CN112069849B - Identification positioning method, device, equipment and storage medium based on multiple two-dimension codes - Google Patents
Identification positioning method, device, equipment and storage medium based on multiple two-dimension codes Download PDFInfo
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- G06K7/1404—Methods for optical code recognition
- G06K7/1439—Methods for optical code recognition including a method step for retrieval of the optical code
- G06K7/1443—Methods for optical code recognition including a method step for retrieval of the optical code locating of the code in an image
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- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
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Abstract
The application discloses an identification positioning method based on a plurality of two-dimensional codes, which comprises the following steps: collecting a positioning label image in a moving space; judging whether a complete two-dimensional code exists in the acquired positioning label image; if at least one complete two-dimensional code exists in the positioning label image, acquiring the ID of each two-dimensional code; respectively calculating the ID of the positioning tag according to the ID of each two-dimensional code, and judging whether the ID of the positioning tag obtained by the ID calculation of each two-dimensional code is consistent or not; if the IDs of the positioning labels obtained through ID calculation of the two-dimensional codes are consistent, judging whether the two-dimensional codes in the middle position exist in the two-dimensional codes or not; if the two-dimensional code at the middle position exists, determining the global coordinate of the mobile platform according to the two-dimensional code at the middle position; if the two-dimensional codes at the middle positions do not exist, determining global coordinates of the mobile platform according to the two-dimensional codes at other positions.
Description
Technical Field
The present application relates to the field of spatial positioning, and in particular, to a method, apparatus, device, and storage medium for identifying and positioning based on multiple two-dimensional codes.
Background
Two-dimensional codes are also called two-dimensional bar codes, and record data symbol information through a graph formed by distributing a certain specific geometric graph on a plane (two-dimensional direction) according to a certain rule. Compared with the traditional bar code, the two-dimensional code has the characteristics of high information capacity, strong error correction capability, high decoding reliability and the like, and has the advantages of low cost, easiness in manufacturing and the like.
However, the existing two-dimensional code positioning is usually realized based on a single two-dimensional code, that is, the two-dimensional code image is acquired through the image acquisition device on the moving object, then the position information of the two-dimensional code in the two-dimensional code image is identified, and finally the position information of the two-dimensional code is converted into the position information under the world coordinate system, so that the positioning navigation of the moving object is realized.
In practical use, the problem of poor recognition often occurs under certain environments, for example, when the two-dimensional code is stained, shielded and damaged, the two-dimensional code image acquired by the image acquisition device cannot be recognized by a system, so that recognition failure based on a single two-dimensional code is caused, and the two-dimensional code cannot be utilized to position and navigate a moving object.
Disclosure of Invention
The application mainly aims to provide a recognition positioning method based on a plurality of two-dimensional codes, and aims to solve the technical problem of poor recognition existing in the existing recognition positioning based on a single two-dimensional code.
In order to achieve the above object, the present application provides a method for identifying and positioning based on a plurality of two-dimensional codes, the method for identifying and positioning based on a plurality of two-dimensional codes comprising: collecting a positioning tag image in a moving space, wherein the positioning tag image is captured by the positioning camera; judging whether a complete two-dimensional code exists in the acquired positioning label image; if at least one complete two-dimensional code exists in the positioning label image, acquiring the ID of each two-dimensional code; respectively calculating the ID of the positioning tag according to the ID of each two-dimensional code, and judging whether the ID of the positioning tag obtained by the ID calculation of each two-dimensional code is consistent or not; if the IDs of the positioning labels obtained through ID calculation of the two-dimensional codes are consistent, judging whether the two-dimensional codes at the middle positions exist in the two-dimensional codes or not, wherein the area of the two-dimensional codes at the middle positions is larger than that of the two-dimensional codes at other positions; if the two-dimensional code at the middle position exists, determining the global coordinate of the mobile platform according to the two-dimensional code at the middle position; if the two-dimensional codes at the middle positions do not exist, determining global coordinates of the mobile platform according to the two-dimensional codes at other positions.
Preferably, the determining the position coordinates of the mobile platform according to the two-dimensional code of the intermediate position includes: acquiring pose information of the two-dimensional code at the middle position under an image coordinate system; and substituting pose information of the two-dimensional code of the middle position in an image coordinate system into a conversion formula between the image coordinate system and a global coordinate system to calculate and obtain the global coordinate of the mobile platform in the global coordinate system.
Preferably, the determining the position coordinates of the mobile platform according to the two-dimensional codes at other positions includes: respectively acquiring pose information of the two-dimensional codes at the other positions under an image coordinate system; substituting pose information of the two-dimensional codes at the other positions in an image coordinate system into a conversion formula between the image coordinate system and a global coordinate system to calculate and obtain position coordinates of a plurality of mobile platforms in the global coordinate system; and carrying out average calculation on the position coordinates in each global coordinate system to take the average value as the global coordinate of the mobile platform.
Preferably, the conversion formula between the image coordinate system and the global coordinate system is:
wherein the saidThe pose information of the center of the two-dimensional code in the global coordinate system is (h, w, θ) pose information of the center of the two-dimensional code in the image coordinate system, and the global coordinates of the mobile platform in the global coordinate system are (x, y).
The application also provides a recognition positioning device based on the plurality of two-dimensional codes, which comprises: the image acquisition module is used for acquiring positioning label images in the moving space; the first judging module is used for judging whether a complete two-dimensional code exists in the acquired positioning label image; the ID acquisition module is used for acquiring the ID of each two-dimensional code when at least one complete two-dimensional code exists in the positioning label image; the second judging module is used for respectively calculating the IDs of the positioning labels according to the IDs of the two-dimensional codes and judging whether the IDs of the positioning labels obtained through the calculation of the IDs of the two-dimensional codes are consistent or not; the third judging module is used for judging whether the two-dimensional codes at the middle position exist in the two-dimensional codes or not when the IDs of the positioning labels obtained through ID calculation of the two-dimensional codes are consistent, and the area of the two-dimensional codes at the middle position is larger than that of the two-dimensional codes at other positions; the first determining module is used for determining global coordinates of the mobile platform according to the two-dimensional code at the middle position when the two-dimensional code at the middle position exists; and the second determining module is used for determining the global coordinates of the mobile platform according to each two-dimensional code at other positions when the two-dimensional code at the middle position does not exist.
Preferably, the first determining module includes: the first pose acquisition unit is used for acquiring pose information of the two-dimensional code at the middle position under an image coordinate system; the first global coordinate acquisition unit is used for substituting pose information of the two-dimensional code of the middle position in the image coordinate system into a conversion formula between the image coordinate system and the global coordinate system so as to calculate and obtain global coordinates of the mobile platform in the global coordinate system.
Preferably, the second determining module includes: the second pose acquisition unit is used for respectively acquiring pose information of the two-dimensional codes at the other positions under an image coordinate system; the second global coordinate acquisition unit is used for substituting pose information of the two-dimensional codes at the other positions in the image coordinate system into a conversion formula between the image coordinate system and the global coordinate system so as to calculate and obtain position coordinates of a plurality of mobile platforms in the global coordinate system; and the third global coordinate acquisition unit is used for carrying out average calculation on the position coordinates in each global coordinate system so as to take the average value as the global coordinate of the mobile platform.
Preferably, the conversion formula between the image coordinate system and the global coordinate system is:
wherein the saidThe (h, w, theta) is pose information of the center of the two-dimensional code in the global coordinate system, the (x, y) is pose information of the center of the two-dimensional code in the image coordinate system) Is a global coordinate of the mobile platform in the global coordinate system.
The application also provides a plurality of two-dimensional code-based identification positioning device, which comprises:
a memory for storing a computer program;
and the processor is used for realizing the identification positioning method based on the plurality of two-dimensional codes according to the embodiment when executing the computer program.
The present application also proposes a storage medium storing a computer program which, when executed by a processor, implements the identification positioning method based on a plurality of two-dimensional codes described in the foregoing embodiments.
Compared with the prior art, the embodiment of the application has the beneficial technical effects that:
according to the identification positioning method provided by the embodiment of the application, the acquired positioning label consists of a plurality of two-dimensional codes, and as long as the positioning camera on the mobile platform identifies any two-dimensional code in the positioning label, the position coordinate of the mobile platform under the global coordinate system, namely the positioning coordinate of the mobile platform in the moving space of the mobile platform, can be obtained through calculation through the two-dimensional code, and the positioning navigation of the mobile platform can be realized according to the positioning coordinate. As the two-dimensional code can be positioned only by identifying any two-dimensional code, the identification positioning method provided by the embodiment of the application improves the stability, reliability and redundancy of positioning based on the two-dimensional code. In addition, the area of the two-dimensional code at the middle position of the positioning label is larger than that of the two-dimensional codes at other positions, and is 2.25 times as large as the actual design, and normally, positioning information of the two-dimensional code at the middle position is taken as the main part, and positioning accuracy can be improved by utilizing the two-dimensional code at the middle position because of the large area of the two-dimensional code at the middle position.
Drawings
FIG. 1 is a flowchart of an embodiment of a method for identifying and locating based on a plurality of two-dimensional codes according to the present application;
fig. 2 is a schematic structural diagram of a single positioning tag composed of a plurality of two-dimensional codes;
FIG. 3 is a functional block diagram of an embodiment of a positioning device based on a plurality of two-dimensional codes according to the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below are exemplary and intended to illustrate the present application and should not be construed as limiting the application, and all other embodiments, based on the embodiments of the present application, which may be obtained by persons of ordinary skill in the art without inventive effort, are within the scope of the present application.
The application provides a recognition positioning method based on a plurality of two-dimensional codes, in an embodiment, referring to fig. 1, the recognition positioning method based on the plurality of two-dimensional codes comprises the following steps:
s10, collecting a positioning label image in a moving space, wherein the positioning label image is captured by a positioning camera;
in this embodiment, the positioning tag is composed of a plurality of two-dimensional codes, the number of the two-dimensional codes is n×n, and the positioning tag is distributed in a moving space of the mobile platform so as to perform positioning navigation on the mobile platform. The positioning labels can be distributed on the ceiling, the ground and the wall surfaces on two sides, and can be set according to practical situations by a person skilled in the art, including but not limited to. The mobile platform is provided with a positioning camera, and when the mobile platform moves in a moving space, positioning labels arranged in the moving space are acquired in real time through the positioning camera, so that the current position coordinates of the mobile platform are calculated according to the acquired positioning labels. It should be noted that the mobile platform may be an AGV autonomous guided vehicle used in an intelligent parking lot, or a cargo truck used in an intelligent logistics warehouse, including but not limited to this.
Step S20, judging whether a complete two-dimensional code exists in the acquired positioning label image;
in this embodiment, after the positioning tag image is acquired, image preprocessing is performed on the positioning tag image to remove the interfering objects appearing in the positioning tag image. After removing the interference objects in the positioning label image, filtering and binarizing each two-dimensional code in the positioning label image, and after the filtering and binarizing operation are completed, carrying out edge detection and screening on each two-dimensional code, intercepting the screened two-dimensional code image and carrying out projection transformation. If the complete two-dimensional code exists, when the image edge detection is carried out on the two-dimensional code, a black box around the two-dimensional code can be positioned, namely the two-dimensional code is the complete two-dimensional code. After a plurality of two-dimensional codes are identified, the current position coordinates of the mobile platform are calculated according to the two-dimensional codes.
Step S30, if at least one complete two-dimensional code exists in the positioning label image, the ID of each two-dimensional code is obtained;
in this embodiment, in the acquired positioning tag image, there may be an incomplete two-dimensional code in the acquired positioning tag image due to occlusion or limitation of the positioning camera view angle. Therefore, after the positioning label image is acquired, whether the two-dimensional code existing in the positioning label image is complete or not needs to be judged. If the complete two-dimensional code exists in the positioning label image, the two-dimensional code is identified to acquire the ID of the two-dimensional code.
Step S40, respectively calculating the ID of the positioning tag according to the ID of each two-dimensional code, and judging whether the ID of the positioning tag calculated by the ID of each two-dimensional code is consistent or not;
in this embodiment, referring to fig. 2, the number of two-dimensional codes in the positioning tag is 3*3, that is, the positioning tag is composed of 9 two-dimensional codes, and IDs of the two-dimensional codes are 10, 11, 12, 13, 14, 15, 16, 17 and 18, respectively, and the ID of the positioning tag is 1. After the ID of each two-dimensional code is obtained, calculating according to the formula: positioning tag id= (single two-dimensional code ID-1)/9, substituting the ID of the complete two-dimensional code in the acquired positioning tag image into the above calculation formula to verify whether the IDs of the positioning tags calculated by the IDs of the two-dimensional codes are identical. The positive number of the value calculated by the above formula is taken as a positive number. If the IDs of the positioning labels calculated through the IDs of the two-dimensional codes are inconsistent, the identification of the positioning labels fails, and no data is output; if the IDs of the positioning tags calculated from the IDs of the two-dimensional codes match, the method steps described in the following steps S50 to S70 are continued.
Step S50, if the IDs of the positioning labels obtained through ID calculation of the two-dimensional codes are consistent, judging whether the two-dimensional codes at the middle position exist in the two-dimensional codes or not, wherein the area of the two-dimensional codes at the middle position is larger than that of the two-dimensional codes at other positions;
in this embodiment, the area of the two-dimensional code at the middle position is larger than the areas of the two-dimensional codes at other positions, and is 2.25 times as large as the actual design. Under normal conditions, the positioning information of the two-dimensional code at the middle position is mainly used, and the positioning accuracy can be improved by utilizing the two-dimensional code at the middle position for positioning because the area of the two-dimensional code at the middle position is large. Therefore, when each two-dimensional code in the positioning tag is used for positioning, whether the complete two-dimensional code in the positioning tag has the two-dimensional code in the middle position or not needs to be judged. If the two-dimensional code with the middle position exists, the current position coordinate of the mobile platform is calculated according to the two-dimensional code with the middle position; if the two-dimensional code with the middle position is not available, the current position coordinate of the mobile platform is calculated according to the two-dimensional code of each other position.
Step S60, if the two-dimensional code at the middle position exists, determining the global coordinate of the mobile platform according to the two-dimensional code at the middle position;
in this embodiment, according to the formula: (ID-1)% 9=4 of a single two-dimensional code), and judging whether the two-dimensional code in the acquired positioning label image has the two-dimensional code at the middle position. Note that the symbol% represents the remainder after division. Specifically, after the ID of each two-dimensional code is obtained, the ID of each two-dimensional code is substituted into the calculation formula, and if the remainder of the value calculated by the calculation formula is 4, the two-dimensional code is represented as the two-dimensional code at the intermediate position. In step S40, the ID of the two-dimensional code located at the intermediate position is recorded as 14, and the 14 is substituted into the above formula, and the calculated value is more than 1 and 4, that is, the two-dimensional code is verified as the two-dimensional code located at the intermediate position. If the two-dimensional code at the middle position exists in the positioning label image, the global coordinate of the current position of the mobile platform is calculated according to the two-dimensional code at the middle position.
And step S70, if the two-dimensional codes at the middle positions do not exist, determining the global coordinates of the mobile platform according to each two-dimensional code at other positions.
In this embodiment, when there is no two-dimensional code located at the middle position, the global coordinate of the current position of the mobile platform is calculated according to each two-dimensional code located at other positions, specifically, after the global coordinate of one mobile platform is calculated by each two-dimensional code, the average value of each calculated global coordinate is calculated, so that the calculated average value is used as the global coordinate of the current position of the mobile platform.
In an embodiment, determining the position coordinates of the mobile platform according to the two-dimensional code of the intermediate position includes:
acquiring pose information of the two-dimensional code at the middle position under an image coordinate system;
and substituting pose information of the two-dimensional code of the middle position in the image coordinate system into a conversion formula between the image coordinate system and the global coordinate system to calculate and obtain the global coordinate of the mobile platform in the global coordinate system.
In this embodiment, the pose information of the positioning tag image under the image coordinates can be directly obtained through the positioning tag image acquired by the positioning camera, so that the pose information of the two-dimensional code in the middle position in the positioning tag image under the image coordinates can also be obtained. And after pose information of the two-dimensional code in the image coordinate system is obtained, substituting the pose information into a conversion formula of the image coordinate system and the global coordinate system to calculate and obtain global coordinates of the mobile platform in the global coordinate system.
The conversion formula between the image coordinate system and the global coordinate system is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,the pose information of the center of the two-dimensional code in the global coordinate system is (h, w, theta) pose information of the center of the two-dimensional code in the image coordinate system, and (x, y) the global coordinate of the mobile platform in the global coordinate system.
In yet another embodiment, determining the position coordinates of the mobile platform according to each of the two-dimensional codes at the other positions includes:
respectively acquiring pose information of the two-dimensional codes at the other positions under an image coordinate system;
substituting pose information of the two-dimensional codes at other positions in an image coordinate system into a conversion formula between the image coordinate system and a global coordinate system to calculate and obtain position coordinates of a plurality of mobile platforms in the global coordinate system;
and carrying out average calculation on the position coordinates under each global coordinate system, and taking the average value as the global coordinate of the mobile platform.
In this embodiment, the pose information of the positioning tag image under the image coordinates can be directly obtained through the positioning tag image acquired by the positioning camera, so that the pose information of each two-dimensional code at other positions in the positioning tag image under the image coordinates can also be obtained. And after pose information of the two-dimensional code in the image coordinate system is obtained, substituting the pose information into a conversion formula of the image coordinate system and the global coordinate system to calculate and obtain global coordinates of the mobile platform in the global coordinate system. After the plurality of global coordinates are obtained through calculation, the plurality of global coordinates are subjected to average calculation, and the calculated average value is used as the global coordinates of the mobile platform.
The conversion formula between the image coordinate system and the global coordinate system is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,the pose information of the center of the two-dimensional code in the global coordinate system is (h, w, theta) pose information of the center of the two-dimensional code in the image coordinate system, and (x, y) the global coordinate of the mobile platform in the global coordinate system.
Based on the identification positioning method based on the plurality of two-dimensional codes, referring to fig. 3, the application also provides an identification positioning device based on the plurality of two-dimensional codes, which comprises:
an image acquisition module 10 for acquiring a positioning tag image in a moving space;
the first judging module 20 is configured to judge whether a complete two-dimensional code exists in the collected positioning tag image;
the ID acquisition module 30 is configured to acquire an ID of each two-dimensional code when at least one complete two-dimensional code exists in the positioning tag image;
a second judging module 40, configured to calculate the ID of the positioning tag according to the ID of each two-dimensional code, and judge whether the IDs of the positioning tags calculated by the ID of each two-dimensional code are consistent;
the third judging module 50 is configured to judge whether a two-dimensional code located at a middle position exists in each two-dimensional code when the IDs of the positioning tags obtained by the ID calculation of each two-dimensional code are identical, where the area of the two-dimensional code located at the middle position is larger than the areas of the two-dimensional codes located at other positions;
the first determining module 60 is configured to determine, when the two-dimensional code located at the middle position exists, a global coordinate of the mobile platform according to the two-dimensional code located at the middle position;
the second determining module 70 is configured to determine, when the two-dimensional codes located at the intermediate positions do not exist, global coordinates of the mobile platform according to each of the two-dimensional codes located at the other positions.
In one embodiment, the first determining module 60 according to the embodiment of the present application includes:
the first pose acquisition unit is used for acquiring pose information of the two-dimensional code at the middle position under an image coordinate system;
the first global coordinate acquisition unit is used for substituting pose information of the two-dimensional code of the middle position in the image coordinate system into a conversion formula between the image coordinate system and the global coordinate system so as to calculate and obtain global coordinates of the mobile platform in the global coordinate system.
In another embodiment, the second determining module 70 according to the embodiment of the present application includes:
the second pose acquisition unit is used for respectively acquiring pose information of the two-dimensional codes at other positions under an image coordinate system;
the second global coordinate acquisition unit is used for substituting pose information of the two-dimensional codes at other positions in the image coordinate system into a conversion formula between the image coordinate system and the global coordinate system so as to calculate and obtain position coordinates of a plurality of mobile platforms in the global coordinate system;
and the third global coordinate acquisition unit is used for carrying out average calculation on the position coordinates under each global coordinate system so as to take the average value as the global coordinate of the mobile platform.
In yet another embodiment, a conversion formula between an image coordinate system and a global coordinate system according to the embodiment of the present application is:
wherein, the liquid crystal display device comprises a liquid crystal display device,the pose information of the center of the two-dimensional code in the global coordinate system is (h, w, theta) pose information of the center of the two-dimensional code in the image coordinate system, and (x, y) the global coordinate of the mobile platform in the global coordinate system.
Based on the identification positioning method based on the plurality of two-dimensional codes, the application also provides identification positioning equipment based on the plurality of two-dimensional codes, and the identification positioning equipment based on the plurality of two-dimensional codes comprises:
a memory for storing a computer program;
and a processor, configured to implement the identifying and positioning method based on a plurality of two-dimensional codes according to the foregoing embodiments when executing the computing program, where the identifying and positioning method based on a plurality of two-dimensional codes at least includes the following steps:
s10, collecting a positioning label image in a moving space, wherein the positioning label image is captured by a positioning camera;
step S20, judging whether a complete two-dimensional code exists in the acquired positioning label image;
step S30, if at least one complete two-dimensional code exists in the positioning label image, the ID of each two-dimensional code is obtained;
step S40, respectively calculating the ID of the positioning tag according to the ID of each two-dimensional code, and judging whether the ID of the positioning tag calculated by the ID of each two-dimensional code is consistent or not;
step S50, if the IDs of the positioning labels obtained through ID calculation of the two-dimensional codes are consistent, judging whether the two-dimensional codes at the middle position exist in the two-dimensional codes or not, wherein the area of the two-dimensional codes at the middle position is larger than that of the two-dimensional codes at other positions;
step S60, if the two-dimensional code at the middle position exists, determining the global coordinate of the mobile platform according to the two-dimensional code at the middle position;
and step S70, if the two-dimensional codes at the middle positions do not exist, determining the global coordinates of the mobile platform according to each two-dimensional code at other positions.
Based on the identification positioning method based on the plurality of two-dimensional codes, the application also provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the identification positioning method based on the plurality of two-dimensional codes recorded in each embodiment is realized, and the identification positioning method based on the plurality of two-dimensional codes at least comprises the following steps:
s10, collecting a positioning label image in a moving space, wherein the positioning label image is captured by a positioning camera;
step S20, judging whether a complete two-dimensional code exists in the acquired positioning label image;
step S30, if at least one complete two-dimensional code exists in the positioning label image, the ID of each two-dimensional code is obtained;
step S40, respectively calculating the ID of the positioning tag according to the ID of each two-dimensional code, and judging whether the ID of the positioning tag calculated by the ID of each two-dimensional code is consistent or not;
step S50, if the IDs of the positioning labels obtained through ID calculation of the two-dimensional codes are consistent, judging whether the two-dimensional codes at the middle position exist in the two-dimensional codes or not, wherein the area of the two-dimensional codes at the middle position is larger than that of the two-dimensional codes at other positions;
step S60, if the two-dimensional code at the middle position exists, determining the global coordinate of the mobile platform according to the two-dimensional code at the middle position;
and step S70, if the two-dimensional codes at the middle positions do not exist, determining the global coordinates of the mobile platform according to each two-dimensional code at other positions.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another apparatus, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description of the preferred embodiments of the present application should not be taken as limiting the scope of the application, but rather should be understood to cover all modifications, variations and adaptations of the present application using its general principles and the following detailed description and the accompanying drawings, or the direct/indirect application of the present application to other relevant arts and technologies.
Claims (10)
1. The identification positioning method based on a plurality of two-dimensional codes comprises the steps of combining a plurality of two-dimensional codes into a single positioning label, wherein the positioning label is distributed in a moving space of a mobile platform, and a positioning camera is arranged on the mobile platform, and the identification positioning method based on the plurality of two-dimensional codes is characterized by comprising the following steps:
collecting a positioning tag image in a moving space, wherein the positioning tag image is captured by the positioning camera;
judging whether a complete two-dimensional code exists in the acquired positioning label image;
if at least two complete two-dimensional codes exist in the positioning label image, obtaining the ID of each two-dimensional code;
respectively calculating the ID of the positioning tag according to the ID of each two-dimensional code, judging whether the ID of the positioning tag calculated by the ID of each two-dimensional code is consistent, and calculating the ID of the positioning tag according to the formula: positioning tag id= (single two-dimensional code ID-1)/9;
if the IDs of the positioning labels obtained through ID calculation of the two-dimensional codes are consistent, according to the formula: (ID-1)% 9=4 of a single two-dimensional code), judging whether two-dimensional codes in the middle position exist in each two-dimensional code, wherein the area of the two-dimensional code in the middle position is larger than that of the two-dimensional codes in other positions, and the symbol% represents that the remainder is obtained after division;
if the two-dimensional code at the middle position exists, determining the global coordinate of the mobile platform according to the two-dimensional code at the middle position;
if the two-dimensional codes at the middle positions do not exist, determining global coordinates of the mobile platform according to the two-dimensional codes at other positions.
2. The method according to claim 1, wherein determining the position coordinates of the mobile platform according to the two-dimensional code of the intermediate position includes:
acquiring pose information of the two-dimensional code at the middle position under an image coordinate system;
and substituting pose information of the two-dimensional code of the middle position in an image coordinate system into a conversion formula between the image coordinate system and a global coordinate system to calculate and obtain the global coordinate of the mobile platform in the global coordinate system.
3. The method according to claim 1, wherein determining the position coordinates of the mobile platform according to the two-dimensional code at each other position comprises:
respectively acquiring pose information of the two-dimensional codes at the other positions under an image coordinate system;
substituting pose information of the two-dimensional codes at the other positions in an image coordinate system into a conversion formula between the image coordinate system and a global coordinate system to calculate and obtain position coordinates of a plurality of mobile platforms in the global coordinate system;
and carrying out average calculation on the position coordinates in each global coordinate system, and taking the average value as the global coordinate of the mobile platform.
4. A method of identifying and locating according to claim 2 or 3, wherein the conversion formula between the image coordinate system and the global coordinate system is:
the (x 1, y1, ψ) is pose information of the center of the two-dimensional code in the global coordinate system, the (h, w, θ) is pose information of the center of the two-dimensional code in the image coordinate system, and the (x, y) is global coordinates of the mobile platform in the global coordinate system.
5. Identification positioner based on a plurality of two-dimensional codes, characterized by includes:
the image acquisition module is used for acquiring positioning label images in the moving space;
the first judging module is used for judging whether a complete two-dimensional code exists in the acquired positioning label image;
the ID acquisition module is used for acquiring the ID of each two-dimensional code when at least two complete two-dimensional codes exist in the positioning label image;
the second judging module is used for respectively calculating the IDs of the positioning labels according to the IDs of the two-dimensional codes, judging whether the IDs of the positioning labels obtained through the calculation of the IDs of the two-dimensional codes are consistent, and calculating the IDs of the positioning labels according to the formula: positioning tag id= (single two-dimensional code ID-1)/9;
the third judging module is used for, when the IDs of the positioning labels obtained through ID calculation of the two-dimensional codes are consistent, according to the formula: (ID-1)% 9=4 of a single two-dimensional code), judging whether two-dimensional codes in the middle position exist in each two-dimensional code, wherein the area of the two-dimensional code in the middle position is larger than that of the two-dimensional codes in other positions, and the symbol% represents that the remainder is obtained after division;
the first determining module is used for determining global coordinates of the mobile platform according to the two-dimensional code at the middle position when the two-dimensional code at the middle position exists;
and the second determining module is used for determining the global coordinates of the mobile platform according to each two-dimensional code at other positions when the two-dimensional code at the middle position does not exist.
6. The identification location device of claim 5, wherein the first determination module comprises:
the first pose acquisition unit is used for acquiring pose information of the two-dimensional code at the middle position under an image coordinate system;
the first global coordinate acquisition unit is used for substituting pose information of the two-dimensional code of the middle position in the image coordinate system into a conversion formula between the image coordinate system and the global coordinate system so as to calculate and obtain global coordinates of the mobile platform in the global coordinate system.
7. The identification location device of claim 5, wherein the second determination module comprises:
the second pose acquisition unit is used for respectively acquiring pose information of the two-dimensional codes at the other positions under an image coordinate system;
the second global coordinate acquisition unit is used for substituting pose information of the two-dimensional codes at the other positions in the image coordinate system into a conversion formula between the image coordinate system and the global coordinate system so as to calculate and obtain position coordinates of a plurality of mobile platforms in the global coordinate system;
and the third global coordinate acquisition unit is used for carrying out average calculation on the position coordinates under each global coordinate system so as to take the average value as the global coordinate of the mobile platform.
8. The identification positioning device of claim 6 or 7, wherein the conversion formula between the image coordinate system and the global coordinate system is:
wherein said (x 1 ，y 1 Psi) is pose information of the center of the two-dimensional code in the global coordinate system, h, w, theta is pose information of the center of the two-dimensional code in the image coordinate system, and x, y is global coordinates of the mobile platform in the global coordinate system.
9. Identification positioning equipment based on a plurality of two-dimensional codes, characterized by comprising:
a memory for storing a computer program;
a processor for implementing the identification positioning method based on a plurality of two-dimensional codes according to any one of claims 1 to 4 when executing the computer program.
10. A storage medium storing a computer program which, when executed by a processor, implements the method for identifying and locating based on a plurality of two-dimensional codes according to any one of claims 1 to 4.
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