CN102231187B - Computer vision detection technology-based method for detecting and identifying QR (Quick Response) code - Google Patents
Computer vision detection technology-based method for detecting and identifying QR (Quick Response) code Download PDFInfo
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Abstract
The invention relates to a computer vision detection technology-based method for detecting and identifying a QR (Quick Response) code. According to the method, a computer, a digital camera, a light supplementing device and an acousto-optical prompt device are mainly comprised, wherein a video signal of the digital camera is output to the computer; after receiving input of a video sensor, the computer controls the light supplementing device and the acousto-optical prompt device; a QR code intelligent detection module is installed in the computer and used for detecting, extracting and decoding a QR code graph through circularly reading frame data in a scanning video; and if successful, a user is prompted through a buzzer. According to location characteristic detection of the QR code, the computer vision detection technology-based method for detecting and identifying the QR code solves the problem of extracting and decoding of the QR code which is defected and blocked by a locator in a complex illumination background, has the characteristics of low cost, no complex mechanical device resulting in faults easily and capability of utilizing the traditional intelligent equipment effectively and expansion of the traditional functions with an algorithm module.
Description
Technical field
The invention belongs to based on the automatic detection and Identification method of the two-dimensional bar code of video technique, particularly based on the QR sign indicating number intelligent detection equipment of video sensor.
Background technology
Bar Code has been given play to increasing effect as the information media between the smart machines such as people, goods and computing machine in flourish Internet of Things field.Than other means of identification, barcode technology has that cost is low, easy to use, the reliability advantages of higher.But traditional bar code progressively has been difficult to adapt to the social demand that develops rapidly because quantity of information is little.Under this situation, the various two-dimensional bar codes that information capacity is bigger, error correcting capability is higher are proposed in succession.Meanwhile, greatly reduce, be widely used, can be used as the low-cost solution of two-dimensional barcode image data acquisition equipment based on the camera cost of digital image processing techniques.Therefore, two-dimensional bar code is widely used in having the intelligent terminal of video capability in recent years, for example Zhuan Yong logistics management portable terminal or smart mobile phone.In use, corresponding two-dimensional bar code is worked out on the information limit of at first establish to need transmitting, and this information can be actual Item Information, also can be virtual checking secret key etc.; Two-dimensional bar code can be printed on the specific region that is fit to read then, in the external packing as article; In the information communication process, two-dimension code is as the carrier and the transmission interface of information, for example in the outbound of article, transportation, distribution, storage, transfer or the like link, can obtain relevant information fast by the two-dimension code that the article correspondence is read in scanning.
Yet, because the characteristic of the multi-direction scanning of need of two-dimensional bar causes distortion in images bigger to the influence of bar-code identification.Simultaneously, because the effect of image acquisition is subjected to the restriction of ambient lighting power and degree of uniformity.More crucial is that according to national standard, the testing process of QR sign indicating number need be located the functional graphic of QR sign indicating number, especially three of the QR sign indicating number positioning patterns; If certain positioning pattern is blocked or stained in the testing process of QR sign indicating number, then will cause the QR sign indicating number can't be detected.Yet the circumstance complication of actual use is changeable, two-dimensional bar often occurs and is blocked and stained situation.Therefore, the QR detection of research under distortion and the positioning pattern situation of blocking has positive effect.
At home up to the present, do not retrieve similar techniques or relevant patent as yet.
Summary of the invention
The purpose of this invention is to provide a kind of QR sign indicating number based on digital image processing techniques and detect recognition methods, to solve the problem that detects and read the QR sign indicating number under the situation that pattern distortion and QR sign indicating number positioning pattern be blocked.
The object of the present invention is achieved like this: a kind of QR sign indicating number based on the Computer Vision Detection technology detects recognition methods, comprises digital camera, light filling equipment, location indicating equipment and embedded computer or industrial control computer, carries out according to the following steps:
1) reads coloured image by the computer drives digital camera;
2) coloured image is carried out pre-service, comprise denoising and smothing filtering;
3) coloured image is converted to gray level image;
4) all pixels in the traversal gray level image, the high-high brightness in the extraction image and the grey scale pixel value of minimum brightness, and calculate the threshold value of its mean value as image binaryzation;
5) utilize the threshold value of image binaryzation that gray level image is carried out dividing processing, obtain the black and white binary image that only constitutes by black and white, and make the dark module of two-dimension code figure in bianry image, be rendered as black, and the light module of two-dimension code figure is rendered as white in bianry image;
6) black white image to binaryzation carries out transversal scanning, during scanning, adopts described light filling equipment to carry out light filling, adopts described location indicating equipment prompting sweep limit, and detection may be the scan lines of positioning pattern; Specific practice is, set up the array of describing scan lines length, array length is determined by the characteristic of positioning pattern, and the black of scanning gained or the length of white line segment are stored in the corresponding array, when array was filled, just having finished one may be the scanning of positioning pattern;
7) length ratio of the judging scan lines ratio criteria of accord with Q R sign indicating number positioning pattern whether; If length ratio does not meet standard-required, the positioning pattern of this scan lines without the QR sign indicating number is described then; Shifted scanning line segment length data are once returned step 6) more so successively, otherwise enter step 8);
8) geometric center of place, line segment center figure spot is obtained in scanning; Begin to do the differentiation inspection of positioning pattern from the center; Specific practice is, scans from horizontal and vertical, sees the ratio standard of accord with Q R sign indicating number whether of the scan lines of gained; If satisfy then and may add detected positioning pattern tabulation for the position and the size interrelated geometrical parameters of positioning pattern; Otherwise shifted scanning line segment length data twice are returned step 6) more successively;
9) utilize the data in the detected positioning pattern tabulation to judge whether to detect effective QR sign indicating number, and the order of definite positioning pattern in the QR sign indicating number; If have 3 effective positioning patterns, then change step 10) over to; Otherwise, need further to judge, if there are two effective positioning patterns, then change step 15) over to;
10) calculate module size, the length of side and the version of QR sign indicating number according to detected positioning pattern; And judge the validity of version, if the invalid step 1) of then returning; Otherwise enter step 11);
11) according to the position of the position prediction auxiliary positioning figure of version and positioning pattern, predicted position and near scan, obtain the auxiliary positioning figure; Specific practice is, launches around the mind-set to scan from predicted position, searches after the line segment that satisfies the auxiliary positioning graphics standard, and multi-direction again scanning verifies, up to be sure oing to find the auxiliary positioning figure, and preserves testing result; If do not find the auxiliary positioning figure, then return step 1); Otherwise enter step 12);
12) utilize three positioning patterns and an auxiliary positioning figure to set up projection mapping, utilize projection mapping to obtain the gray scale sampling of corresponding module at the black and white pattern of binaryzation again; Thereby set up the normal data matrix of QR sign indicating number;
13) result is deciphered and exported to the normal data matrix of QR sign indicating number, point out user's testing process to finish simultaneously;
14) wait for user instruction, then return step 1) if receive to continue to instruct; Otherwise enter step 20);
15) calculate the module size and the version number of QR sign indicating number according to detected two positioning patterns;
16) judge that according to the quantity of scan lines positioning pattern is on corresponding tetragonal same the limit of QR sign indicating number institute or on the diagonal line; If positioning pattern on diagonal line, is then searched the auxiliary positioning figure on tetragonal another diagonal line; If positioning pattern on same limit, is then searched the auxiliary positioning figure in the normal direction of this limit end points; If successfully search auxiliary positioning pattern, then change step 17 over to), otherwise return step 1);
17) establish from test pattern to the affined transformation of observing image according to detected two positioning patterns and auxiliary positioning figure, and calculate the endpoint location that TP is Timing Pattern with this;
18) be blocked or the stained nearest TP end points of positioning pattern from distance, search makes the point of TP sampling error minimum in its territory; Specific practice is that two end points of establishment TP according to endpoint location and version information, are established sampled point, compare according to the gray-scale value and the standard grayscale value of each sampled point, obtain the number of current sampling error; If detect the point of zero error, then can directly return this point, do not need follow-up judgement; Otherwise will judge the point of all predefineds in the territory, with the search least error;
19) with the TP end points of least error and two other positioning pattern and auxiliary positioning figure together as the reference mark of conversion; Change step 12 over to;
20) withdraw from.
The present invention is made up of three parts: have the video image acquisition part of light filling function, handle the two-dimension code detection and Identification core algorithm part of video image, be responsible for the interface part with user interactions.Video acquisition part is according to user instruction, opens camera and according to fixing frame per second collection color video frequency image; QR sign indicating number detection identification division carries out scan process to the video image of camera acquisition, extracts and output QR sign indicating number information wherein; After man-machine interaction partly receives user's work order, at first open light compensating apparatus prompting subscriber equipment and transfer to by dormancy and starting working, and with laser positioning pilot lamp prompting scanning input scope, after scanning successfully, point out and finish with hummer.Three parts have comprised hardware and driving, bottom core algorithm software and the upper strata interactive interface software of the bottom respectively.
The picture that the present invention partly obtains by real-time dividing processing video acquisition, scanning monochrome pixels is wherein oriented four jiaos the positioning image and the auxiliary positioning figure of QR sign indicating number, thereby is also deciphered according to geometric relationship sampling QR sign indicating number information.
The present invention can detect the QR sign indicating number figure in the video flowing automatically under complicated photoenvironment, be not subjected to the influence of version, printed dimensions and the color of QR sign indicating number, and have the higher detection accuracy rate, possesses anti-distortion, anti-blocking and stained ability.
The present invention can be integrated in special-purpose two-dimensional bar recognizing apparatus, also can utilize the video acquisition hardware device resources of existing widely used embedded intelligent equipment, on the basis of video signal collective the QR sign indicating number figure that observes is carried out intelligentized processing.
Based on the QR sign indicating number of the video sensor of this method survey and recognizer than other modes, beneficial effect of the present invention is:
1, the present invention can realization information still read under the damaged situation of QR sign indicating number finger URL;
2, the present invention adopts the visible light video, and cost is lower, and raw data can directly be observed for human eye;
3, the present invention is not limited by ambient lighting, can adapt to the detection under the complex environment more;
4, can there be complicated mechanical equipment in the present invention, can make failure rate lower;
5, the present invention effectively utilizes existing smart machine, utilizes algoritic module expansion existing capability;
6, detection identification signal of the present invention can real-time Transmission be given the keeper seat
Description of drawings
Fig. 1 is a hardware connection diagram of the present invention.
Fig. 2 is the video overview flow chart that the present invention handles the QR sign indicating number.
Fig. 3-1, Fig. 3-2 is respectively two kinds of scheme of installations of video camera of the present invention.
Fig. 4 is the software and hardware functional planning synoptic diagram that the present invention relates to.
Embodiment
Fig. 1 illustrates, and the computing machine left side connects digital camera and LED light filling lamp, and the computing machine right side connects hummer, display and button (keyboard).The present invention mainly is made up of digital camera, light filling equipment (as LED light filling lamp), location indicating equipment and embedded computer or industrial control computer.
Basic thought of the present invention is as follows: a kind of QR sign indicating number based on the Computer Vision Detection technology detects recognition methods, comprises digital camera, light filling equipment, location indicating equipment and embedded computer or industrial control computer, carries out according to the following steps:
1) reads coloured image by the computer drives digital camera;
2) coloured image is carried out pre-service, comprise denoising and smothing filtering;
3) coloured image is converted to gray level image;
4) all pixels in the traversal gray level image, the high-high brightness in the extraction image and the grey scale pixel value of minimum brightness, and calculate the threshold value of its mean value as image binaryzation;
5) utilize the threshold value of image binaryzation that gray level image is carried out dividing processing, obtain the black and white binary image that only constitutes by black and white, and make the dark module of two-dimension code figure in bianry image, be rendered as black, and the light module of two-dimension code figure is rendered as white in bianry image;
6) black white image to binaryzation carries out transversal scanning, during scanning, adopts described light filling equipment to carry out light filling, adopts described location indicating equipment prompting sweep limit, and detection may be the scan lines of positioning pattern; Specific practice is, set up the array of describing scan lines length, array length is determined by the characteristic of positioning pattern, and the black of scanning gained or the length of white line segment are stored in the corresponding array, when array was filled, just having finished one may be the scanning of positioning pattern;
7) length ratio of the judging scan lines ratio criteria of accord with Q R sign indicating number positioning pattern whether; If length ratio does not meet standard-required, the positioning pattern of this scan lines without the QR sign indicating number is described then; Shifted scanning line segment length data are once returned step 6) more so successively, otherwise enter step 8);
8) geometric center of place, line segment center figure spot is obtained in scanning; Begin to do the differentiation inspection of location map figure from the center; Specific practice is, scans from horizontal and vertical, sees the ratio standard of accord with Q R sign indicating number whether of the scan lines of gained; If satisfy then and may add detected positioning pattern tabulation for interrelated geometrical parameters such as the position and the size etc. of positioning pattern; Otherwise shifted scanning line segment length data twice are returned step 6) more successively;
9) utilize the data in the detected positioning pattern tabulation to judge whether to detect effective QR sign indicating number, and the order of definite positioning pattern in the QR sign indicating number; If have 3 effective positioning patterns, then change step 10) over to; Otherwise, need further to judge, if there are two effective positioning patterns, then change step 15) over to;
10) calculate module size, the length of side and the version of QR sign indicating number according to detected positioning pattern; And judge the validity of version, if the invalid step 1) of then returning; Otherwise enter step 11);
11) according to the position of the position prediction auxiliary positioning figure of version and positioning pattern, predicted position and near scan, obtain the auxiliary positioning figure; Specific practice is, launches around the mind-set to scan from predicted position, searches after the line segment that satisfies the auxiliary positioning graphics standard, and multi-direction again scanning verifies, up to be sure oing to find the auxiliary positioning figure, and preserves testing result; If do not find the auxiliary positioning figure, then return step 1); Otherwise enter step 12);
12) utilize three positioning patterns and an auxiliary positioning figure to set up projection mapping, utilize projection mapping to obtain the gray scale sampling of corresponding module at the black and white pattern of binaryzation again; Thereby set up the normal data matrix of QR sign indicating number;
13) result is deciphered and exported to the normal data matrix of QR sign indicating number, point out user's testing process to finish simultaneously;
14) wait for user instruction, then return step 1) if receive to continue to instruct; Otherwise enter step 20);
15) calculate the module size and the version number of QR sign indicating number according to detected two positioning patterns;
16) judge that according to the quantity of scan lines positioning pattern is on corresponding tetragonal same the limit of QR sign indicating number institute or on the diagonal line; If positioning pattern on diagonal line, is then searched the auxiliary positioning figure on tetragonal another diagonal line; If positioning pattern on same limit, is then searched the auxiliary positioning figure in the normal direction of this limit end points; If successfully search auxiliary positioning pattern, then change step 17 over to), otherwise return step 1);
17) establish from test pattern to the affined transformation of observing image according to detected two positioning patterns and auxiliary positioning figure, and calculate the endpoint location that TP is Timing Pattern with this;
18) be blocked or the stained nearest TP end points of positioning pattern from distance, search makes the point of TP sampling error minimum in its territory; Specific practice is that two end points of establishment TP according to endpoint location and version information, are established sampled point, compare according to the gray-scale value and the standard grayscale value of each sampled point, obtain the number of current sampling error; If detect the point of zero error, then can directly return this point, do not need follow-up judgement; Otherwise will judge the point of all predefineds in the territory, with the search least error;
19) the TP end points of least error is done and two other positioning pattern and auxiliary positioning figure together as the reference mark of conversion; Change step 12) over to;
20) withdraw from.
In the above-mentioned steps, the mode to the multistage processing is taked in the scanning and the extraction in doubtful QR sign indicating number finger URL zone scans possible positioning pattern fast with pixel level, uses the detection of region class feature debug on this basis again.The differentiation process is carried out with the decision-making of many characteristic bindings; The detection in doubtful finger URL zone is finished in the work of three levels jointly, and testing result is carried out degree of confidence filtering, to remove the result of contingency.(referring to Fig. 2).
The adoptable output scheme of testing result is as follows:
1, the mode with simulating keyboard outputs to the PC computing machine by the usb interface:
The QR detecting device links to each other with the PC computing machine by the usb interface.For PC, the QR detecting device is equivalent to a standard USB keyboard equipment, need not to install extra driving.When detect the QR sign indicating number and successfully decoded after, the QR code detectors is got to output content the character buffer of PC computer.This mode automaticity height, but need the PC computer that corresponding character set is installed is such as GB3212 etc.
2, the display output that carries with the QR code detectors:
After QR code detectors decoding success goes out QR information, information is outputed on the display that carries, be available for users to direct viewing.But the advantage of this mode is user's direct viewing result.
Hardware list is as follows:
The camera parameters explanation:
The video camera imaging effect is influenced by sensitive chip and camera lens two aspects mainly.Wherein, sensitive chip can adopt the also available CMOS chip of CCD chip, need adopt large-size as far as possible, to be lowered into the picture noise and to improve dynamic range.Camera lens adopts tight shot, and focal length adopts the 50mm optical lens that is equivalent to 135 cameras, is consistent so that take the distance and the use habit of QR sign indicating number.Camera lens need not automatic focusing, only needs the suitable field depth of design, and when making hand-held or location scanning, the image of QR is just in time within the field depth of camera lens.The sensitive chip of video camera, camera lens need relative fixed, are incorporated into together.
The hardware connection description:
Camera lens keeps constant with the relative position of camera sensitive chip by stationary installation.The signal of sensitive chip is exported to QR detection computations machine after changing by built-in AD, and computing machine connects also control light filling equipment and positioning equipment, and display screen and hummer also are connected to computing machine by slot simultaneously.
Claims (1)
1. the QR sign indicating number based on the Computer Vision Detection technology detects recognition methods, comprises, digital camera, light filling equipment, location indicating equipment and embedded computer or industrial control computer is characterized in that: carry out according to the following steps:
1) reads coloured image by the computer drives digital camera;
2) coloured image is carried out pre-service, comprise denoising and smothing filtering;
3) coloured image is converted to gray level image;
4) all pixels in the traversal gray level image, the high-high brightness in the extraction image and the grey scale pixel value of minimum brightness, and calculate the threshold value of its mean value as image binaryzation;
5) utilize the threshold value of image binaryzation that gray level image is carried out dividing processing, obtain the black and white binary image that only constitutes by black and white, and make the dark module of two-dimension code figure in bianry image, be rendered as black, and the light module of two-dimension code figure is rendered as white in bianry image;
6) black white image to binaryzation carries out transversal scanning, during scanning, adopts described light filling equipment to carry out light filling, adopts described location indicating equipment prompting sweep limit, and detection may be the scan lines of positioning pattern; Specific practice is, set up the array of describing scan lines length, array length is determined by the characteristic of positioning pattern, and the black of scanning gained or the length of white line segment are stored in the corresponding array, when array was filled, just having finished one may be the scanning of positioning pattern;
7) length ratio of the judging scan lines ratio criteria of accord with Q R sign indicating number positioning pattern whether; If length ratio does not meet standard-required, the positioning pattern of this scan lines without the QR sign indicating number is described then; Shifted scanning line segment length data are once returned step 6) more so successively, otherwise enter step 8);
8) geometric center of place, line segment center figure spot is obtained in scanning; Begin to do the differentiation inspection of positioning pattern from the center; Specific practice is, scans from horizontal and vertical, sees the ratio standard of accord with Q R sign indicating number whether of the scan lines of gained; If satisfy then and may add detected positioning pattern tabulation for the position and the size interrelated geometrical parameters of positioning pattern; Otherwise shifted scanning line segment length data twice are returned step 6) more successively;
9) utilize the data in the detected positioning pattern tabulation to judge whether to detect effective QR sign indicating number, and the order of definite positioning pattern in the QR sign indicating number; If have 3 effective positioning patterns, then change step 10) over to; Otherwise, need further to judge, if there are two effective positioning patterns, then change step 15) over to;
10) calculate module size, the length of side and the version of QR sign indicating number according to detected positioning pattern; And judge the validity of version, if the invalid step 1) of then returning; Otherwise enter step 11);
11) according to the position of the position prediction auxiliary positioning figure of version and positioning pattern, predicted position and near scan, obtain the auxiliary positioning figure; Specific practice is, launches around the mind-set to scan from predicted position, searches after the line segment that satisfies the auxiliary positioning graphics standard, and multi-direction again scanning verifies, up to be sure oing to find the auxiliary positioning figure, and preserves testing result; If do not find the auxiliary positioning figure, then return step 1); Otherwise enter step 12);
12) utilize three positioning patterns and an auxiliary positioning figure to set up projection mapping, utilize projection mapping to obtain the gray scale sampling of corresponding module at the black and white pattern of binaryzation again; Thereby set up the normal data matrix of QR sign indicating number;
13) result is deciphered and exported to the normal data matrix of QR sign indicating number, point out user's testing process to finish simultaneously;
14) wait for user instruction, then return step 1) if receive to continue to instruct; Otherwise enter step 20);
15) calculate the module size and the version number of QR sign indicating number according to detected two positioning patterns;
16) judge that according to the quantity of scan lines positioning pattern is on corresponding tetragonal same the limit of QR sign indicating number institute or on the diagonal line; If positioning pattern on diagonal line, is then searched the auxiliary positioning figure on tetragonal another diagonal line; If positioning pattern on same limit, is then searched the auxiliary positioning figure in the normal direction of this limit end points; If successfully search auxiliary positioning pattern, then change step 17 over to), otherwise return step 1);
17) establish from test pattern to the affined transformation of observing image according to detected two positioning patterns and auxiliary positioning figure, and calculate the endpoint location that TP is Timing Pattern with this;
18) be blocked or the stained nearest TP end points of positioning pattern from distance, search makes the point of TP sampling error minimum in its territory; Specific practice is that two end points of establishment TP according to endpoint location and version information, are established sampled point, compare according to the gray-scale value and the standard grayscale value of each sampled point, obtain the number of current sampling error; If detect the point of zero error, then can directly return this point, do not need follow-up judgement; Otherwise will judge the point of all predefineds in the territory, with the search least error;
19) with the TP end points of least error and two other positioning pattern and auxiliary positioning figure together as the reference mark of conversion; Change step 12) over to;
20) withdraw from.
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| JP2015014882A (en) * | 2013-07-04 | 2015-01-22 | ソニー株式会社 | Information processing apparatus, operation input detection method, program, and storage medium |
| CN104517090B (en) * | 2013-09-29 | 2017-09-05 | 北大方正集团有限公司 | A kind of QR codes detect the detection method and system of figure |
| CN103593664B (en) * | 2013-11-29 | 2016-08-17 | 重庆大学 | A kind of preprocess method of QR code fault image |
| WO2017072778A1 (en) * | 2015-10-28 | 2017-05-04 | Hewlett-Packard Development Company, L.P. | Processing machine-readable link |
| CN105609008A (en) * | 2016-02-05 | 2016-05-25 | 中国科学院理化技术研究所 | Control system based on two-dimension code images and control method based on two-dimension code images |
| CN106778723B (en) * | 2016-11-28 | 2017-09-26 | 华中科技大学 | A kind of pneumatic equipment bladess surface image extracting method in complex background environment |
| CN109215075B (en) * | 2017-06-30 | 2021-07-09 | 沈阳新松机器人自动化股份有限公司 | Positioning and identifying system and method for workpiece in material grabbing of industrial robot |
| CN108647550B (en) * | 2018-04-11 | 2021-07-16 | 中山大学 | Machine learning-based two-dimensional code fuzzy clustering identification method and system |
| CN109032115A (en) * | 2018-08-13 | 2018-12-18 | 武汉楚冠捷汽车科技有限公司 | A kind of ECU controller performance detection device |
| CN109993018A (en) * | 2019-04-04 | 2019-07-09 | 哈尔滨理工大学 | It is a kind of based on the two dimensional code identifying system of Zynq heterogeneous platform and recognition methods |
| CN110188038B (en) * | 2019-05-13 | 2023-07-21 | 青岛海尔科技有限公司 | Parameter verification method and device and verification framework |
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