公开(公告)号：US20160363451A1

公开(公告)日：2016-12-15

申请号：US15105459

申请日：2015-02-10

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Tianxu ZHANG ,  Sufei FAN ,  Yimeng CHEN ,  Heng YAO ,  Zhengtao LI ,  Zheng WANG ,  Wei HUANG ,  Zhenghua HUANG

IPC: G01C21/20

CPC classification number: G01C21/20 ,  B64G1/24 ,  G01C3/14 ,  G01S17/023 ,  G01S17/08 ,  G01S17/875 ,  G06T7/70 ,  G06T2207/10021 ,  G06T2207/30261

Abstract: The present invention discloses a multi-sensor merging based super-close distance autonomous navigation apparatus and method. The apparatus includes a sensor subsystem, an information merging subsystem, a sensor scanning structure, and an orientation guiding structure, wherein a visible light imaging sensor and an infrared imaging sensor are combined together, and data are acquired by combining a passive measurement mode composed of an optical imaging sensor and an active measurement mode composed of a laser distance measuring sensor. Autonomous navigation is divided into three stages, that is, a remote distance stage, implemented by adopting a navigation mode where a binocular visible light imaging sensor and a binocular infrared imaging sensor are combined, a close distance stage, implemented by adopting a navigation mode where a binocular visible light imaging sensor, a binocular infrared imaging sensor and a laser distance measuring sensor array are combined, and an ultra-close distance stage, implemented by adopting a navigation mode of a laser distance measuring sensor array. Through the present invention, the field of view and the exploration range are widened, the problem of shielding existing in passive measurement is effectively solved, the precision of data measurement is ensured, and the navigation efficiency and the safety and reliability of navigation are improved.

Abstract translation: 本发明公开了一种基于多传感器合并的超近距离自主导航装置和方法。 该装置包括传感器子系统，信息合并子系统，传感器扫描结构和定向引导结构，其中可见光成像传感器和红外成像传感器组合在一起，并且通过组合由 光学成像传感器和由激光测距传感器组成的主动测量模式。 自主导航分为三个阶段，即通过采用双目可见光成像传感器和双目红外成像传感器组合的导航模式实现的远距离舞台，近距离舞台，采用导航模式 将双目可见光成像传感器，双目红外成像传感器和激光距离测量传感器阵列组合在一起，并采用激光测距传感器阵列的导航模式实现的超近距离级。 通过本发明，扩大了视野和探索范围，有效解决了被动测量中存在的屏蔽问题，确保了数据测量的精度，提高了导航效率和导航的安全可靠性。