CN108827327B - Node encoding/decoding device and method, node guide system, and automatic device - Google Patents
Node encoding/decoding device and method, node guide system, and automatic device Download PDFInfo
- Publication number
- CN108827327B CN108827327B CN201810366025.1A CN201810366025A CN108827327B CN 108827327 B CN108827327 B CN 108827327B CN 201810366025 A CN201810366025 A CN 201810366025A CN 108827327 B CN108827327 B CN 108827327B
- Authority
- CN
- China
- Prior art keywords
- node
- guideline
- guide line
- path
- identification information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The present disclosure relates to a node encoding/decoding apparatus and method, a node guidance system, and an automatic apparatus. The node boot system includes: a plurality of guide lines including node guide lines and path guide lines, each node guide line pointing to a node, each path guide line pointing to at least one secondary path guide line or node guide line; and an encoder configured to encode the plurality of guideline such that each guideline has identification information constituted by a combination of the encoding units, and the position of each node is determined by the respective path guideline and the identification information of the node guideline in common.
Description
Technical Field
The present disclosure relates generally to intelligent systems, and more particularly, to a node encoding/decoding apparatus and method, a node booting system, and an automatic apparatus.
Background
In the field of automatic driving, a perfect automatic parking scheme is a precondition for popularization of automatic driving vehicles. Up to now, solutions and practices related to automatic parking in, for example, parking lots have been lacking. Some related technologies also adopt human intervention or background remote control to realize functions of automatically driving vehicles to park and the like.
Disclosure of Invention
The inventor of the present disclosure found through research that: the background remote control parking scheme requires that the automatic driving vehicle and the background keep real-time communication, and the vehicle and the background need to bear a large data processing load, so that the implementation difficulty is high and the cost is high.
Based on the above, the present disclosure provides a node guidance scheme with low cost and easy implementation and maintenance, which can guide an automatic device to a target node without human intervention or background remote control.
According to a first aspect of the present disclosure, there is provided a node boot system comprising: a plurality of guide lines including node guide lines and path guide lines, each node guide line pointing to a node, each path guide line pointing to at least one secondary path guide line or node guide line; and an encoder configured to encode the plurality of guideline such that each guideline has identification information constituted by a combination of the encoding units, and the position of each node is determined by the respective path guideline and the identification information of the node guideline in common.
Optionally, the identification information of the secondary path guide line further includes identification information of a previous-stage path guide line to which it belongs.
Optionally, the identification information of the node guideline does not include the identification information of the path guideline to which it belongs.
Optionally, the identification information of the plurality of guidelines includes a binary-coded information code.
Optionally, the identification information of the plurality of guidelines includes a synchronization code composed of a regular combination of the encoding units, and the synchronization code is aligned with the encoding units of the information code one by one.
Alternatively, at least one of the information code and the synchronization code is constituted by a combination of coding units of different colors.
Optionally, the relative positions of the information code and the synchronization code represent the directions of the plurality of guidelines.
Optionally, the information code includes a combination of a start flag, data information, and an end flag, and the start code of the data information of the path guideline and the node guideline are different.
Optionally, the node booting system further includes: a processor configured to determine a coding bit width for each guideline according to the number of path guidelines and node guidelines.
According to a second aspect of the present disclosure, there is provided a node decoding apparatus comprising: an image sensor configured to acquire an image of a guide line, the guide line including node guide lines and path guide lines, each node guide line pointing to one node, each path guide line pointing to at least one secondary path guide line or node guide line; and a decoder configured to decode the acquired image of the guideline into identification information constituted by a combination of the encoding units, the position of each node being determined by the respective path guideline and the identification information of the node guideline in common.
According to a third aspect of the present disclosure, there is provided an automatic apparatus comprising a node decoding apparatus according to the above aspect of the present disclosure.
Optionally, the automatic apparatus further comprises: a processor configured to control the traveling of the robot according to the decoded identification information and the location of the target node.
According to a fourth aspect of the present disclosure, there is provided a node encoding method, including: obtaining a plurality of guide lines including node guide lines and path guide lines, each node guide line pointing to a node, each path guide line pointing to at least one secondary path guide line or node guide line; and encoding the plurality of guide lines such that each guide line has identification information constituted by a combination of the encoding units, and the position of each node is determined by the corresponding path guide line and the identification information of the node guide line in common.
According to a fifth aspect of the present disclosure, there is provided a node decoding method comprising: obtaining an image of guide lines, the guide lines including node guide lines and path guide lines, each node guide line pointing to a node, each path guide line pointing to at least one secondary path guide line or node guide line; and decoding the acquired image of the guideline into identification information constituted by a combination of the encoding units, the position of each node being determined by the corresponding path guideline and the identification information of the node guideline in common.
According to a sixth aspect of the present disclosure, there is provided a node encoding apparatus comprising: a memory; and a processor coupled to the memory, the processor configured to perform one or more steps of the node encoding method according to the above aspect of the disclosure based on instructions stored in the memory.
According to a seventh aspect of the present disclosure, there is provided a node decoding apparatus comprising: a memory; and a processor coupled to the memory, the processor configured to perform one or more steps of a node decoding method according to the above aspects of the present disclosure based on instructions stored in the memory.
According to an eighth aspect of the present disclosure, there is provided a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements one or more steps of a node encoding method or a node decoding method according to the above aspects of the present disclosure.
In embodiments of the above aspects, the robot can be guided to the target node without further intervention by guiding the travel of the robot through a coded guideline.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
The present disclosure may be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
fig. 1 schematically illustrates a schematic diagram of a node boot system, according to some embodiments of the present disclosure;
FIG. 2 schematically illustrates a block diagram of a node boot system, in accordance with some embodiments of the present disclosure;
figure 3A schematically illustrates an information code diagram of a path guideline, according to some embodiments of the present disclosure;
figure 3B schematically illustrates an information code diagram of a node guideline, according to some embodiments of the present disclosure.
FIG. 4 schematically illustrates a schematic view of identification information for a path guideline, according to some embodiments of the present disclosure;
fig. 5 schematically illustrates coordinate representations of nodes in the node guidance system of fig. 1, in accordance with some embodiments of the present disclosure.
6A-6C schematically illustrate diagrams of identification information for primary, secondary, and tertiary path guidelines, respectively, according to some embodiments of the present disclosure;
FIG. 6D schematically illustrates a schematic diagram of identification information of a node guideline, according to some embodiments of the present disclosure;
FIG. 7 schematically illustrates a block diagram of a node boot system according to further embodiments of the present disclosure;
figure 8 schematically illustrates a block diagram of a node decoding apparatus according to some embodiments of the present disclosure;
FIG. 9 schematically illustrates a block diagram of an automated apparatus according to further embodiments of the present disclosure;
FIG. 10 schematically illustrates a flow diagram of a node encoding method according to some embodiments of the present disclosure;
FIG. 11 schematically illustrates a flow diagram of a node decoding method according to some embodiments of the present disclosure;
fig. 12 is a block diagram that schematically illustrates a computer system, in accordance with some embodiments of the present disclosure.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The node guiding system can comprise two types of elements of nodes and guiding lines. The nodes correspond to points or regions in a two-dimensional plane. The two-dimensional plane comprises one or more nodes which are relatively independent, and the covered areas are not overlapped. Nodes can be classified into three types according to their physical locations in the node guidance system: an initial node, an end node, and a normal node.
The guideline is used to connect each node, and can be divided into a path guideline and a node guideline according to the logic function. Each path guideline points to at least one secondary path guideline or node guideline, and each node guideline points to a node. The guide wire may be a guide reticle with a logo.
Fig. 1 schematically illustrates a schematic diagram of a node boot system, according to some embodiments of the present disclosure.
As shown in fig. 1, each rectangular area corresponds to a node, where an initial node 100i is an entry node of a node guidance system, an end node 100e is an exit node of the node guidance system, and nodes other than the initial node and the end node are common nodes 100.
The thick solid lines in fig. 1 represent path guide lines, e.g., 112A, etc. The path guideline may be divided into a plurality of levels. The path guideline may be represented by a level from one to n, where n is an integer greater than 1. The primary path guideline connects the initial node and the end node, starting with the initial node and ending with the end node. The primary guideline may be directed to one or more secondary guidelines, the secondary guideline may be directed to one or more tertiary guidelines, and so on.
As shown in fig. 1, the primary path guideline may be represented by a path guideline 112, which connects the initial node 100i and the end node 111 e. The primary path guide wire 112 points to the secondary path guide wire 112A, the secondary path guide wire 112A points to the tertiary path guide wire 112A, and the tertiary path guide wire 112A points to the node guide wire 111 a.
The short lines in fig. 1 represent node guide lines, e.g., 111 and 111 a. The node guide line is a guide marking line between the path guide line and the node. Each node guideline points to a node, e.g., node guidelines 111, 111a, and 111b each point to a node 100. Different levels of path guideline may point to the node guideline. As shown in fig. 1, the primary path guide line 112 points toward the node guide line 111, and the tertiary path guide line 112a also points toward the node guide line 111 a.
Fig. 2 schematically illustrates a block diagram of a node boot system, in accordance with some embodiments of the present disclosure. As shown in fig. 2, the node guide system 10 includes a plurality of guide lines 110 and an encoder 120.
The encoder 120 is configured to encode the plurality of guidelines 110 such that each guideline has identification information made up of a combination of the encoding units.
In some embodiments, the guidelines may be numbered first, such that each guideline has a separate logical number at the node guidance system to distinguish it from the other guidelines. The number of the guideline is then represented by a code, and may be represented as identification information composed of a combination of code units, for example. As an example, the logical number of the guideline may be represented by an information code.
Figure 3A schematically illustrates an information code diagram of a path guideline, according to some embodiments of the present disclosure.
The information code may comprise a combination of a start flag SOF, DATA information DATA and an end flag EOF. The DATA field is used to store the attributes of the guideline and the logical number of the guideline. The start codes of the DATA information DATA of the path guideline and the node guideline are different in some embodiments, the first bit (i.e., the start code) of the DATA field represents the attribute of the guideline, and the other bits represent the logical number of the guideline.
As shown in fig. 3A, the start code of DATA represents a path leading line, and accordingly, the second to fourth bits represent the logical number of the secondary path leading line, and the fifth to eighth bits represent the logical number of the tertiary path leading line. Because the primary path guideline is the same for all secondary path guidelines or nodes, the primary path guideline may not be logically numbered. This can improve the processing efficiency.
Starting from the secondary path guideline, the logical number of the path guideline may be, for example, the logical order in which the path guideline is located above the primary path guideline. In some embodiments, the logical numbers may be sequentially assigned incrementally in an order based on where the secondary path guideline is located on its superior primary guideline.
In other embodiments, the logical number of the secondary path guideline may also include the logical number of the superior path guideline to which it belongs. For example, in the case where the logic number of the primary path guideline 0 is 00000, the logic number of the secondary path guideline 1 is 01000 and the logic number of the tertiary path guideline 5 is 01101.
Figure 3B schematically illustrates an information code diagram of a node guideline, according to some embodiments of the present disclosure.
The logical number of the node guideline may be independent of the logical number of the path guideline. That is, the logical number of the node guideline may not include the logical number of the path guideline to which it belongs. In some embodiments, the node guideline may be sequentially assigned logical numbers incrementally in an order based on its position on the path guideline. For example, on each route guideline, the logical number of the node guideline may be incremented in sequence starting with 1.
The logical number of the guideline is encoded and expressed, and the identification information composed of the combination of the encoding units can be obtained. For coding convenience, the guide line identification information may include a binary-coded information code. In some embodiments, the identification information of the guideline further comprises a synchronization code consisting of a regular combination of the coding units. The synchronization code is used to indicate the beginning and end of data information in the information code.
The coding unit is a basic constituent unit of the identification information. In some embodiments, the coded cells of the guideline may be represented graphically so as to form a visualized guideline. For example, at least one of the information code and the synchronization code may be constituted by a combination of coding units of different colors. That is, two different colors may be employed to correspond to 0 and 1 in the coding unit. For the convenience of identification, the coding unit can adopt two colors with large gray difference, namely 'black' and 'white'.
Fig. 4 schematically illustrates a schematic diagram of identification information, according to some embodiments of the present disclosure.
As shown in fig. 4, the synchronization codes are aligned one-to-one with the coding units of the information codes. That is, the number of the synchronization codes and the information codes is the same. The synchronous code is a periodic code with two coding units of black and white arranged alternately. The coincidence of the start flag SOF with the synchronization code in the information code indicates the start of the DATA information DATA, while the opposite of the end flag EOF with the synchronization code indicates the end of the DATA information DATA.
As shown in fig. 4, SOF in the information code is two encoding units "black-white, which coincide with the synchronization code" black-white "and thus indicate the beginning of the DATA information DATA; the EOF is a white-black two coding units "white-black", opposite to the synchronization code "black-white", and therefore indicates the end of the DATA information DATA.
The information code may be represented by a combination of 1 and 0. As shown in fig. 4, the information code 1 may be represented by two coding units "white-white" and the information code 0 may be represented by two coding units "black-black". Thus, the DATA information DATA of fig. 4 may be represented numerically as 101011.
The direction of the guideline may also be embodied in the information code.
In some embodiments, the last bit in the DATA information DATA may be set to indicate the direction of the guideline. For example, a last bit of DATA of 1 indicates a positive direction, and a last bit of DATA of 0 indicates a negative direction.
In other embodiments, the relative positions of the information code and the synchronization code may also be used to indicate the direction of the guideline. For example, the synchronization code and the information code of the guideline may be arranged side by side, and the left side is the synchronization code, the right side is the information code representing the forward direction, and the left side is the information code, and the right side is the synchronization code representing the reverse direction, as viewed in the traveling direction. Therefore, the coding bit width can be reduced, and the processing efficiency is improved.
The location of each node is determined by the respective path guideline and the identifying information of the node guideline.
In some embodiments, the location of the node may be represented in coordinates as [ X, Y ]. X may be represented as (X2, X3, …, Xn), Xn representing the logical number of the nth level path guideline, where n is an integer greater than 1. Y is the logical number of the node guide line on the nth level path guide line.
For the case where the path guideline has three stages in common, X can be represented as (X2, X3) and the nodes as [ (X2, X3), Y ]. The identification information of the secondary path guide line may include identification information of the upper-stage path guide line to which it belongs. That is, X3 and X2 have a subordinate relationship, and the identification information of X3 includes the identification information of X2. The identification information of the node guideline does not include the identification information of the path guideline to which it belongs. That is, the identification information of Y does not include the identification information of X3, but represents only the logical number of the node guide line on the 3 rd-level path guide line.
Fig. 5 schematically illustrates coordinate representations of nodes in the node guidance system of fig. 1, in accordance with some embodiments of the present disclosure.
Fig. 1 shows that there are 4 nodes on the primary path leader. Assuming that the logical numbers of the 4 nodes are 1, 2, 3, and 4, respectively, the coordinates of the nodes can be represented as [ (0,0),1], [ (0,0),2], [ (0,0),3], [ (0,0), and 4], respectively, as shown in fig. 5.
The logic number of the secondary path guide line with the logic number of 1 is 3 nodes, and the logic numbers of the node guide lines pointed by the nodes are 1, 2 and 3 respectively. The coordinates of these nodes can be represented as [ (1,0),1], [ (1,0),2], [ (1,0),3], respectively, as shown in fig. 5.
The secondary path guideline with logic number 2 has 2 nodes, and the logic numbers of the node guideline pointed to by the nodes are 1 and 2 respectively. The coordinates of these nodes can be represented as [ (2,0),1], [ (2,0),2], respectively, as shown in fig. 5.
The secondary path guideline with logic number 3 has 2 nodes, and the logic numbers of the guideline of the nodes pointed to are 1 and 2 respectively. The coordinates of these nodes can be represented as [ (3,0),1], [ (3,0),2], respectively, as shown in fig. 6.
The three-level guideline with logical number 1 has only 1 node, and the node that it points to is the guideline with logical number 1. The coordinates of the node may be represented as [ (2,0),1] as shown in fig. 5.
In some embodiments, the coded cells of the guideline may also be represented graphically to form a visualized guideline. In addition, in order to save the coding bit width, special nodes, such as the initial node and the end node, can be represented graphically instead of being represented by coordinates. For example, the initial node takes a "T" word graph and the end nodes take an inverted "T" word graph.
Taking a parking lot as an example, a layer of center guide lines with the same width can be laid (or coated) in the center area of a road, the guide lines are logically numbered (namely, the road numbers are given), and visualized and easily recognized digital codes are implemented on the guide lines to guide the vehicle to move. The vehicle may be traveling to find a target node (e.g., a target slot or charging location) based on such a code. That is, the roads and the spaces in the parking lot may be abstracted into the node guidance system as shown in fig. 1.
According to some encoding methods in the above embodiments, the path guideline and the node guideline may be encoded separately, so as to obtain a visualized guideline.
As shown in fig. 1, the guide line connecting the entrance (initial node 100i) and the exit (end node 100e) is a primary path guide line, and is logically numbered 0. In fig. 1, three secondary path guide lines are shared, and the logic numbers are 1, 2 and 3 respectively; a three-level path guideline, logic number 1, subordinate to the two-level guideline, logic number 2.
For convenience of encoding, the identification information of the secondary path guideline of each stage of the path guideline may be set to 0. In addition, the identification information of the path guide line may include identification information of a previous-stage path guide line to which it belongs.
As described above, a graphical representation of the encoding may be performed in such a manner that two coding units "white-white" represent 1 and two coding units "black-black" represent 0. The guidelines shown in fig. 1 may be encoded in a pattern as shown in fig. 6A-6D. Figures 6A-6D schematically illustrate schematic views of identifying information for a guideline according to some embodiments of the present disclosure.
In fig. 6A-6D, the synchronization codes and the information codes are arranged side by side, and the coding units are all aligned one by one. In FIGS. 6A-6D, the previous row is a sync code, and two black-white coding units are alternately arranged; the next row is the information code, a black-white two coding units in accordance with the synchronization code "black-white" indicate the start of the data information, and a white-black two coding units opposite to the synchronization code "black-white" indicate the end of the data information.
Fig. 6A shows identification information of the primary path guide line. As shown in fig. 6A, the data information includes 4 groups of "black-black" coding units, representing a logical number 0000.
Fig. 6B shows identification information of the secondary path guidance line of logical number 2. As shown in fig. 6B, the data information also includes 4 sets of coding units, which are "black-black", "white-white", "black-black", and "black-black" in this order, and indicate a logical number 0100.
Fig. 6C shows identification information of the three-level path guide line of logic number 1. As shown in fig. 6C, the 4 groups of coding units included in the data information are "black-black", "white-white", "black-black", and "white-white" in this order, and indicate a logical number 0101.
Fig. 6D shows identification information of the node leading line of logical number 1. Here, the node guide line and the path guide line are numbered separately. That is, although the identification information of the route guide line includes the identification information of the upper-level route guide line to which it belongs, the identification information of the node guide line does not include the identification information of the route guide line described above. This saves the coding bit width of the node guideline. For example, in fig. 6D, the data information includes 2 sets of coding units, "black-black" and "white-white", respectively, representing a logical number 01.
In some embodiments, to improve coding efficiency, the coding bit width of the guideline may be determined according to the number of path guidelines and node guidelines.
Fig. 7 schematically illustrates a block diagram of a node boot system according to further embodiments of the present disclosure. Fig. 7 differs from fig. 1 in that the node boot system 10' further includes a processor 120.
The processor 120 is configured to determine the encoding bit width for each guideline according to the number of path guidelines and node guidelines.
In some embodiments, the maximum number of secondary path guideline subordinate to the same path guideline is represented by N, which is an integer. N-0 indicates that a certain path guideline has no secondary path guideline. N is a radical of>0 indicates that a certain path guideline has at least one secondary path guideline. The number bit width of the path guideline is denoted by q, i.e. it can be a binary number with a coding bit width of qNumbers indicate the logical numbers of the path guideline. q may be calculated according to the following expression:
where Qn is 0 when N is 0, N>0, Qn is N +1,
the expression is to open the root number of Qn and then to round up, n is an integer larger than 1. Here, the primary path guideline is not encoded in order to save encoding bit width.
A path guide line points to M node guide lines, and the number bit width M of the node guide lines can be expressed according to the expression
Where M is a positive integer,
indicates that the root number of (M +1) is rounded up.
For example, the node guidance system has 1 primary path guide line, 3 secondary path guide lines, the logical number 1 secondary path guide line pointing to 5 tertiary path guide lines, the other secondary path guide lines all pointing to less than 5 tertiary path guide lines, and no 4-level path guide lines. According to the determination manner of the encoding bit width of the path guideline of the above embodiment, q may be determined as:
i.e., q is equal to 5, wherein the logical number of the secondary path guideline occupies the first 2 bits and the logical number of the tertiary path guideline occupies the last 3 bits.
Based on the above, the code of the primary path guideline may be represented as 00000, the secondary path guideline having the logical code of 1 may be represented as 01000, and the tertiary path guideline having the logical code of 5 (subordinate to the secondary path guideline having the logical code of 1) may be represented as 01101.
In the above embodiment, the coding efficiency can be improved by determining the appropriate guideline coding bit width according to the number of the path guideline and the node guideline.
Fig. 8 schematically illustrates a block diagram of a node decoding apparatus according to some embodiments of the present disclosure.
As shown in fig. 8, the node decoding apparatus 20 includes: an image sensor 210 configured to acquire an image of the guide line; and a decoder 220 configured to decode the acquired image of the guideline into identification information constituted by a combination of the encoding units.
As mentioned above, the guide lines comprise node guide lines, each pointing to a node, and path guide lines, each pointing to at least one secondary path guide line or node guide line. The location of each node is determined by the respective path guideline and the identifying information of the node guideline.
The image sensor 210 can sense an image of an object, such as a camera or the like. The image sensor 210 can sense an image including a guide line.
The decoder 220 performs decoding processing on the acquired image to obtain identification information constituted by a combination of the encoding units. In some embodiments, the decoding process comprises: carrying out binarization processing on the image; positioning a coding region in the image; sampling the coding unit to obtain a synchronous code and an information code; the synchronization code and the information code are compared to obtain the marker information of the guideline. In other embodiments, the acquired image may be grayed in advance, and noise points may be filtered out by using, for example, median filtering. And the filtered image is subjected to binarization processing, so that the efficiency of binarization processing can be improved. The coding region can be located using the canny edge detection algorithm.
FIG. 9 schematically illustrates a block diagram of an automated apparatus according to further embodiments of the present disclosure.
As shown in fig. 9, the automation device 2 comprises a node decoding device 20 and a processor 23 in the embodiment of fig. 8. An autonomous device is a device with autonomous mobility capabilities, such as an autonomous vehicle. The autonomous vehicle may carry an image sensor, such as a camera, and include a decoder capable of decoding the guideline.
The processor 23 is configured to control the travel of the robot based on the decoded identification information and the location of the target node. In the decoding process, the positioning of the coding region in the image is also the positioning of the guideline. Thus, the positioned guide line can be used as a travel guide line to control the travel of the robot.
For an autonomous vehicle, assuming that a camera is installed on the center line of the vehicle, the lateral control of the vehicle may employ a PID (proportional-integral-derivative) control method so that a shooting guide line is always in a right and left center position of an image. In this way, the vehicle can be controlled to advance along the guide wire.
The process of an autonomous vehicle to reach a target node in a parking lot according to a node guidance system is described below in conjunction with fig. 5 and 6A-6D. As described above, the roads and spaces in the parking lot may be abstracted into a node guidance system as shown in fig. 5. A layer of center guide lines of equal width may be laid in the central area of the roadway in the parking lot and a visual, easily recognizable digital code may be implemented on the guide lines, as shown in fig. 6A-6D.
The autonomous vehicle can search for a target parking space according to such codes during traveling, for example, an image of a guide line is acquired through an image sensor, and the acquired image of the guide line is decoded into a corresponding digital code by using a decoder, that is, the current position of the vehicle and the guide line to be reached are identified.
In fig. 5, letter I indicates an entrance of a parking lot, and is the current position of the autonomous vehicle, E indicates an exit of the parking lot, D indicates a target parking space of the autonomous vehicle, and B and C both indicate branch points of a path to be passed to the D position.
As mentioned above, the coordinates of the initial node 100iD, i.e. the parking lot entrance I, can be represented as [ (0,0), I ], corresponding to a special pattern, e.g. a "T" pattern, and the coordinates of the target node D as [ (2,1),1], corresponding to a combination of black and white codes. The autonomous vehicle may go through the following steps from the initial node I to the target node D:
(1) identifying a primary path guide line and entering the primary path guide line from the initial node I;
(2) a second-level path guide line with the logic number of 2 is searched by advancing along the first-level path guide line (forward direction);
(3) moving to the position B, identifying a secondary path guide line with the logic number of 2, and turning right to enter the road section;
(4) the three-level path guide line with the logic number of 1 is searched by going along the current two-level path guide line (positive direction);
(5) moving to the position C, identifying a three-level path guide line with the logic number of 1, and turning left to enter the road section;
(6) advancing along the current three-level path guide line (forward direction) to search a node guide line with the number of 1;
(7) proceed to D to identify the node guide line numbered 1.
Along the guide line of the node, the automatic driving vehicle can enter the parking space to complete the driving-in step.
In a similar manner, autonomous vehicles may exit the parking space to a parking lot exit. When the vehicle is driven out of the parking lot, the coordinates of the current position are [ (2,1),1], and the coordinates of the target node E, i.e., the end node 100E, may be [ (0,0), E ], and correspond to a special pattern, for example, an inverted "T" pattern.
Similarly, the autonomous vehicle may go through the following steps from the current location D to the target node E:
(1) moving out from the current position [ (2,1),1], identifying a three-level path guide line with the logic number of 1, and moving into the road section;
(2) the second-level path guide line with the logic number of 2 is searched by going along the current third-level path guide line (in the reverse direction);
(3) moving to the position C, identifying a secondary path guide line with the logic number of 2, and driving into the road section;
(4) the current secondary path guide line is advanced (reversely) to find a primary path guide line;
(5) moving to the position B, identifying a primary path guide line and driving into the road section;
(6) traveling along the current-stage guideline (forward direction), finding the end node E;
(7) traveling to point E identifies the end node.
Thus, the autonomous vehicle can complete the exit step.
In the above-described embodiment, the autonomous movement from any one node of the node guidance system to another node can be realized by an automatic device such as an autonomous vehicle using cooperation of the image sensor and the decoder.
Fig. 10 schematically illustrates a flow diagram of a node encoding method according to some embodiments of the present disclosure. As shown in fig. 10, the node encoding method includes steps S11 and S12.
In step S11, a plurality of guide lines are acquired. The plurality of guide lines includes node guide lines, each node guide line pointing to a node, and path guide lines, each path guide line pointing to at least one secondary path guide line or node guide line.
In some embodiments, the node guidance system adapted to be described by the node and the guidance line is, for example, a parking lot. For a parking lot, the route guideline may correspond to a tree road that can be passed in the parking lot; nodes, which may also be referred to as leaf nodes on the tree, may correspond to parking spaces; and the node guide line may correspond to a connection link connecting the leaf node and the tree link. The tree road may be divided into a trunk road and a branch road of different levels. The trunk road may point to at least one subordinate branch road, or may point to a road connecting leaf nodes. Obtaining the plurality of guidelines includes obtaining the distribution of all roads of the parking lot and the parking spaces to which they are directed.
In step S12, a plurality of guidelines are encoded such that each guideline has identification information made up of a combination of the encoding units. The location of each node is determined by the respective path guideline and the identifying information of the node guideline.
The encoding can be implemented by the encoder in any of the foregoing embodiments, and is not described here in detail.
Fig. 11 schematically illustrates a flow diagram of a node decoding method according to some embodiments of the present disclosure. As shown in fig. 11, the node decoding method includes: step S21 and step S22.
In step S21, an image of the guide line is acquired. The guide lines include node guide lines, each pointing to a node, and path guide lines, each pointing to at least one secondary path guide line or node guide line.
In step S22, the acquired image of the guideline is decoded into identification information constituted by a combination of the encoding units. The location of each node is determined by the respective path guideline and the identifying information of the node guideline.
The image acquisition and the decoding can be respectively realized by the image sensor and the decoder in any of the foregoing embodiments, and are not described herein again.
Those skilled in the art will appreciate that the methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware.
Fig. 12 is a block diagram that schematically illustrates a computer system, in accordance with some embodiments of the present disclosure.
As shown in fig. 12, the computer system 1 includes: a memory 11 and a processor 12. The memory 11 may comprise, for example, a magnetic disk, flash memory, or any other non-volatile storage medium. The memory 11 is used for storing instructions in corresponding embodiments of the node encoding method and/or the decoding method. Processor 12 is coupled to memory 11 and may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 12 is configured to execute the instructions stored in the memory 11 to perform the method of any of the preceding embodiments.
In some embodiments, processor 12 is coupled to memory 11 by a BUS BUS 13. The computer system 1 may also be connected to an external storage device 15 through a storage interface 14 for calling external data, and may also be connected to a network or another computer system (not shown) through a network interface 16. And will not be described in detail herein.
In some embodiments, one or more steps of the node encoding method and/or decoding method of any of the foregoing embodiments can be implemented by storing data instructions in the memory 11 and processing the instructions by the processor 12.
When the processor realizes the node coding method of any one of the preceding embodiments, the computer system can realize the functions of the node coding device; when the processor implements the node decoding method of any of the foregoing embodiments, the computer system can implement the functions of the node decoding apparatus.
Furthermore, in some embodiments, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein. The computer program recorded in the recording medium comprises machine-readable instructions for implementing the method according to the present disclosure, which when executed by a processor implements one or more steps of the method as described in any of the preceding embodiments.
In the above embodiments, the robot can be guided to the target node without further intervention by guiding the travel of the robot through the coded guideline.
Thus, the method, apparatus, and computer-readable storage medium according to the present disclosure have been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (15)
1. A nodal guidance system for an autonomous vehicle, comprising:
a plurality of guide lines including node guide lines and path guide lines, each node guide line pointing to a node, each path guide line pointing to at least one secondary path guide line or node guide line; and
an encoder configured to encode the plurality of guide lines such that each guide line has identification information constituted by a combination of the encoding units, a position of each node is determined collectively by the corresponding path guide line and the identification information of the node guide line, the identification information of the secondary path guide line further includes identification information of a previous-stage path guide line to which it belongs,
the identification information of the guide lines comprises binary coded information codes, the information codes are formed by combination of coding units with different colors, the coding units are represented graphically, the coder codes the guide lines to obtain visual guide lines, and the visual guide lines are laid on roads to guide the automatic driving vehicle to move.
2. The node guidance system according to claim 1, wherein the identification information of the node guideline does not include identification information of a path guideline to which it belongs.
3. The node guidance system according to claim 1, wherein the identification information of the plurality of guideline includes a synchronization code composed of a regular combination of the encoding units, the synchronization code being aligned one-to-one with the encoding units of the information code.
4. The node boot system of claim 3, wherein the synchronization code is comprised of a combination of coding units of different colors.
5. The node guidance system of claim 3, wherein the relative positions of the information code and the synchronization code represent the directions of the plurality of guidelines.
6. The node guidance system according to claim 3, wherein the information code includes a combination of a start flag, data information, and an end flag, and the start code of the data information of the path guideline and the node guideline are different.
7. The node boot system of any of claims 1-6, further comprising: a processor configured to determine a coding bit width for each guideline according to the number of path guidelines and node guidelines.
8. A node decoding apparatus for an autonomous vehicle, comprising:
an image sensor configured to obtain an image of a visualized guide line, the guide line comprising node guide lines and path guide lines, each node guide line pointing to a node, each path guide line pointing to at least one secondary path guide line or node guide line, the visualized guide line being laid on a road to guide the autonomous vehicle to travel; and
a decoder configured to decode the acquired image of the guideline into identification information constituted by a combination of the encoding units, a position of each node being determined by the corresponding path guideline and the identification information of the node guideline in common, the identification information of the secondary path guideline further including the identification information of the upper-level path guideline to which it belongs,
the identification information of the guideline comprises a binary coded information code, the information code is composed of a combination of coding units with different colors, and the coding units are represented graphically.
9. An automatic device comprising the node decoding apparatus of claim 8.
10. The automated device of claim 9, further comprising: a processor configured to control the traveling of the automatic device according to the decoded identification information and the location of the target node.
11. A node encoding method for an autonomous vehicle, comprising:
obtaining a plurality of guide lines including node guide lines and path guide lines, each node guide line pointing to a node, each path guide line pointing to at least one secondary path guide line or node guide line; and
encoding the plurality of guide lines such that each guide line has identification information constituted by a combination of the encoding units, the position of each node is determined by the corresponding path guide line and the identification information of the node guide line in common, the identification information of the secondary path guide line further includes the identification information of the upper-stage path guide line to which it belongs,
the identification information of the guide lines comprises binary coded information codes, the information codes are formed by combination of coding units with different colors, the coding units are represented graphically, the coder codes the guide lines to obtain visual guide lines, and the visual guide lines are laid on roads to guide the automatic driving vehicle to move.
12. A node decoding method for an autonomous vehicle, comprising:
acquiring an image of a visualized guide line, the guide line comprising node guide lines and path guide lines, each node guide line pointing to a node, each path guide line pointing to at least one secondary path guide line or node guide line, the visualized guide line being laid on a road to guide the autonomous vehicle to travel; and
decoding the acquired image of the guideline into identification information constituted by a combination of the encoding units, the position of each node being determined by the corresponding path guideline and the identification information of the node guideline, the identification information of the secondary path guideline further including the identification information of the upper-stage path guideline to which it belongs,
the identification information of the guideline comprises a binary coded information code, the information code is composed of a combination of coding units with different colors, and the coding units are represented graphically.
13. A node encoding apparatus for an autonomous vehicle, comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform one or more steps of the node encoding method of claim 11 based on instructions stored in the memory.
14. A node decoding apparatus for an autonomous vehicle, comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform one or more steps of the node decoding method of claim 12 based on instructions stored in the memory.
15. A computer readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out one or more steps of the node encoding method of claim 11 or the node decoding method of claim 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810366025.1A CN108827327B (en) | 2018-04-23 | 2018-04-23 | Node encoding/decoding device and method, node guide system, and automatic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810366025.1A CN108827327B (en) | 2018-04-23 | 2018-04-23 | Node encoding/decoding device and method, node guide system, and automatic device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108827327A CN108827327A (en) | 2018-11-16 |
| CN108827327B true CN108827327B (en) | 2021-09-14 |
Family
ID=64154970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810366025.1A Active CN108827327B (en) | 2018-04-23 | 2018-04-23 | Node encoding/decoding device and method, node guide system, and automatic device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108827327B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105513403A (en) * | 2016-01-08 | 2016-04-20 | 广东翼卡车联网服务有限公司 | Method and system for finding vehicle in parking lot based on image recognition |
| CN107730975A (en) * | 2017-09-13 | 2018-02-23 | 浙江大学 | Supermarket's stopping guide reverse car seeking and the system and method for the guiding that appears on the scene |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5015749B2 (en) * | 2007-12-12 | 2012-08-29 | トヨタ自動車株式会社 | Vehicle position detection device |
| CN102385369A (en) * | 2011-09-28 | 2012-03-21 | 山东电力集团公司临沂供电公司 | Vehicle guidance system of electric vehicle charging and battery replacement station |
| CN102789234B (en) * | 2012-08-14 | 2015-07-08 | 广东科学中心 | Robot navigation method and robot navigation system based on color coding identifiers |
| CN203151503U (en) * | 2013-03-18 | 2013-08-21 | 北京天隼图像技术有限公司 | Optical fiber based USB3.0 transmission device and optical fiber based USB3.0 camera |
| CN103472827B (en) * | 2013-09-11 | 2016-04-20 | 无锡普智联科高新技术有限公司 | Based on AGV lifting corrective system and the method thereof of guide path |
| CN104007760B (en) * | 2014-04-22 | 2016-05-18 | 济南大学 | Method for self-locating in a kind of autonomous robot vision guided navigation |
| CN104596525A (en) * | 2014-12-29 | 2015-05-06 | 西南交通大学 | Vehicle positioning method based on coded graphics |
| CN204647047U (en) * | 2015-05-29 | 2015-09-16 | 张金桃 | A kind of follow-on axle joiner mechanism |
| CN107830863A (en) * | 2017-10-20 | 2018-03-23 | 四川西谷物联科技有限公司 | A kind of indoor navigation method based on identification code identification, apparatus and system |
-
2018
- 2018-04-23 CN CN201810366025.1A patent/CN108827327B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105513403A (en) * | 2016-01-08 | 2016-04-20 | 广东翼卡车联网服务有限公司 | Method and system for finding vehicle in parking lot based on image recognition |
| CN107730975A (en) * | 2017-09-13 | 2018-02-23 | 浙江大学 | Supermarket's stopping guide reverse car seeking and the system and method for the guiding that appears on the scene |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108827327A (en) | 2018-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Neven et al. | Towards end-to-end lane detection: an instance segmentation approach | |
| CN104007760B (en) | Method for self-locating in a kind of autonomous robot vision guided navigation | |
| EP3690717B1 (en) | Learning method and learning device, and testing method and testing device for detecting parking spaces by using point regression results and relationship between points to thereby provide an auto-parking system | |
| KR102286760B1 (en) | Learning method and learning device using multiple labeled databases with different label sets and testing method and testing device using the same | |
| Dymczyk et al. | The gist of maps-summarizing experience for lifelong localization | |
| CN104008387B (en) | Lane line detection method based on feature point piecewise linear fitting | |
| CN103065314B (en) | Image communicated domain rapid marking method based on linear description | |
| CN108897317B (en) | Automatic guided vehicle AGV path optimization method, related device and storage medium | |
| CN111104903A (en) | Depth perception traffic scene multi-target detection method and system | |
| US20230099521A1 (en) | 3d map and method for generating a 3d map via temporal and unified panoptic segmentation | |
| CN111295666A (en) | Lane line detection method, device, control equipment and storage medium | |
| Shahud et al. | Thai traffic sign detection and recognition using convolutional neural networks | |
| Quehl et al. | An approach to vehicle trajectory prediction using automatically generated traffic maps | |
| CN108827327B (en) | Node encoding/decoding device and method, node guide system, and automatic device | |
| CN110334751B (en) | Image processing method and device for binding nodes and terminal | |
| Hou et al. | Use of roadway scene semantic information and geometry-preserving landmark pairs to improve visual place recognition in changing environments | |
| CN113537163A (en) | Model training method and system for parking space detection | |
| CN113945222A (en) | Method and device for identifying road information, electronic equipment, vehicle and medium | |
| CN113052040A (en) | Unlicensed vehicle charging method and device, electronic equipment and storage medium | |
| Jeon et al. | Brief Paper: Drivable Area Detection with Region-based CNN Models to Support Autonomous Driving | |
| CN111833621A (en) | Lane guide line generation method and device, storage medium and computer equipment | |
| Ren et al. | LaneDraw: Cascaded lane and its bifurcation detection with nested fusion | |
| CN115416692A (en) | Automatic driving method and device and electronic equipment | |
| Liu et al. | Multi-lane detection via multi-task network in various road scenes | |
| CN114167857A (en) | Control method and device of unmanned equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |