CN113008252A - High-precision navigation device and navigation method based on panoramic photo - Google Patents

Abstract

The invention relates to the technical field of automatic navigation of unmanned automobiles, in particular to a high-precision navigation device and a navigation method based on panoramic photos. The specific technical scheme is as follows: firstly establishing a reference characteristic line database of the panoramic picture, then comparing the panoramic picture shot when the vehicle normally runs with the reference characteristic line database, and immediately positioning after the result is obtained by comparison. Simultaneously, through navigation head's cooperation, make panoramic camera can adjust in real time and the roof between the distance, even have the front truck to shelter from also can accurately carry out accurate quick location to the vehicle that traveles at present under the unable condition of fixing a position. Therefore, the invention effectively solves the problem that the specific position of the running vehicle in the road cannot be determined quickly and accurately in the prior art.

Description

High-precision navigation device and navigation method based on panoramic photo

Technical Field

The invention relates to the technical field of automatic navigation of unmanned automobiles, in particular to a high-precision navigation device and a navigation method based on panoramic photos.

Background

The existing navigation of the unmanned automobile still adopts a GPS navigation mode, when the unmanned automobile meets a complex road environment, such as an upper, middle and lower three-layer three-dimensional overpass, the navigation can be better realized if the unmanned automobile navigates before entering the overpass, but if the unmanned automobile navigates after entering the overpass or enters a wrong road after entering the overpass, the navigation is failed because the GPS cannot identify the height; and the vehicle positioned at the lowest layer still has the problem of not receiving the GPS signal.

Therefore, in the prior art, a photo + GPS mode is generally adopted to assist navigation, that is, a photo of the road environment ahead is taken, then feature extraction is performed, and the extracted feature line is compared with a feature line in an established database, so as to determine the specific position of the vehicle on the road; however, the existing photographing mode only aims at a single scene, namely only one vehicle exists in a road, when no shielding object exists in the front of the vehicle, the road environment in the front of the vehicle is photographed, the actual scene is that other vehicles possibly approach and shield the front and two sides of the vehicle, the number of the extracted characteristic lines is reduced after shielding, so that the photographed picture can not be effectively subjected to characteristic recognition, when the vehicle shields, the characteristic lines of the front shielded vehicle can be extracted in the picture recognition process, and the part of the characteristic lines are invalid characteristic lines, which can interfere with the comparison process, and even can report errors.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a high-precision navigation device and a navigation method based on panoramic photos, and solves the problem that the specific position of a running vehicle in a road cannot be quickly and accurately determined in the prior art.

In order to achieve the purpose, the invention is realized by the following technical scheme:

the invention discloses a high-precision navigation method based on panoramic photos.

Preferably, the reference characteristic line database is obtained in the following manner: according to a panoramic camera with a GPS positioning device arranged on the top of a data collection vehicle, 360-degree photographing is carried out on the surrounding environment in the driving process to form continuous panoramic photos with positioning data, aphoto group 1 is obtained by collection, and a characteristic line is independently extracted from thephoto group 1 to form a database I; then, vehicles of different vehicle types are arranged at a certain distance around the data collection vehicle, and thepicture group 2 is obtained by repeatedly obtaining thepicture group 1; in thephoto group 2, the vehicle outline around the data collection vehicle is recognized, all the images of the vehicle outline inside are ignored, and the characteristic lines are extracted from the images which are not ignored in thephoto group 2 to form the database II.

Preferably, the panoramic photograph is taken in a manner that: depending on GPS positioning, when the vehicle enters a complex terrain, a panoramic camera positioned at the top of the vehicle starts to shoot a front photo in real time, is combined with GPS positioning data, and then is compared with a database I and is positioned; when the vehicle enters a complex terrain and other vehicles are in front of the vehicle, and the distance between the other vehicles in front and the running vehicle is less than L0, the panoramic camera positioned at the top of the vehicle starts to take a picture in front in real time, is combined with GPS positioning data, and then is compared with the database II and is positioned;

if the sheltered vehicle in front cannot be positioned, the height difference between the sheltered vehicle and the running vehicle is judged through the photos shot by the panoramic camera, and the following steps are executed:

A1. taking the roof of a running vehicle as a horizontal line, if the height of the sheltered vehicle is lower than or equal to that of the running vehicle, rotating the panoramic camera towards one side by 90 degrees, shooting a panoramic photo in a panoramic photo mode in the rotating process, wherein the shooting range of the panoramic photo is 180 degrees; if the panoramic picture still cannot be positioned, continuing rotating to enable the shooting range of the panoramic picture to be 270 degrees till 360 degrees; comparing the finally shot panoramic picture with a database I collected in advance, and immediately positioning after the result is obtained through comparison; if the positioning is still impossible finally, step A2 is executed;

A2. controlling a navigation device to lift the height between the panoramic camera and a running vehicle, matching the rotation of the panoramic camera at the height until the shooting range of the panoramic camera is 360 degrees, finally shooting a panoramic photo, comparing the panoramic photo with a database I collected in advance, and immediately positioning after comparing the result;

A3. if the height of the sheltered vehicle is higher than that of the running vehicle, the panoramic camera rotates to shoot until the shooting range is 360 degrees, a panoramic photo is finally shot, the panoramic photo is compared with a database II collected in advance, and the panoramic photo can be immediately positioned after the comparison result is obtained; if the positioning cannot be performed, performing step A4;

A4. controlling the navigation device to lift the distance between the panoramic camera and the running vehicle, taking a picture of the front at the height, comparing the picture with a database II collected in advance, and positioning, wherein if the positioning fails, the step A5 is executed;

A5. the panoramic camera is matched to rotate at the height until the shooting range of the panoramic camera is 360 degrees, a panoramic photo is finally shot, the panoramic photo is compared with a database II collected in advance, and the panoramic photo can be positioned immediately after a result is compared.

Correspondingly, high accuracy navigation head based on panorama photo is including setting up the hollow storage barrel of vehicle top and inside that traveles, the through-hole has been seted up at the top of storage barrel, be provided with telescopic machanism in the storage barrel, telescopic machanism is corresponding with the through-hole, telescopic machanism's top is provided with the panoramic camera who is located the storage barrel outside, be provided with the actuating mechanism that drives telescopic machanism and carry out the flexible action in the storage barrel.

Preferably, telescopic machanism is including fixing the solid fixed cylinder of bottom in the containing cylinder, gu fixed cylinder slidable sleeve is equipped with the activity section of thick bamboo that the several cup jointed each other, and the top that is located outermost activity section of thick bamboo is fixed with through the base panoramic camera, every be provided with on the lateral wall of activity section of thick bamboo with the inside communicating fixed frame that is "Jiong" font of activity section of thick bamboo, every fixed frame cover is established together, and every through the vertical rack that has the angle of buckling that is provided with of spliced pole on the lateral wall of fixed frame, actuating mechanism and rack mesh mutually.

Preferably, symmetrical strip-shaped grooves are vertically formed in the inner wall of the movable cylinder, limiting blocks matched with the strip-shaped grooves are respectively arranged on the outer side walls of the rest of the movable cylinders and the fixed cylinders, which are positioned between the outermost movable cylinder and the outermost fixed cylinder, and the outer side walls of the fixed cylinders, the limiting blocks are arranged on the side walls close to the tops of the movable cylinder and the fixed cylinders, limiting holes are formed in the movable cylinder and the fixed cylinders, which are provided with the limiting blocks, the limiting holes are positioned below the limiting blocks, and limiting assemblies are arranged in the strip-shaped grooves and at the bottoms of the strip-shaped grooves; when the outermost movable cylinder slides upwards to the maximum distance, the limiting block on the movable cylinder adjacent to the outermost cylinder is abutted against the limiting assembly, and the limiting column on the limiting assembly is just inserted into the limiting hole for limiting.

Preferably, the limiting assembly comprises a limiting cylinder, a limiting groove is formed in the side wall of the limiting cylinder, a limiting column matched with the limiting groove is transversely arranged in the limiting groove, the limiting column is connected with the limiting cylinder through a first elastic part, the end face of the limiting column is arc-shaped and abuts against the outer side wall of the adjacent movable cylinder and the outer side wall of the fixed cylinder, and the first elastic part is compressed; when the movable cylinder slides upwards until the limiting column corresponds to the limiting hole, the reaction force generated after the first elastic piece is compressed enables the limiting column to be inserted into the limiting hole for limiting.

Preferably, the bottom of the rack on the outermost fixed frame is bent towards the inside of the fixed frame, the bent end face of the rack is positioned on the same plane with the inner side wall of the fixed frame where the rack is positioned, and the top of the rack on the innermost fixed frame is bent towards the inner wall of the adjacent fixed frame and is attached to the inner wall of the adjacent fixed frame; the top of the rack on the fixing frame positioned between the innermost side and the outermost side is bent and attached towards the inner side wall of the adjacent fixing frame, the bottom of the rack is bent towards the inside of the fixing frame where the respective rack is positioned and is positioned on the same plane with the inner side wall of the fixing frame, and the fixing frames are provided with notches for the racks to pass through; the angle that rack top and/or bottom were buckled is the same, and when the activity section of thick bamboo rose in proper order, the bottom bending part of rack just docks with the top bending part of adjacent rack, simultaneously, the stopper just offsets with the top of a spacing section of thick bamboo.

Preferably, the driving mechanism comprises a sliding rail which is arranged at the top in the storage barrel and is parallel to the top, a sliding block is arranged on the sliding rail, a fixed plate is arranged on the sliding block, an L-shaped support plate is arranged at one end of the bottom of the fixed plate, a motor is arranged on the support plate, a second elastic piece is arranged between the support plate and the inner wall of the storage barrel, a gear meshed with the outermost rack is fixed on an output shaft of the motor, guide assemblies are rotatably arranged on the output shaft and on two sides of the gear, and the outermost rack is located in the guide assemblies.

Preferably, the guide assembly comprises a guide plate rotatably arranged on output shafts located on two sides of the gear, the end face of the other end of the guide plate is of a connecting fork structure, a first roller is rotatably arranged on the connecting fork through a rotating shaft, a support plate is arranged on the inner wall corresponding to the guide plate, symmetrical supports are respectively arranged on the side walls corresponding to the support plate and the gear, a second roller is rotatably arranged on the supports through a rotating shaft, and the second roller is in contact with the back face of the rack.

The invention has the following beneficial effects:

the invention utilizes the panoramic camera to carry out real-time comparison on the panoramic picture shot by 360 degrees and the data in the reference characteristic line database extracted in advance, thereby positioning the current position of the running vehicle, having quick and accurate whole positioning process and being particularly suitable for positioning complex terrains such as overpasses, winding roads and the like. Meanwhile, the distance between the panoramic camera and the roof of the running vehicle can be flexibly adjusted by matching with the navigation device, so that the current position of the running vehicle can be quickly and accurately positioned under the condition that shielding vehicles with different heights exist around the running vehicle.

Drawings

FIG. 1 is a schematic diagram of a panoramic camera taking a photograph of a front;

FIG. 2 is a schematic diagram of recognizing and contouring a vehicle ahead from a photograph when the vehicle ahead is occluded;

FIG. 3 is a schematic view of an image within a front vehicle occlusion portion delineated for omission;

FIG. 4 is a schematic view of the navigation device on the roof of the vehicle;

FIG. 5 is a schematic view of a navigation device;

FIG. 6 is a view taken along line A-A of FIG. 5;

FIG. 7 is an enlarged view of a portion A of FIG. 5;

FIG. 8 is an enlarged view of portion B of FIG. 7;

FIG. 9 is a view from the B-B direction of FIG. 5;

FIG. 10 is an enlarged view of portion C of FIG. 9;

FIG. 11 is an enlarged view of portion D of FIG. 10;

FIG. 11 is a schematic view of a guide assembly;

FIG. 12 is a schematic view of the guide assembly installation;

FIG. 13 is a diagram showing the connection state of the movable tubes when the panoramic camera is raised to the highest position;

in the figure: the device comprises astorage barrel 1, athrough hole 2, apanoramic camera 3, afixed barrel 4, amovable barrel 5, an outermostmovable barrel 51, amovable barrel 52, an innermostmovable barrel 53, afixed frame 6, an outermostfixed frame 61, afixed frame 62, an innermostfixed frame 63, a connectingcolumn 7, arack 8, arack 81, arack 82, arack 83, a strip-shaped groove 9, a limitingblock 10, a limiting hole 11, a limitingbarrel 12, alimiting groove 13, a limitingcolumn 14, a firstelastic part 15, anotch 16, asliding rail 17, asliding block 18, afixed plate 19, a supportingplate 20, amotor 21, a secondelastic part 22, anoutput shaft 23, agear 24, aguide plate 25, arotating shaft 26, afirst roller 27, a supportingplate 28 and asecond roller 29.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Unless otherwise indicated, the technical means used in the examples are conventional means well known to those skilled in the art.

The invention discloses a high-precision navigation method based on panoramic photos.

Referring to fig. 2 to 3, the reference characteristic line database is obtained in the following manner: according to a panoramic camera with a GPS positioning device arranged on the top of a data collection vehicle, 360-degree photographing is carried out on the surrounding environment in the driving process to form continuous panoramic photos with positioning data, aphoto group 1 is obtained by collection, and a characteristic line is independently extracted from thephoto group 1 to form a database I; then, vehicles (such as cars, SUVs, trucks, special vehicles and the like) of different vehicle types are arranged at a certain distance around the data collection vehicle, and thepicture group 2 is obtained by repeatedly obtaining thepicture group 1; in thephoto group 2, the vehicle outline around the data collection vehicle is recognized, all the images of the vehicle outline inside are ignored, and the characteristic lines are extracted from the images which are not ignored in thephoto group 2 to form the database II. If the number of the characteristic lines in the database II is small, the situation is recorded as being incapable of positioning; if the number of the characteristic lines exceeds a certain value (for example, the picture of the photo is 100%, the blocked vehicle accounts for 60% of the picture, and the ratio of the characteristic lines in the rest 40% of the picture reaches more than 5-10%), the data is marked as valid data and can be used for subsequent comparison.

The shooting mode of the panoramic photo when the vehicle normally runs is as follows: depending on GPS positioning, when a vehicle enters a complex terrain (the complex terrain refers to places which cannot be positioned or are difficult to position, such as overpasses and winding roads), a panoramic camera positioned at the top of the vehicle (the panoramic camera can rotate 360 degrees in a horizontal plane) starts to shoot a front photo in real time, specifically, as shown in FIG. 1, and is combined with GPS positioning data, and then is compared with a database I and positioned; when the vehicle enters a complex terrain with other vehicles in front and the distance between the other vehicles in front and the running vehicle is less than L0, the panoramic camera located on the top of the vehicle starts taking a photograph of the front in real time and is combined with the GPS positioning data and then compared with database II and positioned.

There is also a case where:

if the sheltered vehicle in front cannot be positioned, the height difference between the sheltered vehicle and the running vehicle is judged through the photos shot by the panoramic camera, and the following steps are executed:

A1. taking the roof of a running vehicle as a horizontal line, if the height of the sheltered vehicle is lower than or equal to that of the running vehicle, rotating the panoramic camera towards one side by 90 degrees, shooting a panoramic photo in a panoramic photo mode in the rotating process, wherein the shooting range of the panoramic photo is 180 degrees; if the panoramic picture still cannot be positioned, continuing rotating to enable the shooting range of the panoramic picture to be 270 degrees till 360 degrees; comparing the finally shot panoramic picture with a database I collected in advance, and immediately positioning after the result is obtained through comparison; if the positioning is still impossible finally, step A2 is executed;

A2. controlling a navigation device to lift the height between the panoramic camera and a running vehicle, matching the rotation of the panoramic camera at the height, wherein the rotation shooting range of the panoramic camera is the same as that in the step A1 until the shooting range of the panoramic camera is 360 degrees, finally shooting a panoramic photo, comparing the panoramic photo with a database I collected in advance, and immediately positioning after comparing the result;

A3. if the height of the sheltered vehicle is higher than that of the running vehicle, the panoramic camera rotates to shoot until the shooting range is 360 degrees, a panoramic photo is finally shot, the panoramic photo is compared with a database II collected in advance, and the panoramic photo can be immediately positioned after the comparison result is obtained; if the positioning cannot be performed, performing step A4;

A4. controlling the navigation device to lift the distance between the panoramic camera and the running vehicle, taking a picture of the front at the height, comparing the picture with a database II collected in advance, and positioning, wherein if the positioning fails, the step A5 is executed;

A5. and (4) rotating in cooperation with the panoramic camera at the height, wherein the rotating shooting range of the panoramic camera is the same as that in the step A1 until the shooting range of the panoramic camera is 360 degrees, finally shooting a panoramic photo, comparing the panoramic photo with a database II acquired in advance, and immediately positioning after comparing the result. The final use scene is shown in fig. 2, and the characteristic lines which can be extracted from the photo include elevated bridges and overpasses on the left and right of the road, a signboard above the elevated bridges and road lines.

For step a3, it should be noted that: if the height that shelters from the vehicle (like SUV or freight train) is higher than the vehicle that traveles, cause serious shelter from to the vehicle that traveles, when unable fixing a position, can directly rotate panoramic camera 90, shoot to left side or right side, can shoot the vehicle rear even after 180 rotations to fix a position. The timing for starting the navigation device can be manually set according to the requirements of the driver. The positioning speed of the running vehicle is only faster by performing the steps a4-a5 than by performing the steps a4-a 5.

When the method is used for photographing the periphery of the running vehicle, the problem of interference caused by other vehicles around the running vehicle is considered in advance, and the position of the running vehicle at the moment is judged more quickly and more accurately by comparing the picture photographed by the running vehicle in the running or static process with the characteristic lines in the database I and the database II photographed in advance. When the vehicle runs on a road with a non-complex terrain, real-time positioning can be realized only by combining a GPS, and at the moment, the panoramic camera is used for setting according to the actual condition of a driver.

Referring to fig. 4-13, the invention also discloses a navigation device capable of increasing the height between the panoramic camera and the roof of the traveling vehicle, the navigation device comprises ahollow storage barrel 1 arranged at the top of the traveling vehicle, a throughhole 2 is arranged at the top of thestorage barrel 1, a telescopic mechanism is arranged in thestorage barrel 1 and corresponds to the throughhole 2, the telescopic mechanism can extend out of thestorage barrel 1 through the throughhole 2, thepanoramic camera 3 positioned outside thestorage barrel 1 is arranged at the top of the telescopic mechanism, and a driving mechanism for driving the telescopic mechanism to perform telescopic action is arranged in thestorage barrel 1.

Specifically, the method comprises the following steps: the telescopic mechanism comprises a fixedcylinder 4 fixed at the bottom in the containingcylinder 1, and the fixedcylinder 4 can be hollow or solid; a plurality ofmovable barrels 5 which are mutually sleeved are slidably sleeved outside the fixedbarrel 4, the top of themovable barrel 51 positioned on the outermost side is fixed with thepanoramic camera 3 through a base, the top of themovable barrel 51 positioned on the outermost side can be opened, and the base is fixed on the top of themovable barrel 51 and serves as the top of themovable barrel 51; of course, themovable barrel 51 may have a top portion itself. In this embodiment, the top of themovable tube 51 extends into the throughhole 2, and the top surface thereof is flush with the top surface of thestorage tube 1. The side wall of eachmovable cylinder 5 is provided with a fixedframe 6 which is in Jiong shape and communicated with the inside of themovable cylinder 5, each fixedframe 6 is sleeved together, the outer side wall of each fixedframe 6 is vertically provided with arack 8 with a bending angle through a connectingcolumn 7, and a driving mechanism is meshed with therack 8. It should be noted that: the innermost fixed frame 63 (i.e., the fixedframe 63 closest to the fixed cylinder 4) is fitted into the adjacent fixedframe 62, and the other fixed frames are arranged in this manner. The side walls of themovable barrels 5 are provided with through strip-shaped gaps, so that the fixedframes 6 are communicated with the insides of themovable barrels 5, and the fixed frames on different movable barrels can be overlapped or sleeved together. It should be noted that: for the arrangement of the fixingframe 63 on themovable cylinder 53, the fixingframe 63 can be selectively arranged according to the matching and spatial relationship between the components, if the position allows, therack 83 can be directly arranged on the side wall of themovable cylinder 53, and the arrangement can be specifically carried out according to the actual requirement.

For themovable cylinder 5, the fixedframe 6 and therack 8 of the present invention, it is noted that: themovable cylinder 5, the fixedframe 6 and therack 8 are general names of the movable cylinder, the fixed frame and the rack, and the movable cylinder, the fixed frame and the rack in different positions are labeled in the embodiment and respectively: themovable barrel 51 located outermost, the fixedframe 61 and therack 81 on themovable barrel 51, themovable barrel 53 located innermost (the movable barrel closest to the fixed barrel 4), the fixedframe 63 and therack 83 on themovable barrel 53, the plurality ofmovable barrels 52 located between outermost and innermost, the fixedframe 62 and therack 82 on themovable barrel 52. In order to facilitate the description of the movable cylinder, the fixed frame and the rack at different positions, the same structures at different positions are respectively described by specific corresponding reference numerals.

Further, in order to realize the directional sliding between different movable barrels, symmetrical strip-shapedgrooves 9 are vertically formed in the inner wall of themovable barrel 5, the outer side wall of the rest of themovable barrels 52 between the outermostmovable barrel 51 and the fixedbarrel 4 and the outer side wall of the fixedbarrel 4 are respectively provided with a limitingblock 10 matched with the strip-shapedgrooves 9, and the limitingblocks 10 slide up and down in the strip-shapedgrooves 9, so that the height of themovable barrel 5 is adjusted. The limitingblock 10 is arranged on the side wall close to the top of themovable cylinder 52 and the fixedcylinder 4, themovable cylinder 52 and the fixedcylinder 4 provided with the limitingblock 10 are provided with limiting holes 11, the limiting holes 11 are positioned below the limitingblock 10, and limiting components are arranged in the strip-shapedgrooves 9 and at the bottoms of the limiting holes; when the outermostmovable cylinder 51 slides upwards to the maximum distance, the limitingblock 10 on the outermost adjacentmovable cylinder 52 abuts against the limiting component, and the limitingcolumn 14 on the limiting component is just inserted into the limiting hole 11 for limiting, so that the two movable cylinders are connected and fixed.

It should be noted that: the strip-shapedgrooves 9 can be arranged in a plurality of ways, at least one group of grooves is arranged symmetrically, and the limitingblocks 10 correspond to the strip-shapedgrooves 9 in the same number. In order to makespacing post 14 insert spacing hole 11 more easily, the top of spacing hole 11 is the inclined plane towards fixedcylinder 4 slope, and the tip of spacingpost 14 is the arcwall face, can be comparatively easy slide in spacing hole 11 through the inclined plane of spacing hole 11, and finally the card is in the minimum diameter department in spacing hole 11, thereby realize the connection between two adjacent movable cylinders and fix, thereby adjust the distance betweenpanoramic camera 3 and the vehicle roof of traveling, thereby better shoot the location. In the invention, the movable cylinders are fixedly connected in the above mode for positioning. Finally, the maximum height that thepanoramic camera 3 can lift is the total length of all themovable cylinders 5 connected to each other and the innermostmovable cylinder 53 connected to the fixedcylinder 4. Of course, the height of each movable cylinder and the height of the fixedcylinder 4 can be set according to actual needs, and meanwhile, the heights from the outermostmovable cylinder 51 to the innermostmovable cylinder 53 are gradually reduced, so that all the movable cylinders can be overlapped and sleeved together.

Wherein, spacing subassembly includes a spacing section ofthick bamboo 12, has seted up spacinggroove 13 on the lateral wall of a spacing section ofthick bamboo 12, and the opening ofspacing groove 13 sets up towards adjacent movable cylinder and fixed cylinder, and the opening diameter is less than the inside diameter, spacinginslot 13 transversely is provided with the spacingpost 14 rather than the looks adaptation, and the cross-section of spacingpost 14 is the T type, can block in spacinggroove 14, is connected through firstelastic component 15 between spacingpost 14 and the spacing section ofthick bamboo 12. In order to save the space of the limitinggroove 14, a groove is transversely arranged at the bottom of the limitingcolumn 14, and two ends of the firstelastic element 15 are fixed between the groove and the limitinggroove 14, so that the firstelastic element 15 is better compressed in the groove. The firstelastic member 15 may be a spring, a spring leaf, or other elastic component. The end surface of thelimit column 14 is arc-shaped and is abutted against the outer side wall of the adjacentmovable cylinder 52 and the outer side wall of the fixedcylinder 4, and at the moment, the firstelastic part 15 is compressed; when themovable cylinder 51 slides upwards to the position-limitingcolumn 14 corresponding to the position-limiting hole 11, the reaction force of the compressed firstelastic element 15 enables the position-limitingcolumn 14 to be inserted into the position-limiting hole 11 for limiting, and the rest of themovable cylinders 52 and 53 are also connected and fixed through the matching of the position-limitingcolumn 14 and the position-limiting hole 11, so that thepanoramic camera 3 can be lifted to different heights according to actual conditions.

Further, the bottom of the rack 81 on the outermost fixed frame 61 is bent toward the inside of the fixed frame 61, the bent end surface of the rack 81 is on the same plane as the inner side wall of the fixed frame 61 where the rack 81 is located, the top of the rack 83 on the innermost fixed frame 63 is bent toward the inner wall of the adjacent fixed frame 62 and is attached to the inner wall of the adjacent fixed frame 62, and a stopper is arranged at the bottom of the rack 83 to prevent the gear 24 from being separated from the rack 83; the tops of the racks 82 on all the fixing frames 62 positioned between the innermost and outermost surfaces are bent and attached towards the inner side walls of the adjacent fixing frames 62 and 61, the bottoms of the racks 82 are bent towards the inner parts of the fixing frames 62 and 61 where the racks 82 and 81 are positioned, and the racks and the inner side walls of the fixing frames 62 and 61 are positioned on the same plane, and the fixing frames 61 and 62 are provided with notches 16 for the racks 81 and 82 to pass through; the bending angles of the top and/or the bottom of the rack 8 are the same, when the movable cylinder 5 sequentially ascends, the bottom bending parts of the racks 81 and 82 are just butted with the top bending parts of the adjacent racks 82 and 83, and meanwhile, the limiting block 10 is just propped against the top of the limiting cylinder 12.

It should be noted that: therack 83 on themovable barrel 52 is shaped like an "S", i.e., the top and bottom of therack 83 are bent in different directions. The size of thenotch 16 is such that it does not interfere with the passage of the guide assembly. As for therack 82, as shown in fig. 10, the end surface of therack 82 bent at the top is attached to the inner wall of the fixingframe 61, so that the end surface of therack 81 at the bottom is attached to the end surface of therack 82 at the top; similarly, the end face of therack 82 bent at the bottom is attached to the inner wall of the fixingframe 62, so that the end face of therack 82 at the bottom is attached to the end face of therack 83 at the top. When there are multiplemovable barrels 52 andracks 82, so is the requirement and location for theracks 82 to bend.

Further, the driving mechanism comprises a slidingrail 17 which is arranged at the top in thestorage barrel 1 and is parallel to the top, a slidingblock 18 is arranged on the slidingrail 17, a fixingplate 19 is arranged on the slidingblock 18, and the fixingplate 19 can be a telescopic plate and is used for compensating the transverse distance between therack 81 and therack 83, so that thegear 24 can be finally meshed with therack 83. An L-shapedsupport plate 20 is arranged at one end of the bottom of the fixingplate 19, amotor 21 is arranged on thesupport plate 20, a secondelastic piece 22 is arranged between thesupport plate 20 and the inner wall of the containingbarrel 1, the secondelastic piece 22 is preferably a spring, agear 24 meshed with anoutermost rack 81 is fixed on anoutput shaft 23 of themotor 21, guide assemblies are rotatably arranged on theoutput shaft 23 and on two sides of thegear 24, and theoutermost rack 81 is located in the guide assemblies. It should be noted that: when themovable cylinder 5 is in the initial state, thegear 24 is engaged with therack 81, and the secondelastic member 22 is in a compressed state. And the reaction force of the secondelastic member 22 after being compressed causes thegear 24 to be always tightly engaged with therack 81. When thegear 24 rotates to drive therack 81 to move to the bent portion of therack 81, the secondelastic member 22 pushes themotor 21 to move toward therack 81 through the cooperation of theslide rail 17 and theslider 18, so that thegear 24 is always engaged with therack 81, that is, the bent inclined plane of thegear 24 and therack 81 is also in an engaged state, so that thegear 24 drives therack 81 to transition to therack 82, and so on, and finally moves to therack 83, thereby achieving the extension and retraction of themovable cylinder 5. The guide assembly is arranged to prevent thegear 24 from running off therack 8 or from being disengaged from therack 8.

Specifically, the method comprises the following steps: the guide assembly comprisesguide plates 25 fixed on theoutput shafts 23 on two sides of thegear 24 through bearings, theguide plates 25 can rotate relative to theoutput shafts 23, the end faces of the other ends of theguide plates 25 are of a connecting fork structure, firstidler wheels 27 are arranged on the connecting fork in a rotating mode throughrotating shafts 26, and the firstidler wheels 27 are always attached to the outer side wall of themovable cylinder 5 and roll along the vertical direction of themovable cylinder 5. The inner walls corresponding to theguide plates 25 are respectively provided with supportingplates 28 which are vertical to theguide plates 25, the side walls of each supportingplate 28 corresponding to thegear 24 are respectively provided with symmetrical supporting seats, the supporting seats are respectively provided withsecond rollers 29 in a rotating mode through rotating shafts, and thesecond rollers 29 are in contact with the back face of therack 8. In order to avoid the separation or deviation of thesecond roller 29 and therack 8, a strip-shaped groove is formed in the back face of therack 8, and thesecond roller 29 is arranged in the strip-shaped groove, so that the second roller always rolls in the strip-shaped groove. The distance between the twosupport plates 28 is greater than the width of the connectingcolumn 7, so that the connectingcolumn 7 can pass through the guide assembly smoothly.

Further, in order to prevent the guide assembly from being clamped between the bent portion and themovable tube 5 when passing through the bent portion of therack 8, a hole at the connection portion of therotating shaft 26 and theguide plate 25 is preferably a horizontally disposed kidney-shapedhole 31, the rotatingshaft 26 is a square column to prevent therotating shaft 26 from rotating in the kidney-shapedhole 31, and pins 32 perpendicular to the axis of therotating shaft 26 are inserted into two ends of therotating shaft 26 extending out of theguide plate 25 to prevent therotating shaft 26 from being separated from theguide plate 25. Meanwhile, a thirdelastic member 30 is disposed in the kidney-shapedhole 31 between therotating shaft 26 and the inner wall of the kidney-shapedhole 31, and the thirdelastic member 30 may be a spring, a reed, or other elastic component, so as to press thesecond roller 27 against the outer sidewall of themovable tube 5. When the guide assembly needs to pass through the bent part of therack 8, the thirdelastic member 30 and the waist-shapedhole 31 are arranged to give the second roller 27 a certain movement space, so that the second roller can be successfully transited to the side wall of another movable cylinder. Similarly, the rotating shaft of thesecond roller 29 can also be arranged in the same manner, and is not described in detail.

When the navigation device is used, themotor 21 is controlled to be started, thegear 24 drives therack 81 to move upwards until the limitingblock 10 abuts against the upper surface of the limitingcylinder 12, and meanwhile, the limitingcolumn 14 is inserted into the limiting hole 11 under the action of the firstelastic piece 15, so that the two movable cylinders are successfully connected together. If the height of thepanoramic camera 3 is not high enough, themotor 21 is started continuously, thegear 24 drives therack 81 to move to the bending part of therack 81, themotor 21 moves the distance between the inclined plane and the vertical part of therack 81 under the action of the secondelastic part 22, and the distance is gradually increased until thegear 24 is meshed with therack 82, so that themovable cylinder 52 is in butt joint with the adjacent movable cylinder sleeved inside the movable cylinder along with the movement of themotor 21. In the same manner until thegear 24 is engaged to the bottom end of therack 83, thereby elevating thepanoramic camera 3 to the highest height. When themovable barrels 5 need to be sleeved together, only themotor 21 needs to be controlled to turn over, thegear 24 drives theracks 83, 82 and 81 to move downwards in sequence, and under the action of themotor 21, the limitingcolumn 14 is compressed into the limitinggroove 13 along the inclined plane at the top of the limiting hole 11, so that thepanoramic camera 3 is reset.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.

Claims (10)

Translated fromChinese

1.基于全景照片的高精度导航方法，其特征在于：先建立全景照片基准特征线数据库，然后根据车辆正常行驶时所拍摄的全景照片，与基准特征线数据库进行对比，对比出结果后可立即定位。1. A high-precision navigation method based on panoramic photos, which is characterized in that: first establish a panoramic photo reference feature line database, then compare the panoramic photos taken when the vehicle is driving normally with the reference feature line database, and immediately after the comparison results are obtained. position.2.根据权利要求1所述的基于全景照片的高精度导航装置及导航方法，其特征在于：所述基准特征线数据库的获取方式为：根据数据收集车辆顶部安装的带有GPS定位装置的全景相机，在行驶的过程中，对周围环境进行360°拍照，形成连续的带有定位数据全景照片，集合得到照片组1，对照片组1单独提取特征线形成数据库I；然后，在数据收集车辆的四周一定距离处设置不同车型的车辆，重复得到照片组1的方式得到照片组2；在照片组2中，识别出数据收集车辆四周的车辆轮廓，并将车辆轮廓至内的图像全部忽略，在照片组2中未忽略的图像中提取特征线形成数据库II。2. The high-precision navigation device and navigation method based on panoramic photos according to claim 1, characterized in that: the acquisition mode of the reference feature line database is: according to the data collection of the panorama with the GPS positioning device installed on the top of the vehicle The camera, in the process of driving, takes a 360° photo of the surrounding environment, forming a continuous panoramic photo with positioning data, the collection obtains the photo group 1, and the feature line is extracted separately to the photo group 1 to form the database I; Then, in the data collection vehicle Vehicles of different models are set at a certain distance around the data collection, and the photo group 2 is obtained by repeating the method of obtaining the photo group 1; in the photo group 2, the vehicle outline around the data collection vehicle is identified, and all the images within the vehicle outline are ignored. Feature lines are extracted from images not ignored in photo group 2 to form database II.3.根据权利要求1所述的基于全景照片的高精度导航方法，其特征在于：车辆正常行驶时全景照片的拍摄方式为：依靠GPS定位，当车辆进入复杂地形时，位于车辆顶部的全景相机开始实时拍摄前方照片，并与GPS定位数据结合，然后与数据库I对比并定位；当车辆进入复杂地形且前方有其他车辆，并且前方的其他车辆与行驶车辆之间的距离小于L0时，位于车辆顶部的全景相机开始实时拍摄前方照片，并与GPS定位数据结合，然后与数据库II对比并定位；3. the high-precision navigation method based on panoramic photo according to claim 1, it is characterized in that: the photographing mode of panoramic photo when the vehicle is traveling normally is: rely on GPS positioning, when the vehicle enters complex terrain, the panoramic camera positioned at the top of the vehicle Start to take photos of the front in real time, combine with GPS positioning data, and then compare and locate with database I; when the vehicle enters complex terrain and there are other vehicles ahead, and the distance between the other vehicles in front and the driving vehicle is less than L0, the vehicle is located in the vehicle. The panoramic camera at the top starts to take real-time photos of the front, and combines with GPS positioning data, and then compares and locates with database II;如果前方出现遮挡车辆无法进行定位时，通过全景相机拍摄的照片判断遮挡车辆与行驶车辆之间的高度差，执行以下步骤：If there is an occluded vehicle ahead and cannot be positioned, use the photos taken by the panoramic camera to determine the height difference between the occluded vehicle and the moving vehicle, and perform the following steps:A1.以行驶车辆的车顶为水平线，如果遮挡车辆的高度低于或等于行驶车辆时，全景相机朝向一侧旋转90°，旋转过程中按照全景照片方式拍摄出全景照片，此时，该全景照片的拍摄范围为180°；如果仍然无法定位，则继续旋转，使该全景照片的拍摄范围为270°，直至360°；将最终拍摄的全景照片与提前采集的数据库I进行对比，对比出结果后可立即定位；如果最终仍然无法定位则执行步骤A2；A1. Taking the roof of the driving vehicle as the horizontal line, if the height of the blocking vehicle is lower than or equal to the driving vehicle, the panoramic camera is rotated 90° to one side, and a panoramic photo is taken during the rotation process. The shooting range of the photo is 180°; if it still cannot be positioned, continue to rotate so that the shooting range of the panoramic photo is 270°, up to 360°; compare the final panoramic photo with the database I collected in advance, and compare the results After positioning, it can be located immediately; if it still cannot be located in the end, go to step A2;A2.控制导航装置提升全景相机与行驶车辆之间的高度，在该高度下配合全景相机的旋转，直至全景相机的拍摄范围为360°，最终拍摄出全景照片，再与提前采集的数据库I进行对比，对比出结果后可立即定位；A2. control the navigation device to enhance the height between the panoramic camera and the driving vehicle, cooperate with the rotation of the panoramic camera at this height, until the shooting range of the panoramic camera is 360°, and finally take a panoramic photo, and then carry out with the database I collected in advance. Contrast, you can locate immediately after comparing the results;A3.如果遮挡车辆的高度高于行驶车辆时，全景相机旋转拍摄，直至拍摄范围为360°，将最终拍摄出全景照片，与提前采集的数据库II进行对比，对比出结果后可立即定位；如果无法进行定位，则执行步骤A4；A3. If the height of the occluded vehicle is higher than the driving vehicle, the panoramic camera rotates to shoot until the shooting range is 360°, and finally a panoramic photo will be taken, which will be compared with the database II collected in advance, and the result can be located immediately after the comparison; If positioning cannot be performed, perform step A4;A4.控制导航装置提升全景相机与行驶车辆之间的距离，在该高度下拍摄前方照片，与提前采集的数据库II进行对比并定位，如果定位失败则执行步骤A5；A4. Control the navigation device to increase the distance between the panoramic camera and the driving vehicle, take a photo of the front at this height, compare it with the database II collected in advance and locate it, if the positioning fails, then perform step A5;A5.在该高度下配合全景相机旋转，直至全景相机的拍摄范围为360°，最终拍摄出全景照片，再与提前采集的数据库II库进行对比，对比出结果后可立即定位。A5. Rotate with the panoramic camera at this height until the shooting range of the panoramic camera is 360°, and finally take a panoramic photo, and then compare it with the database II library collected in advance.4.基于全景照片的高精度导航装置，包括设置行驶车辆顶部且内部中空的收纳筒(1)，其特征在于：所述收纳筒(1)的顶部开设有通孔(2)，所述收纳筒(1)内设置有伸缩机构，所述伸缩机构与通孔(2)相对应，所述伸缩机构的顶部设置有位于收纳筒(1)外的全景相机(3)，所述收纳筒(1)内设置有驱动伸缩机构进行伸缩动作的驱动机构。4. A high-precision navigation device based on panoramic photos, comprising a storage cylinder (1) arranged on the top of a traveling vehicle and having a hollow interior, characterized in that: a through hole (2) is opened on the top of the storage cylinder (1), and the storage cylinder (1) is provided with a through hole (2) at the top. A telescopic mechanism is arranged in the barrel (1), the telescopic mechanism corresponds to the through hole (2), and a panoramic camera (3) is arranged on the top of the telescopic mechanism outside the storage barrel (1), and the storage barrel ( 1) A drive mechanism for driving the telescopic mechanism to perform telescopic action is provided inside.5.根据权利要求4所述的基于全景照片的高精度导航装置，其特征在于：所述伸缩机构包括固定在收纳筒(1)内底部的固定筒(4)，所述固定筒(4)外滑动套设有数个相互套接的活动筒(5)，位于最外面的活动筒(51)的顶部通过基座固定有所述全景相机(3)，每个所述活动筒(5)的侧壁上设置有与活动筒(5)内部相通的呈“冂”字形的固定框(6)，每个所述固定框(6)套设在一起、且每个所述固定框(6)的外侧壁上通过连接柱(7)竖直设置有具有弯折角度的齿条(8)，所述驱动机构与齿条(8)相啮合。5. The high-precision navigation device based on panoramic photos according to claim 4, wherein the telescopic mechanism comprises a fixed cylinder (4) fixed on the inner bottom of the storage cylinder (1), and the fixed cylinder (4) The outer sliding sleeve is provided with several movable cylinders (5) that are sleeved with each other, and the top of the outermost movable cylinder (51) is fixed with the panoramic camera (3) through the base. The side wall is provided with a fixed frame (6) in the shape of "冂" that communicates with the interior of the movable cylinder (5), each of the fixed frames (6) is sleeved together, and each of the fixed frames (6) A rack (8) with a bending angle is vertically arranged on the outer side wall of the device through a connecting column (7), and the driving mechanism is engaged with the rack (8).6.根据权利要求5所述的基于全景照片的高精度导航装置，其特征在于：所述活动筒(5)的内壁上竖直开设有相对称的条形槽(9)，位于最外面的所述活动筒(51)与固定筒(4)之间的其余活动筒(52)的外侧壁上、固定筒(4)的外侧壁上分别设置有与条形槽(9)相适配的限位块(10)，所述限位块(10)设置在靠近活动筒(52)和固定筒(4)顶部的侧壁上，设置有所述限位块(10)的活动筒(52)和固定筒(4)上设置有限位孔(11)，所述限位孔(11)位于限位块(10)的下方，所述条形槽(9)内、位于其底部设置有限位组件；当最外面的所述活动筒(51)向上滑动至最大距离时，与最外面相邻的活动筒(52)上的限位块(10)抵靠在限位组件上，且限位组件上的限位柱(14)则刚好插入到限位孔(11)内进行限位。6. The high-precision navigation device based on panoramic photos according to claim 5, wherein a relatively symmetrical strip-shaped groove (9) is vertically opened on the inner wall of the movable cylinder (5), and the outermost The outer side walls of the remaining movable cylinders (52) between the movable cylinder (51) and the fixed cylinder (4) and the outer side walls of the fixed cylinder (4) are respectively provided with strip grooves (9). A limit block (10), the limit block (10) is arranged on the side wall near the top of the movable cylinder (52) and the fixed cylinder (4), and the movable cylinder (52) of the limit block (10) is provided ) and the fixing cylinder (4) are provided with a limiting hole (11), the limiting hole (11) is located below the limiting block (10), and a limiting hole (11) is provided in the strip groove (9) at its bottom assembly; when the outermost movable cylinder (51) slides up to the maximum distance, the limit block (10) on the movable cylinder (52) adjacent to the outermost abuts on the limit assembly, and the limit The limiting column (14) on the component is just inserted into the limiting hole (11) for limiting.7.根据权利要求6所述的基于全景照片的高精度导航装置，其特征在于：所述限位组件包括限位筒(12)，所述限位筒(12)的侧壁上开设有限位槽(13)，所述限位槽(13)内横向设置有与其相适配的限位柱(14)，所述限位柱(14)与限位筒(12)之间通过第一弹性件(15)连接，所述限位柱(14)的端面为弧形，与相邻的活动筒(52)外侧壁和固定筒(4)的外侧壁相抵，此时第一弹性件(15)被压缩；当所述活动筒(51)向上滑动至限位柱(14)与限位孔(11)相对应时，第一弹性件(15)压缩后的反作用力使限位柱(14)插入到限位孔(11)内进行限位。7 . The high-precision navigation device based on panoramic photos according to claim 6 , wherein the limit component comprises a limit cylinder ( 12 ), and a limit position is provided on the side wall of the limit cylinder ( 12 ). 8 . A slot (13), a limit post (14) adapted to the limit slot (13) is laterally arranged therein, and a first elastic force is passed between the limit post (14) and the limit cylinder (12). The end surface of the limiting column (14) is arc-shaped and abuts against the outer side wall of the adjacent movable cylinder (52) and the outer side wall of the fixed cylinder (4). At this time, the first elastic member (15) ) is compressed; when the movable cylinder (51) slides upward until the limit post (14) corresponds to the limit hole (11), the reaction force after the compression of the first elastic member (15) makes the limit post (14) ) into the limiting hole (11) for limiting.8.根据权利要求7所述的基于全景照片的高精度导航装置，其特征在于：位于最外面的所述固定框(61)上的齿条(81)的底部朝向该固定框(61)内部弯折、该齿条(81)弯折的端面与该齿条(81)所在的固定框(61)的内侧壁在同一平面上，位于最里面的所述固定框(63)上的齿条(83)顶部朝向相邻固定框(62)的内壁弯折，并与相邻固定框(62)的内壁贴合；位于最里面和最外面之间的固定框(62)上的齿条(82)的顶部朝向相邻固定框(62、61)的内侧壁弯折且贴合、底部朝向各自齿条(82、81)所在的固定框(62、61)内弯折并与固定框(62、61)的内侧壁在同一平面上，所述固定框(61、62)上均设置有供齿条(81、82)穿过的缺口(16)；所述齿条(8)顶部和/或底部弯折的角度相同，当活动筒(5)依次上升时，所述齿条(81、82)的底部弯折部分刚好与相邻齿条(82、83)的顶部弯折部分对接，同时，所述限位块(10)刚好与限位筒(12)的顶部相抵。8 . The high-precision navigation device based on panoramic photos according to claim 7 , wherein the bottom of the rack ( 81 ) on the outermost fixed frame ( 61 ) faces the inside of the fixed frame ( 61 ). 9 . Bending, the bent end face of the rack (81) and the inner side wall of the fixing frame (61) where the rack (81) is located are on the same plane, and the rack located on the innermost fixing frame (63) (83) The top is bent toward the inner wall of the adjacent fixing frame (62), and fits with the inner wall of the adjacent fixing frame (62); the rack (62) on the fixing frame (62) located between the innermost and outermost The top of 82) is bent towards the inner side walls of the adjacent fixing frames (62, 61) and fits, and the bottom is bent towards the inside of the fixing frame (62, 61) where the respective racks (82, 81) are located and is connected with the fixing frame ( The inner side walls of 62, 61) are on the same plane, and the fixing frames (61, 62) are provided with notches (16) for the racks (81, 82) to pass through; the top of the rack (8) and the /or the bottom bending angles are the same, when the movable cylinder (5) rises in sequence, the bottom bending parts of the racks (81, 82) just meet the top bending parts of the adjacent racks (82, 83) , and at the same time, the limit block (10) just abuts against the top of the limit cylinder (12).9.根据权利要求5所述的基于全景照片的高精度导航装置，其特征在于：所述驱动机构包括设置在收纳筒(1)内顶部的、且相平行的滑轨(17)，所述滑轨(17)上设置有滑块(18)，所述滑块(18)上设置有固定板(19)，所述固定板(19)底部的一端设置有呈“L”形的支板(20)，所述支板(20)上设置有电机(21)，所述支板(20)与收纳筒(1)的内壁之间设置有第二弹性件(22)，所述电机(21)的输出轴(23)上固定有与最外面的所述齿条(81)相啮合的齿轮(24)，所述输出轴(23)上、位于齿轮(24)的两侧转动设置有导向组件，最外面的所述齿条(81)位于导向组件内。9 . The high-precision navigation device based on panoramic photos according to claim 5 , wherein the driving mechanism comprises a parallel slide rail ( 17 ) arranged at the top of the storage cylinder ( 1 ). A sliding block (18) is provided on the sliding rail (17), a fixing plate (19) is arranged on the sliding block (18), and one end of the bottom of the fixing plate (19) is provided with an "L"-shaped support plate (20), a motor (21) is arranged on the support plate (20), a second elastic member (22) is arranged between the support plate (20) and the inner wall of the receiving cylinder (1), and the motor ( The output shaft (23) of 21) is fixed with a gear (24) that meshes with the outermost rack (81). A guide assembly, the outermost said rack (81) is located in the guide assembly.10.根据权利要求9所述的基于全景照片的高精度导航装置，其特征在于：所述导向组件包括转动设置在位于齿轮(24)两侧的输出轴(23)上的导向板(25)，所述导向板(25)另一端的端面为连接叉结构，所述连接叉上通过转动轴(26)转动设置有第一滚轮(27)，所述导向板(25)相对应的内壁上设置有支撑板(28)，所述支撑板(28)与齿轮(24)相对应的侧壁上分别设置有相对称支座，所述支座上分别通过转轴转动设置有第二滚轮(29)，所述第二滚轮(29)与齿条(8)的背面接触。10 . The high-precision navigation device based on panoramic photos according to claim 9 , wherein the guide assembly comprises guide plates ( 25 ) rotatably arranged on the output shafts ( 23 ) on both sides of the gear ( 24 ). 11 . The end face of the other end of the guide plate (25) is a connecting fork structure, a first roller (27) is rotated on the connecting fork through the rotating shaft (26), and the corresponding inner wall of the guide plate (25) A support plate (28) is provided, the side walls corresponding to the support plate (28) and the gears (24) are respectively provided with symmetrical supports, and second rollers (29) are respectively provided on the supports through the rotation of the rotating shaft. ), the second roller (29) is in contact with the back of the rack (8).

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