CN106355228A - Indoor moving object positioning system and method for positioning and identifying moving object - Google Patents

Indoor moving object positioning system and method for positioning and identifying moving object Download PDF

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CN106355228A
CN106355228A CN 201610900587 CN201610900587A CN106355228A CN 106355228 A CN106355228 A CN 106355228A CN 201610900587 CN201610900587 CN 201610900587 CN 201610900587 A CN201610900587 A CN 201610900587A CN 106355228 A CN106355228 A CN 106355228A
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ring
information
positioning
width
starting
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CN 201610900587
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Chinese (zh)
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吕勇
杨凯
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常州信息职业技术学院
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    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06046Constructional details
    • G06K19/06168Constructional details the marking being a concentric barcode
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14Methods 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
    • G06K7/1404Methods for optical code recognition
    • G06K7/1408Methods for optical code recognition the method being specifically adapted for the type of code
    • G06K7/1421Circular bar codes
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K2019/06215Aspects not covered by other subgroups
    • G06K2019/06243Aspects not covered by other subgroups concentric-code

Abstract

The invention discloses an indoor moving object positioning system and a method for positioning and identifying a moving object, wherein the indoor moving object positioning system comprises a positioning bar code, a wireless signal receiver, a tested target, a camera, a wireless signal transmitter and a PC machine or a server; the positioning bar code is arranged on the surface of the tested target; the wireless signal receiver is arranged on the tested target; at least one tested target and at least one camera are provided; the camera and the wireless signal transmitter are electrically connected with the PC machine or the server; and the wireless signal transmitter is connected with the wireless signal receiver through wireless communication. The camera of the indoor moving object positioning system disclosed by the invention shoots the positioning bar code on the tested target, and by virtue of a method for image identification, different tested targets can be quickly and accurately identified and the positions of the targets can be judged, thereby achieving quick identification and accurate positioning of indoor moving cooperative targets.

Description

室内移动目标定位系统及其定位并识别移动目标的方法 The method of indoor positioning system and mobile object to locate and identify the moving object

技术领域 FIELD

[0001 ]本发明涉及一种室内移动目标定位系统及其定位并识别移动目标的方法。 [0001] The present invention relates to a method for indoor location system and a mobile target to locate and identify the moving object.

背景技术 Background technique

[0002] 室内移动目标的定位是比较难的问题,现有的方法这样几种: [0002] positioning indoor moving targets is more difficult problems, existing methods such categories:

[0003] 第一种方法是利用固定点发出WIFI信号,通过目标点通过信号强度,判别位置。 [0003] A first method is to use a fixed-point WIFI signal emitted by the target point by the signal strength, determining the position. 用WIFI信号的方法,只是在理论上可以说得通,实际上由于信号在室内的反射差异,精度非常低 WIFI signal method, but can theoretically plausible, in fact, since the difference signal is reflected in the room, the accuracy is very low

[0004] 第二种方法是在目标上放置特别的反光点,然后再利用多个摄像头拍摄,从不同摄像头得到的反光点位置的差异,判断目标的位置。 [0004] The second method is to place a special reflecting point on the target, and then captured using a plurality of cameras, reflecting differences in dot position obtained from the different camera, the target position is determined. 用反光点的方法,只能识别出反光点的位置,但难以对多目标进行区分、识别。 Glistenings method can only identify the position of the reflecting point, it is difficult to distinguish multiple targets identified.

发明内容 SUMMARY

[0005] 本发明的目的是提供一种室内移动目标定位系统及其定位并识别移动目标的方法,实现室内移动合作目标的快速识别和精确定位。 [0005] The object of the present invention is to provide a moving target indoor location system to locate and identify the moving object and a method for rapid identification of target indoor moving and precise positioning cooperation.

[0006] 实现本发明目的的技术方案是:室内移动目标定位系统,包括定位条码、无线信号接收器、被测目标、摄像头、无线信号发送器和PC机或服务器;所述定位条码设置在被测目标的表面;所述无线信号接收器安装在被测目标上;所述被测目标和摄像头均设置至少一个;所述摄像头和无线信号发送器均与PC机或服务器电连接;所述无线信号发送器与无线信号接收器无线通信联接;所述定位条码包括由内而外依次同心设置的起始圆环、信息圆环和结束圆环;所述起始圆环包括一个起始窄环和一个起始宽环;所述起始窄环的宽度小于起始宽环的宽度;所述信息圆环包括至少一个信息窄环和至少一个信息宽环;所述结束圆环设置一个;所述起始窄环的宽度=信息窄环的宽度;所述起始宽环的宽度=信息宽环的宽度<结束圆环的宽度;所述起始圆环的最内圈圆环围绕的区域中填充有 [0006] The purpose of the present invention of are: indoor mobile targeting system, comprising positioning the bar code, a radio signal receiver, a test target, a camera, and a radio signal transmitter or a PC server; the positioning bar code is provided measured on the surface of the target; the wireless signal receiver is mounted on the measured object; said measured object and the camera are disposed at least one; the camera and wireless signal transmitter are connected with a PC or a server electrically; the radio a wireless signal transmitter and signal receiver coupled to a wireless communication; the barcode includes a start locating ring concentrically disposed sequentially from the inside of the ring and an end ring information; starting said annular ring comprises a narrow starting and starting a wide ring; the initial width of the narrow width of the ring is smaller than the initial width of the ring; the information comprises at least one annular ring and at least one information of information of the narrow width of the ring; the end of a ring is provided; the the width of said narrow annular = initial information narrow ring; the initial width = width of the ring width of the ring width information <the width of the end ring; the starting innermost annular ring surrounding region filled with 不出现在背景颜色中的识别色;所述起始窄环和起始宽环之间的间距与信息圆环中各圆环的间距相同。 Do not appear to identify the color of the background color; the same pitch as the ring information between the start and the starting width narrow annular rings each ring.

[0007] 所述定位条码的起始圆环的起始窄环位于起始宽环内部;所述识别色填充在起始窄环围绕的区域中。 Starting the ring [0007] Location bar code starting narrow annular ring located within the initial width; the identifying color in the initial filling of the narrow area around the ring.

[0008] 上述室内移动目标定位系统的定位并识别移动目标的方法,包括以下步骤: [0008] positioned in the chamber of a moving target positioning system and identify the moving object, comprising the steps of:

[0009] ①、摄像头高速拍摄,并将图像信号传送给PC机或服务器; [0009] ①, high-speed imaging camera, and transmits the image signal to a PC or server;

[0010] ②、PC机或服务器在拍摄的图像中找到被测目标上的定位条码的中心点坐标,根据定位条码的中心点在图像中的位置,判断出被测目标的实际位置; [0010] ②, PC or server to find the center point coordinates of positioning of the bar code on the test object on the image captured, according to the positioning of the center point position in the image of the barcode determines the actual position of the measured object;

[0011] ③、PC机或服务器通过定位条码的信息圆环完成对被测目标的识别; [0011] ③, PC or server to complete the identification information of the measured object by the positioning ring barcode;

[0012] ④、PC机或服务器完成定位和识别后,将位置信息以无线通信的方式发送给被测目标,使被测目标知道自己的位置。 After [0012] ④, PC or server identification and positioning is completed, the position information is transmitted to the wireless communication to the measured object, so that the measured target know their location.

[0013] 所述步骤②中找到被测目标上的定位条码的中心点坐标的具体方法为: Specific Method [0013] found in the step ② of the center point coordinates of positioning the barcode on the object to be measured:

[0014] 首先,在图像中找到定位条码的识别色的区块,选择其中一点作为基点a,从a点向不同方向作至少五条射线与起始圆环的内环相交,得到至少五个点(若超过五个点,则通过最小二乘法)确定椭圆的方程,以下推导过程,假定有n(n>5)个点,其推导如下: [0014] First, find the identifying color barcode block is positioned in the image, wherein the selected point as a base point, as intersecting at least five rays with the inner ring from a starting point in different directions, at least five points to obtain (if more than five points, the least square method) to determine the equation of the ellipse, the following derivation, assuming n (n> 5) points, which is derived as follows:

Figure CN106355228AD00061

Figure CN106355228AD00071

[0052] 这样就找到了被测目标上的定位条码的中心点坐标。 [0052] This positioning coordinates of the center bar code found on the test target.

[0053] 所述步骤③中通过定位条码的信息圆环对被测目标进行识别的具体方法为:从定位条码的中心点出发,沿任意一个方向依次检测定位条码;首先检测的是两圈起始圆环,通过对其宽度、间距的检测,获知信息圆环的间距和两种宽度;然后逐一检测各信息圆环的信息,根据不同宽度,信息窄环代表〇或1,信息宽环代表1或〇,得到对应的二进制数据信息即是被测目标的身份数据;最后检测到宽度最大的结束圆环,识别的工作结束。 [0053] The specific methods for the identification of the measured object by the information in the step ③ positioning ring barcode is: starting from the central point of the positioning bar code, an arbitrary direction sequentially detected bar code is positioned; is first detected twice from ring starts by detecting its width, pitch, and two kinds of width information known spacing ring; and then individually detected information of each information ring, depending on the width of the information representative of the narrow ring or a square, the information representative of the wide ring 1 or square, to obtain binary data that is information corresponding to the identification data of the measured object; last detected maximum width end of the ring, identifying the end of work.

[0054]采用了上述技术方案,本发明具有以下的有益效果:本发明的摄像头拍摄被测目标上的定位条码,通过图像识别的方法,能够快速、精确地识别不同的被测目标并判断目标的位置,从而实现对室内移动合作目标的快速识别和精确定位。 [0054] The above technical scheme, the present invention has the following advantages: the camera according to the present invention, taken on the measured object positioning bar code, by image recognition method to quickly and accurately identify the different target measured object is determined and location, enabling rapid identification and precise positioning of the indoor mobile cooperative target.

附图说明 BRIEF DESCRIPTION

[0055]为了使本发明的内容更容易被清楚地理解,下面根据具体实施例并结合附图,对本发明作进一步详细的说明,其中[0056]图1为本发明的结构示意图。 [0055] In order to make the present invention more easily to be clearly understood, the following Examples depending on the particular embodiment and the accompanying drawings, a schematic view of the structure of the present invention will be further described in detail, wherein [0056] FIG. 1 of the present invention.

[0057] 图2为本发明的定位条码的结构示意图。 [0057] FIG. 2 is a schematic structural diagram of the present invention, the positioning of the bar code.

[0058] 附图中的标号为: [0058] reference numerals are as follows:

[0059] 定位条码1、起始圆环11、起始窄环111、起始宽环112、识别色113、信息圆环12、信息窄环121、信息宽环122、结束圆环13、无线信号接收器2、被测目标3、摄像头4、无线信号发送器5、PC机或服务器6。 [0059] positioned a barcode, starting the ring 11, the initial narrow ring 111, ring 112 starting width, 113 to identify the color, the ring information 12, information of the narrow ring 121, the ring width information 122, the end ring 13, the radio a signal receiver 2, the measured object 3, the camera 4, the wireless signal transmitter 5, PC 6 or server.

具体实施方式[0060](实施例1) DETAILED DESCRIPTION [0060] (Example 1)

[0061 ]见图1,本实施例的室内移动目标定位系统,包括定位条码1、无线信号接收器2、被测目标3、摄像头4、无线信号发送器5和PC机或服务器6。 [0061] Figure 1, an indoor mobile targeting system of the present embodiment, comprises positioning a barcode, a wireless signal receiver 2, the measured object 3, the camera 4, 5, and a radio signal transmitter or a PC server 6.

[0062]定位条码1设置在被测目标3的表面。 [0062] positioned a bar code provided on the surface of the measured object 3. 无线信号接收器2安装在被测目标3上。 Wireless signal receiver 2 is mounted on the measured object 3. 被测目标3和摄像头4均设置至少一个。 Measured object 3 and camera 4 are disposed at least one. 摄像头4和无线信号发送器5均与PC机或服务器6电连接。 Camera 4 and a wireless signal transmitter 5 are electrically connected to a PC or server 6. 无线信号发送器5与无线信号接收器2无线通信联接。 A wireless signal transmitter and the wireless signal receiver 5 second radio communication connection.

[0063 ]见图2,定位条码1包括由内而外依次同心设置的起始圆环11、信息圆环12和结束圆环13。 [0063] Figure 2, comprising a barcode locating ring starting from the inside 11 are sequentially arranged concentrically, the ring 12 and the end ring information 13. 起始圆环11包括一个起始窄环111和一个起始宽环112。 11 comprises a starting initial narrow annular ring 111 and a ring 112 starting wide. 起始窄环111的宽度小于起始宽环112的宽度。 The width of the narrow ring 111 of the initial starting width smaller than the width of the ring 112. 信息圆环12包括至少一个信息窄环121和至少一个信息宽环122。 Information 12 includes at least one annular ring 121 and the information of the narrow width of the at least one information ring 122. 结束圆环13设置一个。 The end of the ring 13 a set. 起始窄环111的宽度=信息窄环121的宽度。 Width = 111 starting narrow annular ring 121 of narrower width information. 起始宽环112的宽度=信息宽环122的宽度<结束圆环13的宽度。 Wide-width start ring 112 = wide band width information 122 <the width of the end ring 13. 起始圆环11的最内圈圆环围绕的区域中填充有不出现在背景颜色中的识别色113。 Starting innermost annular region surrounding the ring 11 is filled with the background color not present in the 113 color recognition. 起始窄环111和起始宽环112之间的间距与信息圆环12中各圆环的间距相同。 Narrow ring 111 and the start of each ring 12 and the pitch of information between the annular ring 112 is the same as the initial width.

[0064] 优选方案:定位条码1的起始圆环11的起始窄环111位于起始宽环112内部,识别色113填充在起始窄环111围绕的区域中。 [0064] Preferred embodiment: start positioning bar code starting narrow annular ring 111 1 11 112 located inside the ring starting width, fill color identification 113 111 narrow annular region around the start of the.

[0065] 本实施例的室内移动目标定位系统的定位并识别移动目标的方法,包括以下步骤: [0065] positioned indoor mobile targeting system of the present embodiment and the moving object identification method, comprising the steps of:

[0066] ①、摄像头高速拍摄,并将图像信号传送给PC机或服务器6。 [0066] ①, high-speed imaging camera, and transmits the signals to the PC or the image server 6.

[0067] ②、PC机或服务器6在拍摄的图像中找到被测目标3上的定位条码1的中心点坐标, 根据定位条码1的中心点在图像中的位置,判断出被测目标3的实际位置。 [0067] ②, PC or server found 6 measured object on the image captured on the center point coordinates of positioning the barcode 31, according to the positioning of the center point of a bar code position in the image, it is determined that the measured object 3 The actual location. 具体方法为: Specific methods are:

[0068] 首先,在图像中找到定位条码1的识别色113的区块,选择其中一点作为基点a,从a 点向不同方向作至少五条射线与起始圆环11的内环相交,得到至少五个点(若超过五个点, 则通过最小二乘法)确定椭圆的方程,以下推导过程,假定有n(n多5)个点,其推导如下: [0068] First, the positioning bar code found in the image recognition block 113 of the color 1, wherein the selected point as a base point, from a point at least five rays as the starting ring and the inner ring 11 intersect in different directions, to give at least five points (if more than five points, the least square method) to determine the equation of the ellipse, the following derivation, assuming n (n multi 5) points, which is derived as follows:

[0069] 假定该椭圆的方程f (X,y) = 0为:x2+aiy2+a2xy+a3x+a4y+a5 = 0, [0069] The equation assumes that f (X, y) = 0 of the ellipse is: x2 + aiy2 + a2xy + a3x + a4y + a5 = 0,

[0070] 由于上述各个交点均位于椭圆上,于是有: [0070] Since each of the above intersections are located on an ellipse, so there are:

Figure CN106355228AD00081

(―>; (->;

Figure CN106355228AD00091

Figure CN106355228AD00101

[0105] 这样就找到了被测目标3上的定位条码1的中心点坐标。 [0105] This positioning of the barcode found on the center coordinate 31 of the measured object.

[0106] ③、PC机或服务器6通过定位条码1的信息圆环12完成对被测目标3的识别。 [0106] ③, PC or server 612 to complete the identification of the measured object 3 by the positioning ring 1 is bar code information. 具体方法为:从定位条码1的中心点出发,沿任意一个方向依次检测定位条码1。 The specific method is: starting from the central point of the positioning of the bar code 1, an arbitrary direction detected sequentially positioning a barcode. 首先检测的是两圈起始圆环11,通过对其宽度、间距的检测,获知信息圆环12的间距和两种宽度。 First detection ring 11 is twice the starting, by detecting its width, pitch, and two kinds of width information known spacing ring 12. 然后逐一检测各信息圆环12的信息,根据不同宽度,信息窄环121代表0或1,信息宽环122代表1或0,得到对应的二进制数据信息即是被测目标3的身份数据。 Then one by one the detection information of each information ring 12, according to the different widths, narrow annular information 121 represents 0 or 1, the ring width information 122 represents 0 or 1, to obtain binary data that is information corresponding to the measured object identity data 3. 最后检测到宽度最大的结束圆环13, 识别的工作结束。 Finally, the end of the maximum width detected by the ring 13, identifying the end of work.

[0107] ④、PC机或服务器6完成定位和识别后,将位置信息以无线通信的方式发送给被测目标3,使被测目标3知道自己的位置。 After [0107] ④, PC or server 6 is completed to locate and identify the location information transmitted in the wireless communication to the measured object 3, so that the measured object 3 know their position.

[0108] 以上所述的具体实施例,对本发明的目的、技术方案和有益效果进行了进一步详细说明,所应理解的是,以上所述仅为本发明的具体实施例而已,并不用于限制本发明,凡在本发明的精神和原则之内,所做的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。 Specific Example [0108] above, the objectives, technical solutions, and beneficial effects of the present invention will be further described in detail, it should be understood that the above descriptions are merely embodiments of the present invention, but not intended to limit the present invention, within the spirit and principle of the present invention, any modifications, equivalent replacements, improvements, etc., should be included within the scope of the present invention.

Claims (5)

  1. 1. 室内移动目标定位系统,其特征在于:包括定位条码(1)、无线信号接收器(2)、被测目标(3)、摄像头(4)、无线信号发送器(5)和PC机或服务器(6);所述定位条码(1)设置在被测目标⑶的表面;所述无线信号接收器⑵安装在被测目标⑶上;所述被测目标⑶和摄像头(4)均设置至少一个;所述摄像头(4)和无线信号发送器(5)均与PC机或服务器(6)电连接;所述无线信号发送器(5)与无线信号接收器(2)无线通信联接;所述定位条码(1)包括由内而外依次同心设置的起始圆环(11)、信息圆环(12)和结束圆环(13);所述起始圆环(11) 包括一个起始窄环(111)和一个起始宽环(112);所述起始窄环(111)的宽度小于起始宽环(112)的宽度;所述信息圆环(12)包括至少一个信息窄环(121)和至少一个信息宽环(122); 所述结束圆环(13)设置一个;所述起始窄环(111)的宽度=信息窄环(121)的宽度;所述起 1. Indoor moving target positioning system comprising: a positioning bar code (1), a wireless signal receiver (2), the measured object (3), the camera (4), a wireless signal transmitter (5) and PC or server (6); the barcode locating surface (1) is provided on the measured object ⑶; the wireless signal receiver is mounted on the measured object ⑵ ⑶; ⑶ the measured object and the camera (4) are provided with at least a; the camera (4) and a wireless signal transmitter (5) is electrically connected to a PC or server (6); the wireless signal transmitter (5) with a wireless signal receiver (2) coupled to a wireless communication; the positioning said bar code (1) comprises starting ring concentrically disposed sequentially from the inside (11), the ring information (12) and end rings (13); the starting ring (11) comprises a start narrow rings (111) and a starting ring width (112); the initial width is narrower ring (111) is smaller than the starting width of the ring width (112); said ring information (12) comprises at least one information narrow ring (121) and at least one loop width information (122); said end ring (13) is provided a; the initial width is narrower ring (111) = a narrow annular information (121); said starting 宽环(112)的宽度=信息宽环(122)的宽度<结束圆环(13)的宽度;所述起始圆环(11)的最内圈圆环围绕的区域中填充有不出现在背景颜色中的识别色(113);所述起始窄环(111) 和起始宽环(112)之间的间距与信息圆环(12)中各圆环的间距相同。 The width of the wide ring (112) = width of the ring information (122) <annular end (13) has a width; region in the starting ring (11) surrounding the innermost ring is filled with not present identifying color in the background color (113); and the distance between the starting information narrow annular ring (111) and the starting wide ring (112) same as (12) of each annular spacing.
  2. 2. 根据权利要求1所述的室内移动目标定位系统,其特征在于:所述定位条码(1)的起始圆环(11)的起始窄环(111)位于起始宽环(112)内部;所述识别色(113)填充在起始窄环(111)围绕的区域中。 The indoor mobile targeting system according to claim 1, characterized in that: the positioning bar code (1) a starting ring (11) starting a narrow ring (111) located at the start wide ring (112) interior; region of the identifying colors (113) in the initial filling of narrow rings (111) surrounded.
  3. 3. 根据权利要求1或2所述的室内移动目标定位系统的定位并识别移动目标的方法,其特征在于:包括以下步骤: ① 、摄像头高速拍摄,并将图像信号传送给PC机或服务器(6); ② 、PC机或服务器(6)在拍摄的图像中找到被测目标(3)上的定位条码(1)的中心点坐标,根据定位条码⑴的中心点在图像中的位置,判断出被测目标⑶的实际位置; ③ 、PC机或服务器(6)通过定位条码(1)的信息圆环(12)完成对被测目标(3)的识别; ④ 、PC机或服务器(6)完成定位和识别后,将位置信息以无线通信的方式发送给被测目标(3),使被测目标(3)知道自己的位置。 3. The method of locating and identifying a moving object or the moving object 1, the second indoor location system as claimed in claim, characterized in that: comprising the steps of: ①, high-speed imaging camera, and transmits the image signal to a PC or server ( 6); ②, PC or server (6) to find the measured object (positioned on the barcode 3) (1) in the center point coordinates in the image captured, according to the positioning of the bar code ⑴ center point in the image, is determined ⑶ the actual position of the measured object; ③, PC or server (6) to complete the identification of the measured object (3) by positioning the barcode (1) information of the ring (12); ④, PC or server (6 ) after finishing the location and identification, the location information is sent to the wireless communication of the measured object (3), so that the measured object (3) to know their location.
  4. 4. 根据权利要求3所述的室内移动目标定位系统的定位并识别移动目标的方法,其特征在于:所述步骤②中找到被测目标(3)上的定位条码(1)的中心点坐标的具体方法为: 首先,在图像中找到定位条码(1)的识别色(113)的区块,选择其中一点作为基点a,从a 点向不同方向作至少五条射线与起始圆环(11)的内环相交,得到至少五个点(若超过五个点,则通过最小二乘法)确定椭圆的方程,以下推导过程,假定有n(n多5)个点,其推导如下: 假定该椭圆的方程f (x,y) = 0为:x2+aiy2+a2xy+a3x+a4y+a5 = 0, 由于上述各个交点均位于椭圆上,于是有: 2 2 xi +aiyi +a2Xiyi+a3Xi+a4yi+a5 = 0? 4. The method of identifying and locating a mobile object moving target chamber 3 according to claim positioning system, wherein: said step ② of the bar code found on the test target location (3) (1) the coordinates of center point the specific method is: first, find the barcode positioned in the image (1) identifying colors (113) block, a selection point as the point where, for at least five rays with the starting ring (11 point in different directions from a ) intersects the inner ring, to give at least five points (if more than five points, the equation of the ellipse is determined by the least squares method), the following procedure is derived, assuming n (n multi 5) points, which is derived as follows: assuming that the equation f (x, y) = ellipse 0: x2 + aiy2 + a2xy + a3x + a4y + a5 = 0, since each of the above intersections are located on an ellipse, so there are: 2 2 xi + aiyi + a2Xiyi + a3Xi + a4yi + a5 = 0?
    Figure CN106355228AC00021
    i=l i. = ii = l i = l i. = ii = l
    Figure CN106355228AC00031
    1 i = l • 解此线性方程组,可以得到ai、a2、a3、a4、a5; 通过旋转坐标系,将方程f(x,y)=〇中的交叉乘积项消掉,令坐标轴顺时针旋转9角,坐标轴变为x'和y',有: 1 i = l • solving this set of linear equations can be obtained ai, a2, a3, a4, a5; by rotating the coordinate system, the equation f (x, y) = square in cross-product terms disappear, so that the axis cis 9 clockwise angle becomes axes x 'and y', are:
    Figure CN106355228AC00032
    代入x2+aiy2+a2xy+a3x+a4y+a5 = 0中,并令x'y'的交叉乘积项为0,有: _2sinQcosQ+2ai sinQcosQ+a2(cos2Q_sin2Q) =0 (ai-l)sin 29 = a2 cos 29 Substituting x2 + aiy2 + a2xy + a3x + a4y + a5 = 0, and let x'y 'cross product terms to zero, there are: _2sinQcosQ + 2ai sinQcosQ + a2 (cos2Q_sin2Q) = 0 (ai-l) sin 29 = a2 cos 29
    Figure CN106355228AC00033
    由此可以得到9角: (x'cosQ-y'sinQ)2+ai(x'sinQ+y'cosQ)2+a2(x'cosQ-ysinQ) (x'sinQ+y'cosQ) +a3(x,cos0-y,sin0)+a4(x,sin0+y ,cos0)+a5 = 〇由于已经使x'y'交叉乘积项为0,则有: x'2 cos2Q+y'2 sin2Q+aix'2 sin2Q+aiy'2 cos2Q+a2(x'2 sinQcosQ-y'2 sinQcosQ) +a3(x,cos0-y,sin0)+a4(x,sin0+y ,cos0)+a5 = 〇令: ci = cos20+ai sin29+a2 sinQcosQ C2 = a3 cos0+a4 sinQ C3 = sin29+ai cos29-a2 sinQcosQ C4 = a4 cos0-a3 sinQ 于是有: Angle 9 can be obtained: (x'cosQ-y'sinQ) 2 + ai (x'sinQ + y'cosQ) 2 + a2 (x'cosQ-ysinQ) (x'sinQ + y'cosQ) + a3 ( x, cos0-y, sin0) + a4 (x, sin0 + y, cos0) + a5 = square because they have so x'y 'cross product terms is 0, there is: x'2 cos2Q + y'2 sin2Q + aix '2 sin2Q + aiy'2 cos2Q + a2 (x'2 sinQcosQ-y'2 sinQcosQ) + a3 (x, cos0-y, sin0) + a4 (x, sin0 + y, cos0) + a5 = square order: ci = cos20 + ai sin29 + a2 sinQcosQ C2 = a3 cos0 + a4 sinQ C3 = sin29 + ai cos29-a2 sinQcosQ C4 = a4 cos0-a3 sinQ then are:
    Figure CN106355228AC00041
    椭圆圆心位于新坐标系的 Oval centered on the center of the new coordinate system
    Figure CN106355228AC00042
    点,对应于原坐标系的 Point, corresponding to the original coordinate system
    Figure CN106355228AC00043
    Figure CN106355228AC00044
    这样就找到了被测目标(3)上的定位条码(1)的中心点坐标。 This test found the bar code on the target location (3) (1) of the center point coordinates.
  5. 5.根据权利要求3所述的室内移动目标定位系统的定位并识别移动目标的方法,其特征在于:所述步骤③中通过定位条码(1)的信息圆环(12)对被测目标(3)进行识别的具体方法为:从定位条码(1)的中心点出发,沿任意一个方向依次检测定位条码(1);首先检测的是两圈起始圆环(11),通过对其宽度、间距的检测,获知信息圆环(12)的间距和两种宽度;然后逐一检测各信息圆环(12)的信息,根据不同宽度,信息窄环(121)代表0或1,信息宽环(122)代表1或0,得到对应的二进制数据信息即是被测目标(3)的身份数据;最后检测到宽度最大的结束圆环(13 ),识别的工作结束。 5. The method of identifying and locating a mobile object moving target chamber 3 according to claim positioning system, characterized in that: said annular step ③ information (12) by positioning the barcode (1) for a test target ( specific method 3) identified as: positioning the barcode from (1) the center point, an arbitrary direction detected sequentially positioning the barcode (1); first detected is twice the starting ring (11), by its width , pitch detection, obtain information ring (12) and the pitch of two widths; then one by detecting information of each information ring (12), (121) represents 0 or 1 in accordance with different widths narrower, information collar, loop width information (122) represents 1 or 0, to obtain binary data that is information corresponding to the measured object (3) identity data; maximum width detected last end ring (13), identifying the end of the work.
CN 201610900587 2016-10-14 2016-10-14 Indoor moving object positioning system and method for positioning and identifying moving object CN106355228A (en)

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