CN110864691A - Magnetic stripe imitation positioning method and device based on ceiling type two-dimensional code - Google Patents
Magnetic stripe imitation positioning method and device based on ceiling type two-dimensional code Download PDFInfo
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- CN110864691A CN110864691A CN201911120330.3A CN201911120330A CN110864691A CN 110864691 A CN110864691 A CN 110864691A CN 201911120330 A CN201911120330 A CN 201911120330A CN 110864691 A CN110864691 A CN 110864691A
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Abstract
The invention discloses a magnetic stripe imitation positioning method based on a ceiling type two-dimensional code, which comprises the following steps: collecting a two-dimensional code image; acquiring a rotation angle of the two-dimensional code and a vertical distance between a central point of a picked-up image and a preset straight line; calculating the deviation value of the mobile platform relative to the single two-dimensional code according to the rotation angle and the vertical distance; acquiring deviation values of the mobile platform relative to the two-dimensional codes, and calculating the deviation values of the mobile platform relative to the magnetic stripe imitating track according to the deviation values; and adjusting the pose of the mobile platform according to the deviation value until the deviation value is zero. The magnetic stripe imitating positioning method based on the ceiling type two-dimensional code can effectively reduce the damage rate of the two-dimensional code guide track and reduce the construction difficulty, thereby reducing the cost. In addition, the invention also discloses a magnetic stripe imitation positioning device based on the ceiling type two-dimensional code.
Description
Technical Field
The invention relates to the technical field of space positioning, in particular to a magnetic stripe imitation positioning method and device based on a ceiling type two-dimensional code.
Background
In order to apply the mobile platform to automated production and warehouse management, the mobile platform is required to be able to accurately identify the current position so as to transport the article to a designated area.
At present, common positioning methods for a mobile platform include a magnetic track type positioning method and a two-dimensional code positioning method, wherein the magnetic track type positioning method is used for positioning through a magnetic navigation sensor arranged on the mobile platform and a magnetic strip paved on the ground, and the two-dimensional code positioning method is used for positioning through a positioning camera arranged on the mobile platform and a two-dimensional code arranged on a ceiling or the ground.
It is known that the magnetic strip to which the track type positioning method is applied is permanently damaged by long-time rolling. The two-dimension code positioning method relates to pasting work of two-dimension codes on a ceiling or the ground, and coordinate planning needs to be carried out on an installation plane before the two-dimension codes are pasted to paste corresponding two-dimension codes at corresponding positions, so that the pasting work of the two-dimension codes is very complicated and the difficulty is high.
Disclosure of Invention
The invention mainly aims to provide a magnetic stripe imitation positioning method based on a ceiling type two-dimensional code, and aims to solve the technical problems that the two-dimensional code pasting work is very complicated and difficult and a magnetic stripe is easily damaged in a magnetic track type positioning method in the conventional two-dimensional code positioning method.
In order to solve the technical problem, the invention provides a magnetic stripe imitation positioning method based on a ceiling type two-dimensional code, which comprises the following steps: arranging a plurality of two-dimensional codes on a ceiling to form a magnetic stripe imitating track; acquiring at least one two-dimensional code image on a ceiling through a positioning camera arranged on a mobile platform; acquiring a rotation angle of the two-dimensional code image and a vertical distance between a center point of an image picked up by a positioning camera and a preset straight line, wherein the slope value of the preset straight line is equal to the tangent value of the rotation angle; calculating the deviation value of the mobile platform relative to the single two-dimensional code image according to the rotation angle and the vertical distance; acquiring deviation values of the mobile platform relative to the two-dimensional code images, and calculating the deviation values of the mobile platform relative to the magnetic stripe imitating track according to the deviation values of the mobile platform relative to the two-dimensional code images; and adjusting the pose of the mobile platform according to the deviation value of the mobile platform relative to the magnetic stripe imitating track until the deviation value is zero.
Preferably, the deviation value of the mobile platform relative to the single two-dimensional code image is calculated according to the following formula: p is k1 d + k2 r, where P is the deviation value of the mobile platform from a single two-dimensional code, d is the vertical distance, r is the rotation angle, and k1 and k2 are proportionality coefficients.
Preferably, the acquiring the rotation angle of the two-dimensional code image includes: acquiring coordinates of four corner points of the two-dimensional code image; determining a preset straight line by any two adjacent corner points, and calculating the slope value of the preset straight line; and calculating the rotation angle of the two-dimensional code image according to the slope value.
Preferably, the acquiring coordinates of four corner points of the two-dimensional code image includes: extracting a two-dimensional code image in the picked-up image; carrying out threshold processing and binarization operation on the two-dimensional code image to obtain a threshold image of the two-dimensional code image; extracting a contour from a threshold value image of the two-dimensional code image to obtain four corner points of the two-dimensional code image; and calculating coordinates of four corner points of the two-dimensional code image in the picked-up image.
Preferably, the calculating the deviation value of the mobile platform relative to the magnetic stripe imitating track according to the deviation value of the mobile platform relative to each two-dimensional code image includes: according to the position of each two-dimensional code image relative to the center of the picked-up image, correspondingly distributing a weight coefficient to the deviation value of the mobile platform relative to each two-dimensional code image; according to the deviation value of the mobile platform relative to each two-dimensional code image and the corresponding weight coefficient, and according to a formula
Calculating the deviation value of the mobile platform relative to the magnetic stripe imitating track; q is a deviation value of the mobile platform relative to the magnetic stripe imitating track, K is a weight coefficient, P is a deviation value of the mobile platform relative to a single two-dimensional code, and n is a positive integer.
The invention also provides a magnetic stripe imitation positioning device based on the ceiling type two-dimensional code, which comprises the following components: the track setting module is used for arranging a plurality of two-dimensional codes on a ceiling to form a magnetic stripe imitating track; the image acquisition module is used for acquiring at least one two-dimensional code image on a ceiling through a positioning camera arranged on the mobile platform; the variable acquisition module is used for acquiring a rotation angle of the two-dimensional code image and a vertical distance between a center point of an image picked up by the positioning camera and a preset straight line, and the slope value of the preset straight line is equal to the tangent value of the rotation angle; the first calculation module is used for calculating a deviation value of the mobile platform relative to a single two-dimensional code image according to the rotation angle and the vertical distance; the second calculation module is used for acquiring deviation values of the mobile platform relative to the two-dimensional code images and calculating the deviation values of the mobile platform relative to the magnetic stripe imitating track according to the deviation values of the mobile platform relative to the two-dimensional code images; and the moving platform adjusting module is used for adjusting the pose of the moving platform according to the deviation value of the moving platform relative to the magnetic stripe imitating track until the deviation value is zero.
Preferably, the deviation value of the mobile platform relative to the single two-dimensional code image is calculated according to the following formula: p is k1 d + k2 r, where P is the deviation value of the mobile platform from a single two-dimensional code, d is the vertical distance, r is the rotation angle, and k1 and k2 are proportionality coefficients.
Preferably, the variable acquiring module includes: the coordinate acquisition unit is used for acquiring four corner coordinates of the two-dimensional code image; the slope calculation unit is used for determining a preset straight line by using any two adjacent angular points and calculating the slope value of the preset straight line; and the rotation angle calculating unit is used for calculating the rotation angle of the two-dimensional code image according to the slope value.
Preferably, the coordinate acquiring unit includes: a two-dimensional code extraction subunit for extracting a two-dimensional code image in the picked-up image; a threshold value image obtaining subunit, configured to perform threshold value processing and binarization on the two-dimensional code image to obtain a threshold value image of the two-dimensional code image; the corner acquisition subunit is used for extracting a contour from the threshold value image of the two-dimensional code image so as to acquire four corners of the two-dimensional code image; and the calculating subunit is used for calculating the coordinates of the four corner points of the two-dimensional code image in the picked-up image.
Preferably, the second calculation module includes: the weight coefficient distribution unit is used for correspondingly distributing weight coefficients to deviation values of the mobile platform relative to the two-dimensional code images according to the positions of the two-dimensional code images relative to the center of the picked-up image; a calculating unit for calculating the deviation value of the mobile platform relative to each two-dimensional code image and the corresponding weight coefficient according to a formula
Calculating the deviation value of the mobile platform relative to the magnetic stripe imitating track; q is a deviation value of the mobile platform relative to the magnetic stripe imitating track, K is a weight coefficient, P is a deviation value of the mobile platform relative to a single two-dimensional code, and n is a positive integer.
The embodiment of the invention has the beneficial effects that: according to the arrangement form of the magnetic strips on the ground, the two-dimensional codes are utilized to carry out copying arrangement on the ceiling so as to form a magnetic strip copying track similar to the ground magnetic track. The two-dimensional code image is identified through a positioning camera arranged on the mobile platform, the deviation value of the positioning camera relative to the magnetic stripe imitating track is calculated according to the rotation angle and the vertical distance of the two-dimensional code image, and then the pose of the mobile platform is adjusted according to the deviation value. The magnetic stripe imitation positioning method based on the ceiling type two-dimensional code can reduce the damage rate of the magnetic stripe imitation track, thereby achieving the purpose of reducing the cost. Meanwhile, when the mobile platform moves, the preset magnetic stripe imitating magnetic track is used as a reference, and the deviation value of the mobile platform relative to the magnetic stripe imitating magnetic track is calculated through the two-dimensional code image, so that the mobile platform can move according to the preset magnetic stripe imitating magnetic track, and the mobile platform can reach the designated position. Therefore, through the magnetic stripe imitating positioning method provided by the invention, the same positioning as the existing ceiling two-dimensional codes is not needed, the coordinate planning is needed to be carried out on the ceiling when the two-dimensional codes are arranged, so as to determine the specific position information of each two-dimensional code on the ceiling, and then the two-dimensional codes are accurately pasted on the corresponding positions.
Drawings
FIG. 1 is a flowchart of a first embodiment of a magnetic stripe imitation positioning method based on a ceiling type two-dimensional code according to the invention;
FIG. 2 is a schematic diagram of a magnetic stripe imitation track of a mobile platform based on a magnetic stripe imitation positioning method of a ceiling type two-dimensional code according to the invention;
FIG. 3 is a first reference image of a target image of the magnetic stripe imitating positioning method based on the ceiling type two-dimensional code;
FIG. 4 is a second reference diagram of a target image of the magnetic stripe simulating positioning method based on the ceiling type two-dimensional code of the invention;
FIG. 5 is a flowchart of a second embodiment of the magnetic stripe imitation positioning method based on a ceiling type two-dimensional code according to the present invention;
FIG. 6 is a flowchart of a magnetic stripe imitation positioning method based on a ceiling type two-dimensional code according to a third embodiment of the present invention;
FIG. 7 is a flowchart of a magnetic stripe imitation positioning method based on a ceiling type two-dimensional code according to a fourth embodiment of the present invention;
fig. 8 is a functional block diagram of an embodiment of a magnetic stripe imitation positioning device based on a ceiling type two-dimensional code according to the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.
The invention provides a magnetic stripe imitation positioning method based on a ceiling type two-dimensional code, and in an embodiment, referring to fig. 1 and 2, the magnetic stripe imitation positioning method based on the ceiling type two-dimensional code comprises the following steps:
step S10, arranging a plurality of two-dimensional codes on a ceiling to form a magnetic stripe imitating track;
it should be noted that the magnetic stripe track refers to a travel route laid on the ground in advance by using a magnetic stripe, and the moving platform is referred to this travel route and moves along this travel route. The moving platform includes an Automatic Guided Vehicle (AGV), an inspection robot, a trackless rack, and the like, including but not limited to.
In order to ensure that the mobile platform always moves along the pre-laid travelling route, the magnetic navigation sensor is arranged on the mobile platform, so that the magnetic field intensity of the position where the mobile platform is located is detected through the magnetic navigation sensor, the position information of the mobile platform relative to the magnetic stripe track can be determined by combining the magnetic field characteristic of the magnetic stripe, the pose of the mobile platform is adjusted in real time according to the position information, and the mobile platform is prevented from deviating from the pre-laid travelling route.
It can be understood that, when the magnetic stripe track is used for positioning and navigation, the mobile platform does not need to acquire the current position information of the mobile platform, and only needs to calculate the deviation value of the mobile platform relative to the pre-laid travelling route, so as to adjust the travelling direction and the route of the mobile platform according to the deviation value. Therefore, when the magnetic strip is used for laying the travelling route of the mobile platform, the ground does not need to be subjected to coordinate planning so as to lay the magnetic strip at the specified position.
Based on the above, the method of positioning and navigating by using the magnetic stripe track has the advantages of simple construction and relatively low construction difficulty. However, the existing magnetic strip positioning method is to lay the magnetic strip on the ground, which has the defect that the magnetic strip is easy to damage. In addition, if the magnetic strips are laid on the ceiling, the construction difficulty is increased.
The two-dimensional code is used for replacing the magnetic strip, and the travelling route of the mobile platform is laid on the ceiling by the two-dimensional code according to the arrangement mode of the magnetic strip on the ground. Because the two-dimensional code has advantages such as the area is little and light in weight relative to the magnetic stripe for lay on the ceiling easy a lot of, consequently, but greatly reduced construction degree of difficulty. In addition, because the two-dimensional code is laid on the ceiling, the damage caused by rolling of the mobile platform can be avoided, and the damage rate of the two-dimensional code is reduced.
In this embodiment, the two-dimensional code is used to lay out the traveling route of the mobile platform on the ceiling in advance, the mobile platform can reach the designated position only by moving along the traveling route, and in order to ensure that the mobile platform always moves along the traveling route, the mobile platform is provided with the positioning camera to acquire the two-dimensional code image on the ceiling, and the two-dimensional code image is used to adjust the pose of the mobile platform in real time, so that the mobile platform is prevented from deviating from the traveling route.
Step S20, collecting at least one two-dimensional code image on a ceiling through a positioning camera arranged on a mobile platform;
after the traveling route of the mobile platform is laid out, the two-dimensional code image on the ceiling needs to be collected through the positioning camera, and the current deviation value of the mobile platform is calculated according to the information reflected by the two-dimensional code image. The viewing angle of the camera is positioned towards the ceiling position, and under the normal condition, a plurality of two-dimensional code images can be captured in one image for calculating the deviation value of the mobile platform.
Step S30, acquiring a rotation angle of the two-dimensional code image and a vertical distance between a center point of an image picked up by the positioning camera and a preset straight line, wherein the slope value of the preset straight line is equal to the tangent value of the rotation angle;
in this embodiment, the rotation angle of the two-dimensional code image indicates the direction of the travel route, that is, the moving platform can adjust the travel direction according to the rotation angle of the two-dimensional code, so that the travel direction of the moving platform is consistent with the direction of the pre-laid travel route. For example, in the process of moving the AGV, if the calculated rotation angle is 45 °, the direction of the head of the moving platform is adjusted accordingly until the rotation angle is 0.
Referring to fig. 3 and 4, the image picked up by the positioning camera is an image defined by the whole rectangular frame, the two-dimensional code image is the two-dimensional code appearing in the picked-up image, and the vertical distance between the central point O of the picked-up image and the preset straight line represents the shortest distance of the mobile platform deviating from the preset traveling route. The mobile platform can adjust the position of the mobile platform according to the vertical distance, so that the mobile platform is positioned on the preset travelling route. When the two-dimensional code is located under the positioning camera, the two-dimensional code image collected by the positioning camera is just in the center position of the picked-up image, and at the moment, the vertical distance is 0, which indicates that the mobile platform is in the preset travelling route.
Step S40, calculating the deviation value of the mobile platform relative to the single two-dimensional code image according to the rotation angle and the vertical distance;
in this embodiment, after the rotation angle of the two-dimensional code image and the vertical distance between the center of the picked-up image and the preset straight line are respectively obtained, the rotation angle and the vertical distance information are fused, and the deviation value of the mobile platform relative to the two-dimensional code image is calculated according to a preset first calculation mode. The preset first calculation mode can be set according to actual conditions, for example, the factors such as lens distortion, view field size, road surface flatness and the like of the positioning line machine are considered, and corresponding parameter correction terms can be added according to the factors so as to compensate calculation deviation caused by the parameters, so that the positioning precision is ensured.
S50, acquiring deviation values of the mobile platform relative to the two-dimensional code images, and calculating the deviation values of the mobile platform relative to the magnetic stripe imitating track according to the deviation values of the mobile platform relative to the two-dimensional code images;
when a plurality of two-dimensional code images appear in the image picked up by the positioning camera, the method steps of S20, S30 described above are performed for the respective two-dimensional code images to calculate the deviation values of the mobile platform with respect to the respective two-dimensional code images, respectively.
And then, calculating the deviation value of the mobile platform relative to the magnetic stripe imitating track according to the deviation value of the mobile platform relative to each two-dimensional code image and a preset second calculation mode. The preset second calculation method may adopt an averaging method, a method of determining a weight coefficient according to a distance from the center of each two-dimensional code image to the center of the picked-up image and summing the weight coefficient, and a method of determining a weight coefficient according to a position of each two-dimensional code image relative to the center of the picked-up image and summing the weight coefficient, including but not limited to this.
And step S60, adjusting the pose of the mobile platform according to the deviation value of the mobile platform relative to the magnetic stripe imitating track until the deviation value is zero.
In this embodiment, after the deviation value of the mobile platform is calculated according to the two-dimensional code image, the adjustment direction of the mobile platform is determined according to the positive and negative of the deviation value, and then the mobile platform is controlled to adjust the pose leftwards or rightwards, so that the deviation value of the adjusted mobile platform is zero.
For ease of understanding, this example is intended to be illustrative only and not limiting. Stipulating: and when the deviation value of the mobile platform is greater than zero, the pose of the mobile platform is adjusted rightwards, and when the deviation value of the mobile platform is less than zero, the pose of the mobile platform is adjusted leftwards. Assuming that the calculated deviation value of the mobile platform is 3, the mobile platform needs to be controlled to adjust to the right until the deviation value of the mobile platform is zero.
In one embodiment, the deviation value of the mobile platform from the single two-dimensional code image can be calculated according to the following formula:
P＝k1*d+k2*r
wherein, P is the deviation value of the mobile platform relative to the single two-dimensional code, d is the vertical distance, r is the rotation angle, and k1 and k2 are proportionality coefficients.
Referring to fig. 3 and 4, with the center point O of the picked-up image as a reference, there are defined: the d value corresponding to the two-dimensional code image to the left of the center point O is negative, and the d value corresponding to the two-dimensional code image to the right of the center point O of the picked-up image is positive, and the rotation angle of 360 ° is divided into 0-180 ° and-180 ° -0 to give positive and negative values to the rotation angle r.
It should be noted that the continuous change of the r value depends on the orientation of the two-dimensional code pasted on the ceiling and the steering action of the mobile platform during the moving process. In order to guide the moving platform to move in arc shape and other different tracks, two-dimensional codes with continuously changed directions are pasted on the ceiling. During the turning process of the mobile platform, it can be understood that the rotation angle of the current two-dimensional code image in the picked-up image, which is acquired by the positioning camera, changes with respect to the rotation angle of the same two-dimensional code image in the previous picked-up image.
After the d value and the r value are acquired, since k1 and k2 are proportionality constants, the deviation value of the mobile platform from the two-dimensional code can be acquired by substituting d, r, k1 and k2 into the formula P (k 1 × d + k2 × r). In addition, the height between the positioning camera and the two-dimensional code is different in consideration of various possible situations, such as different use scenes. After the use place is changed, the mobile platform is required to be still capable of carrying out accurate positioning according to the two-dimensional code on the ceiling of the place after the change, and then the value of k1 needs to be dynamically adjusted.
In another embodiment, referring to fig. 5, acquiring the rotation angle of the two-dimensional code image includes:
step S31, acquiring coordinates of four corner points of the two-dimensional code image;
step S32, determining a straight line by any two adjacent corner points, and calculating the slope value of the straight line;
and step S33, calculating the rotation angle of the two-dimensional code image according to the slope value.
In this embodiment, after coordinates of four corner points of the two-dimensional code image are acquired, a straight line is determined by any two adjacent corner points, and a slope of the straight line is calculated. Referring to fig. 3 and 4, coordinates of four corner points of the two-dimensional code image are a (x1, y1), B (x2, y2), C (x13, y3) and D (x4, y4), respectively, and a center point of the picked-up image is O (x0, y 0). For easy understanding, a preset straight line V is determined by two angular points AB, and the formula is calculated according to the slope:
and calculating to obtain a slope value of the preset straight line, and then inversely calculating the rotation angle r of the two-dimensional code image according to the slope value, namely α in the formula.
In the above embodiment, referring to fig. 6, acquiring coordinates of four corner points of the two-dimensional code image includes:
step S311, extracting a two-dimensional code image in the picked-up image;
in this embodiment, since the acquired picked-up image includes other images besides the two-dimensional code image, in order to acquire the two-dimensional code image from the picked-up image, the two-dimensional code image needs to be extracted from the acquired picked-up image.
Step S312, carrying out threshold processing and binarization operation on the two-dimensional code image to obtain a threshold image of the two-dimensional code image;
in step S314, coordinates of four corner points of the two-dimensional code image in the picked-up image are calculated.
In this embodiment, after the positioning camera acquires the picked-up image including the two-dimensional code image, the two-dimensional code image in the picked-up image is extracted, and then the method steps of S312, S313, and S314 are respectively executed to perform image processing on the two-dimensional code image, so as to obtain coordinates of four corner points of the two-dimensional code image in the picked-up image.
In another embodiment, referring to fig. 7, calculating the deviation value of the mobile platform relative to the magnetic stripe imitating track according to the deviation value of the mobile platform relative to each two-dimensional code image comprises:
step S51, according to the position of each two-dimensional code image relative to the center of the picked-up image, a weight coefficient is correspondingly distributed to the deviation value of the mobile platform relative to each two-dimensional code image;
step S52, according to the deviation value of the mobile platform relative to each two-dimensional code image and the corresponding weight coefficient, and according to the formula
Calculating the deviation value of the mobile platform relative to the magnetic stripe imitating track;
q is a deviation value of the mobile platform relative to the magnetic stripe imitating track, K is a weight coefficient, P is a deviation value of the mobile platform relative to a single two-dimensional code, and n is a positive integer.
In this embodiment, the two-dimensional code image located in front of the center point of the picked-up image is assigned the largest weight coefficient, the two-dimensional code image located near the middle of the center point of the picked-up image is assigned the next largest weight coefficient, and the two-dimensional code image located behind the center point of the picked-up image is assigned the smallest weight coefficient. This is so because the two-dimensional code located in front of the center point of the picked-up image determines the direction of the next travel of the mobile platform.
For example, three two-dimensional code images, P1, P2, and P3 appear in the current picked-up image, and the deviation value of the moving platform from each two-dimensional code image is calculated according to the d value and the r value and the formula P ═ k1 × d + k2 × r. Then, according to the positions of the three two-dimensional code images relative to the central point of the picked-up image, corresponding weight coefficients are determined. Finally, according to the weight coefficient and deviation value and according to the formula
And calculating to obtain the deviation value of the mobile platform relative to the magnetic stripe imitating track. The deviation value of the moving platform relative to the magnetic stripe imitating track is as follows: Q-K1P 1+ K2P 2+ K3P 3, wherein K1+ K2+ K3-1.
The principle of the magnetic stripe imitating positioning method based on the ceiling type two-dimensional code provided by the invention is as follows: firstly, arranging two-dimensional codes on a ceiling in the same travelling mode based on the form of an original ground magnetic stripe track, so as to form a travelling route for guiding the movement of the mobile platform; secondly, acquiring a two-dimensional code image on a ceiling through a positioning camera arranged on the mobile platform, and calculating a rotation angle of the two-dimensional code image in a picked-up image and a shortest distance (vertical distance) between a central point of the picked-up image and a preset straight line; then, calculating the deviation value of the mobile platform relative to the two-dimensional code image according to the rotation angle and the vertical distance; and finally, adjusting the pose of the mobile platform according to the calculated deviation value until the deviation value is zero.
When only one two-dimensional code image exists in the picked-up image, adjusting according to the deviation value of the mobile platform relative to the two-dimensional code; when a plurality of two-dimensional code images exist in the picked-up image, adjustment can be carried out according to the deviation value of the mobile platform relative to each two-dimensional code so as to improve the positioning precision. And for a plurality of two-dimensional code images, calculating a final output moving platform deviation value mainly in a weight mode.
Based on the magnetic stripe-imitated positioning method based on the ceiling type two-dimensional code, the invention also provides a magnetic stripe-imitated positioning device based on the ceiling type two-dimensional code, and referring to fig. 8, the magnetic stripe-imitated positioning device based on the ceiling type two-dimensional code comprises:
the track setting module 10 is used for arranging a plurality of two-dimensional codes on a ceiling to form a magnetic stripe imitating track;
the image acquisition module 20 is used for acquiring at least one two-dimensional code image on the ceiling through a positioning camera arranged on the mobile platform;
the variable acquiring module 30 is configured to acquire a rotation angle of the two-dimensional code image and a vertical distance between a center point of an image picked up by the positioning camera and a preset straight line, where a slope value of the preset straight line is equal to a tangent value of the rotation angle;
the first calculation module 40 is used for calculating the deviation value of the mobile platform relative to the single two-dimensional code image according to the rotation angle and the vertical distance;
the second calculating module 50 is used for acquiring the deviation values of the mobile platform relative to the two-dimensional code images and calculating the deviation values of the mobile platform relative to the magnetic stripe imitating track according to the deviation values of the mobile platform relative to the two-dimensional code images;
and the moving platform adjusting module 60 is configured to adjust the pose of the moving platform according to the deviation value of the moving platform relative to the magnetic stripe imitating track until the deviation value is zero.
In one embodiment, the variable acquisition module 30 includes:
a coordinate obtaining unit 31, configured to obtain coordinates of four corner points of the two-dimensional code image;
a slope calculation unit 32, configured to determine a preset straight line with any two adjacent corner points, and calculate a slope value of the preset straight line;
and a rotation angle calculating unit 33 for calculating a rotation angle of the two-dimensional code image according to the slope value.
In the above embodiment, the coordinate acquiring unit 31 includes:
a two-dimensional code extraction subunit 311 for extracting a two-dimensional code image in the picked-up image;
a threshold value image obtaining subunit 312, configured to perform threshold value processing and binarization on the two-dimensional code image to obtain a threshold value image of the two-dimensional code image;
an angular point obtaining subunit 313, configured to extract a contour from the threshold image of the two-dimensional code image, so as to obtain four angular points of the two-dimensional code image;
and a calculating subunit 314 for calculating coordinates of four corner points of the two-dimensional code image in the picked-up image.
In another embodiment, the second calculation module 50 includes:
a weight coefficient assigning unit 51 for assigning a weight coefficient to the deviation value of the moving platform with respect to each two-dimensional code image in accordance with the position of each two-dimensional code image with respect to the center of the picked-up image;
a calculating unit 52, configured to calculate the deviation value of the mobile platform with respect to each two-dimensional code image and the corresponding weight coefficient according to a formula
Calculating the deviation value of the mobile platform relative to the magnetic stripe imitating track;
q is a deviation value of the mobile platform relative to the magnetic stripe imitating track, K is a weight coefficient, P is a deviation value of the mobile platform relative to a single two-dimensional code, and n is a positive integer.
All or part of the modules in the magnetic stripe imitating positioning device based on the ceiling type two-dimensional code can be realized by software, hardware and a combination thereof. The modules can be embedded in a computer device in a hardware form, and can also be stored in a memory in a software form, so that the computer device can call and execute the functions corresponding to the modules. The working principle and the function of each functional module can be referred to in the implementation process of the magnetic stripe imitation positioning method based on the ceiling type two-dimensional code shown in fig. 1, 5, 6 and 7, and are not described herein again.
The above description is only a part of or preferred embodiments of the present invention, and neither the text nor the drawings should be construed as limiting the scope of the present invention, and all equivalent structural changes, which are made by using the contents of the present specification and the drawings, or any other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A magnetic stripe imitation positioning method based on a ceiling type two-dimensional code is characterized by comprising the following steps:
arranging a plurality of two-dimensional codes on a ceiling to form a magnetic stripe imitating track;
acquiring at least one two-dimensional code image on a ceiling through a positioning camera arranged on a mobile platform;
acquiring a rotation angle of the two-dimensional code image and a vertical distance between a center point of an image picked up by a positioning camera and a preset straight line, wherein the slope value of the preset straight line is equal to the tangent value of the rotation angle;
calculating the deviation value of the mobile platform relative to the single two-dimensional code image according to the rotation angle and the vertical distance;
acquiring deviation values of the mobile platform relative to the two-dimensional code images, and calculating the deviation values of the mobile platform relative to the magnetic stripe imitating track according to the deviation values of the mobile platform relative to the two-dimensional code images;
and adjusting the pose of the mobile platform according to the deviation value of the mobile platform relative to the magnetic stripe imitating track until the deviation value is zero.
2. The magnetic stripe imitation positioning method of claim 1, wherein the deviation value of the mobile platform relative to a single two-dimensional code image is calculated according to the following formula:
P＝k1*d+k2*r
wherein, P is the deviation value of the mobile platform relative to the single two-dimensional code, d is the vertical distance, r is the rotation angle, and k1 and k2 are proportionality coefficients.
3. The magnetic stripe imitation positioning method of claim 1, wherein the obtaining of the rotation angle of the two-dimensional code image comprises:
acquiring coordinates of four corner points of the two-dimensional code image;
determining a preset straight line by any two adjacent corner points, and calculating the slope value of the preset straight line;
and calculating the rotation angle of the two-dimensional code image according to the slope value.
4. The magnetic stripe imitation positioning method of claim 3, wherein the obtaining of the coordinates of the four corner points of the two-dimensional code image comprises:
extracting a two-dimensional code image in the picked-up image;
carrying out threshold processing and binarization operation on the two-dimensional code image to obtain a threshold image of the two-dimensional code image;
extracting a contour from a threshold value image of the two-dimensional code image to obtain four corner points of the two-dimensional code image;
and calculating coordinates of four corner points of the two-dimensional code image in the picked-up image.
5. The magnetic stripe imitation positioning method of claim 1, wherein the calculating of the deviation value of the mobile platform relative to the magnetic stripe imitation track according to the deviation value of the mobile platform relative to each two-dimensional code image comprises:
according to the position of each two-dimensional code image relative to the center of the picked-up image, correspondingly distributing a weight coefficient to the deviation value of the mobile platform relative to each two-dimensional code image;
according to the relative position of the moving platformDeviation values and corresponding weight coefficients of the two-dimensional code images according to a formula
Calculating the deviation value of the mobile platform relative to the magnetic stripe imitating track;
q is a deviation value of the mobile platform relative to the magnetic stripe imitating track, K is a weight coefficient, P is a deviation value of the mobile platform relative to a single two-dimensional code, and n is a positive integer.
6. The utility model provides an imitative magnetic stripe positioner based on board-like two-dimensional code of ceiling which characterized in that includes:
the track setting module is used for arranging a plurality of two-dimensional codes on a ceiling to form a magnetic stripe imitating track;
the image acquisition module is used for acquiring at least one two-dimensional code image on a ceiling through a positioning camera arranged on the mobile platform;
the variable acquisition module is used for acquiring a rotation angle of the two-dimensional code image and a vertical distance between a center point of an image picked up by the positioning camera and a preset straight line, and the slope value of the preset straight line is equal to the tangent value of the rotation angle;
the first calculation module is used for calculating a deviation value of the mobile platform relative to a single two-dimensional code image according to the rotation angle and the vertical distance;
the second calculation module is used for acquiring deviation values of the mobile platform relative to the two-dimensional code images and calculating the deviation values of the mobile platform relative to the magnetic stripe imitating track according to the deviation values of the mobile platform relative to the two-dimensional code images;
and the moving platform adjusting module is used for adjusting the pose of the moving platform according to the deviation value of the moving platform relative to the magnetic stripe imitating track until the deviation value is zero.
7. The magnetic stripe imitating positioning device according to claim 6, wherein the deviation value of the moving platform relative to the single two-dimensional code image is calculated according to the following formula:
P＝k1*d+k2*r
wherein, P is the deviation value of the mobile platform relative to the single two-dimensional code, d is the vertical distance, r is the rotation angle, and k1 and k2 are proportionality coefficients.
8. The simulated magnetic stripe positioning device of claim 6 wherein the variable acquisition module comprises:
the coordinate acquisition unit is used for acquiring four corner coordinates of the two-dimensional code image;
the slope calculation unit is used for determining a preset straight line by using any two adjacent angular points and calculating the slope value of the preset straight line;
and the rotation angle calculating unit is used for calculating the rotation angle of the two-dimensional code image according to the slope value.
9. The simulated magnetic stripe positioning device of claim 8 wherein the coordinate acquisition unit comprises:
a two-dimensional code extraction subunit for extracting a two-dimensional code image in the picked-up image;
a threshold value image obtaining subunit, configured to perform threshold value processing and binarization on the two-dimensional code image to obtain a threshold value image of the two-dimensional code image;
the corner acquisition subunit is used for extracting a contour from the threshold value image of the two-dimensional code image so as to acquire four corners of the two-dimensional code image;
and the calculating subunit is used for calculating the coordinates of the four corner points of the two-dimensional code image in the picked-up image.
10. The simulated magnetic stripe positioning device of claim 6 wherein the second computing module comprises:
the weight coefficient distribution unit is used for correspondingly distributing weight coefficients to deviation values of the mobile platform relative to the two-dimensional code images according to the positions of the two-dimensional code images relative to the center of the picked-up image;
a computing unit for moving the plane according to the movementThe deviation value of the platform relative to each two-dimensional code image and the corresponding weight coefficient are calculated according to a formula
Calculating the deviation value of the mobile platform relative to the magnetic stripe imitating track;
q is a deviation value of the mobile platform relative to the magnetic stripe imitating track, K is a weight coefficient, P is a deviation value of the mobile platform relative to a single two-dimensional code, and n is a positive integer.
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| CN201911120330.3A CN110864691B (en) | 2019-11-15 | 2019-11-15 | Magnetic stripe imitation positioning method and device based on ceiling type two-dimensional code |
| PCT/CN2020/089643 WO2021093288A1 (en) | 2019-11-15 | 2020-05-11 | Magnetic stripe-simulation positioning method and device based on ceiling-type qr codes |
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| WO2021093288A1 (en) * | 2019-11-15 | 2021-05-20 | 浙江大学华南工业技术研究院 | Magnetic stripe-simulation positioning method and device based on ceiling-type qr codes |
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