CN108154209A - A kind of Quick Response Code generation, recognition methods and device for localization for Mobile Robot - Google Patents

A kind of Quick Response Code generation, recognition methods and device for localization for Mobile Robot Download PDF

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Publication number
CN108154209A
CN108154209A CN201611111136.5A CN201611111136A CN108154209A CN 108154209 A CN108154209 A CN 108154209A CN 201611111136 A CN201611111136 A CN 201611111136A CN 108154209 A CN108154209 A CN 108154209A
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China
Prior art keywords
image
quick response
response code
solid
code
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CN201611111136.5A
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Chinese (zh)
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CN108154209B (en
Inventor
缪松华
吴永海
张文聪
贾永华
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Hangzhou Hikrobot Co Ltd
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Hangzhou Hikvision Digital Technology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record 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
    • G06K19/06009—Record 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
    • G06K19/06037—Record 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 multi-dimensional coding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record 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
    • G06K19/06009—Record 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
    • G06K19/06046—Constructional details
    • G06K19/06056—Constructional details the marking comprising a further embedded marking, e.g. a 1D bar code with the black bars containing a smaller sized coding

Abstract

The embodiment of the invention discloses a kind of generation, recognition methods and the device of the Quick Response Code for localization for Mobile Robot, this method includes：Obtain the location information of scheduled Quick Response Code position；For the location information, Quick Response Code matrix point image is generated；By the Quick Response Code matrix point image and the solid image with predetermined shape for presetting the principal direction for determining Quick Response Code, it is combined into primarily two-dimensional code image；Based on the primarily two-dimensional code image, Quick Response Code is generated.Easily identified and be not easy defaced as it can be seen that for determining the image of the principal direction of Quick Response Code as the solid image with predetermined shape, and then the Quick Response Code antijamming capability generated is stronger.

Description

A kind of Quick Response Code generation, recognition methods and device for localization for Mobile Robot
Technical field
The present invention relates to the lifes of technical field of machine vision, more particularly to a kind of Quick Response Code for localization for Mobile Robot Into, recognition methods and device.
Background technology
Quick Response Code is with information capacity is big, error correcting capability is strong, is suitable for CCD (Charge Coupled Device, charge Coupled device imaging sensor) video camera identification the features such as, in fields such as commercial distribution, logistics, production automation management It is widely applied.These features of Quick Response Code cause the artificial mark that it is very suitable in being applied as mobile robot Will.
In the prior art, there is the Quick Response Code for localization for Mobile Robot, wherein, by the principal direction of Quick Response Code and two The location information of dimension code position is associated in Quick Response Code, when mobile robot is scanned by image capture device to Quick Response Code Afterwards, it is possible to direction and the position of mobile robot are obtained using the location information where the principal direction and Quick Response Code of Quick Response Code, So as to fulfill the autonomous positioning of mobile robot.Wherein, the positioning of mobile robot is extremely closed in the acquisition of the principal direction of Quick Response Code Important, the deviation of low-angle can also make mobile robot the more walk the more inclined.
In the prior art, for determining that the round locating module of the principal direction of Quick Response Code is only the white being relatively large in diameter Circle, be easily stained, antijamming capability is not strong, and then easily leads to the identification mistake of mobile robot principal direction. Therefore, in order to avoid Quick Response Code is defaced, in practical applications, which is placed in roof, is only capable of being taken the photograph by top setting As the mobile robot of head identifies there is limitation.
So, a kind of stronger Quick Response Code of antijamming capability is generated as urgent problem to be solved.
Invention content
The embodiment of the invention discloses a kind of generation, recognition methods and the dresses of the Quick Response Code for localization for Mobile Robot It puts, to generate a kind of stronger Quick Response Code of antijamming capability.Concrete scheme is as follows：
On the one hand, an embodiment of the present invention provides a kind of generation method of the Quick Response Code for localization for Mobile Robot, institutes The method of stating includes：
Obtain the location information of scheduled Quick Response Code position；
For the location information, Quick Response Code matrix point image is generated；
By the Quick Response Code matrix point image and preset for determine Quick Response Code principal direction solid image, be combined into base This image in 2 D code, wherein, the solid image has predetermined shape；
Based on the primarily two-dimensional code image, Quick Response Code is generated.
Optionally, the scheduled Quick Response Code position has multiple, the predetermined shifting of multiple position composition mobile robots Dynamic path.
Optionally, the solid image is the solid image at least having a straight flange.
Optionally, the solid image is the solid image of " L " type；
It is described by the Quick Response Code matrix point image and preset for determine Quick Response Code principal direction solid image, combination The step of into primarily two-dimensional code image, including：
Two straight flanges in the Quick Response Code matrix point image are straight with two in the solid image of " L " type respectively While being spliced, the primarily two-dimensional code image is formed；
Alternatively,
The solid image is solid triangle；
It is described by the Quick Response Code matrix point image and preset for determine Quick Response Code principal direction solid image, combination The step of into primarily two-dimensional code image, including：
A straight flange in the Quick Response Code matrix point image and a straight flange in the triangle are spliced, shape Into the primarily two-dimensional code image；
Alternatively,
The solid image is solid arch；
It is described by the Quick Response Code matrix point image and preset for determine Quick Response Code principal direction solid image, combination The step of into primarily two-dimensional code image, including：
A straight flange in the Quick Response Code matrix point image with the bowed string is spliced, is formed described basic Image in 2 D code.
Optionally, described the step of being based on the primarily two-dimensional code image, generating Quick Response Code, including：
The primarily two-dimensional code image is embedded in predetermined annular image, wherein, in the primarily two-dimensional code image The heart is overlapped with the center of the predetermined annular image, and the primarily two-dimensional code image and the predetermined annular image be not be overlapped；
The figure that will be formed is determined as the Quick Response Code.
Optionally, the predetermined annular image is annulus or elliptical ring.
Optionally, the Quick Response Code is printed in rectangular base, the center of circle of the predetermined annular image and the rectangle base The center at bottom overlaps；Further include benchmark line segment in the rectangular base, every benchmark line segment respectively with the rectangular base four A line in side corresponds to, and on the perpendicular bisector of corresponding sides, the benchmark line segment is not Chong Die with the Quick Response Code.
Optionally, it is further included in the rectangular base：Location information character string, wherein, the location information character string with The Quick Response Code is not overlapped, and not be overlapped with the benchmark line segment.
On the other hand, an embodiment of the present invention provides a kind of recognition methods of the Quick Response Code for localization for Mobile Robot, The method is directed to the Quick Response Code generated using the generation method of above-mentioned Quick Response Code, including：
Mobile robot obtains image in 2 D code by scanning the Quick Response Code；
From the image in 2 D code, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with being used for really Determine the solid image of the principal direction of Quick Response Code, wherein, the solid image has predetermined shape；
The Quick Response Code matrix point image is decoded, obtains the location information of the Quick Response Code position；
According to the shape of the solid image and the position relationship of the solid image and world coordinate system, described two are determined Tie up the principal direction of code.
Optionally, the solid image is the solid image of " L " type, two straight flanges in the Quick Response Code matrix point image Spliced respectively with two straight flanges in the solid image of " L " type；
It is described from the image in 2 D code, identify composition primarily two-dimensional code image Quick Response Code matrix point image with use In determine the solid image of principal direction of Quick Response Code the step of, including：
Edge extracting is carried out to the image included in the image in 2 D code, from the primarily two-dimensional code image, detection Go out the solid image of described " L " type and the Quick Response Code matrix point image；
Alternatively,
The solid image is solid triangle, a straight flange and the triangle in the Quick Response Code matrix point image A straight flange in shape is spliced；
It is described from the image in 2 D code, identify composition primarily two-dimensional code image Quick Response Code matrix point image with use In determine the solid image of principal direction of Quick Response Code the step of, including：
Edge extracting is carried out to the image included in the image in 2 D code, from the primarily two-dimensional code image, detection Go out the triangle and the Quick Response Code matrix point image；
Alternatively,
The solid image is solid arch, a straight flange in the Quick Response Code matrix point image with it is described bowed String is spliced；
It is described from the image in 2 D code, identify composition primarily two-dimensional code image Quick Response Code matrix point image with use In determine the solid image of principal direction of Quick Response Code the step of, including：
Edge extracting is carried out to the image included in the image in 2 D code, from the primarily two-dimensional code image, detection Go out the arch and the Quick Response Code matrix point image.
Optionally, when the solid image be " L " type solid image when, the shape according to the solid image and The position relationship of the solid image and world coordinate system, the step of determining the principal direction of the Quick Response Code, including：
In the solid image of " L " type by described in, the straight flange for meeting preset reference condition is determined as true edge, wherein, it is described Preset reference condition is：The true edge is rotated by 90 ° counterclockwise, can determine another in the solid image of " L " type Straight flange；
Based on the world coordinate system, determine that the true edge corresponds to the first angle w of X-axis respectively1With another straight flange The second angle w of corresponding X-axis2；
Utilize the w1, the w2And predetermined angle calculation formula, the principal direction of the Quick Response Code is calculated, wherein, it is described Predetermined angle calculation formula is：
Wherein, the W represents the principal direction of the Quick Response Code；
Alternatively,
When the solid image is solid triangle, the shape according to the solid image and the solid figure As and world coordinate system position relationship, the step of determining the principal direction of the Quick Response Code, including：
Based on the world coordinate system, determine that the target side in the triangle corresponds to the third angle of X-axis, wherein, institute It is the straight flange spliced with a straight flange in the primarily two-dimensional code image to state target side；
The principal direction of the Quick Response Code is determined according to the third angle；
Alternatively,
When the solid image is solid arch, the shape according to the solid image and the solid image With the position relationship of world coordinate system, the step of determining the principal direction of the Quick Response Code, including：
Based on the world coordinate system, determine that the bowed string corresponds to the fourth angle of X-axis；
The principal direction of the Quick Response Code is determined according to the fourth angle.
Optionally, the primarily two-dimensional code image is embedded in predetermined annular image, wherein, the primarily two-dimensional code image Center overlapped with the center of the predetermined annular image, the primarily two-dimensional code image is not weighed with the predetermined annular image It is folded；
Described from the image in 2 D code, identify composition primarily two-dimensional code image Quick Response Code matrix point image with Before the step of for determining the solid image of the principal direction of Quick Response Code, the method further includes：
The predetermined annular image in the image in 2 D code is detected, the region in the predetermined annular image is determined as treating Identification region；
It is described from the image in 2 D code, identify composition primarily two-dimensional code image Quick Response Code matrix point image with use In determine the solid image of principal direction of Quick Response Code the step of, including：
From the region to be identified, the Quick Response Code matrix point image for forming the primarily two-dimensional code image is identified With the solid image.
Optionally, the predetermined annular image is annulus or elliptical ring.
Optionally, after the step of acquisition Quick Response Code, the method further includes：
Image distortion correction is carried out to the image in 2 D code obtained；
Image binaryzation processing is carried out to the image after correction；
It is described from the image in 2 D code, identify composition primarily two-dimensional code image Quick Response Code matrix point image with use In determine the solid image of principal direction of Quick Response Code the step of, including：
From the image after binary conversion treatment, the Quick Response Code matrix dot for forming the primarily two-dimensional code image is identified Image and the solid image.
On the other hand, an embodiment of the present invention provides a kind of generating means of the Quick Response Code for localization for Mobile Robot, Described device includes：
First obtains module, for obtaining the location information of scheduled Quick Response Code position；
First generation module for being directed to the location information, generates Quick Response Code matrix point image；
Composite module, for by the Quick Response Code matrix point image with preset for determine Quick Response Code principal direction it is solid Image is combined into primarily two-dimensional code image, wherein, the solid image has predetermined shape；
Second generation module for being based on the primarily two-dimensional code image, generates Quick Response Code.
Optionally, the scheduled Quick Response Code position has multiple, the predetermined shifting of multiple position composition mobile robots Dynamic path.
Optionally, the solid image is the solid image at least having a straight flange.
Optionally, the solid image is the solid image of " L " type；
The composite module, specifically for by two straight flanges in the Quick Response Code matrix point image respectively with " L " Two straight flanges in the solid image of type are spliced, and form the primarily two-dimensional code image；
Alternatively,
The solid image is solid triangle；
The composite module, specifically for will be in a straight flange in the Quick Response Code matrix point image and the triangle A straight flange spliced, form the primarily two-dimensional code image；
Alternatively,
The solid image is solid arch；
The composite module, specifically for by a straight flange in the Quick Response Code matrix point image and the bowed string Spliced, form the primarily two-dimensional code image.
Optionally, second generation module includes building cell and determination unit；
The building cell, for the primarily two-dimensional code image to be embedded in predetermined annular image, wherein, the base The center of this image in 2 D code is overlapped with the center of the predetermined annular image, the primarily two-dimensional code image and the predetermined ring Shape image is not overlapped；
The determination unit for the figure that will be formed, is determined as the Quick Response Code.
Optionally, the Quick Response Code is printed in rectangular base, the center of circle of the predetermined annular image and the rectangle base The center at bottom overlaps；Further include benchmark line segment in the rectangular base, every benchmark line segment respectively with the rectangular base four A line in side corresponds to, and on the perpendicular bisector of corresponding sides, the benchmark line segment is not Chong Die with the Quick Response Code.
Optionally, it is further included in the rectangular base：Location information character string, wherein, the location information character string with The Quick Response Code is not overlapped, and not be overlapped with the benchmark line segment.
On the other hand, an embodiment of the present invention provides a kind of identification device of the Quick Response Code for localization for Mobile Robot, Described device is directed to the Quick Response Code generated using the generating means of above-mentioned Quick Response Code, including：
Second obtains module, for mobile robot by scanning the Quick Response Code, obtains image in 2 D code；
Identification module, for from the image in 2 D code, identifying the Quick Response Code matrix of composition primarily two-dimensional code image Point image and the solid image for being used for the principal direction for determining Quick Response Code, wherein, the solid image has predetermined shape；
Third obtains module, and for being decoded to the Quick Response Code matrix point image, it is in place to obtain the Quick Response Code institute The location information put；
Determining module is closed for the shape according to the solid image and the position of the solid image and world coordinate system System determines the principal direction of the Quick Response Code.
Optionally, the solid image is the solid image of " L " type, two straight flanges in the Quick Response Code matrix point image Spliced respectively with two straight flanges in the solid image of " L " type；
The identification module, specifically for carrying out edge extracting to the image that is included in the image in 2 D code, from described In primarily two-dimensional code image, the solid image of described " L " type and the Quick Response Code matrix point image are detected；
Alternatively,
The solid image is solid triangle, a straight flange and the triangle in the Quick Response Code matrix point image A straight flange in shape is spliced；
The identification module, specifically for carrying out edge extracting to the image that is included in the image in 2 D code, from described In primarily two-dimensional code image, the triangle and the Quick Response Code matrix point image are detected；
Alternatively,
The solid image is solid arch, a straight flange in the Quick Response Code matrix point image with it is described bowed String is spliced；
The identification module, specifically for carrying out edge extracting to the image that is included in the image in 2 D code, from described In primarily two-dimensional code image, the arch and the Quick Response Code matrix point image are detected.
Optionally, the determining module, specifically for work as the solid image be " L " type solid image when, will described in In the solid image of " L " type, the straight flange for meeting preset reference condition is determined as true edge, wherein, the preset reference condition is： The true edge is rotated by 90 ° counterclockwise, can determine another straight flange in the solid image of " L " type；
Based on the world coordinate system, determine that the true edge corresponds to the first angle w of X-axis respectively1With another straight flange The second angle w of corresponding X-axis2；
Utilize the w1, the w2And predetermined angle calculation formula, the principal direction of the Quick Response Code is calculated, wherein, it is described Predetermined angle calculation formula is：
Wherein, the W represents the principal direction of the Quick Response Code；
Alternatively,
The determining module, specifically for when the solid image be solid triangle when, based on the world coordinates System, determines that the target side in the triangle corresponds to the third angle of X-axis, wherein, the target side is and the primarily two-dimensional The straight flange that a straight flange in code image is spliced；
The principal direction of the Quick Response Code is determined according to the third angle；
Alternatively,
The determining module, specifically for when the solid image is solid arch, based on the world coordinate system, Determine that the bowed string corresponds to the fourth angle of X-axis；
The principal direction of the Quick Response Code is determined according to the fourth angle.
Optionally, the primarily two-dimensional code image is embedded in predetermined annular image, wherein, the primarily two-dimensional code image Center overlapped with the center of the predetermined annular image, the primarily two-dimensional code image is not weighed with the predetermined annular image It is folded；
Described device further includes detection module；
The detection module, for from the image in 2 D code, identifying composition primarily two-dimensional code image described Before the step of Quick Response Code matrix point image is with for determining the solid image of the principal direction of Quick Response Code, the Quick Response Code figure is detected Predetermined annular image as in, is determined as region to be identified by the region in the predetermined annular image；
The identification module, specifically for from the region to be identified, identifying the composition primarily two-dimensional code image The Quick Response Code matrix point image and the solid image.
Optionally, the predetermined annular image is annulus or elliptical ring.
Optionally, described device further includes：Correction module and processing module；
The correction module, for carrying out image distortion correction to the image in 2 D code obtained；
The processing module, for carrying out image binaryzation processing to the image after correction；
The identification module, specifically for from the image after binary conversion treatment, identifying the composition primarily two-dimensional code The Quick Response Code matrix point image of image and the solid image.
In the present solution, obtaining the location information of scheduled Quick Response Code position；For the location information, generation two dimension Code matrix point image；By the Quick Response Code matrix point image and preset the predetermined shape that has for the principal direction that determines Quick Response Code Solid image is combined into primarily two-dimensional code image；Based on the primarily two-dimensional code image, Quick Response Code is generated.As it can be seen that for determining two The image for tieing up the principal direction of code is solid image, is easily identified and is not easy Quick Response Code antijamming capability that is defaced, and then generating It is relatively strong.Certainly, it implements any of the products of the present invention or method must be not necessarily required to reach all the above advantage simultaneously.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow of the generation method of Quick Response Code for localization for Mobile Robot provided in an embodiment of the present invention Schematic diagram；
Fig. 2 is the structure diagram of a kind of Quick Response Code that is generated using the embodiment of the present invention；
Fig. 3 is a kind of flow of the recognition methods of Quick Response Code for localization for Mobile Robot provided in an embodiment of the present invention Schematic diagram；
Fig. 4 is a kind of the another of the recognition methods of Quick Response Code for localization for Mobile Robot provided in an embodiment of the present invention Flow diagram；
Fig. 5 is obtained a kind of schematic diagram of image in 2 D code by mobile robot；
Fig. 6 is a kind of structure of the generating means of Quick Response Code for localization for Mobile Robot provided in an embodiment of the present invention Schematic diagram；
Fig. 7 is a kind of structure of the identification device of Quick Response Code for localization for Mobile Robot provided in an embodiment of the present invention Schematic diagram；
Fig. 8 is a kind of the another of the identification device of Quick Response Code for localization for Mobile Robot provided in an embodiment of the present invention Structure diagram.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts Embodiment shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a kind of generation, recognition methods and the dresses of the Quick Response Code for localization for Mobile Robot It puts, to generate a kind of stronger Quick Response Code of antijamming capability.
A kind of generation of the Quick Response Code for localization for Mobile Robot provided first below the embodiment of the present invention into Row is introduced.
It, can be with as shown in Figure 1, an embodiment of the present invention provides a kind of generation of the Quick Response Code for localization for Mobile Robot Include the following steps：
S101：Obtain the location information of scheduled Quick Response Code position；
The location information of scheduled Quick Response Code position can be obtained by the prior art, wherein, which can With the latitude and longitude information for being Quick Response Code position or artificial defined station location marker information, this is all possible.This two The location information for tieing up code position can be inputted by user.In addition, displacement distance etc. can also be included in the location information Information, such as 2 meters are moved to certain direction, which is determined by mobile robot according to the principal direction of Quick Response Code；Or comprising Range information of the current two-dimension position apart from next Quick Response Code position.
It is understood that the scheduled Quick Response Code position have it is multiple, multiple position composition mobile robot Predetermined mobile route.
S102：For the location information, Quick Response Code matrix point image is generated；
According to the prior art, for the location information, Quick Response Code matrix point image is generated, wherein, the Quick Response Code matrix dot Image can be the chequered with black and white image that certain specific geometric figure is distributed according to certain rules in plane (on two-dimensional directional), For recording the location information.The realization method that any one can generate Quick Response Code matrix point image can be applied to the present invention In embodiment.
S103：By the Quick Response Code matrix point image and the solid image for presetting the principal direction for determining Quick Response Code, combination Into primarily two-dimensional code image, wherein, which has predetermined shape；
The solid image has predetermined shape, for accurately identifying in subsequent identification process.In order to better improve The antijamming capability for the Quick Response Code being subsequently generated, the solid image of the predetermined shape, which can have, to be had the dimensions.This is certain Size can be set by the user, also, the predetermined shape can also be set by the user.
In a kind of specific implementation, which can be the solid image at least having a straight flange, wherein, In order to ensure the accuracy of the information in Quick Response Code, solid image and Quick Response Code matrix point image be not be overlapped.In solid image Straight flange can be spliced with a straight flange in Quick Response Code matrix point image, alternatively, with one in Quick Response Code matrix point image Straight flange is in parastate, and the straight flange can there are gap, the gaps with a straight flange in Quick Response Code matrix point image Width can be by user setting.The embodiment of the present invention is not defined the concrete shape of the solid image.
In a kind of specific implementation, as shown in Figure 2 in " 2 ", the solid image can be " L " type solid figure Picture；It is described by Quick Response Code matrix point image and preset for determine Quick Response Code principal direction solid image, be combined into basic two The step of tieing up code image, can include：
Two straight flanges in Quick Response Code matrix point image are spelled respectively with two straight flanges in the solid image of " L " type It connects, forms primarily two-dimensional code image；
Alternatively,
The solid image can be solid triangle；
It is described by Quick Response Code matrix point image and preset for determine Quick Response Code principal direction solid image, be combined into base The step of this image in 2 D code, can include：
A straight flange in Quick Response Code matrix point image and a straight flange in triangle are spliced, form basic two Tie up code image；
Alternatively,
The solid image can be solid arch；
It is described by Quick Response Code matrix point image and preset for determine Quick Response Code principal direction solid image, be combined into base The step of this image in 2 D code, can include：
A straight flange in Quick Response Code matrix point image with bowed string is spliced, forms primarily two-dimensional code image.
Generally, using existing generation Quick Response Code matrix dot image formation mode, the two dimension of rectangular shape can be generated Code matrix point image.Specifically, can by two straight flanges in the Quick Response Code matrix point image of the rectangular shape respectively with " L " type Solid image in two straight flanges spliced so that the Quick Response Code matrix point image is embedded in the solid image of " L " type In.Wherein, be somebody's turn to do two straight flanges of the solid image of " L " type with corresponding Quick Response Code matrix point image can spell respectively The equal length of the straight flange connect, and every straight flange for being somebody's turn to do the solid image of " L " type is respectively provided with certain width, when the Quick Response Code square When the unit spot of lattice point image is rectangle, which is not less than the long side or short side of unit point in the Quick Response Code matrix point image Length, and it is usually no more than the length of side of the Quick Response Code matrix point image.When the unit spot of the Quick Response Code matrix point image is circle When, which is not less than the length of the diameter of unit point in the Quick Response Code matrix point image, and is usually no more than the Quick Response Code square The length of side of lattice point image.In another implementation, which can also splice in the solid of " L " type The outside of image, will in the Quick Response Code matrix point image straight flange with should be in the solid image of " L " type a straight flange into Row splicing, this is all possible.It is subsequent, in the identification process to the principal direction of Quick Response Code, it is somebody's turn to do the solid image of " L " type 90 degree of angles can be used to determine the principal direction of Quick Response Code.Wherein, " 6 " as shown in Figure 2 are a kind of schematic diagram of unit spot.
In one implementation, the solid image is solid triangle；It should be noted that the Quick Response Code matrix A straight flange in point image can be spliced with any one straight flange in the triangle, wherein, with Quick Response Code matrix dot The straight flange of triangle that a straight flange in image is spliced, the straight flange that can be spliced with the Quick Response Code matrix point image Equal length.The antijamming capability of the Quick Response Code of subsequent generation in order to better improve, when the Quick Response Code matrix point image Unit spot when being rectangle, be generally not less than the Quick Response Code matrix point diagram relative to the high of the straight flange spliced in the triangle The long side of unit point or the length of short side as in, and it is usually no more than the length of side of the Quick Response Code matrix point image.When the Quick Response Code When the unit spot of matrix point image is round, generally it is not less than the two dimension relative to the high of the straight flange spliced in the triangle The length of the diameter of unit point in code matrix point image, and it is usually no more than the length of side of the Quick Response Code matrix point image.
In one implementation, the solid image is straight for one in solid arch, with Quick Response Code matrix point image While the bowed string spliced, the equal length of straight flange that can be spliced with the Quick Response Code matrix point image.In order to more The antijamming capability of the Quick Response Code of the good subsequent generation of raising, when the unit spot of the Quick Response Code matrix point image is rectangle, The bowed rise (i.e. bowed height) is generally not less than the long side of unit point or the length of short side in the Quick Response Code matrix point image Degree, and it is usually no more than the length of side of the Quick Response Code matrix point image.When the unit spot of the Quick Response Code matrix point image is round, The bowed rise generally not less than the length of the diameter of unit point in the Quick Response Code matrix point image, and be usually no more than this two Tie up the length of side of code matrix point image.
S104：Based on the primarily two-dimensional code image, Quick Response Code is generated.
It is understood that the primarily two-dimensional code image that will can be directly formed, as final Quick Response Code.Its In, the solid image of the predetermined shape can be used for the positioning of the Quick Response Code.In addition, in a kind of specific implementation, it is described Based on the primarily two-dimensional code image, the step of generating Quick Response Code, can include：
The primarily two-dimensional code image is embedded in predetermined annular image, wherein, the center of the primarily two-dimensional code image with The center of the predetermined annular image overlaps, and the primarily two-dimensional code image and the predetermined annular image be not be overlapped；
The figure that will be formed, is determined as Quick Response Code.
In order to avoid influencing the information in primarily two-dimensional code, which does not weigh with the predetermined annular image It is folded, and between the two there are gap, the distance value in the gap is no more than the width of the predetermined annular image.As shown in Figure 2 " 1 ", the predetermined annular image can be as the positioning images of the Quick Response Code, for mobile robot in the process scanned the two-dimensional code In region to be identified positioning.When the solid image is " L " type, the width of the predetermined annular image is generally not less than solid image Width, when the solid image is solid triangle, the width of the predetermined annular image is generally shortest not less than triangle High length, wherein, the size and width of the predetermined annular image can independently be set by user.
In one implementation, the predetermined annular image can be annulus or elliptical ring.
Using readily identified predetermined annular image as the positioning image to Quick Response Code so that mobile robot is easy to It is positioned in local environment and determines the required Quick Response Code identified, also, annular image is more easily identified, without complicated identification Algorithm can cause the recognition efficiency higher of mobile robot.Further, using predetermined annular image as the positioning of Quick Response Code Image so that Quick Response Code has better fault-tolerant ability, when annular image is stained, the scanning recognition mould of mobile robot Block can utilize the bending status of annular image to identify region to be identified.
Using the embodiment of the present invention, the location information of scheduled Quick Response Code position is obtained；It is raw for the location information Into Quick Response Code matrix point image；The having of principal direction of the Quick Response Code matrix point image with presetting for determining Quick Response Code is made a reservation for The solid image of shape is combined into primarily two-dimensional code image；Based on the primarily two-dimensional code image, Quick Response Code is generated.As it can be seen that it is used for The image of the principal direction of Quick Response Code is determined as solid image, it is easily identified and be not easy it is defaced, and then the Quick Response Code generated resist it is dry It is stronger to disturb ability.
In a kind of specific implementation, which is printed in rectangular base, the center of circle of the predetermined annular image with The center of the rectangular base overlaps；In the rectangular base can also include benchmark line segment, every benchmark line segment respectively with the rectangle A line in the four edges of substrate corresponds to, and on the perpendicular bisector of corresponding sides, the benchmark line segment is not Chong Die with Quick Response Code.
Wherein, the rectangular base is different from the optical reflectivity of the Quick Response Code, benchmark line segment, and the benchmark line segment is for follow-up Installation (put up) Quick Response Code, specifically, worker construction when, can first with transverse and longitudinal intersect the line of ink marker or laser rays it is true Determine the center of Quick Response Code, then benchmark line segment with the line of ink marker or laser rays is aligned and is puted up, ensure that and put up Quick Response Code Precision.In one implementation, which can also be other shapes, such as round or regular polygon or irregular component Picture, this is all possible, and the embodiment of the present invention is not defined the shape of the substrate.The benchmark line segment is as shown in Figure 2 “4”.Every benchmark line segment can intersect with corresponding sides, can also be non-intersect with corresponding sides, this is all possible.
When substrate is round, the benchmark line segment respectively positioned at two of the circular-base it is orthogonal diametrically.Tool Body, every diametrically can include two benchmark line segments, and two benchmark line segments are located at the circle of the circular-base respectively The both sides of the heart.
In one implementation, can also include in the rectangular base：Location information character string, wherein, the position Information character string and the Quick Response Code be not be overlapped, and not be overlapped with the benchmark line segment.
During the location information character string is for the installation (putting up) of the Quick Response Code, for Quick Response Code to be prevented to be mounted There is the situation of mistake in the position of (putting up).Worker can directly be distinguished by the location information character string and be corresponded in construction The Quick Response Code of different location informations, prevents construction worker from obscuring Quick Response Code.The specific location of the location information character string such as Fig. 2 Shown " 5 ".
In addition, which can also be not just for the solid image at least with a straight flange, solid image Can also be arrow image, circular image or rectangular image, etc., this is all possible.When the solid image is above-mentioned figure During picture, in the principal direction of the subsequent identification Quick Response Code, solid image and two dimension in primarily two-dimensional code image can be combined The position relationship and the correspondence of primarily two-dimensional code image and the world coordinate system subsequently mentioned of code matrix point image carry out It determines.At this time, it may be necessary to illustrate, in the primarily two-dimensional code image, exist between solid image and Quick Response Code matrix point image Gap.
On the other hand, an embodiment of the present invention provides a kind of recognition methods of the Quick Response Code for localization for Mobile Robot, As shown in figure 3, this method is for a kind of Quick Response Code for localization for Mobile Robot provided using the embodiment of the present invention The Quick Response Code of generation method generation, may include steps of：
S301：Mobile robot obtains image in 2 D code by scanning the two-dimensional code；
For the Quick Response Code generated using the generation method of Quick Response Code that the embodiment of the present invention is provided, anti-interference energy Power is stronger, and the position that can be puted up is relatively more, such as ground, wall or roof, this is all possible.Mobile robot passes through Set camera scans the two-dimensional code, which can be set to mobile robot any part, such as mobile robot Bottom, side or top, etc., the embodiment of the present invention is not defined the camera of mobile robot setting position. Mobile robot can be scanned the two-dimensional code by the prior art, obtain corresponding image in 2 D code.
S302：From image in 2 D code, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with being used for Determine the solid image of the principal direction of Quick Response Code, wherein, which has predetermined shape；
The solid image is the image for having predetermined shape, which can directly identify from image in 2 D code Go out the solid image of the composition primarily two-dimensional code image, and the composition primarily two-dimensional code figure can be identified according to the solid image The Quick Response Code matrix point image of picture.Wherein, which may be used the prior art, and this will not be repeated here.
Can be the solid image at least with a straight flange, in one implementation, the reality for solid image Heart image can be the solid image of " L " type, the solid image with " L " type respectively of two straight flanges in Quick Response Code matrix point image In two straight flanges spliced；
It is described from image in 2 D code, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with for true The step of determining the solid image of the principal direction of Quick Response Code can include：
Edge extracting is carried out to the image included in image in 2 D code, from primarily two-dimensional code image, detects " L " type Solid image and Quick Response Code matrix point image；
Alternatively,
The solid image is solid triangle, a straight flange and the triangle in the Quick Response Code matrix point image A straight flange in shape is spliced；
It is described from image in 2 D code, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with for true The step of determining the solid image of the principal direction of Quick Response Code can include：
Edge extracting is carried out to the image included in image in 2 D code, from primarily two-dimensional code image, detects described three Angular and Quick Response Code matrix point image；
Alternatively,
The solid image is solid arch, a straight flange in the Quick Response Code matrix point image with it is described bowed String is spliced；
It is described from image in 2 D code, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with for true The step of determining the solid image of the principal direction of Quick Response Code can include：
Edge extracting is carried out to the image included in image in 2 D code, from primarily two-dimensional code image, detects the bow Shape and Quick Response Code matrix point image.
Can edge extracting be carried out, and detect the solid image of " L " type, three to image in 2 D code by the prior art Angular or arch, further, the solid image, triangle or the arch of " L " type detected according to this detects Quick Response Code square Lattice point image.Wherein, there may be the image of " L " type in the Quick Response Code matrix point image, the figure of " L " type can be passed through at this time The size of picture determines the solid image of really " L " type.
S303：Quick Response Code matrix point image is decoded, obtains the location information of Quick Response Code position；
It, can be with when being decoded it is understood that the Quick Response Code matrix point image is generated according to the prior art It is decoded using decoding process corresponding with generating mode, wherein, which is the prior art, and this will not be repeated here. Quick Response Code matrix point image is decoded, obtains code word information, this yard of word information is the position of corresponding Quick Response Code position Information.
S304：According to the shape of solid image and the position relationship of solid image and world coordinate system, Quick Response Code is determined Principal direction.
Can be the solid image at least with a straight flange for solid image, when this at least has a straight flange There are during right angle in solid image, the right angle can be utilized to determine the principal direction of Quick Response Code, when this at least has a straight flange reality Exist in heart image there is no during right angle, at least one straight flange and the position relationship with world coordinate system can be utilized, determined The principal direction of Quick Response Code.
In one implementation, when solid image is the solid image of " L " type, the shape according to solid image With solid image and the position relationship of world coordinate system, the step of determining the principal direction of Quick Response Code, can include：
The straight flange in the solid image of " L " type, meeting preset reference condition is determined as true edge, wherein, preset reference Condition is：True edge is rotated by 90 ° counterclockwise, can determine another straight flange in the solid image of " L " type；
Based on world coordinate system, determine that true edge corresponds to the first angle w of X-axis respectively1X-axis corresponding with another straight flange Second angle w2；
Utilize w1、w2And predetermined angle calculation formula, the principal direction of Quick Response Code is calculated, wherein, predetermined angle calculation formula Can be：
Wherein, the W represents the principal direction of Quick Response Code；
Alternatively,
When solid image is solid triangle, the shape and solid image and world coordinates according to solid image The position relationship of system, can include the step of determining the principal direction of Quick Response Code：
Based on world coordinate system, determine that the target side in triangle corresponds to the third angle of X-axis, wherein, target side be with The straight flange that a straight flange in primarily two-dimensional code image is spliced；
The principal direction of Quick Response Code is determined according to third angle；
Alternatively,
When solid image is solid arch, the shape and solid image and world coordinate system according to solid image Position relationship, the step of determining the principal direction of Quick Response Code, including：
Based on world coordinate system, determine that bowed string corresponds to the fourth angle of X-axis；
The principal direction of Quick Response Code is determined according to fourth angle.
Generally, identified second angle w2More than first angle w1, and there are w2-w1=90 °.It requires emphasis It is, in order to preferably identify the angle of the X-axis of every straight flange and world coordinate system in the solid image of " L " type, by " L " type The vertex of solid image be aligned with the center of circle of the world coordinate system, alternatively, the center of the image in 2 D code and the world coordinates The center of circle alignment of system, this is all possible.Wherein, by the vertex of the solid image of " L " type and the center of circle of the world coordinate system The process that the center of alignment and the image in 2 D code is aligned with the center of circle of the world coordinate system can utilize the prior art, such as right The solid image of " L " type is translated, is rotated etc..
In addition, in the principal direction for determining the Quick Response Code, theoretically, can also according to the solid image of " L " type certain One straight flange and the angle of the X-axis of the world coordinate system.
When the solid image is solid triangle, the target side in triangle can be utilized to correspond to the angle (the of X-axis Three angles), determine the principal direction of Quick Response Code.Wherein, for example, it can set when angular corresponding to the target side of triangle When lower, the angle which corresponds to X-axis is 0 °, when angularly going up, which corresponds to X corresponding to the target side of triangle The angle of axis is 180 °.Particularly, when the solid image is solid right angled triangle, the determining side of the principal direction of Quick Response Code Formula, can with when the solid image be " L " type solid image when the Quick Response Code principal direction method of determination it is identical, utilize this Two right-angle sides of right angled triangle angle with the X-axis of world coordinate system respectively determines the principal direction of Quick Response Code.
Similarly, when the solid image is solid arch, bowed string can be utilized to correspond to the angle the (the 4th of X-axis Angle), determine the principal direction of Quick Response Code, wherein, for example, it can set when bowed arc is in the lower section of bowed string, The angle that the bowed string corresponds to X-axis is 0 °, and when bowed arc is in the top of bowed string, which corresponds to X-axis Angle is 180 °.
Subsequent, which can carry out mobile robot according to the principal direction for the Quick Response Code determined Positioning.
Using the embodiment of the present invention, mobile robot obtains image in 2 D code by scanning the two-dimensional code；From image in 2 D code In, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with being used for the solid figure for the principal direction for determining Quick Response Code Picture, wherein, which has predetermined shape；The Quick Response Code matrix point image is decoded, it is in place to obtain Quick Response Code institute The location information put；According to the shape of the solid image and/or the position relationship of the solid image and world coordinate system, two are determined Tie up the principal direction of code.Since the image for being used to determine principal direction in the Quick Response Code is the solid image with predetermined shape, easily quilt It identifies and is not easy defaced, the antijamming capability of the Quick Response Code is stronger.
In one implementation, the primarily two-dimensional code image is embedded in predetermined annular image, wherein, primarily two-dimensional The center of code image is overlapped with the center of predetermined annular image, and primarily two-dimensional code image and predetermined annular image be not be overlapped；
Described from image in 2 D code, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with being used for Before the step of determining the solid image of the principal direction of Quick Response Code, what the embodiment of the present invention was provided is used for localization for Mobile Robot The recognition methods of Quick Response Code can also include：
The predetermined annular image in image in 2 D code is detected, the region in predetermined annular image is determined as area to be identified Domain；
It is described from image in 2 D code, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with for true The step of determining the solid image of the principal direction of Quick Response Code can include：
From region to be identified, the Quick Response Code matrix point image and solid image of composition primarily two-dimensional code image are identified.
Wherein, hough circle lookup algorithms may be used in the mode for detecting predetermined annular image.Detect predetermined annular image Afterwards, the image treated in identification region carries out edge detection, further, identifies the Quick Response Code square of composition primarily two-dimensional code image Lattice point image and solid image.The predetermined annular image can make a reservation for as the positioning image of Quick Response Code, region to be identified for this The inside of annular image only identifies the region to be identified inside the predetermined annular image, avoids mobile robot and recognize mistake Mistake or other Quick Response Codes, prevent mobile robot from being interfered in positioning by other Quick Response Codes.In one implementation, The predetermined annular image can be annulus or elliptical ring.
Further, in order to ensure the predetermined annular image is not easy to be worn, when the solid image that solid image is " L " type When, the width of the predetermined annular image can be not less than the width of the straight flange of the solid image of " L " type of being somebody's turn to do；When solid image is solid During triangle, the wide minimum high length that can be not less than the triangle of the predetermined annular image；When solid image is solid Arch when, the width of the predetermined annular image can be not less than the bowed rise.In order to improve the participation of user, this is predetermined The width of annular image can independently be set by user.
In a kind of specific implementation, as shown in figure 4, after the step of acquisition Quick Response Code, the present invention is implemented The recognition methods of the Quick Response Code for localization for Mobile Robot that example is provided can also include：
S401：Image distortion correction is carried out to the image in 2 D code obtained；
S402：Image binaryzation processing is carried out to the image after correction；
It is described from image in 2 D code, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with for true The step of determining solid image (S302) of the principal direction of Quick Response Code, can include：
S302A：From the image after binary conversion treatment, the Quick Response Code matrix point diagram of composition primarily two-dimensional code image is identified Picture and solid image.
In order to improve recognition efficiency and accuracy, can image distortion correction first be carried out to the image in 2 D code obtained And image binaryzation processing is carried out to the image after correction, and then, to treated, image is detected identification.Wherein it is possible to Image distortion correction is carried out to the image in 2 D code obtained using the prior art (for example, Zhang Zhengyou plane references method).Also, Image binaryzation processing is carried out to the image after correction using the prior art, this will not be repeated here.
As shown in figure 5, a kind of schematic diagram of the image in 2 D code obtained in practical applications by mobile robot.
Corresponding to above method embodiment, an embodiment of the present invention provides a kind of Quick Response Codes for localization for Mobile Robot Generating means, as shown in fig. 6, described device can include：
First obtains module 610, for obtaining the location information of scheduled Quick Response Code position；
First generation module 620 for being directed to the location information, generates Quick Response Code matrix point image；
Composite module 630, for by the Quick Response Code matrix point image and presetting the principal direction for determining Quick Response Code Solid image is combined into primarily two-dimensional code image, wherein, the solid image has predetermined shape；
Second generation module 640 for being based on the primarily two-dimensional code image, generates Quick Response Code.
Using the embodiment of the present invention, the location information of scheduled Quick Response Code position is obtained；It is raw for the location information Into Quick Response Code matrix point image；The having of principal direction of the Quick Response Code matrix point image with presetting for determining Quick Response Code is made a reservation for The solid image of shape is combined into primarily two-dimensional code image；Based on the primarily two-dimensional code image, Quick Response Code is generated.As it can be seen that it is used for The image of the principal direction of Quick Response Code is determined as solid image, it is easily identified and be not easy it is defaced, and then the Quick Response Code generated resist it is dry It is stronger to disturb ability.
In one implementation, the scheduled Quick Response Code position has multiple, and multiple positions form moving machine device The predetermined mobile route of people.
In one implementation, the solid image is the solid image at least having a straight flange.
In one implementation, the solid image is the solid image of " L " type；
The composite module 630, specifically for by two straight flanges in the Quick Response Code matrix point image respectively with it is described Two straight flanges in the solid image of " L " type are spliced, and form the primarily two-dimensional code image；
Alternatively,
The solid image is solid triangle；
The composite module 630, specifically for by a straight flange in the Quick Response Code matrix point image and the triangle A straight flange in shape is spliced, and forms the primarily two-dimensional code image；
Alternatively,
The solid image is solid arch；
The composite module 630, specifically for by a straight flange in the Quick Response Code matrix point image and the arch String spliced, form the primarily two-dimensional code image.
In one implementation, second generation module 640 includes building cell and determination unit；
The building cell, for the primarily two-dimensional code image to be embedded in predetermined annular image, wherein, the base The center of this image in 2 D code is overlapped with the center of the predetermined circular ring shape image, and the primarily two-dimensional code image makes a reservation for described Annular image is not overlapped；
The determination unit for the figure that will be formed, is determined as the Quick Response Code.
In one implementation, the predetermined annular image can be annulus or elliptical ring.
In one implementation, the Quick Response Code is printed in rectangular base, the center of circle of the predetermined annular image with The center of the rectangular base overlaps；In the rectangular base can also include benchmark line segment, every benchmark line segment respectively with institute State a line in the four edges of rectangular base to correspond to, and on the perpendicular bisector of corresponding sides, the benchmark line segment not with it is described Quick Response Code is overlapped.
In one implementation, can also include in the rectangular base：Location information character string, wherein, institute's rheme Confidence ceases character string and the Quick Response Code is not be overlapped and not be overlapped with the benchmark line segment.
Corresponding to above method embodiment, the embodiment of the present invention additionally provides a kind of two dimension for localization for Mobile Robot The identification device of code, described device are directed to what is generated using the generating means of the above-mentioned Quick Response Code for localization for Mobile Robot Quick Response Code, as shown in fig. 7, can include：
Second obtains module 710, for mobile robot by scanning the Quick Response Code, obtains image in 2 D code；
Identification module 720, for from the image in 2 D code, identifying the Quick Response Code square of composition primarily two-dimensional code image Lattice point image and the solid image for being used for the principal direction for determining Quick Response Code, wherein, the solid image has predetermined shape；
Third obtains module 730, for being decoded to the Quick Response Code matrix point image, obtains the Quick Response Code place The location information of position；
Determining module 740, for the shape according to the solid image and the position of the solid image and world coordinate system Relationship is put, determines the principal direction of the Quick Response Code.
Using the embodiment of the present invention, mobile robot obtains image in 2 D code by scanning the two-dimensional code；From image in 2 D code In, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with being used for the solid figure for the principal direction for determining Quick Response Code Picture, wherein, which has predetermined shape；The Quick Response Code matrix point image is decoded, it is in place to obtain Quick Response Code institute The location information put；According to the shape of the solid image and/or the position relationship of the solid image and world coordinate system, two are determined Tie up the principal direction of code.Since the image for being used to determine principal direction in the Quick Response Code is the solid image with predetermined shape, easily quilt It identifies and is not easy defaced, the antijamming capability of the Quick Response Code is stronger.
In one implementation, the solid image is the solid image of " L " type, in the Quick Response Code matrix point image Two straight flanges spliced respectively with two straight flanges in the solid image of " L " type；
The identification module 720, specifically for carrying out edge extracting to the image included in the image in 2 D code, from institute It states in primarily two-dimensional code image, detects the solid image of described " L " type with the Quick Response Code matrix point image；
Alternatively,
The solid image is solid triangle, a straight flange and the triangle in the Quick Response Code matrix point image A straight flange in shape is spliced；
The identification module 720, specifically for carrying out edge extracting to the image included in the image in 2 D code, from institute It states in primarily two-dimensional code image, detects the triangle and the Quick Response Code matrix point image；
Alternatively,
The solid image is solid arch, a straight flange in the Quick Response Code matrix point image with it is described bowed String is spliced；
The identification module 720, specifically for carrying out edge extracting to the image included in the image in 2 D code, from institute It states in primarily two-dimensional code image, detects the arch and the Quick Response Code matrix point image.
In one implementation, the determining module 740, specifically for working as the solid image for the solid of " L " type During image, in the solid image of " L " type by described in, the straight flange for meeting preset reference condition is determined as true edge, wherein, it is described pre- If base condition is：The true edge is rotated by 90 ° counterclockwise, can determine another in the solid image of " L " type it is straight Side；
Based on the world coordinate system, determine that the true edge corresponds to the first angle w of X-axis respectively1With another straight flange The second angle w of corresponding X-axis2；
Utilize the w1, the w2And predetermined angle calculation formula, the principal direction of the Quick Response Code is calculated, wherein, it is described Predetermined angle calculation formula is：
Wherein, the W represents the principal direction of the Quick Response Code；
Alternatively,
The determining module 740, specifically for when the solid image is solid triangle, being sat based on the world Mark system, determines that the target side in the triangle corresponds to the third angle of X-axis, wherein, the target side is and described basic two The straight flange that a straight flange in dimension code image is spliced；
The principal direction of the Quick Response Code is determined according to the third angle；
Alternatively,
The determining module 740, specifically for when the solid image be solid arch when, based on the world coordinates System, determines that the bowed string corresponds to the fourth angle of X-axis；
The principal direction of the Quick Response Code is determined according to the fourth angle.
In one implementation, the primarily two-dimensional code image is embedded in predetermined annular image, wherein, it is described basic The center of image in 2 D code is overlapped with the center of the predetermined annular image, the primarily two-dimensional code image and the pre- annular Image is not overlapped；
A kind of generating means for Quick Response Code for localization for Mobile Robot that the embodiment of the present invention is provided can also wrap Include detection module；
The detection module, for from the image in 2 D code, identifying composition primarily two-dimensional code image described Before the step of Quick Response Code matrix point image is with for determining the solid image of the principal direction of Quick Response Code, the Quick Response Code figure is detected Predetermined annular image as in, is determined as region to be identified by the region in the predetermined annular image；
The identification module 720, specifically for from the region to be identified, identifying the composition primarily two-dimensional code figure The Quick Response Code matrix point image of picture and the solid image.
In one implementation, the predetermined annular image can be annulus or elliptical ring.
In one implementation, as shown in figure 8, one kind that the embodiment of the present invention is provided is used for localization for Mobile Robot The generating means of Quick Response Code can also include：Correction module 810 and processing module 820；
The correction module 810, for carrying out image distortion correction to the image in 2 D code obtained；
The processing module 820, for carrying out image binaryzation processing to the image after correction；
The identification module 720, specifically for from the image after binary conversion treatment, identifying the composition primarily two-dimensional The Quick Response Code matrix point image of code image and the solid image.
For systems/devices embodiment, since it is substantially similar to embodiment of the method, so the comparison of description is simple Single, the relevent part can refer to the partial explaination of embodiments of method.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any this practical relationship or sequence.Moreover, term " comprising ", "comprising" or its any other variant are intended to Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those Element, but also including other elements that are not explicitly listed or further include as this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that Also there are other identical elements in process, method, article or equipment including the element.
One of ordinary skill in the art will appreciate that all or part of step in realization above method embodiment is can It is completed with instructing relevant hardware by program, the program can be stored in computer read/write memory medium, The storage medium designated herein obtained, such as：ROM/RAM, magnetic disc, CD etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention It is interior.

Claims (28)

1. a kind of generation method of Quick Response Code for localization for Mobile Robot, which is characterized in that the method includes：
Obtain the location information of scheduled Quick Response Code position；
For the location information, Quick Response Code matrix point image is generated；
By the Quick Response Code matrix point image and preset for determine Quick Response Code principal direction solid image, be combined into basic two Code image is tieed up, wherein, the solid image has predetermined shape；
Based on the primarily two-dimensional code image, Quick Response Code is generated.
2. according to the method described in claim 1, it is characterized in that, the scheduled Quick Response Code position have it is multiple, it is multiple Position forms the predetermined mobile route of mobile robot.
3. according to the method described in claim 1, it is characterized in that, the solid image is at least to have the solid of straight flange Image.
4. according to the method described in claim 1, it is characterized in that, the solid image is the solid image of " L " type；
It is described by the Quick Response Code matrix point image and preset for determine Quick Response Code principal direction solid image, be combined into base The step of this image in 2 D code, including：
By two straight flanges in the Quick Response Code matrix point image respectively with two straight flanges in the solid image of " L " type into Row splicing, forms the primarily two-dimensional code image；
Alternatively,
The solid image is solid triangle；
It is described by the Quick Response Code matrix point image and preset for determine Quick Response Code principal direction solid image, be combined into base The step of this image in 2 D code, including：
A straight flange in the Quick Response Code matrix point image and a straight flange in the triangle are spliced, form institute State primarily two-dimensional code image；
Alternatively,
The solid image is solid arch；
It is described by the Quick Response Code matrix point image and preset for determine Quick Response Code principal direction solid image, be combined into base The step of this image in 2 D code, including：
A straight flange in the Quick Response Code matrix point image with the bowed string is spliced, forms the primarily two-dimensional Code image.
5. according to claim 1-4 any one of them methods, which is characterized in that it is described to be based on the primarily two-dimensional code image, The step of generating Quick Response Code, including：
The primarily two-dimensional code image is embedded in annular image, wherein, the center of the primarily two-dimensional code image with it is described The center of predetermined annular image overlaps, and the primarily two-dimensional code image and the predetermined annular image be not be overlapped；
The figure that will be formed is determined as the Quick Response Code.
6. according to the method described in claim 5, it is characterized in that, the predetermined annular image is annulus or elliptical ring.
It is 7. described predetermined according to the method described in claim 5, it is characterized in that, the Quick Response Code is printed in rectangular base The center of circle of annular image is overlapped with the center of the rectangular base；Benchmark line segment, every benchmark are further included in the rectangular base Line segment is corresponding with a line in the four edges of the rectangular base respectively, and on the perpendicular bisector of corresponding sides, the benchmark Line segment is not Chong Die with the Quick Response Code.
8. it the method according to the description of claim 7 is characterized in that is further included in the rectangular base：Location information character string, Wherein, the location information character string and the Quick Response Code be not be overlapped, and not be overlapped with the benchmark line segment.
9. the recognition methods of a kind of Quick Response Code for localization for Mobile Robot, which is characterized in that the method is directed to using power Profit requires the Quick Response Code that the method described in 1 generates, including：
Mobile robot obtains image in 2 D code by scanning the Quick Response Code；
From the image in 2 D code, identify that the Quick Response Code matrix point image of composition primarily two-dimensional code image determines two with being used for The solid image of the principal direction of code is tieed up, wherein, the solid image has predetermined shape；
The Quick Response Code matrix point image is decoded, obtains the location information of the Quick Response Code position；
According to the shape of the solid image and the position relationship of the solid image and world coordinate system, the Quick Response Code is determined Principal direction.
10. according to the method described in claim 9, it is characterized in that, solid image of the solid image for " L " type, described Two straight flanges in Quick Response Code matrix point image are spliced respectively with two straight flanges in the solid image of " L " type；
It is described from the image in 2 D code, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with for true The step of determining the solid image of the principal direction of Quick Response Code, including：
Edge extracting is carried out to the image included in the image in 2 D code, from the primarily two-dimensional code image, detects institute State the solid image of " L " type and the Quick Response Code matrix point image；
Alternatively,
The solid image is solid triangle, a straight flange in the Quick Response Code matrix point image in the triangle A straight flange spliced；
It is described from the image in 2 D code, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with for true The step of determining the solid image of the principal direction of Quick Response Code, including：
Edge extracting is carried out to the image included in the image in 2 D code, from the primarily two-dimensional code image, detects institute State triangle and the Quick Response Code matrix point image；
Alternatively,
The solid image is solid arch, a straight flange in the Quick Response Code matrix point image and the bowed string into Row splicing；
It is described from the image in 2 D code, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with for true The step of determining the solid image of the principal direction of Quick Response Code, including：
Edge extracting is carried out to the image included in the image in 2 D code, from the primarily two-dimensional code image, detects institute State arch and the Quick Response Code matrix point image.
11. according to the method described in claim 10, it is characterized in that, when the solid image be " L " type solid image when, It is described according to the shape of the solid image and the position relationship of the solid image and world coordinate system, determine the Quick Response Code Principal direction the step of, including：
In the solid image of " L " type by described in, the straight flange for meeting preset reference condition is determined as true edge, wherein, it is described default Base condition is：The true edge is rotated by 90 ° counterclockwise, can determine another in the solid image of " L " type it is straight Side；
Based on the world coordinate system, determine that the true edge corresponds to the first angle w of X-axis respectively1X corresponding with another straight flange The second angle w of axis2；
Utilize the w1, the w2And predetermined angle calculation formula, the principal direction of the Quick Response Code is calculated, wherein, it is described default Angle calculation formula is：
Wherein, the W represents the principal direction of the Quick Response Code；
Alternatively,
When the solid image is solid triangle, it is described according to the shape of the solid image and the solid image with The position relationship of world coordinate system, the step of determining the principal direction of the Quick Response Code, including：
Based on the world coordinate system, determine that the target side in the triangle corresponds to the third angle of X-axis, wherein, the mesh It is the straight flange spliced with a straight flange in the primarily two-dimensional code image to mark side；
The principal direction of the Quick Response Code is determined according to the third angle；
Alternatively,
It is described according to the shape of the solid image and the solid image and generation when the solid image is solid arch The position relationship of boundary's coordinate system, the step of determining the principal direction of the Quick Response Code, including：
Based on the world coordinate system, determine that the bowed string corresponds to the fourth angle of X-axis；
The principal direction of the Quick Response Code is determined according to the fourth angle.
12. according to claim 9-11 any one of them methods, which is characterized in that the primarily two-dimensional code image is embedded in pre- In annular image, wherein, the center of the primarily two-dimensional code image is overlapped with the center of the predetermined annular image, the base This image in 2 D code and the predetermined annular image be not be overlapped；
Described from the image in 2 D code, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with being used for Before the step of determining the solid image of the principal direction of Quick Response Code, the method further includes：
The predetermined annular image in the image in 2 D code is detected, the region in the predetermined annular image is determined as to be identified Region；
It is described from the image in 2 D code, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with for true The step of determining the solid image of the principal direction of Quick Response Code, including：
From the region to be identified, the Quick Response Code matrix point image for forming the primarily two-dimensional code image and institute are identified State solid image.
13. according to the method for claim 12, which is characterized in that the predetermined annular image is annulus or elliptical ring.
14. according to claim 9-11 any one of them methods, which is characterized in that it is described acquisition Quick Response Code the step of it Afterwards, the method further includes：
Image distortion correction is carried out to the image in 2 D code obtained；
Image binaryzation processing is carried out to the image after correction；
It is described from the image in 2 D code, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image with for true The step of determining the solid image of the principal direction of Quick Response Code, including：
From the image after binary conversion treatment, the Quick Response Code matrix point image for forming the primarily two-dimensional code image is identified With the solid image.
15. the generating means of a kind of Quick Response Code for localization for Mobile Robot, which is characterized in that described device includes：
First obtains module, for obtaining the location information of scheduled Quick Response Code position；
First generation module for being directed to the location information, generates Quick Response Code matrix point image；
Composite module, for by the Quick Response Code matrix point image and preset for determine Quick Response Code principal direction solid figure Picture is combined into primarily two-dimensional code image, wherein, the solid image has predetermined shape；
Second generation module for being based on the primarily two-dimensional code image, generates Quick Response Code.
16. device according to claim 15, which is characterized in that the scheduled Quick Response Code position have it is multiple, it is more The predetermined mobile route of a position composition mobile robot.
17. device according to claim 15, which is characterized in that the solid image is the reality at least having a straight flange Heart image.
18. device according to claim 15, which is characterized in that the solid image is the solid image of " L " type；
The composite module, specifically for by two straight flanges in the Quick Response Code matrix point image respectively with " L " type Two straight flanges in solid image are spliced, and form the primarily two-dimensional code image；
Alternatively,
The solid image is solid triangle；
The composite module, specifically for by one in a straight flange in the Quick Response Code matrix point image and the triangle Straight flange is spliced, and forms the primarily two-dimensional code image；
Alternatively,
The solid image is solid arch；
The composite module, specifically for a straight flange in the Quick Response Code matrix point image and the bowed string are carried out Splicing, forms the primarily two-dimensional code image.
19. according to claim 15-18 any one of them devices, which is characterized in that second generation module includes embedded Unit and determination unit；
The building cell, for the primarily two-dimensional code image to be embedded in predetermined annular image, wherein, described basic two The center of dimension code image is overlapped with the center of the predetermined annular image, the primarily two-dimensional code image and the predetermined circular chart As not being overlapped；
The determination unit for the figure that will be formed, is determined as the Quick Response Code.
20. device according to claim 19, which is characterized in that the predetermined annular image is annulus or elliptical ring.
21. device according to claim 19, which is characterized in that the Quick Response Code is printed in rectangular base, described pre- The center of circle of annular image is overlapped with the center of the rectangular base；Benchmark line segment, every base are further included in the rectangular base Directrix section is corresponding with a line in the four edges of the rectangular base respectively, and on the perpendicular bisector of corresponding sides, the base Quick Response Code described in directrix Duan Buyu is overlapped.
22. device according to claim 21, which is characterized in that further included in the rectangular base：Location information character String, wherein, the location information character string and the Quick Response Code be not be overlapped, and not be overlapped with the benchmark line segment.
23. the identification device of a kind of Quick Response Code for localization for Mobile Robot, which is characterized in that described device is directed to using power Profit requires the Quick Response Code that the device described in 15 generates, including：
Second obtains module, for mobile robot by scanning the Quick Response Code, obtains image in 2 D code；
Identification module, for from the image in 2 D code, identifying the Quick Response Code matrix point diagram of composition primarily two-dimensional code image As with for determining the solid image of the principal direction of Quick Response Code, wherein, the solid image have predetermined shape；
Third obtains module, for being decoded to the Quick Response Code matrix point image, obtains the Quick Response Code position Location information；
Determining module, for the shape according to the solid image and the position relationship of the solid image and world coordinate system, Determine the principal direction of the Quick Response Code.
24. device according to claim 23, which is characterized in that the solid image is the solid image of " L " type, described Two straight flanges in Quick Response Code matrix point image are spliced respectively with two straight flanges in the solid image of " L " type；
The identification module, specifically for carrying out edge extracting to the image that is included in the image in 2 D code, from described basic In image in 2 D code, detect the solid image of described " L " type with the Quick Response Code matrix point image；
Alternatively,
The solid image is solid triangle, a straight flange in the Quick Response Code matrix point image in the triangle A straight flange spliced；
The identification module, specifically for carrying out edge extracting to the image that is included in the image in 2 D code, from described basic In image in 2 D code, the triangle and the Quick Response Code matrix point image are detected；
Alternatively,
The solid image is solid arch, a straight flange in the Quick Response Code matrix point image and the bowed string into Row splicing；
The identification module, specifically for carrying out edge extracting to the image that is included in the image in 2 D code, from described basic In image in 2 D code, the arch and the Quick Response Code matrix point image are detected.
25. device according to claim 24, which is characterized in that the determining module, specifically for working as the solid figure During as being the solid image of " L " type, in the solid image of " L " type by described in, the straight flange for meeting preset reference condition is determined as base Quasi- side, wherein, the preset reference condition is：The true edge is rotated by 90 ° counterclockwise, can determine the solid of " L " type Another straight flange in image；
Based on the world coordinate system, determine that the true edge corresponds to the first angle w of X-axis respectively1X corresponding with another straight flange The second angle w of axis2；
Utilize the w1, the w2And predetermined angle calculation formula, the principal direction of the Quick Response Code is calculated, wherein, it is described default Angle calculation formula is：
Wherein, the W represents the principal direction of the Quick Response Code；
Alternatively,
The determining module, specifically for when the solid image is solid triangle, based on the world coordinate system, really Target side in the fixed triangle corresponds to the third angle of X-axis, wherein, the target side is and the primarily two-dimensional code image In the straight flange that is spliced of a straight flange；
The principal direction of the Quick Response Code is determined according to the third angle；
Alternatively,
The determining module, specifically for when the solid image is solid arch, based on the world coordinate system, determining The bowed string corresponds to the fourth angle of X-axis；
The principal direction of the Quick Response Code is determined according to the fourth angle.
26. according to claim 23-25 any one of them devices, which is characterized in that the primarily two-dimensional code image is embedded in In predetermined annular image, wherein, the center of the primarily two-dimensional code image is overlapped with the center of the predetermined annular image, described Primarily two-dimensional code image and the predetermined annular image be not be overlapped；
Described device further includes detection module；
The detection module, for from the image in 2 D code, identifying the two dimension of composition primarily two-dimensional code image described Before the step of code matrix point image is with for determining the solid image of the principal direction of Quick Response Code, detect in the image in 2 D code Predetermined annular image, the region in the predetermined annular image is determined as region to be identified；
The identification module forms the institute of the primarily two-dimensional code image specifically for from the region to be identified, identifying State Quick Response Code matrix point image and the solid image.
27. device according to claim 26, which is characterized in that the predetermined annular image is annulus or elliptical ring.
28. according to claim 23-25 any one of them devices, which is characterized in that described device further include correction module and Processing module；
The correction module, for carrying out image distortion correction to the image in 2 D code obtained；
The processing module, for carrying out image binaryzation processing to the image after correction；
The identification module, specifically for from the image after binary conversion treatment, identifying the composition primarily two-dimensional code image The Quick Response Code matrix point image and the solid image.
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