CN111352139A - Scanning equipment autonomous guiding method and device and scanning equipment - Google Patents

Scanning equipment autonomous guiding method and device and scanning equipment Download PDF

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Publication number
CN111352139A
CN111352139A CN201811580349.1A CN201811580349A CN111352139A CN 111352139 A CN111352139 A CN 111352139A CN 201811580349 A CN201811580349 A CN 201811580349A CN 111352139 A CN111352139 A CN 111352139A
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China
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rtk
scanning device
scanning
information
scanning equipment
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CN201811580349.1A
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CN111352139B (en
Inventor
李建
孙尚民
王永明
许艳伟
喻卫丰
胡煜
宗春光
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Nuctech Co Ltd
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Nuctech Co Ltd
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Priority to CN201811580349.1A priority Critical patent/CN111352139B/en
Priority to PCT/CN2019/108143 priority patent/WO2020134251A1/en
Publication of CN111352139A publication Critical patent/CN111352139A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The disclosure provides an autonomous guiding method and device for scanning equipment and the scanning equipment, and relates to the field of autonomous guiding. The method comprises the following steps: judging whether landmark line information can be identified according to ground image information, wherein an image sensor is installed on the scanning equipment and used for acquiring the ground image information; if yes, determining a target offset in the operation of the scanning equipment based on the landmark line information; otherwise, judging whether RTK track information of the scanning equipment can be acquired or not, wherein an RTK sensor is installed on the scanning equipment and is used for acquiring the RTK track information of the scanning equipment; if so, determining the target offset of the scanning equipment in operation based on the position information of the RTK mobile station corresponding to the RTK sensor; autonomous steering of the scanning device is achieved based on the target offset. The automatic guiding of the scanning equipment is realized based on multi-sensor fusion, and the automation degree of the scanning equipment is improved.

Description

Scanning equipment autonomous guiding method and device and scanning equipment
Technical Field
The present disclosure relates to the field of autonomous guidance, and in particular, to an autonomous guidance method and apparatus for a scanning device, and a scanning device.
Background
The autonomous guidance is that the scanning equipment realizes autonomous scanning path planning and movement according to a certain route. In the security check field, the intellectuality of scanning device can be realized to the automatic guidance, reduces personnel's participation degree, improves the degree of automation of equipment.
In the related art, the scanning device can be positioned by the GPS and can reciprocate on a certain route to scan the detected object, but in the scheme, the building has great influence on the GPS signal, the validity of the signal is difficult to ensure, and the use scene of the scanning device is further limited. In addition, the single-line laser sensor is used for realizing autonomous guidance, a reference object needs to be installed near the track, so that the scanning equipment runs according to the reference object, and when the scanning distance is long, the field work difficulty is increased.
Disclosure of Invention
The technical problem to be solved by the present disclosure is to provide a scanning device autonomous guiding method, apparatus and scanning device, which can improve the accuracy of scanning device autonomous guiding.
According to an aspect of the present disclosure, an autonomous guiding method for a scanning device is provided, including: judging whether landmark line information can be identified according to ground image information, wherein an image sensor is installed on the scanning equipment and used for acquiring the ground image information; if yes, determining a target offset in the operation of the scanning equipment based on the landmark line information; otherwise, judging whether RTK track information of the scanning equipment can be acquired or not, wherein a real-time dynamic carrier phase difference RTK sensor is installed on the scanning equipment and is used for acquiring the RTK track information of the scanning equipment; if so, determining the target offset of the scanning equipment in operation based on the position information of the RTK mobile station corresponding to the RTK sensor; autonomous steering of the scanning device is achieved based on the target offset.
In one embodiment, determining a target offset in operation of the scanning device based on landmark-line information comprises: determining a reference deviation of the scanning equipment and the ground marking; extracting coordinate values of the ground mark lines in the ground image; fitting the slope and the intercept of the ground reticle in the ground image based on a fitting algorithm; determining a first offset of the scanning device relative to the landmark line based on the slope and the intercept; a target offset for operation of the scanning device is determined based on the first offset and the reference offset.
In one embodiment, the positioning of the RTK rover corresponding to the RTK sensor on the scanning apparatus and the positioning of the RTK base corresponding to the RTK sensor on the ground at the predetermined position includes: acquiring an RTK guide path; determining a GPS positioning offset based on a GPS positioning signal of a global positioning system received by the RTK base station and a positioning signal of the RTK base station; correcting the positioning information of the RTK mobile station based on the GPS positioning offset; and determining the target offset in the operation of the scanning equipment based on the RTK guide path and the positioning information corrected by the RTK mobile station.
In one embodiment, acquiring the RTK guide path includes: acquiring a moving track of the scanning equipment based on the image sensor; and taking the moving track of the scanning device as an RTK guide path.
In one embodiment, if the RTK trajectory information of the scanning device cannot be acquired, automatic steering of the scanning device is achieved based on an inertial measurement unit IMU installed on the scanning device.
In one embodiment, the IMU is integrated in an RTK sensor.
According to another aspect of the present disclosure, there is also provided a scanning device autonomous guiding apparatus, including: the image sensor is arranged on the scanning equipment and is configured to acquire ground image information; the real-time dynamic carrier phase difference RTK sensor is arranged on the scanning equipment and is configured to acquire RTK track information of the scanning equipment; a processor configured to determine whether landmark line information can be identified from the ground image information; if yes, determining a target offset in the operation of the scanning equipment based on the landmark line information; otherwise, judging whether RTK track information of the scanning equipment can be acquired or not; if so, determining the target offset of the scanning equipment in operation based on the position information of the RTK mobile station corresponding to the RTK sensor; autonomous steering of the scanning device is achieved based on the target offset.
In one embodiment, the processor is configured to determine a reference deviation of the scanning device from the ground mark line; extracting coordinate values of the ground mark lines in the ground image; fitting the slope and the intercept of the ground reticle in the ground image based on a fitting algorithm; determining a first offset of the scanning device relative to the landmark line based on the slope and the intercept; a target offset for operation of the scanning device is determined based on the first offset and the reference offset.
In one embodiment, an RTK mobile station corresponding to an RTK sensor is arranged on a scanning device, and an RTK base station corresponding to the RTK sensor is arranged at a preset position on the ground; the processor is further configured to acquire an RTK guide path; determining a GPS positioning offset based on a GPS positioning signal of a global positioning system received by the RTK base station and a positioning signal of the RTK base station; correcting the positioning information of the RTK mobile station based on the GPS positioning offset; and determining the target offset in the operation of the scanning equipment based on the RTK guide path and the positioning information corrected by the RTK mobile station.
In one embodiment, the processor is further configured to acquire a movement trajectory of the scanning device based on the image sensor; and taking the moving track of the scanning device as an RTK guide path.
In one embodiment, an inertial measurement unit, IMU, mounted on a scanning device; the processor is further configured to implement automatic steering of the scanning device based on the IMU if the RTK trajectory information of the scanning device cannot be acquired.
In one embodiment, the IMU is integrated in an RTK sensor.
According to another aspect of the present disclosure, there is also provided a scanning device autonomous guiding apparatus, including: a memory; and a processor coupled to the memory, the processor configured to perform the scanning device autonomous steering method as described above based on instructions stored in the memory.
According to another aspect of the present disclosure, a scanning device is also provided, which includes the above-mentioned scanning device autonomous guiding apparatus.
According to another aspect of the present disclosure, a computer-readable storage medium is also proposed, on which computer program instructions are stored, which instructions, when executed by a processor, implement the steps of the above-described scanning device autonomous guiding method.
Compared with the prior art, the method and the device have the advantages that if the landmark line information can be identified according to the ground image information acquired by the image sensor, the target offset in the operation of the scanning equipment is determined according to the landmark line information, otherwise, the target offset in the operation of the scanning equipment is determined according to the position information of the RTK mobile station corresponding to the RTK sensor, and the autonomous guidance of the scanning equipment is further realized.
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 is a schematic flowchart of an embodiment of an autonomous guiding method of a scanning device according to the present disclosure.
Fig. 2 is a schematic flowchart of another embodiment of an autonomous guiding method of a scanning device according to the present disclosure.
Fig. 3 is a flowchart illustrating a scanning device autonomous guiding method according to still another embodiment of the disclosure.
Fig. 4 is a flowchart illustrating a scanning device autonomous guiding method according to another embodiment of the disclosure.
Fig. 5 is a schematic structural diagram of an embodiment of an autonomous guiding apparatus of a scanning device according to the present disclosure.
Fig. 6 is a schematic structural diagram of still another embodiment of the autonomous guiding apparatus of the scanning device of the present disclosure.
Fig. 7 is a schematic structural diagram of another embodiment of the autonomous guiding apparatus of the scanning device of the present disclosure.
Fig. 8 is a schematic structural diagram of another embodiment of the autonomous guiding apparatus of the scanning device 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.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
Fig. 1 is a schematic flowchart of an embodiment of an autonomous guiding method of a scanning device according to the present disclosure.
In step 110, it is determined whether landmark information can be identified from the ground image information, and if so, step 120 is performed, otherwise, step 130 is performed. The scanning device is provided with an image sensor, and ground image information can be acquired through the image sensor. A scanning device such as a vehicle scanning inspection device or a container scanning inspection device, an image sensor such as a vision image sensor, may be mounted above the wheels of the scanning device, for example, at an angle of 45 ° to the ground.
In step 120, a target offset in the operation of the scanning device is determined based on landmark-line information. When the scanning device works in a working area, the distance of the scanning device deviated from the preset track can be determined by combining the ground mark lines on the ground, and the angle information of the wheels can be further adjusted.
In step 130, it is determined whether RTK (Real-time kinematic) trajectory information of the scanning device can be acquired, wherein an RTK sensor is installed on the scanning device, and the RTK trajectory information of the scanning device can be acquired through the RTK sensor. The RTK sensor can be installed on the top of the vehicle scanning device and can receive satellite signals, and a straight line formed by two antennae of the RTK sensor is consistent with the traveling direction of a vehicle target, wherein the antennae are used for positioning and measuring the direction.
In step 140, if the RTK trajectory information of the scanning device can be acquired, the target offset in the operation of the scanning device is determined based on the position information of the RTK rover station corresponding to the RTK sensor. Wherein. The RTK rover station is mounted on the scanning device.
At step 150, autonomous steering of the scanning device is achieved based on the target offset.
In the embodiment, if the landmark line information can be identified according to the ground image information acquired by the image sensor, the target offset in the operation of the scanning equipment is determined according to the landmark line information, otherwise, the target offset in the operation of the scanning equipment is determined according to the position information of the RTK mobile station corresponding to the RTK sensor, and the autonomous guidance of the scanning equipment is further realized.
Fig. 2 is a schematic flowchart of another embodiment of an autonomous guiding method of a scanning device according to the present disclosure. When the scanning device works in a working area, the scanning device can be combined with the image sensor to realize the autonomous guidance of the scanning device.
At step 210, a reference deviation of the scanning apparatus from the ground mark line is determined. For example, a reference deviation of the scanning apparatus from the landmark line when the image sensor initially photographs the landmark line is determined according to the mounting position of the image sensor.
In step 220, coordinate values of the landmark lines in the ground image are extracted. For example, coordinate values of a landmark line profile in the image are detected in real time.
In step 230, the slope and intercept of the terrain line in the terrain image are fitted based on a fitting algorithm. For example, the coordinates of the initial center point of the ground reticle in the ground image are Ci (x, y), the coordinates of the contour point of the ground reticle detected in real time in the ground image are Cn (x, y), and the slope and the intercept of the ground reticle in the ground image can be fitted based on the least square method, for example, a straight line y to be fitted is kx + b, where k is the slope and b is the intercept.
At step 240, a first offset of the scanning device relative to the geodesic is determined based on the slope and the intercept. For example, the first offset may be determined from the slope and intercept and the pixel value of each pixel in the image, and additionally, the attitude of the wheel of the scanning device may be calculated.
In step 250, a target offset for operation of the scanning apparatus is determined based on the first offset and the reference offset.
At step 260, autonomous steering of the scanning device is achieved based on the target offset. For example, the angle of the wheels of the scanning device may be adjusted according to the target offset amount, thereby allowing the scanning device to move along a predetermined path.
In the embodiment, when the landmark line information can be identified according to the ground image information acquired by the image sensor, the target offset in the operation of the scanning equipment is determined according to the landmark line information, so that the autonomous guidance of the scanning equipment is realized.
Fig. 3 is a flowchart illustrating a scanning device autonomous guiding method according to still another embodiment of the disclosure.
At step 310, an RTK guide path is pre-established. For example, the movement trajectory of the scanning apparatus is acquired based on the image sensor, and the movement trajectory of the scanning apparatus is used as the RTK guide path.
In one embodiment, in the process of autonomous guidance of the scanning equipment according to the image sensor, all longitude and latitude coordinates of the scanning equipment measured by the RTK sensor are recorded when the scanning equipment travels in one direction; when the scanning equipment is driven to change direction, solving the RTK linear track when the scanning equipment is driven by adopting a curve fitting algorithm according to the acquired coordinates; and when the scanning equipment is reversed every time, the linear track of the scanning equipment is fitted again according to the longitude and latitude coordinates, and an RTK guide path is established.
In step 320, a GPS positioning offset is determined based on the GPS positioning signal received by the RTK base station and the RTK base station's own positioning signal. For example, the RTK base station is installed at a predetermined position on the ground, and when the scanning apparatus moves to an open area, a positioning offset can be calculated based on the reference positioning information of the RTK base station and the positioning information measured by the base station.
In step 330, the positioning information of the RTK rover station is corrected based on the GPS positioning offset. After the longitude and latitude coordinates of the RTK mobile station are obtained, the positioning offset is combined to supplement the positioning error of the RTK mobile station, and the longitude and latitude coordinates of the RTK mobile station are calculated.
In step 340, a target offset in the operation of the scanning apparatus is determined based on the RTK guide path and the corrected positioning information of the RTK rover station.
At step 350, autonomous steering of the scanning device is achieved based on the target offset.
In this embodiment, in the case where landmark information cannot be identified from the ground image information acquired by the image sensor, autonomous steering of the scanning apparatus can be realized based on RTK.
Fig. 4 is a flowchart illustrating a scanning device autonomous guiding method according to another embodiment of the disclosure.
In step 410, a reference deviation of the scanning device from the landmark line when the image sensor initially photographs the landmark line is determined according to the installation position of the image sensor.
In step 420, the ground image information measured by the image sensor is acquired and adaptive threshold segmentation is performed. Since the gray scale difference between the sign line and the background is large, the ground mark line can be identified by adaptive threshold segmentation.
In step 430, it is determined whether the landmark line can be identified, if so, step 440 is performed, otherwise, step 450 is performed.
In step 440, coordinate values of the landmark lines in the ground image are extracted.
In step 441, the slope and intercept of the ground mark line in the ground image are fitted based on the fitting algorithm, and a first offset of the scanning device relative to the ground mark line is calculated.
At step 442, a target offset for operation of the scanning device is determined based on the first offset and the reference offset.
At step 443, autonomous steering of the scanning device is achieved based on the target offset.
At step 444, the longitude and latitude coordinates of the scanning device detected by the RTK sensor are recorded, and an RTK guide path is fitted when the scanning device is reversed.
In step 450, it is determined whether the RTK trajectory information of the scanning apparatus can be acquired, and if so, step 451 is performed, otherwise, step 460 is performed.
In step 451, a GPS positioning offset is determined based on the GPS positioning signal received by the RTK base station and the RTK base station's own positioning signal.
In step 452, the positioning information of the RTK rover station is corrected based on the GPS positioning offset.
In step 453, a target offset in the operation of the scanning apparatus is determined based on the RTK guide path and the corrected positioning information of the RTK rover station.
At step 454, autonomous steering of the scanning device is achieved based on the target offset.
At step 460, automated steering of the scanning device is achieved based on the IMU installed on the scanning device. Wherein the IMU may be integrated in an RTK sensor. For example, when the image sensor does not detect the ground mark line and the RTK signal is weak, the scanning device is caused to maintain the motion acceleration and angle of the last moment according to the accelerometer and gyroscope of the IMU, and automatic guidance of the scanning device in a short time is realized.
At step 470, it is determined whether the time is out, if yes, the autonomous navigation is ended, otherwise, the process continues to step 420.
In the embodiment, the advantages of the image sensor, the RTK sensor and the IMU are combined, so that the autonomous guidance of the scanning equipment in different environments can be realized, and the automation degree of the scanning equipment is improved.
Fig. 5 is a schematic structural diagram of an embodiment of an autonomous guiding apparatus of a scanning device according to the present disclosure. The apparatus includes an image sensor 510, an RTK sensor 520, and a processor 530.
An image sensor 510 is disposed on the scanning device and is configured to acquire ground image information. The scanning device, for example a vehicle scanning inspection device, the image sensor, for example a vision image sensor, may be mounted above the wheels of the scanning device, for example with the image sensor mounted at an angle of 45 ° to the ground.
An RTK sensor 520 is disposed on the scanning device and configured to acquire RTK trajectory information of the scanning device. The RTK sensor can be arranged at the top of the vehicle scanning equipment and can receive satellite signals, and a straight line formed by two antennae of the RTK sensor is consistent with the traveling direction of a vehicle target.
Processor 530 is configured to determine whether landmark marking information can be identified from the ground image information; if yes, determining a target offset in the operation of the scanning equipment based on the landmark line information; otherwise, judging whether RTK track information of the scanning equipment can be acquired or not; if so, determining the target offset of the scanning equipment in operation based on the position information of the RTK mobile station corresponding to the RTK sensor; autonomous steering of the scanning device is achieved based on the target offset.
In one embodiment, autonomous steering of the scanning device can be achieved in conjunction with the image sensor when the scanning device is operating in a work area. For example, the processor 530 determines a reference deviation of the scanning device from the ground mark line; extracting coordinate values of the ground mark lines in the ground image; fitting the slope and the intercept of the ground reticle in the ground image based on a fitting algorithm; determining a first offset of the scanning device relative to the landmark line based on the slope and the intercept; a target offset for operation of the scanning device is determined based on the first offset and the reference offset.
In another embodiment, autonomous steering of the scanning device may be achieved based on RTK in the event that landmark mark information cannot be identified from ground image information acquired by the image sensor. For example, processor 530 acquires an RTK guide path; determining a GPS positioning offset based on a GPS positioning signal of a global positioning system received by the RTK base station and a positioning signal of the RTK base station; correcting the positioning information of the RTK mobile station based on the GPS positioning offset; and determining the target offset in the operation of the scanning equipment based on the RTK guide path and the positioning information corrected by the RTK mobile station. The moving track of the scanning device can be acquired based on the image sensor, and the moving track of the scanning device can be used as an RTK guide path.
In the embodiment, if the landmark line information can be identified according to the ground image information acquired by the image sensor, the target offset in the operation of the scanning equipment is determined according to the landmark line information, otherwise, the target offset in the operation of the scanning equipment is determined according to the position information of the RTK mobile station corresponding to the RTK sensor, and the autonomous guidance of the scanning equipment is further realized.
In another embodiment of the present disclosure, as also shown in fig. 6, the scanning device autonomous rover further includes an IMU 540, wherein the IMU 540 is mounted on the scanning device, and in one embodiment, the IMU 540 may be integrated in the RTK sensor 520.
The processor 530 is further configured to implement automatic steering of the scanning device based on an inertial measurement unit IMU mounted on the scanning device if RTK trajectory information of the scanning device cannot be acquired.
In the embodiment, the advantages of the image sensor, the RTK sensor and the IMU are combined, so that the autonomous guidance of the scanning equipment in different environments can be realized, and the automation degree of the scanning equipment is improved.
Fig. 7 is a schematic structural diagram of another embodiment of the autonomous guiding apparatus of the scanning device of the present disclosure. The apparatus comprises a memory 710 and a processor 720, wherein:
the memory 710 may be a magnetic disk, flash memory, or any other non-volatile storage medium. The memory is used to store instructions in the embodiments corresponding to fig. 1-4. Processor 720, coupled to memory 710, may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 720 is configured to execute instructions stored in the memory.
In one embodiment, as also shown in FIG. 8, the apparatus 800 includes a memory 810 and a processor 820. The processor 820 is coupled to the memory 810 by a BUS 830. The device 800 may also be coupled to an external storage device 850 via a storage interface 840 for facilitating retrieval of external data, and may also be coupled to a network or another computer system (not shown) via a network interface 860, which will not be described in detail herein.
In the embodiment, the data instructions are stored in the memory, and then the instructions are processed by the processor, so that the scanning equipment can be automatically guided based on multi-sensor fusion, the scanning equipment can be suitable for different working sites, is not influenced by buildings, and the automation degree of the scanning equipment is improved.
In another embodiment of the present disclosure, a scanning device is also protected, which comprises the scanning device autonomous guiding apparatus in the above embodiment.
In another embodiment, a computer-readable storage medium has stored thereon computer program instructions which, when executed by a processor, implement the steps of the method in the corresponding embodiment of fig. 1-4. As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, 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 the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Thus far, the present disclosure has 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 scanning device autonomous steering method, comprising:
judging whether landmark line information can be identified according to ground image information, wherein an image sensor is installed on scanning equipment and used for acquiring the ground image information;
if yes, determining a target offset in the operation of the scanning equipment based on the ground mark line information;
otherwise, judging whether RTK track information of the scanning equipment can be acquired or not, wherein a real-time dynamic carrier phase difference RTK sensor is installed on the scanning equipment and is used for acquiring the RTK track information of the scanning equipment;
if so, determining the target offset of the scanning equipment in operation based on the position information of the RTK mobile station corresponding to the RTK sensor;
and realizing the autonomous guidance of the scanning equipment based on the target offset.
2. The scanning device autonomous guidance method of claim 1, wherein determining a target offset in operation of the scanning device based on the landmark line information comprises:
determining a reference deviation of the scanning device from a landmark line;
extracting coordinate values of the ground mark line in the ground image;
fitting the slope and the intercept of the ground marking line in the ground image based on a fitting algorithm;
determining a first offset of the scanning device relative to the landmark line based on the slope and intercept;
and determining a target offset in the operation of the scanning equipment based on the first offset and a reference deviation.
3. The scanning device autonomous homing method of claim 1, wherein the RTK rover station for the RTK sensor is disposed on the scanning device, the RTK base station for the RTK sensor is disposed at a ground predetermined position, and determining the target offset at which the scanning device is operating based on the position information of the RTK rover station for the RTK sensor comprises:
acquiring an RTK guide path;
determining a GPS positioning offset based on a GPS positioning signal of a global positioning system received by the RTK base station and a positioning signal of the RTK base station;
correcting the positioning information of the RTK mobile station based on the GPS positioning offset;
and determining the target offset of the scanning equipment in operation based on the RTK guide path and the positioning information corrected by the RTK mobile station.
4. The scanning device autonomous steering method of claim 3, wherein acquiring the RTK steering path comprises:
acquiring a moving track of the scanning equipment based on an image sensor;
and taking the moving track of the scanning device as an RTK guide path.
5. The scanning device autonomous steering method of any of claims 1-4, further comprising:
and if the RTK track information of the scanning equipment cannot be acquired, realizing automatic guiding of the scanning equipment based on an Inertial Measurement Unit (IMU) installed on the scanning equipment.
6. The scanning device autonomous steering method of claim 5,
the IMU is integrated in the RTK sensor.
7. An autonomous guiding apparatus of a scanning device, comprising:
the image sensor is arranged on the scanning equipment and is configured to acquire ground image information;
the real-time dynamic carrier phase difference RTK sensor is arranged on the scanning equipment and is configured to acquire RTK track information of the scanning equipment;
a processor configured to determine whether landmark line information can be identified from the ground image information; if yes, determining a target offset in the operation of the scanning equipment based on the ground mark line information; otherwise, judging whether RTK track information of the scanning equipment can be acquired or not; if so, determining the target offset of the scanning equipment in operation based on the position information of the RTK mobile station corresponding to the RTK sensor; and realizing the autonomous guidance of the scanning equipment based on the target offset.
8. The scanning device autonomous navigation apparatus of claim 7,
the processor is configured to determine a reference deviation of the scanning device from a landmark line; extracting coordinate values of the ground mark line in the ground image; fitting the slope and the intercept of the ground marking line in the ground image based on a fitting algorithm; determining a first offset of the scanning device relative to the landmark line based on the slope and intercept; and determining a target offset in the operation of the scanning equipment based on the first offset and a reference deviation.
9. The scanning device autonomous homing apparatus of claim 7, wherein the RTK sensor corresponding RTK rover station is disposed on the scanning device, the RTK sensor corresponding RTK base station is disposed at a ground predetermined position;
the processor is further configured to acquire an RTK guide path; determining a GPS positioning offset based on a GPS positioning signal of a global positioning system received by the RTK base station and a positioning signal of the RTK base station; correcting the positioning information of the RTK mobile station based on the GPS positioning offset; and determining the target offset of the scanning equipment in operation based on the RTK guide path and the positioning information corrected by the RTK mobile station.
10. The scanning device autonomous navigation apparatus of claim 9,
the processor is further configured to acquire a movement trajectory of the scanning device based on an image sensor; and taking the moving track of the scanning device as an RTK guide path.
11. The autonomous navigation apparatus of a scanning device according to any of claims 7-10, further comprising:
an inertial measurement unit IMU mounted on the scanning device;
the processor is further configured to enable automatic steering of the scanning device based on the IMU if RTK trajectory information of the scanning device is not available.
12. The scanning device autonomous steering method of claim 11,
the IMU is integrated in the RTK sensor.
13. An autonomous guiding apparatus of a scanning device, comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the scanning device autonomous steering method of any of claims 1 to 6 based on instructions stored in the memory.
14. A scanning device comprising the scanning device autonomous guiding apparatus of any of claims 7-13.
15. A computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the scanning device autonomous guiding method of any of claims 1 to 6.
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