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WO2018161771A1 - Étiquette de code, procédé de navigation et carte - Google Patents

Étiquette de code, procédé de navigation et carte Download PDF

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Publication number
WO2018161771A1
WO2018161771A1 PCT/CN2018/075919 CN2018075919W WO2018161771A1 WO 2018161771 A1 WO2018161771 A1 WO 2018161771A1 CN 2018075919 W CN2018075919 W CN 2018075919W WO 2018161771 A1 WO2018161771 A1 WO 2018161771A1
Authority
WO
WIPO (PCT)
Prior art keywords
road
coded
label
code
map
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.)
Ceased
Application number
PCT/CN2018/075919
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English (en)
Chinese (zh)
Inventor
邢霞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of WO2018161771A1 publication Critical patent/WO2018161771A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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 or using precalculated routes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06046—Constructional details
    • G06K19/0614—Constructional details the marking being selective to wavelength, e.g. color barcode or barcodes only visible under UV or IR
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06046—Constructional details
    • G06K19/0615—Constructional details the marking being of the rewritable type, e.g. thermo-chromic barcodes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06046—Constructional details
    • G06K19/06159—Constructional details the marking being relief type, e.g. three-dimensional bar codes engraved in a support
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K2019/06215—Aspects not covered by other subgroups
    • G06K2019/06225—Aspects not covered by other subgroups using wavelength selection, e.g. colour code
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K2019/06215—Aspects not covered by other subgroups
    • G06K2019/06271—Relief-type marking

Definitions

  • the invention relates to a positioning navigation device and a method, in particular to an encoding label, a navigation method and a map.
  • the traveler arrives at the road intersection according to the navigation prompts, but sometimes he is concerned about whether there is an adjacent road intersection in front, whether it is turning at the current road intersection, and looking down at the navigation graph. Is there a road intersection next to it? These undoubtedly increase the danger of the traveler and the danger of passers-by and passing vehicles.
  • the positioning method of the indoor space includes GPS positioning, based on the Wi-Fi hotspot method.
  • GPS positioning cannot work normally indoors.
  • Wi-Fi hotspots there are also weak signals, no signals, and sometimes inaccurate positioning.
  • people also worry about missing the road intersection because of the weak (no) positioning signal, accuracy, or reliability. They may view the navigation device screen from time to time, causing visual blind spots, which may cause emptying and collision. And cause damage to the body or property.
  • the prior art also has a house card and an underground garage code to address.
  • the above system is based on GPS positioning, satellite navigation system, and WI-FI obtains positioning information.
  • positioning signal weak/positioning accuracy problems navigation indication positions may drift or navigation recognition is not actual (eg The vehicle travels on the main road and the navigation is positioned to the auxiliary road). In these cases, the traveler may need to view the screen of the navigation device for corrective action.
  • the traveler may not be able to fully determine where the navigation voice prompts are being turned, possibly causing the traveler to look down at the navigation screen of the navigation device.
  • the disadvantage of the way of navigating the doorplate is that the house is generally small in size, uniform in format, and uniform in fonts. It is obviously not suitable for navigation during driving.
  • the size of the house card is generally fixed, it is not suitable for the increase or decrease of the size according to the actual situation to facilitate the traveler to view.
  • the house number is attached to the building and cannot be on the road or above the road, and is not suitable for the driver's view, even when the walking traveler is traveling, when the multiple house numbers are closely adjacent, the traveler also It is often necessary to keep looking sideways to determine the number of doors that need to be referenced.
  • it is generally a house number in one area, and the use of one house number for a relatively large area is obviously not suitable for navigating the traveler.
  • the way of parking space coding is generally marked by area plus number, but it is not marked at the intersection, and the position is limited to being sprayed on the parking space, which is not convenient to view during the journey.
  • the reason for this is that in the case where the positioning signal is weak or absent, the positioning may be deflected to cause an orientation error, which will affect the normal travel of the traveler, and even an accident. Based on the navigational voice prompts, the traveler may not be able to make a turn in full control of the location. When the traveler is in the process of traveling, especially near the turning intersection, the navigation device is viewed by worrying that the navigation signal is abnormal.
  • the way of house number and parking space coding is limited in general location and size, and because of the general form, it is not suitable for a variety of road conditions and intersections. Therefore, it is necessary to provide a coded tag, which does not limit the size, deployment location, and form, and solves the problem of insufficient security or improved security in the conventional technology.
  • the technical problem to be solved by the present invention is to provide a coded label, a navigation method and a map, which are suitable for outdoor and indoor navigation, avoiding inaccurate positioning caused by weak or no signal required for positioning, or because the positioning accuracy problem cannot be accurate. navigation.
  • the technical solution adopted by the present invention to solve the above technical problem is to provide an encoded tag, which includes an identifiable code, which is an encoded positioning tag or an encoded navigation tag, which provides positioning/navigation for traveling, and the encoding is used.
  • an identifiable code which is an encoded positioning tag or an encoded navigation tag, which provides positioning/navigation for traveling
  • the encoding is used.
  • the coded tag is provided with a pointing to a road/road.
  • the encoded tag is in the form of a physical tag.
  • the coded label is in the form of a label attached to the object, and the form attached to the object to form the label includes optical imaging, physical discoloration, chemical discoloration, engraving, printing, spraying, or device screen imaging.
  • a part of the coded label is in a physical form, and the other part is attached to a physical form.
  • the present invention further provides a navigation method for solving the above technical problem, comprising the steps of: deploying an encoded label at a target location; binding a physical location of the encoded label to a coded label in a database; determining a starting point at a traveler After the destination and the destination, the navigation system plans the travel route.
  • the route plan is all a way of pointing or referring to the coded label with reference to the coded label.
  • the manner of pointing with the coding label as a reference includes at least one of: performing left steering, left oblique front steering, right steering, right oblique front steering, traveling to the coded label, or going straight with the coding label as a reference.
  • the direction in which the code of the tag is formed is a reference to further form a pointing of the direction of travel; with the coded tag as a reference, N meters are traveled in one direction and then turned, N>0; one or more coded tags are referenced by the coded tag
  • the coding element is oriented relative to the orientation of the encoded label; referenced to the encoded label to pass the encoding Pointing a pointer formed by one or more coding elements to form a pointing; the pendulum is formed to point to a
  • the present invention further provides a method for deploying a coded label in a real scene, which comprises the above-mentioned label, or the above-mentioned physical label, or the above-mentioned encoded label, or a code including both a physical form and an auxiliary form.
  • the label also includes a combination of the location of the code and the real road/road segment, which is processed in one or more of the following ways:
  • the coded code contains the category code, the category code corresponds to the target road/road segment, and the coded label is deployed on the N target road/road segments.
  • Each target position, the target position is near the intersection or intersection of the target road/road segment, or the position that can be observed by the traveler on the target road/road segment; respectively for each target road/road segment
  • the coding type of the coding label is coded so that the order of the codes corresponding to the roads/road segments is increased, decreased, spread, gathered, and increased on both sides according to the spatial position order of each target road/road segment. At least one of sequential characteristics of decreasing distribution on both sides, increasing clockwise, and decreasing clockwise; the order of encoding of the category ⁇ is generated by coding order comparison;
  • Deployment mode Select at least one road/road segment, deploy coding tags at multiple target locations, the coded tags contain category code, the category code corresponds to the location of each coded tag, and the class code is encoded to make reference to the road/ The length direction of the road segment/the direction of the circular edge line, and the order in which the plurality of target positions are selected, the order of encoding is at least one of increasing, decreasing, spreading, gathering, clockwise increasing, and clockwise decreasing; The order of the category ⁇ encoding is generated by coding order comparison;
  • Deployment mode ⁇ Select at least one road/road segment as the reference travel route, the category/code of the coded label near the intersection/intersection of the N target road/road segment, the category ⁇ coded most The coding elements of the last priority are the same; the last priority is the last priority of the coding type of the coding label; the category coding of the N target roads/road segments meets the deployment mode;
  • Deployment mode On the direction of the adjacent road/road segment, the category of the adjacent road/road segment is coded as increasing or decreasing, and at least one same feature is marked on the pointing; wherein N in the deployment mode Between the target road/road segment, when the category of the road/road segment belonging to the N target road/road segment is coded as increasing or decreasing, at least one same feature is marked on the pointing;
  • Deployment mode In the direction of the coded label, the code that points to the adjacent coded tag is encoded as increasing or decreasing, and at least one of the same feature is pointed at;
  • Deployment mode Select at least one intersection, select the code of the coded label at or near the intersection as the primary code, and select at least one road/road segment near the intersection, and for each target location of the road/road segment
  • the encoded group code of the encoded tag, the encoded code comprising the primary coding element and at least one newly added coding element.
  • the present invention further provides a map for solving the above technical problem, including deploying the coded label in an actual physical location, and correspondingly marking on a map.
  • map is in the form of an electronic map.
  • the map is in the form of a physical map.
  • Method 1 The pointing in the map is consistent with the pointing or increasing pointing of the encoded label; and the second method: the overall encoding in the map The direction from the bottom to the top is projected in the plane direction on the map road plane, and the direction from the bottom to the top of the coded overall corresponding to the coded label in the real scene is projected within ⁇ 45 degrees of the plane direction on the road plane.
  • Method 3 The direction from the bottom to the top of the code in the map is projected in the plane direction on the map road plane, and the plane formed by the code corresponding to the coded label in the real scene is perpendicular and oriented toward the plane, and is projected to The plane direction on the road plane is within ⁇ 45 degrees and within;
  • mode 4 deploy the coded label at the target intersection, and select the features near the intersection/intersection to mark the coded label and the feature on the map together. So that the traveler can easily travel at the target intersection.
  • the present invention further provides a commercial place for solving the above technical problem, which comprises the above-mentioned coded label, or the above-mentioned physical label, or the above-mentioned coded label is attached, or a part of the physical form is attached to the physical object.
  • a form of coded label, or a map comprising the above, or an electronic map comprising the above, or a physical map arranged as described above; the commercial place comprises a scenic area, a logistics park, a warehouse storage area or a commercial consumption place.
  • the present invention has the following beneficial effects: the coded label, the navigation method and the map provided by the present invention are guided by the physical code of the coded label in the real scene, thereby facilitating the reduction of the possibility of the traveler looking down at the screen of the navigation device/convenience reduction.
  • the visual blind zone of travel at the same time, six deployment modes are provided, and according to the specific characteristics of the real scene, one or more applications are selected by selecting the deployment mode, and the traveler further advances in the road/road segment of the application deployment mode according to the deployment mode, thereby further It facilitates the travel of the traveler, with the possibility of traveling on a particular road segment without the need to navigate software/maps to complete the journey.
  • FIG. 1 is a schematic diagram of deployment of a coded label of the present invention
  • Figure 2 is a schematic diagram 1 of a coded label of the present invention.
  • Figure 3 is a schematic diagram 2 of a coded label of the present invention.
  • Figure 4 is a schematic diagram 1 of a coded label deployment example of the present invention.
  • Figure 5 is a schematic diagram 2 of a coded label deployment example of the present invention.
  • Figure 6 is a schematic view showing the steering of the third coded label according to the present invention.
  • Figure 7 is a schematic diagram showing the steering of the third coded tag near the present invention.
  • FIG. 8 is a schematic diagram of increasing and decreasing according to road space position coding according to the present invention.
  • Figure 9 is a schematic diagram showing clockwise increase of road space position coding according to the present invention.
  • Figure 10 is a schematic diagram showing clockwise increase of road space position coding according to the present invention.
  • FIG. 11 is a schematic diagram showing incrementally increasing distribution according to road space position coding according to the present invention.
  • FIG. 12 is a schematic diagram showing a state of gathering according to a road space position code according to the present invention.
  • Figure 13 is a schematic diagram showing the increase of the coded label according to the direction of one side of the road (or the direction of the center line) of the present invention.
  • Figure 14 is a schematic view showing the increase of the coded label according to the direction of the midline of the road according to
  • Figure 15 is a schematic view showing the reduction of the coded label according to the direction of one side of the road (or the direction of the center line) of the present invention.
  • Figure 16 is a schematic diagram showing the clockwise increase of the coded label according to the direction of the side of the road according to the invention.
  • Figure 17 is a schematic view showing the clockwise increase of the coded label according to the direction of the roadside line according to the present invention.
  • FIG. 18 is a schematic diagram of the center line diffusion of the coded label reference road according to the present invention.
  • FIG. 1 is a schematic diagram of deployment of a coded label of the present invention
  • the present invention provides an encoding tag having an identifiable encoding.
  • a coded tag can contain multiple different ideograms and different parts of the code.
  • the encoding is a combination of uppercase and lowercase letters, numbers, colors, numbers, and numeric symbols, symbols, characters and characters of any language system, a planar image, a curved image, and a stereoscopic image, or a combination thereof.
  • the code such as blue triangle, purple pentagon
  • Color coding example purple color block, blue color band
  • Example of a planar image three dots, a triangle, a pentagon, and a quadrangle; a snowflake shape in which a plurality of plane images are formed at an angle.
  • Example of a stereo image the three-dimensional shape of the fish, the three-dimensional shape of the Monkey King, the three-dimensional shape of the cartoon character;
  • the layout image is relative to the letter and number form, which is convenient for increasing the pleasure of reading coding and traveling, and is convenient for improving the experience during traveling, and is convenient for increasing the sense of navigation in the process of the traveler, thereby facilitating guiding the traveler to view the navigation device screen less.
  • the code can be arranged two-dimensionally on the face of the coded label.
  • the coding elements are arranged in an artistic form, such as a V-shaped black band, with a V-black ribbon as the base, and N coded white codes in the V-shape.
  • the pointing includes a physical pointing form, and may also include a form attached to the object including a form of engraving, printing, spraying, optical imaging, and imaging of the device screen.
  • a form of engraving, printing, spraying, optical imaging, and imaging of the device screen For example, in the form of optical imaging, the projector is projected onto the road surface to facilitate night travel.
  • the shape of the coded label itself has a shape to be pointed, and there is a pointing to the road, and the direction is indicated by the shape of the coded label. For example, at the intersection, deploy a coded label with an arrow pointing to the important road.
  • a pointer to the coded tag.
  • the space around the coded tag is limited, and the pointer can be added in other spaces to match the coded tag.
  • Pointing to the code that marks the next or several coded tags, or part of the code, or code directs the traveler.
  • Encoding the road information representative of the next label can be, for example, the road denoted by the position of the next coded tag coded marking point information denoted by rapid identification code of the next encoded label.
  • the pointing direction may also be correspondingly set to contain at least one feature to correspond to an increase or decrease or the same change of the partial code.
  • a certain priority code of the next or several coded tags in the direction of direction is relatively increased, identical, reduced, and one or more identical features are added to the pointer.
  • the pointing setting is increased by "up”. It is also possible to add at least one same feature to the orientation, such as the direction of the southeast, northwest, and the direction of the left and right directions.
  • a track (road) to the same attribute may contain one or more of the same coding elements, such as a straight line containing code A, a right track containing code R, a left track containing code L, a straight line and a left (right) track containing code A +L(R), the code that goes straight into the elevated track contains S. It is also possible to pass the coded label by turning left and right by the relative traveler, and the coded label has one or more identical codes, for example, the left turn is L and the right turn is R. Also, according to the deployment needs, the same code is set in a plurality of different orientations respectively, so that the traveler from multiple directions can view the code.
  • the coded label is deployed at the target location of the real scene.
  • the coded label contains the physical label form, and the form attached to the object includes the form of label formed by engraving, printing, spraying, optical imaging, and imaging of the device screen.
  • ancillary forms such as coded labels projected on the road surface, coded label display using existing road indicating liquid crystal screens, and chemical etching of the road surface may be considered.
  • Tag generation The coded label map is shown in Figures 2 and 3, for example.
  • the form that is attached to the object is encoded in a physical form, which facilitates shortening the recognition time by different forms, and facilitates the traveler to recognize the pointing/coding more quickly.
  • the object is opposite to the oblique oblique forward, and the physical object is used, which is convenient for the traveler to recognize the pointing faster.
  • some areas are more suitable for physical form or attached to physical form.
  • different coding elements can also adopt a combination of physical objects and physical forms, which makes it easier for the different forms of coding elements developed by the traveler to represent different meanings of recognition, thereby making it easier for the traveler to quickly identify the coded tags.
  • Coded labels can be set to different sizes and ground according to various road conditions (such as cement column, spot light, minimum or maximum speed limit, intersection size, slope, turning range, high accident location, personnel intensity, etc.) Height, distance from road intersections, characteristics, and density of coded labels.
  • road conditions such as cement column, spot light, minimum or maximum speed limit, intersection size, slope, turning range, high accident location, personnel intensity, etc.
  • Height distance from road intersections, characteristics, and density of coded labels.
  • multiple different coded tags can be deployed for a single brand of building, or only one coded tag or no coded tag for a building with several house numbers.
  • a yellow warning tape is placed around the light source device to be turned on under dim conditions, and painted with a fluorescent paint. Due to the complexity of the situation, the location of each road intersection is not required to be exactly the same, the visual situation of the facing crowd is not the same, but the target position is based on the principle of facilitating the observation of the traveler, the present invention No restrictions.
  • the direction of the coded label is added to guide the traveler; (for example, please enter the road along the yellow point at the A3 code point; increase the direction formed by the graphic description of the road ahead, prompting the traveler Watch the direction of the road ahead, for example, the navigation prompt "will be transferred to the 2 roads at the 200m intersection before 1A.")
  • the direction of the coded label itself is used as a pointer; (for example, please enter the Changping Road in the shape of a yellow arrow at the A3 code point, for example)
  • the left or right side (edge) of the coded label or the road (road) where it is located is the travel path (road); (for example, please enter the road to the left of the X3 code point)
  • the N-meter is traveled in one direction and then turned.
  • the traveler listens to the navigation voice while traveling, and the traveler is traveling, the traveler also travels when judging the number of meters according to the voice prompt, so the traveler can easily blur the position of the original reference meter.
  • the spatial distance of the coded label in the space from the turning point is relatively fixed, prompting the traveler to refer to a N-meter turn in a certain direction, which is relatively easier for the traveler to determine the steering position point in advance.
  • the direction may include east, southeast, south, southwest, west, northwest, north, northeast, front, back, left, and right, and the coded label has or increases the pointing.
  • the pointer formed according to the coding element (1) the order of formation of two or more coding elements including the coded label, for example, there are two letters A and S, along the AS direction, that is, from A to S The direction is indicated; the traveler is steered at code F6 and steered along the left front K code relative to F6, ie F6 travels in the direction of K coding. (2) further comprising a spatial direction formed integrally with respect to one coding element or a plurality of coding elements, using one or more coding elements of their own direction to point, for example, the orientation of the letter elements of the coded label, the top of E, the point of E The opening points, the bottom of E points, and the back of E points;
  • the direction formed by the front side identification code is used as a reference to further form a direction of travel, for example, prompting the traveler to "adjust to observe E on the front side and then turn left along the coded label".
  • the coded road map is shown in Figures 4 and 5, for example.
  • the coded tag may contain a fast identification code: the fast identification code is extracted from the coded coded code, and the fast identification code is used to quickly identify the code that needs to be referenced.
  • the purpose of the quick identification code is to: quickly identify.
  • the quick identification code includes two cases: a variable quick identification code generated before the navigation system performs route planning or during the travel process, and a fixed quick identification code. When the navigation system performs route planning or does not reach the coding label to be referred to during the travel process, the quick identification code of the coded label to be referred to is directly retrieved.
  • the fixed identification code and the changed identification code can be set at the same time. It should be noted that the quick identification code or the quick identification code may be set as needed.
  • a road (segment) and intersection have five coded label codes: A3S, A4T, A5G, A3Q, A4H, A5K.
  • the fixed fast identification codes are 3S, 4T, 5G, 3Q, 4H, 5K.
  • a coded tag can contain multiple codes.
  • the upper display area code of the coded label, the middle display road code, and the lower display road coded label position point code one or more of the plurality of codes may be selected for the reference of the traveler in different situations.
  • the database combines the actual physical location with the encoding of the encoded tag, and binds all or part of the encoding of the encoded tag or a partial encoding of the encoding.
  • the code of the upper location point information of a road is bound.
  • the system retrieves the code of the location point information of the coded label and prompts the traveler so that the traveler can proceed.
  • a part of the encoding of the location point information may also be bound, for example, a fast identification code is bound.
  • the system retrieves the quick identification code of the location point information of the encoded label and prompts the traveler to The marcher travels.
  • the traveler can navigate through the guidance of the sequence of the reference code + corresponding direction during the travel, or can be completed by combining with the navigation software. For example, when the reference code point to be pointed is approached, the navigation software prompts the direction of the reference code point.
  • the traveler can be turned from above or below the coded label without hindrance, that is, with reference to the actual steering position, the traveler can synchronize the time above or below the coded label.
  • Steering operation For example, when prompting the image type encoding, the image content is prompted by voice, such as the prompt "Go to the right of Sun Wukong.”
  • the tags are encoded.
  • the following effects can be achieved by deploying in certain locations, even if the traveler grasps the appropriate timing and observes that he needs to turn to the road and prepare for steering in advance.
  • the traveler makes a reference according to the coded label, and it is further convenient to grasp the appropriate timing when the line of sight is unobstructed (if not by the cement column) and needs to be transferred to the road, so that it is easy to prepare for steering, so as not to observe the need to turn too early or too late.
  • the line of sight may be obstructed, especially at complex intersections that may contain cement columns, viaducts, and bends at ramps.
  • the role of the coded tag includes: 1.
  • the positioning/navigation guide can be provided for the traveler's travel by coordinating the coded tag with the navigation system/map (electronic map). 2.
  • the traveler is guided by recording in advance the coded sequence/encoded quick identification code of the coded label in the planned route and pointing to the formed sequence. 3.
  • the traveler can easily travel in the road/road segment of the application deployment mode according to the deployment mode, thereby further facilitating the travel of the traveler.
  • sexuality there is the possibility to travel on a particular road segment without the need to navigate software/maps to complete the journey. 4.
  • map/navigation system map with the actual location in the map/navigation system database to form a specific reference for the location, especially on the road segment and the complex intersection, which is convenient for specific and specific search in the real scene. Provide a clear-cut location for the traveler.
  • the encoding of the encoded tag is bound to the physical location of the encoded tag in the database; the encoding is a reference encoding that provides positioning/navigation, which may be all encoded elements of the encoded tag, or partially encoded elements.
  • the navigation system plans the travel route.
  • the route plan is all directed by the coded label or the partial travel route is referenced by the coded label. the way.
  • a map includes an electronic map, a physical map:
  • the coded tags are deployed at actual physical locations and are mapped in correspondence with the map (electronic map, physical map).
  • the marked code may be all or part of the code of the corresponding real-coded tag, such as a quick identifier, or a location point information code, or one or more coded elements with the largest font, or a yellow color in the unified tag coded tag.
  • the coded elements are displayed on the map.
  • the code marked by the map contains a coded positioning/navigation label corresponding to the map in the real scene, and the coded positioning/navigation label contains the code marked by the map, and the code is used for positioning/navigation;
  • mapping with the map (including the electronic map) or the navigation system, and the actual location in the map or database, forming a role of reference, especially on the road segment, convenient for targeted search, especially in Road intersections facilitate the convenient positioning of the traveler. Compared with the traditional physical reference line of sight, it is easy to reduce the traveler's reference by reasonable deployment.
  • Map marked by coding and control in real the specific traveling may determine the real location and travel through the deployment can be achieved even by traveling directly through the upper or lower travel encoded label in a position to avoid being Construction
  • the obstacle of the object reference is obstructed.
  • the positional accuracy of the map code included in the coded label is generally higher, which is convenient for reducing the action of the traveler who needs to confirm the position by means of other reference after the road is based on the road.
  • the traveler may need to Look at other references to the map (building name, cell name) and look in the real scene to determine the specific location, and may even need to make multiple references back and forth.
  • the coding label corresponding to the code marked on the map is more flexible in deployment and unrestricted in position, and can be selected for safer observation of various modes of travel (driving, walking, riding). Moreover, the positioning accuracy is generally more accurate. At the same time, since the door cards are generally adjacent to each other, the traveler is often concerned about missing the referenced house number and may continue to observe the door side in parallel and bring hidden dangers.
  • Multiple coded tags can be flexibly distributed, or densely or sparsely deployed; and coded tags of different font sizes can be deployed at different locations as needed, and tags can be encoded as needed and deployed in multiple areas of a house number .
  • the coded label has the characteristics of the above part relative to the house number.
  • the coded label positioning can be affected by the store's signboard and the name of the building. For example, the traveler queries Baidu map. It is known that Xiangmeizi Restaurant is located in the Hutong next to China Mobile Business Hall on Hunan Road, but the map has not been updated in time. The traveler went to Hunan Road and went back and forth several times and could not find China Mobile Business Hall. .
  • the present invention is directed to the coding of the map, and has the following optimization methods, one or more of which may be adopted:
  • One step further: the pointer in the map is consistent with the pointing or increasing pointing of the encoding tag;
  • the direction of formation of the bottom of the code in the map is projected in the plane direction on the map road plane, and is projected on the road plane in the direction formed by the bottom to the top of the code corresponding to the coded label in the real scene.
  • the plane directions are within ⁇ 45 degrees and within. In this way, it is convenient to adjust the orientation/rotation map of the self by the traveler so that the plane direction of the coding in the map coincides with the plane direction of the coding of the real-coded label, thereby facilitating the traveler to find the road corresponding to the real scene according to the map.
  • the direction from the bottom to the top of the code in the map is projected in the plane direction on the map road plane, perpendicular to the plane formed by the code corresponding to the coded label in the real scene, and oriented in the direction of the face,
  • the plane directions projected onto the road plane differ by ⁇ 45 degrees and within.
  • the direction perpendicular to the face, in this direction, is the front face of the code.
  • the traveler correctly observes the code according to a certain direction, for example, seeing the erect A, instead of lying upside down, so that the direction of the observation map can be quickly adjusted to be consistent with the observation direction of the real scene, thereby facilitating reduction.
  • the time and frequency of the located viewing map are determined against the map and the real scene to facilitate the traveler's travel.
  • a fourth step deploy the coded label at the target intersection and select the features near the intersection/intersection to mark the coded label together with the features so that the traveler can easily travel at the target intersection.
  • the embodiment of the present invention does not exclude the existence of the same coding between the coded labels of two intersecting roads (segments) that intersect and form more than one angle of less than 180 degrees, because if needed from the two One of the intersecting roads (segments) travels to the other, and the turning action makes a split. In the same way, a road (segment) and other roads (segments) that require more than one turn to reach are duplicate coded and not excluded.
  • the codes of several coded tags deployed at the intersection can be set to be non-repeating, and the coding between the codes of several coded tags to which a road (segment) that does not need to be redirected belongs can be not repeated.
  • the repeated coding refers to the number of the road (segment) belonging to the road.
  • duplicate codes for the encoding of the coded tags can also be implemented. And can be distinguished in the following ways:
  • the navigation signal is processed by the navigation signal in the normal situation of the positioning signal.
  • the repetition coding can be selected by the cooperation with the navigation system positioning module, and the same coded coding label that does not need to be turned can be selected.
  • the coded label that needs to be forward coded is prompted to turn. For example: on a planned route, for a road segment that has not completed a turn, there are three F9 code points (excluding the reference code that is transferred to the road segment, and the reference code point for the intersection operation at the intersection (near)). ), you need to turn right in the third F9.
  • the same coded label is used, there are still multiple coded labels of the same code in the vicinity of the coded label to be directed in the front, and the feature distinguishing method can also be processed by the following repeated coding.
  • the repetitive coding can be distinguished according to the characteristics when necessary, and the coded labels of the repeated coding that travels can be distinguished, and it is particularly suitable for the case where the spacing between the coded tags of the repeated coding is smaller than the accuracy of the positioning signal.
  • spatial location of the encoded tag, or object attached to the encoded tag for example, a coded tag deployed on a cement post for pointing
  • spatial relative position of the encoded tag in the same encoded tag eg, high and low position, high and low order, Left-right position, left-right order, up-and-down position, up-and-down order
  • feature distinctions other than coding in the coded label or feature distinctions around the coded label.
  • the simple approach is to distinguish between deploying features on or around coded tags.
  • the preset encoding group is a group of characters, phrases, arrays, or phrases that are known to exist in a sequence, a conventional character group, a phrase, an array, or a group of phrases, and can understand the group between the contained elements and other elements contained therein.
  • a group of elements in the order of the elements selected in the word (phrase) referenced by the preset order including but not limited to:
  • Alphabet The alphabet of each language system includes English alphabets A, B, C...X, Y, Z (including upper and lower case);
  • Number Number, including a combination of numbers, numbers, and numbers. Numbers, such as Arabic numerals, Roman numerals, Nepalese figures.
  • each language system of numbers corresponds to the text form of each language system. For example: second, second, ⁇ .
  • Color text form red, orange, yellow, green, (green), blue, ( ⁇ ), purple;
  • Color color form red, orange, yellow, green, (green), blue, ( ⁇ ), purple color and its rich, lightening color
  • the formed group is sequentially increased by the number of points, the number of lines is sequentially increased, and the number of corners is sequentially increased to form a group, and the number of symbols is sequentially increased to form a group, and the number of shapes is sequentially increased to form a group.
  • a point group ⁇ one point, two points, three points...N points ⁇ ; a group formed by lines ⁇ one line, two lines, three lines....N lines ⁇ ; The resulting group ⁇ triangle, quadrilateral, pentagon, hexagon ⁇ ; the group formed by the symbol "+” ⁇ one +, two + (ie ++), three + (ie +++)...N + ⁇ ; group formed by tree shape ⁇ shape of one tree, shape of two trees, shape of three trees... shape of N trees ⁇ .
  • a special coding group form, which presets the element group in the order of the elements selected in the sequential referenced words (phrases): select a word/phrase and split it into several elements arranged in sequence.
  • thinkpad is used as a code group to form an element group in the order of ⁇ t, h, i, n, k, p, a, d ⁇ .
  • the rule contains (1) the priority is set by encoding the element position (for example: the coded position is top to bottom, from outside to inside, from inside to outside, bottom to top, left to right, right to left or first) From top to bottom, from left to right, the first priority, the second priority, the Nth priority, the first priority in the upper part of the coding label, the second priority in the middle, and the lower part in the middle. Third priority);
  • the coding of the physical form is the first priority
  • the coding of the sprayed form is the second priority
  • the coding of the engraving form is the last priority
  • the coding type is determined to be prioritized, the same type is coded according to the font size, and then the priority is determined, and then the priority is determined, for example, by the location, and the priority is determined by the coding type of the same location.
  • the specific order may be selected according to the implementation party, for example, according to the habits of the surrounding traveler, the local cultural characteristics, the lighting conditions of the deployment place, and the priority for the identification of a specific group.
  • the coding elements are ordered in the same order:
  • the order of the encoding types is determined by the encoding type.
  • the alphabet is the first sequential sequence
  • the number is the second sequential sequence, that is, the first letter and then the number, such as the order abcd ... xyz, and then the following 1, 2, 3..., one of the examples ABC 2 3 5;
  • different coding types are formulated with reference to a certain type.
  • different types of codes are uniformly referenced to correspond to a certain coding type, and are sorted based on the conversion into the certain coding type as a comparison.
  • the different expressions of the numbers, 100.2, ⁇ , III, 1, 55, the corresponding number of the corresponding numbers are 100.2, 2, 3, 1, 55, and are arranged in order of 1, ⁇ , three, 55, 100.2.
  • the same type of coding refers to: a type of coding that can be sequentially compared before and after, and can be compared without switching to a certain form.
  • the order between the coding element case is defined, for example, case-insensitive to the same order, or uppercase precedes lowercase or lowercase precedes uppercase.
  • the referenced coding elements of a particular word/phrase are sequentially aligned with the rules.
  • 2.5.1 The order of no repeating elements in the referenced elements is compared in the order of the words/phrases of the elements; 2.5.2, the referenced elements exist in multiple positions in a specific word/phrase, and can be performed in various ways. deal with.
  • the examples of the present invention illustrate several ways, for example, four ways of handling the 2.5.2 case:
  • the repetition is present and the adjacent codes are set to the same order, and the same element is considered to have no preceding and succeeding order;
  • the repeating elements in the group are in the same order; (3) the order of the multiple repeating elements can also be set to be the same; (4) the repeating elements can also be taken from both sides to the middle, After the total number of N sides is taken, the remaining parts or the order of repeating elements on the adjacent side are in the order, and the remaining parts or points (equal division) are in the order of the two groups in which the elements are repeated near one side. If it is not possible to divide evenly, the middle one takes the order of taking the preceding or succeeding repeating elements of the adjacent code in order. (5) In the real scene, it is also possible to discard the coded label in which more than N repeating elements are located or to adjust the position of the encoded label in which more than N repeating elements are located.
  • the setting manner of the elements which are repeated and existed in adjacent codes and regarded as different orders is determined according to the orientation of the elements in the real scene.
  • the order of the repeating elements is set by the orientation of the elements in the real scene, such as SEE.
  • a specific word/phrase element having the same priority in the non-adjacent coding is used as a reference according to other elements of the specific word/phrase of the same priority code encoded in the middle interval, and if necessary, continue to refer to the adjacent Other elements of a particular word/phrase with priority are used as a reference to set the order in which the repeated elements are determined.
  • the labels are arranged as the first repeating elements; or directly commenting on specific words/phrases near the repeating elements, and coloring the repeating elements in specific words/phrases Original location; other types can be distinguished, such as fonts, underscores, etc., so there are many ways to distinguish elements for specific words/vocabulary.
  • the specific order may be selected according to the implementing party, for example, according to the habits of the surrounding traveler, the local cultural characteristics, the lighting conditions of the deployed place, or the order of presetting for the identification of a specific group of people.
  • the coding order is compared by the preset coding elements of the previous paragraphs in accordance with the priority rule and the conventional coding element order in accordance with the rule/preset coding element order comparison rule.
  • the coding order is compared: the coding order is compared according to the priority coding order according to the priority coding order, and the conventional coding element order is compared with the rule/preset coding element order comparison rule.
  • the order of the first order is determined according to the order of the coding elements, and the order of the first round is determined according to the coding of the second priority after the comparison.
  • the N (N>1) codes are in relative order (if there is at least one group) in the same sequence group. If there are multiple groups, the same sequence is performed multiple times to complete the second round of sorting, and so on. Complete the M round of sorting.
  • the ordering of the Mth round does not change the order in which the M-1th rounds are sorted, and only the relative order within the group between the plurality of codes that are still in the same order when the M-1th round is changed.
  • Select one or more coding groups in which the coding elements exist select the element composition codes included in the coding group, and compare the priorities according to the priority coding elements according to the preset coding elements (including the order of conventions, such as the alphabet, and also presets)
  • the rules for example, in the order of the elements of a particular word/phrase, form a sequence of encodings that are compared to the composition of the real-world deployment, and the encoding order is compared.
  • An auxiliary code may be added to the composition code, and the auxiliary code is an element that does not participate in the sequential comparison.
  • Select one or more coding groups in which the coding elements exist select the element composition codes included in the coding group, and compare the priorities according to the priority coding elements according to the preset coding elements (including the order of conventions, such as the alphabet, and also presets)
  • the rules for example, in the order of the elements of a particular word/phrase, form a sequence of encodings that are compared to the composition of the real-world deployment, and the encoding order is compared.
  • N target roads/target road segments are selected, and coded labels are deployed at each target position of the N target roads/target road segments, and the coded label contains the category ⁇ code, and the category ⁇ encodes the information corresponding to the target road/target road segment.
  • the target location may be near the intersection/intersection of the target road or the target road section, which is convenient for the traveler to observe when not entering the target road or the target road section, or may be the target road/target The position that the road segment traveler can observe.
  • the category ⁇ coding is coded so that the order of the corresponding ⁇ codes of the roads/road segments is increased, decreased, spread, gathered, and increased on both sides according to the spatial position order of each target road/each target road segment. At least one of the sequence characteristics of distribution, clockwise increase, and clockwise reduction.
  • the order in which the category ⁇ is encoded is generated by coding order comparison.
  • the category ⁇ encoding can be deployed without coding depending on the road name, so that the traveler can record the relative position of each target road/target road segment, so that the traveler can be guided.
  • the category ⁇ code is not limited by the road name.
  • a road can be divided into multiple road segments according to needs and multiple categories ⁇ codes can be set; for example, a plurality of consecutive roads can form a category ⁇ code; for example, A road segment is set with a category code; for example, one or more roads can be connected with one or more road segments to set a category code.
  • the order of the corresponding category of the road/road segment is represented by:
  • the deployment method of the real-coded label is: select at least one road/road segment, select one of the roads or road segments, and deploy the coded label at the N (N>1) target locations.
  • the coded label contains the category code, and the category code corresponds to each The location of the coded label.
  • the component ⁇ coding is encoded to make reference to the length direction of the road/road segment/the direction of the circular edge line, and the order of the corresponding target positions is selected to increase, decrease, spread, gather, increase clockwise, clockwise Decrease at least one of the order characteristics. Repeat the above method deployment when selecting multiple roads/road segments.
  • the order in which the category ⁇ is encoded is generated by coding order comparison.
  • the rules A, B-1, B-2, B-3, C, etc. are added sequentially along the length of the road. Ding, Geng, Xin-1, Xin-2.
  • the coded label is presented according to the position of the space before and after the space and in the order of the front and back of the code: along the length direction of the road/road segment/the direction of the ring edge, the coded label reflects the following rules.
  • the deployment method of the real-coded label is: adjusting the category ⁇ encoding and encoding the label position so that when at least one road/road segment is selected as the reference travel route, the reference travel route and the intersection of the N target road/target road segments or intersections
  • the category code of the nearby coded tag is set so that the last priority coded element of the class code is the same element.
  • the last priority is the last priority of the category code of the coded tag near the intersection or intersection, and does not refer to the last priority of the category/code of the entire road or road segment.
  • the category code of the N target road/target road segments satisfies the deployment mode.
  • Deploy optimization for the direction of the category ⁇ encoding the direction of the encoded label, at least one of the same features is pointed at when the category ⁇ encoding pointing to the adjacent encoded label is increased or decreased. For example, the coded ⁇ category of adjacent coded tags is reduced, and the "-" is marked on the pointing.
  • the category of the adjacent road or road segment is encoded as increasing or decreasing, and at least one of the same features is marked on the pointing.
  • the category code of the nearest neighbor road or road segment belonging to the N target road/target road segments is increased or decreased, and at least one same feature is marked on the pointing. .
  • the deployment of live-coded tags is a land-based approach to coded tag deployment.
  • Select an intersection select the code of the coded label of the intersection (or near the intersection) as the primary code, select at least one road/road segment near the intersection, and compose the category code for the road or road segment.
  • the new coded, newly coded element contains the primary coding element and at least one new coding element.
  • the main code is A3, the group code is branch 1 (A3), branch 2 (A3), or A3-A, A3-B. This method is convenient for the traveler at the intersection, and according to the main code selected by the intersection, it is known that the road section deployed through the deployment mode is near the intersection.
  • the primary code may be all coded elements or partially coded elements of the encoded tag. Or select multiple intersections to deploy as described above.
  • the deployment mode, deployment mode, deployment mode, deployment mode, deployment mode, deployment mode, and deployment mode can be selected in combination with one or more deployment modes, which is more convenient for the traveler to travel.
  • the application deployment method selects N target roads/target road segments, applies deployment mode to each target road/target road segment, and the deployment mode of each target road/target road segment is uniform and uniform, and is applied at the same time.
  • Deployment method ⁇ That is, the coding element that encodes the last priority of the category/intersection near the intersection/intersection where the one or more road/road segments intersect with the N target road/target road segments is the same.
  • the deployment method ⁇ comparing between the N target roads/target road segments, and one road with respect to N roads, ie, N roads or road segments, the nearest target road/target
  • N roads ie, N roads or road segments
  • the coding code of the road segment is coded as increasing or decreasing
  • at least the same feature is marked on the pointing point of the adjacent target road segment
  • the coded code of the adjacent adjacent coded tag is added to increase or decrease
  • the pointing Label at least the same feature. For example, when adding, the mark contains "+", and when it is reduced, the mark contains "-".
  • Category ⁇ encoding and category ⁇ encoding can appear on one encoding label at the same time.
  • Category ⁇ encoding and category ⁇ encoding can be combined into one encoding, distinguished by relative position, different types, sizes, and other characteristics of the encoded elements.
  • the number of road/road segment category codes can also be limited.
  • the number is limited to 10, and the categories are sequentially deployed in one path, and the codes are A1, A2, A3, A4, A5, A6.
  • the coded labels for A7, A8, A9, and A10 make it easier for the traveler to estimate the need to proceed through several categories of codes to complete the road/road segment.
  • the coded tag can contain multiple class codes, and the corresponding information is extended to the code. For example, increase the category code of the representative area and adopt the above deployment method.
  • An example of an application deployment method is as follows (S1) selecting a coding group in which order exists, selecting an English alphabet, a group of numbers as a coding group, and selecting elements included in the two coding groups to perform group coding.
  • the preset coding element is compared with the priority rule, and the preset is the first priority from the leftmost position of the code deployment real scene, the second priority to the right position, and so on, and the last priority is the last priority. .

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Abstract

La présente invention concerne une étiquette de code, un procédé de navigation et une carte. L'étiquette de code comprend un code identifiable. L'étiquette de code est une étiquette de positionnement de code ou une étiquette de navigation de code. Le code est formé par un des éléments suivants : une lettre majuscule/minuscule, un nombre, une couleur, un symbole, un texte de langage, une image plane, une image à surface incurvée, une image stéréoscopique, ou toute combinaison de ce qui précède. L'étiquette de code est déployée sur un emplacement physique réel et marquée de manière correspondante sur la carte. Selon l'étiquette de code, le procédé de navigation et la carte, un guidage de déplacement est réalisé au moyen d'une étiquette de code réelle dans une scène réelle, ce qui réduit la possibilité qu'un conducteur baisse son regard vers l'écran d'un dispositif de navigation et réduit ainsi les points morts visuels durant le déplacement. La présente invention concerne en outre un procédé de déploiement optimisé pour une étiquette de code dans une scène réelle. Lorsque le signal de positionnement est faible ou absent, une assistance par un logiciel de navigation/une carte peut ne pas être requise sur une route spécifique/un segment de route spécifique durant un déplacement, et le déplacement sur certains segments de route ou même l'ensemble du déplacement peut être accompli sur la base du procédé de déploiement.
PCT/CN2018/075919 2017-03-07 2018-02-09 Étiquette de code, procédé de navigation et carte Ceased WO2018161771A1 (fr)

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CN110426038B (zh) * 2019-07-01 2023-01-24 达闼机器人股份有限公司 机器人导航控制方法、装置、计算设备及计算机存储介质
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