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1. WO2020134251 - SCANNING DEVICE AUTONOMOUS GUIDING METHOD AND APPARATUS, AND SCANNING DEVICE

Publication Number WO/2020/134251
Publication Date 02.07.2020
International Application No. PCT/CN2019/108143
International Filing Date 26.09.2019
IPC
G01S 19/43 2010.1
GPHYSICS
01MEASURING; TESTING
SRADIO 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
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS , GLONASS or GALILEO
42Determining position
43using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
CPC
G01S 19/43
GPHYSICS
01MEASURING; TESTING
SRADIO 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
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
42Determining position
43using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
H04W 4/024
HELECTRICITY
04ELECTRIC COMMUNICATION TECHNIQUE
WWIRELESS COMMUNICATION NETWORKS
4Services specially adapted for wireless communication networks; Facilities therefor
02Services making use of location information
024Guidance services
H04W 4/029
HELECTRICITY
04ELECTRIC COMMUNICATION TECHNIQUE
WWIRELESS COMMUNICATION NETWORKS
4Services specially adapted for wireless communication networks; Facilities therefor
02Services making use of location information
029Location-based management or tracking services
Applicants
  • 同方威视技术股份有限公司 NUCTECH COMPANY LIMITED [CN]/[CN]
Inventors
  • 李建 LI, Jian
  • 孙尚民 SUN, Shangmin
  • 王永明 WANG, Yongming
  • 许艳伟 XU, Yanwei
  • 喻卫丰 YU, Weifeng
  • 胡煜 HU, Yu
  • 宗春光 ZONG, Chunguang
Agents
  • 中国国际贸易促进委员会专利商标事务所 CCPIT PATENT AND TRADEMARK LAW OFFICE
Priority Data
201811580349.124.12.2018CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) SCANNING DEVICE AUTONOMOUS GUIDING METHOD AND APPARATUS, AND SCANNING DEVICE
(FR) PROCÉDÉ ET APPAREIL DE GUIDAGE AUTONOME DE DISPOSITIF DE BALAYAGE ET DISPOSITIF DE BALAYAGE
(ZH) 扫描设备自主导向方法、装置和扫描设备
Abstract
(EN)
A scanning device autonomous guiding method, comprising: determining whether ground mark line information can be identified according to ground image information (110), an image sensor being mounted on a scanning device, and the image sensor being configured to obtain the ground image information; if yes, determining a target offset of the scanning device during running on the basis of the ground mark line information (120); otherwise, determining whether RTK trajectory information of the scanning device can be obtained (130), a RTK sensor being mounted on the scanning device, and the RTK sensor being configured to obtain the RTK trajectory information of the scanning device; if yes, determining the target offset of the scanning device during running on the basis of position information of a RTK mobile station corresponding to the RTK sensor (140); and implementing autonomous guiding of the scanning device on the basis of the target offset (150). The present invention also relates to a scanning device autonomous guiding apparatus, a scanning device, and a computer readable storage medium.
(FR)
La présente invention concerne un procédé de guidage autonome de dispositif de balayage, consistant : à déterminer si des informations de ligne de repère au sol peuvent être identifiées selon des informations d'image de sol (110), un capteur d'image étant monté sur un dispositif de balayage et le capteur d'image étant configuré pour obtenir les informations d'image de sol ; si tel est le cas, à déterminer un décalage cible du dispositif de balayage pendant le fonctionnement sur la base des informations de ligne de repère au sol (120) ; sinon, à déterminer si des informations de trajectoire RTK du dispositif de balayage peuvent être obtenues (130), un capteur RTK étant monté sur le dispositif de balayage et le capteur RTK étant configuré pour obtenir les informations de trajectoire RTK du dispositif de balayage ; si tel est le cas, à déterminer le décalage cible du dispositif de balayage pendant le fonctionnement sur la base d'informations de position d'une station mobile RTK correspondant au capteur RTK (140) ; et à mettre en œuvre un guidage autonome du dispositif de balayage sur la base du décalage cible (150). La présente invention se rapporte également à un appareil de guidage autonome de dispositif de balayage, à un dispositif de balayage et à un support d'informations lisible par ordinateur.
(ZH)
一种扫描设备自主导向方法,包括:判断是否能够根据地面图像信息识别出地标线信息(110),其中,扫描设备上安装图像传感器,图像传感器用于获取地面图像信息;若能够,则基于地标线信息确定扫描设备运行中的目标偏移量(120);否则,判断是否能够获取扫描设备的RTK轨迹信息(130),其中,扫描设备上安装RTK传感器,RTK传感器用于获取扫描设备的RTK轨迹信息;若能够,则基于RTK传感器对应的RTK移动站的位置信息确定扫描设备运行中的目标偏移量(140);基于目标偏移量实现扫描设备的自主导向(150)。还涉及一种扫描设备自主导向装置、扫描设备和计算机可读存储介质。
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