR codes, resulting in inappropriate timing of navigation mode switching, and thus unable to ensure accurate navigation of the navigation vehicle.

[0007] In a first aspect, the present invention provides a navigation switching method, which is applied to a navigation vehicle, and the method comprises:

[0008] Collect environmental information of the target navigation vehicle;

[0009] Determine whether the target navigation vehicle is in a high dynamic environment based on environmental information;

[0010] When the target navigation vehicle is in a high dynamic environment, a preset reference object is identified, and a preset QR code area is determined based on the preset reference object, wherein at least one QR code is built into the preset QR code area;

[0011] The target navigation vehicle is controlled to navigate to a preset QR code area, the preset QR code area is identified, and when any QR code is identified, the target navigation vehicle is switched to a QR code navigation mode.

[0012] The navigation switching method provided by the present invention determines whether the target navigation vehicle is currently in a high dynamic environment through the collected environmental information. When the target navigation vehicle is in the high dynamic environment, a preset two-dimensional code area is determined according to a preset reference object and the vehicle is navigated to the current position for two-dimensional code recognition. When any two-dimensional code is recognized, the target navigation vehicle is switched to a two-dimensional code navigation mode, which can ensure that the navigation vehicle is accurately in the recognition area of ​​the two-dimensional code, helps to realize the accurate switching of the navigation mode, and at the same time ensures the accurate timing of the navigation mode switching, and meets the efficient operation requirements of the navigation vehicle to a certain extent.

[0013] In an optional implementation, when the target navigation vehicle uses the SLAM navigation mode, the corresponding collected environmental information includes moving objects and point cloud data; judging whether the target navigation vehicle is in a high dynamic environment based on the environmental information includes:

[0014] Build SLAM maps based on point cloud data;

[0015] Calculate the current deviation between the current point cloud data and the SLAM map;

[0016] respectively determining whether the number of moving objects is greater than a preset number threshold and whether the current deviation is less than a preset deviation threshold;

[0017] When the number of moving objects is greater than a preset number threshold and the current deviation is less than a preset deviation threshold, it is determined that the target navigation vehicle is in a high dynamic environment.

[0018] The present invention determines the high dynamic environment by designing a dual judgment process of judging the size of the number of moving objects in the current environment of the target navigation vehicle and a preset number threshold, and calculating the current deviation between the current point cloud data and the constructed SLAM map and judging the size of the deviation from the preset deviation threshold. This can ensure the accurate judgment of the high dynamic environment, thereby ensuring the precise switching of subsequent navigation modes.

[0019] In an optional implementation, identifying a preset reference object and determining a preset QR code area based on the preset reference object includes:

[0020] Identify the preset reference object and its reference position information through a camera installed in the target navigation vehicle;

[0021] After the camera recognizes the preset reference object, the relative position of the preset QR code area is determined based on the reference position information of the preset reference object;

[0022] Obtain the current location information of the target navigation vehicle;

[0023] The relative position is optimized based on the reference position information of the preset reference object and the current position information to obtain the final position of the preset two-dimensional code area.

[0024] When the current navigation vehicle is in QR code navigation, the present invention accurately finds the position of the preset QR code area by identifying the fixed reference object set in advance, which helps the navigation vehicle to accurately enter the QR code area, and to a great extent ensures that the navigation vehicle can accurately stop on the QR code, thereby improving the recognition accuracy of the QR code, and further improving the accuracy and efficiency of QR code navigation.

[0025] In an optional implementation, each two-dimensional code in the preset two-dimensional code area contains corresponding target location information; after switching the target navigation vehicle to the two-dimensional code navigation mode, the navigation switching method further includes:

[0026] The actual location information corresponding to each QR code is obtained through the camera installed in the target navigation vehicle;

[0027] For each two-dimensional code, after preprocessing its actual position information, it is determined whether there is a deviation between the actual position information and its corresponding target position information; and when there is a deviation, the corresponding actual position information is corrected based on the target position information.

[0028] The present invention obtains the actual position information corresponding to each QR code through a camera installed on the target navigation vehicle and pre-processes it to determine and correct the deviation between it and the corresponding target position information set in advance, which can ensure the accuracy of the current position of the target navigation vehicle and thus improve the vehicle positioning accuracy of QR code navigation.

[0029] In an optional implementation, when the target navigation vehicle uses a QR code navigation mode, the navigation switching method further includes:

[0030] When the target navigation vehicle does not recognize any of the two-dimensional codes in the preset two-dimensional code area, the accumulated mileage of the target navigation vehicle is obtained;

[0031] When the accumulated mileage exceeds the preset mileage threshold and the target navigation vehicle still does not recognize the QR code in the preset QR code area, the target navigation vehicle is switched back to the SLAM navigation mode.

[0032] When the target navigation vehicle fails to recognize any of the QR codes in the preset QR code area, the present invention designs a size judgment between the accumulated mileage of the target navigation vehicle and a preset mileage threshold, that is, when the current navigation vehicle deviates from the QR code and exceeds the preset mileage threshold, the target navigation vehicle is switched back to the SLAM navigation mode, which can ensure the switching accuracy of the SLAM navigation mode and thereby improve the overall navigation switching efficiency of the target vehicle.

[0033] In an optional implementation, after switching the target navigation vehicle back to the SLAM navigation mode, the navigation switching method further includes:

[0034] Collect real-time point cloud data and build the current SLAM map based on the real-time point cloud data;

[0035] Based on the current SLAM map, it is determined whether the target navigation vehicle has reached the preset navigation end point, and when the preset navigation end point is reached, the SLAM navigation mode is ended.

[0036] After the target navigation vehicle switches back to the SLAM navigation mode, the present invention determines whether a preset navigation end point has been reached and ends the SLAM navigation mode of the target navigation vehicle when the preset navigation end point has been reached, thereby ensuring the overall normal operation of the target navigation vehicle and greatly meeting the efficient operation requirements of the navigation vehicle.

[0037] In a second aspect, the present invention provides a navigation switching device, which is applied to a navigation vehicle, and the device comprises:

[0038] An information collection module, used to collect environmental information of the target navigation vehicle;

[0039] An environment judgment module is used to judge whether the target navigation vehicle is in a high dynamic environment based on environmental information;

[0040] An area determination module is used to identify a preset reference object when the target navigation vehicle is in a high dynamic environment, and determine a preset QR code area based on the preset reference object, wherein the preset QR code area has at least one QR code built in;

[0041] The navigation switching module is used to control the target navigation vehicle to navigate to a preset QR code area, identify the preset QR code area, and switch the target navigation vehicle to a QR code navigation mode when any QR code is identified.

[0042] The navigation switching device provided by the present invention collects environmental information of the target navigation vehicle, determines whether the target navigation vehicle is currently in a high-dynamic environment based on the environmental information, and when it is in the high-dynamic environment, determines a preset two-dimensional code area according to a preset reference object and navigates the target navigation vehicle to the current position for two-dimensional code recognition, and switches to a two-dimensional code navigation mode when the vehicle recognizes any two-dimensional code, which helps the navigation vehicle to accurately drive to the two-dimensional code recognition area and can realize accurate switching of the navigation mode, which not only ensures the accuracy of navigation mode switching, but also meets the efficient operation requirements of the navigation vehicle.

[0043] In a third aspect, the present invention provides a navigation vehicle, which includes a controller, which includes: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the navigation switching method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0044] In an optional implementation, the navigation vehicle is a SLAM navigation vehicle.

[0045] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the navigation switching method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 is a flowchart of a navigation switching method according to an embodiment of the present invention;

[0048] Figure 2 is a flowchart of another navigation switching method according to an embodiment of the present invention;

[0049] Figure 3 It is a structural diagram of a preset QR code area;

[0050] Figure 4 It is a flowchart of navigation switching;

[0051] Figure 5 This is another flowchart of navigation switching;

[0052] Figure 6is a structural block diagram of a navigation switching device according to an embodiment of the present invention;

[0053] Figure 7 It is a structural diagram of a navigation switcher according to an embodiment of the present invention. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0055] According to an embodiment of the present invention, a navigation switching method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0056] In this embodiment, a navigation switching method is provided, which is applied to a navigation vehicle. Figure 1 is a flowchart of a navigation switching method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0057] Step S101, collecting environmental information of the target navigation vehicle.

[0058] It should be noted that the specific content and collection method of the environmental information in this embodiment are not limited here, and can be adaptively determined according to actual needs. For example, the environmental information includes other traffic participants at the current location of the target navigation vehicle, such as pedestrians, other vehicles, animals, etc., and the corresponding objects can be detected and identified according to the camera carried by the target navigation vehicle to obtain relevant information of the target object, which is only an exemplary description.

[0059] Step S102: determining whether the target navigation vehicle is in a high dynamic environment based on the environmental information.

[0060] In this embodiment, the high dynamic environment actually refers to an unknown or dynamic complex environment. Using SLAM laser navigation in this complex environment may result in poor positioning accuracy or positioning loss. In QR code navigation, the QR code can provide more accurate positioning results as auxiliary positioning information, thereby improving the stability and reliability of the overall navigation of the target navigation vehicle, and avoiding the problems of poor positioning accuracy and positioning loss due to environmental changes.

[0061] Step S103, when the target navigation vehicle is in a high dynamic environment, a preset reference object is identified, and a preset two-dimensional code area is determined based on the preset reference object, wherein the preset two-dimensional code area has at least one two-dimensional code built therein.

[0062] In this embodiment, the preset reference object can assist in positioning and is used to find a pre-set QR code area. Its specific type can be adaptively determined according to actual needs and is not limited in detail here. For example, the preset reference object is a fixed support column or a relatively unique object in the environment, which is only used as an example.

[0063] Step S104, controlling the target navigation vehicle to navigate to a preset two-dimensional code area, identifying the preset two-dimensional code area, and switching the target navigation vehicle to a two-dimensional code navigation mode when any two-dimensional code is identified.

[0064] In this embodiment, data is collected by a front camera of the target navigation vehicle to realize recognition of the QR code in the preset QR code area.

[0065] The navigation switching method of the embodiment of the present invention determines whether the target navigation vehicle is currently in a high dynamic environment through the collected environmental information. When the target navigation vehicle is in a high dynamic environment, a preset QR code area is determined according to a preset reference object and the vehicle is navigated to the current position for QR code recognition. When any QR code is recognized, the target navigation vehicle is switched to the QR code navigation mode, which can ensure that the navigation vehicle is accurately in the recognition area of ​​the QR code, helps to achieve accurate switching of the navigation mode, and at the same time ensures the accurate timing of switching the navigation mode, which meets the efficient operation requirements of the navigation vehicle to a certain extent.

[0066] In this embodiment, a navigation switching method is provided, which is applied to a navigation vehicle. Figure 2 is a flow chart of another navigation switching method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0067] Step S201, collect the environment information of the target navigation vehicle. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0068] Step S202: determining whether the target navigation vehicle is in a high dynamic environment based on the environmental information.

[0069] It should be noted that, in this embodiment, when the target navigation vehicle uses the SLAM navigation mode, the corresponding collected environmental information includes moving objects and point cloud data.

[0070] Specifically, the above step S202 includes:

[0071] Step S2021, constructing a SLAM map based on the point cloud data.

[0072] It should be noted that in this embodiment, the target navigation vehicle is equipped with a laser radar for building a map, wherein the laser radar obtains environmental information through laser scanning, has high measurement accuracy and positioning accuracy, and is suitable for stable navigation in different environments. Specifically, through the environmental point cloud data obtained by laser SLAM through laser scanning, a high-precision environmental map can be constructed to help the target navigation vehicle perform tasks such as path planning, autonomous exploration and navigation.

[0073] Step S2022, calculating the current deviation between the current point cloud data and the SLAM map.

[0074] In this embodiment, the specific calculation method of the current deviation is not limited here, and can be adaptively adjusted according to the conventional SLAM accuracy evaluation in the field. For example, key point features such as FAST features (Features from Accelerated Segment Test, fast corner detection) can be extracted from the point cloud data, the extracted feature points can be matched with the key points in the SLAM map, and the relative deviation can be calculated based on the matching results; or based on the evaluation indicators commonly used in the field, such as Absolute Trajectory Error (ATE), Relative Pose Error (RPE), map accuracy and closed-loop detection, for evaluation, only as an exemplary illustration.

[0075] It should be noted that ATE is used to measure the deviation between the SLAM estimated trajectory and the actual path. The positioning accuracy is quantified by calculating the Euclidean distance between the estimated position and the actual position. A low ATE value can more accurately reflect the actual path; RPE is used to evaluate the relative motion estimation error between adjacent frames. The local accuracy is measured by comparing the difference between the estimated relative motion and the actual relative motion. It is often used to evaluate the cumulative error in a short period of time and is particularly suitable for dynamic environments; map accuracy evaluates the accuracy of the map by comparing the generated map with the actual environmental data. High-precision maps are crucial for vehicle navigation and environmental understanding; closed-loop detection is used to evaluate whether SLAM can correctly identify and correct accumulated errors when returning to the previous position. Successful closed-loop detection can eliminate drift errors, improve system positioning and map construction accuracy, and enhance system robustness.

[0076] Step S2023, determining whether the number of moving objects is greater than a preset number threshold and whether the current deviation is less than a preset deviation threshold.

[0077] In this embodiment, specific values ​​of the preset quantity threshold and the preset deviation threshold are adaptively adjusted based on actual needs and are not limited here.

[0078] Step S2024: When the number of moving objects is greater than a preset number threshold and the current deviation is less than a preset deviation threshold, it is determined that the target navigation vehicle is in a high dynamic environment.

[0079] In the embodiment of the present invention, a dual judgment process is designed to determine the high dynamic environment by designing the size judgment of the number of moving objects in the current environment of the target navigation vehicle and a preset number threshold, and calculating the current deviation between the current point cloud data and the constructed SLAM map and judging the size judgment of the current deviation threshold. This can ensure the accurate judgment of the high dynamic environment, thereby ensuring the precise switching of subsequent navigation modes.

[0080] Step S203, when the target navigation vehicle is in a high dynamic environment, a preset reference object is identified, and a preset two-dimensional code area is determined based on the preset reference object, wherein the preset two-dimensional code area has at least one two-dimensional code built therein.

[0081] It should be noted that the specific size of the preset QR code area (i.e., the number of QR codes included) in this embodiment is not limited here and is adaptively determined according to actual needs. Figure 3 The preset QR code area is a 4×4 QR code area, which contains 16 QR codes, and each QR code contains fixed position information.

[0082] In this embodiment, the step S203 of identifying a preset reference object and determining a preset QR code area based on the preset reference object includes:

[0083] Step S2031, identifying a preset reference object and its reference position information through a camera installed on the target navigation vehicle.

[0084] In this embodiment, a preset reference object, that is, a fixed reference object set in advance, is identified by reading a camera.

[0085] Step S2032: After the camera recognizes the preset reference object, the relative position of the preset QR code area is determined based on the reference position information of the preset reference object.

[0086] In this embodiment, the relative position of the preset two-dimensional code area is determined based on a fixed reference object with a preset position and a camera.

[0087] Step S2033, obtaining the current position information of the target navigation vehicle.

[0088] In this embodiment, the position information of the target navigation vehicle is obtained through a camera installed on the target navigation vehicle.

[0089] Step S2034, optimizing the relative position based on the reference position information of the preset reference object and the current position information to obtain the final position of the preset two-dimensional code area.

[0090] In this embodiment, the final position of the preset two-dimensional code area is essentially the accurate two-dimensional code position after posture correction, which is assisted by a set fixed reference object to achieve accurate search and positioning of the preset two-dimensional code area.

[0091] The embodiment of the present invention helps the navigation vehicle to accurately enter the QR code area when the current navigation vehicle is in QR code navigation by identifying a fixed reference object set in advance, which greatly ensures that the navigation vehicle can accurately stop on the QR code, thereby improving the recognition accuracy of the QR code and further improving the accuracy and efficiency of QR code navigation.

[0092] It should be noted that each two-dimensional code in the preset two-dimensional code area contains corresponding target location information; after the target navigation vehicle is switched to the two-dimensional code navigation mode, the navigation switching method of this embodiment further includes:

[0093] Step a1, obtaining the actual location information corresponding to each QR code through the camera installed on the target navigation vehicle.

[0094] Step a2, for each QR code, after preprocessing its actual location information, determine whether there is a deviation between the actual location information and its corresponding target location information; and when there is a deviation, correct the corresponding actual location information based on the target location information.

[0095] In this embodiment, the specific method of preprocessing is not limited here, and is adaptively set according to conventional data processing means in the field. For example, the preprocessing is filtering processing, and a common filter or filtering algorithm can be used to implement denoising processing of data, which is only an exemplary description.

[0096] In the embodiment of the present invention, the actual position information corresponding to each QR code is obtained by a camera installed on the target navigation vehicle, and after pre-processing, the deviation between the actual position information and the corresponding target position information set in advance is determined and corrected, which can ensure the accuracy of the current position of the target navigation vehicle, thereby improving the vehicle positioning accuracy of the QR code navigation.

[0097] It should be noted that when the target navigation vehicle uses the QR code navigation mode, the navigation switching method of this embodiment also includes:

[0098] Step b1, when the target navigation vehicle does not recognize any two-dimensional code in the preset two-dimensional code area, the accumulated mileage of the target navigation vehicle is obtained.

[0099] In this embodiment, the specific method for obtaining the accumulated mileage can refer to the conventional calculation method in the art to obtain the mileage information, such as obtaining the mileage information through the joint calculation of the encoder and the inertial measurement unit, which is only used as an example.

[0100] Step b2: when the accumulated mileage exceeds the preset mileage threshold and the target navigation vehicle still does not recognize the QR code in the preset QR code area, the target navigation vehicle is switched back to the SLAM navigation mode.

[0101] In this embodiment, the specific value of the preset mileage threshold can be adaptively adjusted based on actual needs. For example, the preset mileage threshold is 3 meters, which is only used as an example and is not limited to this.

[0102] When the target navigation vehicle fails to recognize any of the QR codes in the preset QR code area, the embodiment of the present invention designs a size judgment between the cumulative mileage of the target navigation vehicle and a preset mileage threshold, that is, when the current navigation vehicle deviates from the QR code and exceeds the preset mileage threshold, the target navigation vehicle is switched back to the SLAM navigation mode, which can ensure the switching accuracy of the SLAM navigation mode and thereby improve the overall navigation switching efficiency of the target vehicle.

[0103] It should be noted that after switching the target navigation vehicle back to the SLAM navigation mode, the navigation switching method of this embodiment further includes:

[0104] Step c1, collect real-time point cloud data, and build the current SLAM map based on the real-time point cloud data.

[0105] Step c2, judging whether the target navigation vehicle has reached a preset navigation end point based on the current SLAM map, and ending the SLAM navigation mode when reaching the preset navigation end point.

[0106] In this embodiment, the preset navigation destination is a target destination position for the target navigation vehicle to travel that is set in advance.

[0107] After the target navigation vehicle switches back to the SLAM navigation mode, the embodiment of the present invention determines whether it has reached a preset navigation end point and ends the SLAM navigation mode of the target navigation vehicle when the preset navigation end point is reached, thereby ensuring the overall normal operation of the target navigation vehicle and greatly meeting the efficient operation requirements of the navigation vehicle.

[0108] In a specific embodiment, the target navigation vehicle is a vehicle with SLAM navigation, for example, an AGV (Automated Guided Vehicle) that can implement SLAM navigation; the preset QR code area is a 4×4 QR code area. It should be noted that the AGV uses SLAM technology to detect the surrounding environment through sensors during movement, build maps and locate in real time, so as to accurately navigate and avoid obstacles. Figure 4 and Figure 5 This is a schematic diagram of the relevant process when the aforementioned vehicle switches to the QR code navigation. As can be seen from the figure, the workflow of the vehicle specifically includes:

[0109] 1. The vehicle starts normally.

[0110] It should be noted that in this embodiment, the vehicle performs SLAM autonomous navigation in a normal environment. Specifically, data collection is first performed, that is, environmental information is collected through sensors such as laser radar, inertial measurement unit (IMU) and camera.

[0111] 2. Feature extraction and map construction.

[0112] In this embodiment, the SLAM map is generated by real-time recognition of environmental features (such as walls, obstacles, etc.) It should be noted that the SLAM algorithm can be used to estimate the current position of the navigation vehicle.

[0113] 3. Determine whether it is in a high dynamic area.

[0114] In this embodiment, the high dynamic area refers to the high dynamic map area, that is, the high dynamic environment mentioned above. Specifically, by detecting too many moving objects entering, the high dynamic map area with low matching degree of SLAM positioning: wherein, when the SLAM scans the deviation between the point cloud and the original established map, and the deviation is lower than the set corresponding threshold, it is a high dynamic map area. Specifically, dynamic changes are identified by analyzing sensor data (such as point cloud changes of lidar, IMU data, etc.). The SLAM system determines the complexity of the environment and determines whether to switch to the QR code navigation mode.

[0115] 4. Enter the code reading state through visual assurance.

[0116] In this embodiment, when it is confirmed that the vehicle enters the high dynamic area, the front camera collects data and compares it with the reference object (such as a fixed support column) whose absolute position is previously determined. Figure 3 The 4×4 QR code area shown (this area contains 16 QR codes, each containing fixed position information) switches to pure QR code navigation after recognizing the QR code, temporarily suspends the SLAM node, integrates the position information provided by the QR code, and corrects the current state. Among them, the process can use algorithms such as extended Kalman filtering to improve positioning accuracy and minimize errors caused by dynamic changes in the environment.

[0117] It should be noted that in this embodiment, the camera is used to ensure that the car can accurately enter the QR code position and read the QR code; the fixed position information of the QR code (such as xy information) is used to feedback the adjustment state, and the extended Kalman filter and other algorithms are used to filter the data.

[0118] In this embodiment, the current state is corrected by identifying the outline of the pillar (i.e., the set reference object) through OpenCV edge detection. The relevant formulas involved in this process are as follows:

[0119] (1) Center point of column (x center ,y center ) is calculated as:

[0120]

[0121] It should be noted that (x 1 ,y 1 ) and (x 2 ,y 2 ) are the coordinates of the column endpoints. In this embodiment, the specific content of the column endpoints is not limited here, and is adaptively determined according to actual needs, such as selecting two endpoints from the column at random.

[0122] (2) The formula for coordinate transformation (solving the position of the camera coordinate system relative to the world coordinate system based on the PnP algorithm) is:

[0123] s×P image =K[R|t]P world

[0124] It should be noted that s in the above formula is a scaling factor used for mapping 3D points to 2D points; P image is the image coordinate; K is the camera intrinsic parameter matrix; R is the camera rotation matrix, indicating the direction; t is the camera translation vector; P world Indicates the corresponding coordinates of the world coordinate system.

[0125] (3) Position error calculation, the relevant formula is as follows:

[0126] e x =x pillar -x agv

[0127] e y =Y pillar -Y agv

[0128] It should be noted that the e in the above formula x 、e y Respectively represent the position error in the x and y directions; pillar , Y pillarRespectively represent the actual coordinates of the center point of the column; agv , Y agv Respectively represent the current coordinates of AGV.

[0129] (4) Calculation of attitude error. The relevant formula is as follows:

[0130] e θ =θ pillar -θ agv

[0131] It should be noted that the e in the above formula θ Indicates the angle error between the current direction of the AGV and the target direction; θ pillar The angle representing the target direction of the column, θ agv Indicates the current direction angle of the AGV.

[0132] In this embodiment, the posture error and the position error are transmitted back to the vehicle's processor, so that the vehicle (such as an AGV) can stay accurately on the QR code.

[0133] It should be noted that the PNP algorithm (Perspective-n-Point) is an important method for estimating camera pose in visual SLAM. The PNP algorithm calculates the camera pose through the known positions of 3D spatial points in the camera coordinate system and their 2D projection coordinates in the image. The basic principle of the PNP algorithm is to use the positions of at least three spatial points (usually three or more) in the world coordinate system and their corresponding projection positions in the camera coordinate system to calculate the position and direction of the camera relative to these points. Specifically, if at least three 3D points and their 2D projection points in the image are known, the camera pose can be estimated by the PNP algorithm.

[0134] 5. Path planning.

[0135] In this embodiment, the environment is monitored in real time during the planning process to ensure the effectiveness and safety of the path. During the navigation and control process, sensors such as IMU are used to continuously track the vehicle status in order to quickly respond to emergencies. It should be noted that obstacle avoidance radar can be used to ensure the safety of the path for timely obstacle avoidance. If an emergency occurs, navigation can be terminated immediately.

[0136] 6. Restore SLAM navigation.

[0137] In this embodiment, when the navigation vehicle is 3 meters away from the QR code, the SLAM node is reopened to restore the normal data collection and map building process of SLAM navigation. It should be noted that the switching basis of the two navigation modes in this embodiment is to switch from SLAM navigation to QR code navigation after the QR code is recognized in the high dynamic area; and then switch back to SLAM navigation after the navigation vehicle leaves the QR code.

[0138] 7. Target arrival judgment.

[0139] In this embodiment, the SLAM navigation system continuously determines whether the navigation vehicle has reached the target location; if it has reached the target point, the navigation process ends; if it has not reached the target point, it returns to the path planning stage and performs a new path planning. It should be noted that the path planning is dynamically generated by the scheduling software.

[0140] In summary, the above navigation switching method in the embodiment of the present invention has the following advantages:

[0141] 1. Use a visual camera to recognize the 4×4 QR code area, ensuring that the SLAM navigation mode is switched to the QR code mode.

[0142] 2. By setting up visual guidance with fixed reference objects, the vehicle can be accurately placed in the QR code recognition area when it switches to the QR code mode stably. This avoids the situation where the vehicle cannot accurately enter the QR code area to correctly read the QR code information when it is about to switch modes. This reduces the impact caused by the vehicle switching navigation status without entering the QR code area when it is in SLAM navigation mode, and ensures the normal conversion of the vehicle navigation mode.

[0143] 3. By increasing the multi-code setting of the QR code judgment area, it is ensured that the vehicle can accurately stay on the QR code.

[0144] In this embodiment, a navigation switching device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" refers to a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0145] The present invention provides a navigation switching device, which is applied to a navigation vehicle, such as Figure 6 As shown, the device comprises:

[0146] The information collection module 601 is used to collect the environmental information of the target navigation vehicle.

[0147] The environment judgment module 602 is used to judge whether the target navigation vehicle is in a high dynamic environment based on the environment information.

[0148] The area determination module 603 is used to identify a preset reference object when the target navigation vehicle is in a high dynamic environment, and determine a preset QR code area based on the preset reference object, wherein the preset QR code area has at least one QR code built therein.

[0149] The navigation switching module 604 is used to control the target navigation vehicle to navigate to a preset QR code area, identify the preset QR code area, and switch the target navigation vehicle to a QR code navigation mode when any QR code is identified.

[0150] In some optional embodiments, the environment judgment module 602 includes: a first judgment submodule, a second judgment submodule, a third judgment submodule and a fourth judgment submodule; wherein the first judgment submodule is used to construct a SLAM map based on point cloud data; the second judgment submodule is used to calculate the current deviation between the current point cloud data and the SLAM map; the third judgment submodule is used to respectively judge whether the number of moving objects is greater than a preset number threshold and whether the current deviation is less than a preset deviation threshold; the fourth judgment submodule is used to determine that the target navigation vehicle is in a high dynamic environment when the number of moving objects is greater than a preset number threshold and the current deviation is less than a preset deviation threshold.

[0151] In some optional embodiments, the area determination module 603 includes: a first determination submodule, a second determination submodule, a third determination submodule and a fourth determination submodule; wherein the first determination submodule is used to identify a preset reference object and its reference position information through a camera installed on a target navigation vehicle; the second determination submodule is used to determine the relative position of a preset QR code area based on the reference position information of the preset reference object after the camera identifies the preset reference object; the third determination submodule is used to obtain the current position information of the target navigation vehicle; the fourth determination submodule is used to optimize the relative position based on the reference position information of the preset reference object and the current position information to obtain the final position of the preset QR code area.

[0152] In some optional embodiments, the device also includes: a position correction module, which is used to obtain the actual position information corresponding to each QR code through a camera installed on the target navigation vehicle; for each QR code, after pre-processing its actual position information, it is determined whether there is a deviation between the actual position information and its corresponding target position information; and when there is a deviation, the corresponding actual position information is corrected based on the target position information.

[0153] In some optional embodiments, the device also includes: a navigation recovery module, which is used to obtain the cumulative mileage of the target navigation vehicle when the target navigation vehicle does not recognize any QR code in the preset QR code area; when the cumulative mileage exceeds the preset mileage threshold and the target navigation vehicle still does not recognize the QR code in the preset QR code area, the target navigation vehicle is switched back to SLAM navigation mode.

[0154] In some optional embodiments, the device also includes: a navigation end module, which is used to collect real-time point cloud data and build a current SLAM map based on the real-time point cloud data; determine whether the target navigation vehicle has reached a preset navigation end point based on the current SLAM map, and end the SLAM navigation mode when reaching the preset navigation end point.

[0155] The further functional description of each of the above modules is the same as that of the above corresponding embodiments and will not be repeated here.

[0156] The navigation switching device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0157] The navigation switching device of the embodiment of the present invention helps the navigation vehicle to accurately drive to the QR code recognition area, and to a certain extent realizes the accurate switching of the navigation mode. While ensuring the accuracy of the navigation mode switching, it also greatly meets the efficient operation requirements of the navigation vehicle.

[0158] The present invention also provides a navigation vehicle in an embodiment. The navigation vehicle includes a controller. Figure 7 , Figure 7 is a schematic diagram of the structure of the controller provided in an optional embodiment of the present invention, such as Figure 7 As shown, the controller includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the controller, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple controllers can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.

[0159] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0160] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0161] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created according to the use of the controller, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0162] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0163] The controller also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 7 The example of connecting through bus is taken in the following.

[0164] The input device 30 can receive input digital or character information, and generate signal input related to the user settings and function control of the thermal power unit operation control unit, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator rod, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device may be a touch screen.

[0165] In this embodiment, the navigation vehicle is a SLAM navigation vehicle. It should be noted that the SLAM navigation vehicle is an automatic driving device, which is mainly used for autonomous navigation and map construction in an unknown environment; among them, the core of the SLAM technology SLAM navigation vehicle allows the vehicle to use various sensors, such as lidar, camera, inertial measurement unit, etc., to scan the surrounding environment while building an environmental map and determining the position of the vehicle in the map, that is, it can achieve self-positioning, map construction and path planning. Specifically, the above-mentioned navigation switching method of this embodiment is integrated on the navigation vehicle, so that this type of navigation vehicle has a very stable and reliable two-dimensional code navigation switching effect, and can accurately identify the set two-dimensional code area in a complex and highly dynamic environment, thereby ensuring that the navigation vehicle can accurately stay on the two-dimensional code to achieve the correct switching of the navigation mode, meet the efficient operation requirements of the navigation vehicle, and improve the user experience of the navigation vehicle to a certain extent.

[0166] A computer-readable storage medium is also provided in an embodiment of the present invention. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium and downloaded through a network, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor main control chip or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0167] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A navigation switching method, applied to a navigation vehicle, characterized in that: The method comprises: Collect environmental information of the target navigation vehicle; Determining whether the target navigation vehicle is in a high dynamic environment based on the environmental information; When the target navigation vehicle is in a high dynamic environment, a preset reference object is identified, and a preset two-dimensional code area is determined based on the preset reference object, wherein the preset two-dimensional code area has at least one two-dimensional code built therein; The target navigation vehicle is controlled to navigate to the preset two-dimensional code area, the preset two-dimensional code area is identified, and when any two-dimensional code is identified, the target navigation vehicle is switched to a two-dimensional code navigation mode.

2. The navigation switching method according to claim 1, characterized in that: When the target navigation vehicle uses the SLAM navigation mode, the corresponding collected environmental information includes moving objects and point cloud data; and judging whether the target navigation vehicle is in a high dynamic environment based on the environmental information includes: Build SLAM maps based on point cloud data; Calculate the current deviation between the current point cloud data and the SLAM map; respectively determining whether the number of moving objects is greater than a preset number threshold and whether the current deviation is less than a preset deviation threshold; When the number of the moving objects is greater than a preset number threshold and the current deviation is less than a preset deviation threshold, it is determined that the target navigation vehicle is in a high dynamic environment.

3. The navigation switching method according to claim 1, characterized in that: The identifying a preset reference object and determining a preset two-dimensional code area based on the preset reference object includes: Identify the preset reference object and its reference position information through a camera installed in the target navigation vehicle; After the camera recognizes the preset reference object, determining the relative position of the preset QR code area based on the reference position information of the preset reference object; Obtaining the current position information of the target navigation vehicle; The relative position is optimized based on the reference position information of the preset reference object and the current position information to obtain a final position of the preset two-dimensional code area.

4. The navigation switching method according to any one of claims 1 to 3, characterized in that: Each of the two-dimensional codes in the preset two-dimensional code area contains corresponding target location information; After switching the target navigation vehicle to the QR code navigation mode, the method further includes: The actual location information corresponding to each QR code is obtained through the camera installed in the target navigation vehicle; For each two-dimensional code, after preprocessing its actual position information, it is determined whether there is a deviation between the actual position information and its corresponding target position information; and when there is a deviation, the corresponding actual position information is corrected based on the target position information.

5. The navigation switching method according to claim 2, characterized in that: When the target navigation vehicle uses a two-dimensional code navigation mode, the method further includes: When the target navigation vehicle does not recognize any two-dimensional code in the preset two-dimensional code area, obtaining the accumulated mileage of the target navigation vehicle; When the accumulated mileage exceeds a preset mileage threshold and the target navigation vehicle still fails to recognize the two-dimensional code in the preset two-dimensional code area, the target navigation vehicle is switched back to the SLAM navigation mode.

6. The navigation switching method according to claim 5, characterized in that: After switching the target navigation vehicle back to the SLAM navigation mode, the method further includes: Collecting real-time point cloud data, and building a current SLAM map based on the real-time point cloud data; Based on the current SLAM map, it is determined whether the target navigation vehicle has reached a preset navigation end point, and when the preset navigation end point is reached, the SLAM navigation mode is ended.

7. A navigation switching device, applied to a navigation vehicle, characterized in that: The device comprises: An information collection module, used to collect environmental information of the target navigation vehicle; An environment judgment module, used for judging whether the target navigation vehicle is in a high dynamic environment based on the environment information; An area determination module, used for identifying a preset reference object when the target navigation vehicle is in a high dynamic environment, and determining a preset two-dimensional code area based on the preset reference object, wherein the preset two-dimensional code area has at least one two-dimensional code built therein; The navigation switching module is used to control the target navigation vehicle to navigate to the preset two-dimensional code area, identify the preset two-dimensional code area, and switch the target navigation vehicle to a two-dimensional code navigation mode when any two-dimensional code is identified.

8. A navigation vehicle, characterized in that: The navigation vehicle includes a controller, and the controller includes: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the navigation switching method described in any one of claims 1 to 6 by executing the computer instructions.

9. The navigation vehicle according to claim 8, characterized in that: The navigation vehicle is a SLAM navigation vehicle.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the navigation switching method according to any one of claims 1 to 6.

Images