CN107024208A - A kind of localization method and its positioner - Google Patents
A kind of localization method and its positioner Download PDFInfo
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- CN107024208A CN107024208A CN201710350158.5A CN201710350158A CN107024208A CN 107024208 A CN107024208 A CN 107024208A CN 201710350158 A CN201710350158 A CN 201710350158A CN 107024208 A CN107024208 A CN 107024208A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000004807 localization Effects 0.000 title claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 238000004590 computer program Methods 0.000 claims abstract description 8
- 230000008878 coupling Effects 0.000 claims abstract description 6
- 238000010168 coupling process Methods 0.000 claims abstract description 6
- 238000005859 coupling reaction Methods 0.000 claims abstract description 6
- 230000001133 acceleration Effects 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000012067 mathematical method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of localization method, including step one, the raster database of working region is set up；Step 2, image is obtained by least one video capturing device；Step 3, is handled acquired image；Step 4, movement state information is obtained by least one sensor；Step 5, target location is obtained by least one positioner；Step 6, said one step 4 and a step 5 information are coupled, the invention further relates to a kind of positioner, including at least one processor, for performing computer program product, and can couple the positional information of above-mentioned steps four and step 5；At least one storage device, for storing computer program code and database；Sensor device, at least for determining a direction；Locating module, at least for determining a distance, target location is determined will pass through coupling information；Camera device, at least for obtaining an image.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of localization method also relates to a kind of positioner.
Background technology
Current positioner industry, generally obtains target location, this method meeting using the method directly coupled by mathematics
Accumulate over time and cause error to become larger, it is impossible to ensure the accuracy of positioning in a long time.
The content of the invention
In order to solve the technical problem that above-mentioned prior art is present, the purpose of the present invention is to propose to a kind of localization method
And its positioner, the localization method can obtain the parameter information of target location in applicable environment, and it is fixed to significantly increase
Position precision.
To achieve the above object, the present invention provides following technical scheme：
A kind of localization method, it is used to position particular location of the machine to be positioned in specific region, and this method includes
Following steps：
Step one：Set up the raster database of working region；
Step 2：Obtain image；
Step 3：Image processing, is handled the image acquired in step 2；
Step 4：Obtain movement state information；
Step 5：Obtain target location；
Step 6：Above- mentioned information is subjected to coupling and obtains more specific location information, judges whether to proceed positioning, if after
It is continuous, then proceed step 2 and its subsequent step, if do not continued to, positioning is completed.
It is preferred that, in the step 2, image is obtained by least one device for image.
It is preferred that, in the step 3, with the image acquired in computer programs process step 2 and judged.
It is preferred that, in the step 4, judge according to original state contrast travel direction.
It is preferred that, in the step 5, different calculation procedures, the step 5 are used according to different motion posture correspondence
In, calculating is modified according to the sensor difference in the unit interval.
It is preferred that, in the step 5, the raster database of the working region obtained based on step one recalibrates position
Confidence ceases.
It is preferred that, in the step 6, movement state information is converted into digital information.
It is preferred that, this method is sequentially performed a plurality of times.
A kind of positioner, it is the positioner used in the localization method described in claim 1, the positioning
Device includes：
Processor, storage device, sensor device, locating module, camera device, drive module, the processor include
Single-chip microcomputer and microcontroller, the single-chip microcomputer are connected with micro-controller communications, and the storage device is electrically connected at single-chip microcomputer
On RXD, TXD pin, the camera device is connected on the I/O interfaces of single-chip microcomputer by USB interface；
Sensor device, drive module and locating module, and institute are connected on the microcontroller output interface
State and be electrically connected with power module on single-chip microcomputer and microcontroller.
It is preferred that, the sensor device, which is comprised at least, an electronic compass and a calibrating installation；
The locating module includes an acceleration transducer and a timer.
Compared with prior art, the beneficial effects of the invention are as follows：
The raster database for the working region that the method for the present invention passes through foundation, and all grids are numbered, make
Obtain camera device to get after image, can be judged whether to reach faceted boundary according to character signal, then carry out image processing,
And then movement state information and target location are obtained, circulation performs this method, further increases accuracy, can be applicable
Environment in obtain target location parameter information, significantly increase positioning precision.
The device of the present invention is combined with method and used, and can be very good the image capturing in implementation method, image processing, obtains
Take movement state information and obtain target location function, and by the program of burning inside processor, can accurately enter
Row digital independent and calculating, and a large amount of location Calculation times can be saved.
Brief description of the drawings
Fig. 1 is the flow chart of localization method of the present invention；
Fig. 2 is the structural representation of positioner of the present invention.
In figure：1 single-chip microcomputer, 2 microcontrollers, 3 storage devices, 4 sensor devices, 5 locating modules, 6 camera devices, 7 are driven
Dynamic model block, 8USB interfaces, 9 power modules.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1-2 is referred to, the present invention provides a kind of technical scheme：
A kind of localization method and its positioner of the present invention, the step of it is positioned by positioner is as follows：
Step 1: setting up the raster database of working region, its specific method is as follows：Pass through the inquiry of early stage, measurement etc.
Mode obtains the more specific location information of working region, sets up the raster database of working region, all grids is numbered, grid
The specific numbering of lattice represents sequence of the grid on two dimensional surface.
Step 2: obtaining image, its specific method is as follows：Storage device 3 is electrically connected at RXD, TXD pin of single-chip microcomputer
On, by storage device 3 into single-chip microcomputer 1 burning computer program so that single-chip microcomputer 1 can control camera device 6, shooting dress
Put 6 to be connected on the input and output I/O pins of single-chip microcomputer 1 by USB interface 8, the self-timing of camera device 6 obtains image, single
Piece machine 1 sends character signal, and microcontroller 2 and single-chip microcomputer 1 carried out into mutual connection communication by computer software programs, system according to
Character signal judges whether to reach border.
Microcontroller 2 is also respectively connected with power module 9 with single-chip microcomputer, for providing electricity to microcontroller 2 and single-chip microcomputer 1
Source, is operated.
Step 3: image processing, its specific method is as follows：Machine learning is set up by the computer program in single-chip microcomputer 1
Model y=wigth*x+bias, is handled acquired image, judges whether to need matching database calibration parameter, and
And signal is transmitted to locating module 5 by microcontroller 2, locating module 5 is connected on the control output interface of microcontroller 2,
Wherein locating module 5 includes acceleration transducer and timer, and acceleration transducer is used in reading and transmission equipment in real time
The numerical value of accelerometer, timer is used for that the sampling gap time of below step is carried out accurately to measure and control.
Step 4: obtaining movement state information, its specific method is as follows：Wherein sensor device 4 include electronic compass and
Calibrating installation, sensor device 4 is also connected on the control output interface of microcontroller 2, and electronics sieve is read by microcontroller 2
Disk numerical value, carries out electronic compass calibration, by calibrating installation, electronic compass level is at the uniform velocity rotated, and collects X, Y-axis data, leads to
Calibrating installation is crossed by 90 degree of (Z axis) uniform rotation of equipment to collect Z axis data, error amount is subtracted using the bare value of magnetometer, obtains
Electronic compass numerical value after to calibration, it can normally have been used in the horizontal plane, for a skyborne posture of object,
It is X-axis and the angle of horizontal plane that navigation system, which defines Pitch (Φ), and Roll (θ) is defined as the angle of Y-axis and horizontal plane, is read
The component of acceleration of gravity on three axles of accelerometer.
Pour angle compensation is carried out by the numerical value of accelerometer in the above method, Roll and Pitch is first calculated, then calculates
Heading values XH, YH value：
XH=X*cos (Pitch)+Y*sin (Roll) * sin (Pitch)-Z*cos (Roll) * sin (Pitch)
YH=Y*cos (Roll)+Z*sin (R)
Azimuth is drawn by mathematical operation, sentenced by azimuth with a upper unit interval azimuthal difference
It is disconnected, it is determined that the direction of motion in grid network.
A motion path can be noted down by micro mechanical sensor (MEMS), it is right by multiple repairing weld in the unit interval
The numerical value of accelerometer carries out digital filtering, obtains accelerometer offset, is precisely worth so as to obtain acceleration.
Step 5: obtaining target location, its specific method is as follows：The output control interface of microcontroller 2 is also associated with driving
Dynamic model block 7, drive module 7 is used for being driven accelerometer regulation under the control of single-chip microcomputer 1, during carrier movement
Constantly adjust the output valve of accelerometer.
First, judged according to carrier acceleration, detect accelerometer numerical value in real time by acceleration transducer, when adding
Speed without great changes will take place or changes when within the scope of set, is then assert within a certain period of time and makees even add in carrier
The acceleration of speed motion or motion close to 0, i.e., according to accelerometer in itself near a value vibration of progress back and forth width
Degree sets a threshold values, when the absolute value of change is less than this threshold values, then calculates object according to the formula of following derivation
Speed is determined whether.
Time control is carried out with timer, it is assumed that Δ t is sampling gap, Δ a(n, n-1)For nth point acceleration and (n-1)th
The difference of point acceleration：
vn=2*v(n-1)-v(n-2)+Δa(n, n-1)*Δt
Further, carrier movement speed is judged, by judging carrier before above-mentioned acceleration judgement is met
Put, when carrier movement speed, also with acceleration, great changes will take place within a certain period of time or is floated in zero point, that
The movement velocity of carrier maintains that a numerical value is constant, and at this moment carrier has two kinds of situations, is moving with uniform velocity or remains stationary,
So as to carry out displacement calculating by mathematical method, when the absolute value of change is more than this threshold values, show to do variable accelerated motion, should
This carries out the calculating of displacement according to following derived integration method：
Step 6: information is coupled, its specific method is as follows：Step 3 image is carried out using computer program in single-chip microcomputer 1
After processing, the output signal variable of single-chip microcomputer 1 collects data from single-ended serial ports using communication software and signal is handled, right
The data sent in unit interval carry out Treatment Analysis, and analysis is then filtered to signal variable.
When the data received are always invalid signals, the position coordinates in a unit of account grid calculates X, Y-axis side
To displacement, carry out displacement calculating with above-mentioned derived integration method, perform mathematical calculations afterwards, judge pass through grid
Number, then imports data, finally with the displacement (X in grid via databasen, Yn) coupled, obtain position coordinates；
When the data received it is continuous it is several be useful signal when, then be judged to reaching grid edge, whenever the object of judgement
By displacement zero setting during motion state arrival grid edge, and start to recalculate displacement S to motion state and movement locus progress
Numeral coupling, the X of upper two dimensional surface is carried out according to motion state, Y-direction judges, performs mathematical calculations afterwards, finally give through
The grid number crossed, then imports data via database and calculates；
When the data received have single useful signal or during for discontinuous useful signal once in a while, then error is determined that it is
Shake, is regarded as being not reaching to edge, now only needs the position coordinates in unit of account grid, its specific steps and above-mentioned receipts
The situation when data arrived are invalid signals always is consistent.
Wherein, processor, for performing computer program product；Storage device 3, i.e. a memory, are calculated for storing
Machine program code and database；Sensor device 4, at least determining a direction；Locating module 5, at least determining one
Individual distance, target location is determined will pass through coupling information；Camera device 6, at least for obtaining an image, core of the invention
The heart is that this positioner has a processor, and processor includes single-chip microcomputer 1 and microcontroller 2, for coupling above-mentioned steps
Four and the positional information of step 5.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of localization method, it is used to position particular location of the machine to be positioned in specific region, it is characterised in that should
Method comprises the following steps：
Step one：Set up the raster database of working region；
Step 2：Obtain image；
Step 3：Image processing, is handled the image acquired in step 2；
Step 4：Obtain movement state information；
Step 5：Obtain target location；
Step 6：Above- mentioned information is subjected to coupling and obtains more specific location information, judges whether to proceed positioning, if continued,
Then proceed step 2 and its subsequent step, if do not continued to, positioning is completed.
2. a kind of localization method according to claim 1, it is characterised in that in the step 2, passes through at least one shadow
As device obtains image.
3. a kind of localization method according to claim 1, it is characterised in that in the step 3, with computer program
Image acquired in process step two and judged.
4. a kind of localization method according to claim 1, it is characterised in that in the step 4, according to original state
Travel direction is contrasted to judge.
5. a kind of localization method according to claim 1, it is characterised in that in the step 5, according to different motion appearance
State correspondence uses different calculation procedures.
6. a kind of localization method according to claim 1, it is characterised in that in the step 5, according in the unit interval
Sensor difference be modified in calculating, the step 5, the raster database of the working region obtained based on step one
Recalibrate positional information.
7. a kind of localization method according to claim 6, it is characterised in that in the step 6, by movement state information
It is converted into digital information.
8. a kind of localization method according to any one of claim 1 to 7, it is characterised in that sequentially repeatedly hold
Row this method.
9. a kind of positioner, it is the positioner used in the localization method described in claim 1, and its feature exists
In the positioner includes：
Processor, storage device (3), sensor device (4), locating module (5), camera device (6), drive module (7), it is described
Processor includes single-chip microcomputer (1) and microcontroller (2), and the single-chip microcomputer (1) communicates to connect with microcontroller (2), the storage
Device (3) is electrically connected on RXD, TXD pin of single-chip microcomputer (1), and the camera device (6) is connected to by USB interface (8)
On the I/O interfaces of single-chip microcomputer (1)；
Sensor device (4), drive module (7) and locating module are connected on microcontroller (2) output interface
(5), and on the single-chip microcomputer (1) and microcontroller (2) it is electrically connected with power module (9).
10. a kind of positioner according to claim 9, it is characterised in that the sensor device (4), which comprises at least, to be had
One electronic compass and a calibrating installation；
The locating module (5) includes an acceleration transducer and a timer.
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| CN201710350158.5A CN107024208A (en) | 2017-05-18 | 2017-05-18 | A kind of localization method and its positioner |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109521941A (en) * | 2018-10-25 | 2019-03-26 | 西安闻泰电子科技有限公司 | Data sampling device and method |
| CN112509284A (en) * | 2020-10-29 | 2021-03-16 | 石家庄铁道大学 | Geological disaster monitoring and early warning method and device and terminal equipment |
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| CN105975967A (en) * | 2016-04-29 | 2016-09-28 | 殳南 | Target positioning method and system |
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| US20080232644A1 (en) * | 2007-03-22 | 2008-09-25 | Nintendo., Ltd. | Storage medium having information processing program stored thereon and information processing apparatus |
| CN103472823A (en) * | 2013-08-20 | 2013-12-25 | 苏州两江科技有限公司 | Raster map creating method for intelligent robot |
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| CN105975967A (en) * | 2016-04-29 | 2016-09-28 | 殳南 | Target positioning method and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112509284A (en) * | 2020-10-29 | 2021-03-16 | 石家庄铁道大学 | Geological disaster monitoring and early warning method and device and terminal equipment |
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Application publication date: 20170808 |
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