CN108154210A - A kind of Quick Response Code generation, recognition methods and device - Google Patents
A kind of Quick Response Code generation, recognition methods and device Download PDFInfo
- Publication number
- CN108154210A CN108154210A CN201611111139.9A CN201611111139A CN108154210A CN 108154210 A CN108154210 A CN 108154210A CN 201611111139 A CN201611111139 A CN 201611111139A CN 108154210 A CN108154210 A CN 108154210A
- Authority
- CN
- China
- Prior art keywords
- image
- quick response
- response code
- code
- predetermined
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- G06K19/06103—Constructional details the marking being embedded in a human recognizable image, e.g. a company logo with an embedded two-dimensional code
-
- 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
- G06K19/06075—Constructional details the marking containing means for error correction
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Electromagnetism (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
An embodiment of the present invention provides a kind of generation of Quick Response Code, recognition methods and device, generation methods to include：Obtain the primarily two-dimensional code image for including predetermined information；The primarily two-dimensional code image is embedded in predetermined annular image；The image that will be formed, is determined as Quick Response Code.The present invention applies readily identified predetermined annular image as the positioning image to Quick Response Code in implementing so that mobile robot is easy to that the required Quick Response Code identified is positioned and determined in local environment；Annular image is more easily identified, and without complicated recognizer, can cause the recognition efficiency higher of mobile robot.Using predetermined annular image as the positioning image of Quick Response Code so that Quick Response Code has better fault-tolerant ability, and when annular image is stained, the scanning recognition module of mobile robot can utilize the bending status of annular image to identify region to be identified.
Description
Technical field
The present invention relates to technical field of machine vision, more particularly to a kind of generation of Quick Response Code, 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.
Before scanning recognition device scan identifies Quick Response Code, it is necessary first to determine Quick Response Code position.Wherein, it is
Suitable for mobile robot application, need in the information association to Quick Response Code that will be identified needed for mobile robot, such as：It needs
The location information of the principal direction of Quick Response Code and Quick Response Code position is associated in Quick Response Code to realize that mobile robot passes through
The Quick Response Code carries out autonomous positioning.In the prior art, scanning recognition equipment needs to determine the two of wanted scanning recognition by user
The position of code is tieed up, and then, scanning recognition equipment scans and recognizes the Quick Response Code of the position.For example, moving machine
Device people using Quick Response Code when being positioned, it is necessary first to which mobile robot determines wanted scanning recognition from local environment
The position of Quick Response Code, and then the Quick Response Code of the position is scanned and recognized, it obtains complete entrained by Quick Response Code
Information, and then realize the positioning of mobile robot.
Quick Response Code of the prior art, may result in mobile robot can not accurately determine the required two dimension identified
Code.A kind of Quick Response Code easily arrived by mobile robot precise positioning is so generated as urgent problem to be solved.
Invention content
The embodiment of the present invention is designed to provide a kind of Quick Response Code generation, recognition methods and device, with generation one kind easily
The Quick Response Code arrived by mobile robot precise positioning.Specific technical solution is as follows：
On the one hand, an embodiment of the present invention provides a kind of two-dimensional code generation method, the method includes：
Obtain the primarily two-dimensional code image for including predetermined information；
The primarily two-dimensional code image is embedded in predetermined annular image, forms image；
The image that will be formed is determined as the Quick Response Code.
Optionally, the center of the primarily two-dimensional code image is overlapped with the center of the predetermined annular image, described basic
Image in 2 D code and the predetermined annular image be not be overlapped.
Optionally, the predetermined annular image is annulus or elliptical ring.
Optionally, the predetermined information includes the location information of the Quick Response Code position and for determining described two
Tie up the predetermined solid image of the principal direction of code；
Described the step of obtaining the primarily two-dimensional code image for including predetermined information, including：
Obtain the location information of scheduled Quick Response Code position；
For the location information, Quick Response Code matrix point image is generated；
Obtain for determine Quick Response Code principal direction predetermined solid image；
By the Quick Response Code matrix point image and the predetermined solid image, the primarily two-dimensional code image is formed.
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 one hand, an embodiment of the present invention provides a kind of two-dimensional code identification method, the method, which is directed to, uses above-mentioned two
The Quick Response Code of code generating method generation is tieed up, including：
Mobile robot obtains image in 2 D code by scanning the Quick Response Code；
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；
From the region to be identified, the predetermined information that primarily two-dimensional code image is included is identified.
Optionally, the predetermined information includes the location information of the Quick Response Code position and for determining described two
Tie up the predetermined solid image of the principal direction of code；
It is described from the region to be identified, the step of identifying the predetermined information that primarily two-dimensional code image is included, packet
It includes：
From the region to be identified, identify the Quick Response Code matrix point image of composition primarily two-dimensional code image and be used for
Determine the predetermined solid image of the principal direction of Quick Response Code；
The Quick Response Code matrix point image is decoded, obtains the location information of the Quick Response Code position；
According to the predetermined solid image and the position relationship of the Quick Response Code matrix point image, the Quick Response Code is determined
Principal direction.
Optionally, after the step of mobile robot is by scanning the Quick Response Code, obtaining image in 2 D code, institute
The method of stating 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；
Predetermined annular image in the detection image in 2 D code, the region in the predetermined annular image is determined
The step of for region to be identified, including：
The predetermined annular image in the image after the binary conversion treatment is detected, by the region in the predetermined annular image
It is determined as region to be identified.
On the one hand, an embodiment of the present invention provides a kind of Quick Response Code generating means, described device includes：
First obtains module, for obtaining the primarily two-dimensional code image for including predetermined information；
Embedded module for the primarily two-dimensional code image to be embedded in predetermined annular image, forms image；
Determining module for the image that will be formed, is determined as the Quick Response Code.
Optionally, the center of the primarily two-dimensional code image is overlapped with the center of the predetermined annular image, described basic
Image in 2 D code and the predetermined annular image be not be overlapped.
Optionally, the predetermined annular image is annulus or elliptical ring.
Optionally, the predetermined information includes the location information of the Quick Response Code position and for determining described two
Tie up the predetermined solid image of the principal direction of code；
Described first, which obtains module, includes first obtains unit, generation unit, the second obtaining unit and component units；
The first obtains unit, for obtaining the location information of scheduled Quick Response Code position；
The generation unit for being directed to the location information, generates Quick Response Code matrix point image；
Second obtaining unit, for obtain for determine Quick Response Code principal direction predetermined solid image；
The component units, for by the Quick Response Code matrix point image and the predetermined solid image, forming the base
This image in 2 D 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 two-dimension code recognition device, described device is directed to using above-mentioned
The Quick Response Code of Quick Response Code generating means generation, including：
Second obtains module, for mobile robot by scanning the Quick Response Code, obtains image in 2 D code；
Determining module is detected, for detecting the predetermined annular image in the image in 2 D code, by the predetermined circular chart
Region as in is determined as region to be identified；
Determining module is identified, for from the region to be identified, identifying that primarily two-dimensional code image is included predetermined
Information.
Optionally, the predetermined information includes the location information of the Quick Response Code position and for determining described two
Tie up the predetermined solid image of the principal direction of code；
The identification determining module includes recognition unit, third obtaining unit and determination unit；
The recognition unit, for from the region to be identified, identifying the Quick Response Code of composition primarily two-dimensional code image
Matrix point image and the predetermined solid image for determining the principal direction of Quick Response Code；
The third obtaining unit for being decoded to the Quick Response Code matrix point image, obtains the Quick Response Code institute
Location information in position；
The determination unit, for being closed according to the position of the predetermined solid image and the Quick Response Code matrix point image
System determines the principal direction of the Quick Response Code.
Optionally, described device further includes correction module and processing module；
The correction module, for, by scanning the Quick Response Code, obtaining image in 2 D code in the mobile robot
After step, image distortion correction is carried out to the image in 2 D code obtained；
The processing module, for carrying out image binaryzation processing to the image after correction；
The detection determining module, specifically for detecting the predetermined annular image in the image after the binary conversion treatment,
Region in the predetermined annular image is determined as region to be identified.
In the embodiment of the present invention, the primarily two-dimensional code image for including predetermined information is obtained first；By the primarily two-dimensional code figure
As being embedded in predetermined annular image, image is formed；The image that will be formed, is determined as Quick Response Code.Using readily identified pre-
Annular image is as the positioning image to Quick Response Code so that mobile robot is easy to that institute is positioned and determined in local environment
The Quick Response Code that need to be identified, also, annular image is more easily identified, and without complicated recognizer, can cause mobile robot
Recognition efficiency higher.Further, using predetermined annular image as the positioning image of Quick Response Code so that Quick Response Code has more preferable
Fault-tolerant ability, when annular image is stained, the scanning recognition module of mobile robot can utilize the bending of annular image
Situation identifies region to be identified.Certainly, it implements any of the products of the present invention or more than method must be not necessarily required to reach simultaneously
All advantages.
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 diagram of two-dimensional code generation method provided in an embodiment of the present invention；
Fig. 2A is a kind of flow diagram of primarily two-dimensional code generating mode；
Fig. 2 B are the schematic diagram of a kind of Quick Response Code that is generated using the embodiment of the present invention；
Fig. 3 A are a kind of flow diagram of two-dimensional code identification method provided in an embodiment of the present invention；
A kind of schematic diagram for the image in 2 D code that Fig. 3 B are obtained in practical applications by mobile robot；
Fig. 4 is a kind of another flow diagram of two-dimensional code identification method provided in an embodiment of the present invention；
Fig. 5 is a kind of structure diagram of Quick Response Code generating means provided in an embodiment of the present invention；
Fig. 6 is a kind of the first structure diagram for obtaining module；
Fig. 7 is a kind of structure diagram of two-dimension code recognition device provided in an embodiment of the present invention；
Fig. 8 is a kind of another structure diagram of two-dimension code recognition device provided in an embodiment of the present invention.
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 making creative work
Embodiment shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a kind of generation of Quick Response Code, recognition methods and device, with generation one kind easily by moving machine
The Quick Response Code that device people's precise positioning arrives.
A kind of two-dimensional code generation method provided in an embodiment of the present invention is introduced first below.
As shown in Figure 1, a kind of two-dimensional code generation method provided in an embodiment of the present invention, may include steps of；
S101：Obtain the primarily two-dimensional code image for including predetermined information；
The primarily two-dimensional code image for including predetermined information can utilize the prior art to generate.The predetermined information can include
The location information of scheduled Quick Response Code position and the predetermined solid image for determining the principal direction of Quick Response Code, can also
Including identity description information, etc., this is all possible.For example, which includes identity description information, moving machine
Device people A needs cargo a being transferred to mobile robot B, at this point it is possible to describe the corresponding two dimensions of mobile robot B by identification
Code determines the identity of mobile robot B.Wherein, the predetermined information of the primarily two-dimensional code image in the Quick Response Code is：Description movement
The identity description information of the identity information of robot B.
As location information of the predetermined information including scheduled Quick Response Code position and the master for determining Quick Response Code
During the predetermined solid image in direction, the location information of scheduled Quick Response Code position, the position can be obtained by the prior art
Confidence breath can be the latitude and longitude information of Quick Response Code position or artificial defined station location marker information, this is all can
With.The location information of Quick Response Code position can be inputted by user.In addition, can also be included in location information it is mobile away from
From etc. information, such as to certain direction move 2 meters, which is determined by mobile robot according to the principal direction of Quick Response Code；Or
Include range information current two-dimension position apart from next Quick Response Code position.It is it is understood that scheduled
There is multiple, the predetermined mobile route of multiple position composition mobile robot in Quick Response Code position.
Position relationship that is subsequent, being formed according to the predetermined solid image and location information, it may be determined that Quick Response Code
Principal direction.For example, which is a filled circles, can be by the filled circles relative to where location information
Direction is determined as the principal direction of Quick Response Code；Alternatively, the image that the predetermined solid image has a straight flange for one, can utilize
The angle of the X-axis of the straight flange and world coordinate system, determines principal direction of Quick Response Code, etc..
As a kind of realization method, as shown in Figure 2 A, the predetermined information can include the position of Quick Response Code position
Information and the predetermined solid image for determining the principal direction of Quick Response Code；
Described the step of obtaining the primarily two-dimensional code image for including predetermined information, it can include：
S201：Obtain the location information of scheduled Quick Response Code position；
S202：For location information, Quick Response Code matrix point image is generated；
S203：Obtain for determine Quick Response Code principal direction predetermined solid image；
S204：By Quick Response Code matrix point image and predetermined solid image, primarily two-dimensional code image is formed.
It is understood that as shown in " 3 " in Fig. 2 B, which can be certain specific geometry
The chequered with black and white image that image is distributed according to certain rules in plane (on two-dimensional directional), for recording the location information.It is any
A kind of realization method that can generate Quick Response Code matrix point image can be applied in the embodiment of the present invention.Such as " 2 " in Fig. 2 B
It is shown, it is the predetermined solid image being previously mentioned in the embodiment of the present invention, wherein, predetermined solid image can be the solid of " L " type
Image, two straight flanges in the Quick Response Code matrix point image are spliced respectively with two straight flanges in the solid image of " L " type,
Form primarily two-dimensional code image；It is the unit spot of Quick Response Code matrix point image as shown in " 6 " in Fig. 2 B, the two dimension in Fig. 2 B
The unit spot of code matrix point image is rectangle, and unit spot in addition can also be solid circles.The Quick Response Code matrix point image with
There may also be gap between the solid image of " L " type of being somebody's turn to do, wherein, when the unit spot of Quick Response Code matrix point image is rectangle,
It the gap, should when the unit spot of Quick Response Code matrix point image is solid circles no more than the long side of unit spot or the length of short side
Gap is not more than the diameter of unit spot.It is subsequent, can according to two right-angle sides in " L " type image respectively with world coordinate system
X-axis angle, determine the principal direction of Quick Response Code.
When predetermined solid image is solid triangle, a straight flange of the Quick Response Code matrix point image and triangle into
Row splicing, forms primarily two-dimensional code image.Alternatively, when predetermined solid image is solid arch, the Quick Response Code matrix point diagram
As being spliced with bowed straight flange, primarily two-dimensional code image is formed.It is subsequent, can according in predetermined solid image with two dimension
The straight flange and the angle of the X-axis of world coordinate system that code matrix point image is spliced determine the principal direction of Quick Response Code.
S102：Primarily two-dimensional code image is embedded in predetermined annular image, forms image；
Can the primarily two-dimensional code image be subjected to the operations such as scaling, by primarily two-dimensional code Image Adjusting to appropriate size
Afterwards, it is embedded in predetermined annular image, forms image.Wherein, which exists entirely in predetermined annular image
Inside, as shown in Figure 2 B.As a kind of realization method, the center of the primarily two-dimensional code image and the center of predetermined annular image
It overlaps, the primarily two-dimensional code image and predetermined annular image be not be overlapped.In addition, in order to be more conducive to the positioning of Quick Response Code, and
Ensure that predetermined annular image is not easy to be worn, which there can be certain width, for example：Work as Quick Response Code
During the solid image that the unit spot of matrix point image is rectangle and predetermined solid image is " L " type, the width of the solid image of " L " type
Degree can be not less than the long side of unit point or the length of short side in the Quick Response Code matrix point image, and be usually no more than the Quick Response Code
The length of side of matrix point image, 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 two
When the unit spot for tieing up code matrix point image is rectangle and predetermined solid image is solid triangle, relative to progress in triangle
The high of the straight flange of splicing 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, and generally not
More than the length of side of the Quick Response Code matrix point image, the wide minimum high length that can be not less than the triangle of the predetermined annular image
Degree；When the unit spot of Quick Response Code matrix point image is rectangle and predetermined solid image is solid arch, 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, and do not surpass generally
The length of side of the Quick Response Code matrix point image is crossed, the width of the predetermined annular image can be not less than the bowed rise.In addition to
The participation of user is improved, the width of the predetermined annular image can independently be set by user.As shown in " 1 " in Fig. 2 B, this is pre-
Annular image is annulus, and the wide of the annulus can be not less than the width of the straight flange of " 2 " in Fig. 2 B.
As a kind of realization method, there may be gap between the predetermined annular image and primarily two-dimensional code image, such as scheme
Shown in 2B, wherein, in order to ensure the embodiment of information in primarily two-dimensional code image, the primarily two-dimensional code image is unsuitable too small, when two
When the unit spot for tieing up code matrix point image is rectangle, between the minimum between the predetermined annular image and Quick Response Code matrix point image
Gap can be not more than the long side of unit spot or the length of short side, should when the unit spot of Quick Response Code matrix point image is solid circles
Minimum gap between predetermined annular image and Quick Response Code matrix point image can be not more than the diameter of unit spot.
As another realization method, when predetermined solid image is solid arch, which can be with making a reservation for
The side of the inside of annular image connects but is not overlapped, this is also possible.
Wherein, which can be annulus or elliptical ring.
S103：The image that will be formed, is determined as Quick Response Code.
The image that will be formed is determined as Quick Response Code, and exports the Quick Response Code or the Quick Response Code is printed in Quick Response Code
In substrate, in practical application.
Using the embodiment of the present invention, the primarily two-dimensional code image for including predetermined information is obtained；By the primarily two-dimensional code image
It is embedded in predetermined annular image, forms image；The image that will be formed, is determined as Quick Response Code.Make a reservation for using readily identified
Annular image is as the positioning image to Quick Response Code so that mobile robot is easy to position and determine in local environment required
The Quick Response Code of identification, also, annular image is more easily identified, and without complicated recognizer, can cause mobile robot
Recognition efficiency higher.Further, using predetermined annular image as the positioning image of Quick Response Code so that Quick Response Code has better
Fault-tolerant ability, when annular image is stained, the scanning recognition module of mobile robot can utilize the bending of annular image
Condition identifies region to be identified.
As a kind of realization method, which is printed in rectangular base, the center of circle of the predetermined annular image and rectangle
The center of substrate overlaps；In the rectangular base can also include benchmark line segment, every benchmark line segment respectively with the rectangular base
Four edges in a line correspond to, and positioned at corresponding sides perpendicular bisector on, 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, " 4 " in benchmark line segment such as Fig. 2 B
It is shown.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.
As a kind of realization method, 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.
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, " 5 " institute in location information character string such as Fig. 2 B
Show.
On the other hand, as shown in Figure 3A, an embodiment of the present invention provides a kind of two-dimensional code identification method, this method is directed to and adopts
The Quick Response Code generated with the aforedescribed process, 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, it is easier to be moved
Where mobile robot positioning determines it, the required information identified is determined, from being interfered by other Quick Response Codes.Mobile robot
It can be scanned the two-dimensional code by the prior art, obtain corresponding image in 2 D code.Wherein, as shown in Figure 3B, it is mobile robot
A kind of schematic diagram of the image in 2 D code obtained in practical applications.
S302：The predetermined annular image in image in 2 D code is detected, the region in predetermined annular image is determined as waiting to know
Other region；
Wherein, hough circle lookup algorithms may be used in the mode for detecting predetermined annular image.Detect predetermined annular image
Afterwards, the inside of the predetermined annular image is determined as region to be identified, further, identifies the figure that the region to be identified is included
Picture.It only identifies the region to be identified inside the predetermined annular image, avoids mobile robot and recognize mistake or others two
Code is tieed up, prevents mobile robot from being interfered in positioning by other Quick Response Codes.And pass through the predetermined annular image and realize pair
The mobile robot Quick Response Code to be identified is accurately positioned.
S303：From region to be identified, the predetermined information that primarily two-dimensional code image is included is identified.
As a kind of realization method, the predetermined information can include the location information of Quick Response Code position and be used for
Determine the predetermined solid image of the principal direction of Quick Response Code；
It is described from region to be identified, the step of identifying the predetermined information that primarily two-dimensional code image is included, can wrap
It includes：
From region to be identified, the Quick Response Code matrix point image of composition primarily two-dimensional code image is identified and for determining
The predetermined solid image of the principal direction of Quick Response Code；
Quick Response Code matrix point image is decoded, obtains the location information of Quick Response Code position；
According to predetermined solid image and the position relationship of Quick Response Code matrix point image, the principal direction of Quick Response Code is determined.
Treat identification region carry out edge detection, identify composition primarily two-dimensional code image Quick Response Code matrix point image with
And the predetermined solid image for determining the principal direction of Quick Response Code, wherein, where Quick Response Code matrix point image reflection Quick Response Code
The location information of position, predetermined solid image are used to determine the principal direction of Quick Response Code.The Quick Response Code matrix point image is according to existing
Technology generates, and in the decoding for carrying out Quick Response Code matrix point image, the generating mode with Quick Response Code matrix point image may be used
Corresponding decoding process is decoded, wherein, which is the prior art, and this will not be repeated here.To Quick Response Code matrix dot
Image is decoded, and obtains code word information, this yard of word information is the location information of corresponding Quick Response Code position.
It for example, can be by the filled circles relative to where location information when predetermined solid image is solid circles
Direction be determined as the principal direction of Quick Response Code.It in addition, can when predetermined solid image is at least to have the image of straight flange
With according to the straight flange and the folder of the X-axis of world coordinate system spliced in the predetermined solid image with Quick Response Code matrix point image
Angle determines principal direction of Quick Response Code, etc., this is all possible.Particularly, when the solid figure that predetermined solid image is " L " type
During picture, two dimension can be determined according to two right-angle sides angle with the X-axis of world coordinate system respectively of the solid image of " L " type
The principal direction of code.
Using the embodiment of the present invention, mobile robot obtains image in 2 D code by scanning the Quick Response Code；Described in detection
Region in the predetermined annular image is determined as region to be identified by the predetermined annular image in image in 2 D code；From described
In region to be identified, the predetermined information that primarily two-dimensional code image is included is identified.By predetermined annular image to Quick Response Code into
Row positioning determines, and further identify primarily two-dimensional code image therein, since predetermined annulus easily identifies, and fault-tolerance
By force, the recognition efficiency of Quick Response Code is accelerated.
As a kind of realization method, based on Fig. 3, as shown in figure 4, being obtained in the mobile robot by scanning the two-dimensional code
After the step of obtaining image in 2 D code, the method 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；
Predetermined annular image in the detection image in 2 D code, the region in the predetermined annular image is determined
The step of for region to be identified, can include：
S403：The predetermined annular image in the image after binary conversion treatment is detected, the region in predetermined annular image is true
It is set to region to be identified.
In order to improve the recognition efficiency of Quick Response Code and accuracy, can image first be carried out to the image in 2 D code obtained
Distortion correction simultaneously carries out image binaryzation processing to the image after correction, and then, to treated, image is detected identification.Its
In, the prior art (for example, Zhang Zhengyou plane references method) may be used, pattern distortion school is carried out to the image in 2 D code obtained
Just.Also, image binaryzation processing is carried out to the image after correction using the prior art, this will not be repeated here.
Corresponding to above method embodiment, an embodiment of the present invention provides a kind of Quick Response Code generating means, as shown in figure 5,
Described device can include：
First obtains module 510, for obtaining the primarily two-dimensional code image for including predetermined information；
Embedded module 520 for the primarily two-dimensional code image to be embedded in predetermined annular image, forms image；
Determining module 530 for the image that will be formed, is determined as the Quick Response Code.
Using the embodiment of the present invention, the primarily two-dimensional code image for including predetermined information is obtained；By the primarily two-dimensional code image
It is embedded in predetermined annular image, forms image；The image that will be formed, is determined as Quick Response Code.Make a reservation for using readily identified
Annular image is as the positioning image to Quick Response Code so that mobile robot is easy to position and determine in local environment required
The Quick Response Code of identification, also, annular image is more easily identified, and without complicated recognizer, can cause mobile robot
Recognition efficiency higher.Further, using predetermined annular image as the positioning image of Quick Response Code so that Quick Response Code has better
Fault-tolerant ability, when annular image is stained, the scanning recognition module of mobile robot can utilize the bending of annular image
Condition identifies region to be identified.
As a kind of realization method, the center of the primarily two-dimensional code image and the center weight of the predetermined annular image
It closes, the primarily two-dimensional code image and the predetermined annular image be not be overlapped.
As a kind of realization method, the predetermined annular image is annulus or elliptical ring.
As a kind of realization method, the predetermined information includes the location information of the Quick Response Code position and is used for
Determine the predetermined solid image of the principal direction of the Quick Response Code；
As shown in fig. 6, Fig. 6 is a kind of the first structure diagram for obtaining module 510, described first obtains module 510 can
To include first obtains unit 511, generation unit 512, the second obtaining unit 513 and component units 514；
The first obtains unit 511, for obtaining the location information of scheduled Quick Response Code position；
The generation unit 512 for being directed to the location information, generates Quick Response Code matrix point image；
Second obtaining unit 513, for obtain for determine Quick Response Code principal direction predetermined solid image；
The component units 514, for by the Quick Response Code matrix point image and the predetermined solid image, described in composition
Primarily two-dimensional code image.
As a kind of realization method, 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.
As a kind of realization method, 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, an embodiment of the present invention provides a kind of two-dimension code recognition device, as shown in fig. 7,
Described device is directed to the Quick Response Code generated using above-mentioned device, can include：
Second obtains module 710, for mobile robot by scanning the Quick Response Code, obtains image in 2 D code；
Determining module 720 is detected, for detecting the predetermined annular image in the image in 2 D code, by the pre- annular
Region in image is determined as region to be identified；
Identify determining module 730, it is pre- for from the region to be identified, identifying that primarily two-dimensional code image is included
Determine information.
Using the embodiment of the present invention, mobile robot obtains image in 2 D code by scanning the Quick Response Code；Described in detection
Region in the predetermined annular image is determined as region to be identified by the predetermined annular image in image in 2 D code；From described
In region to be identified, the predetermined information that primarily two-dimensional code image is included is identified.By predetermined annular image to Quick Response Code into
Row positioning determines, and further identify primarily two-dimensional code image therein, since predetermined annulus easily identifies, and fault-tolerance
By force, the recognition efficiency of Quick Response Code is accelerated.
As a kind of realization method, the predetermined information includes the location information of the Quick Response Code position and is used for
Determine the predetermined solid image of the principal direction of the Quick Response Code；
The identification determining module 730 includes recognition unit, third obtaining unit and determination unit；
The recognition unit, for from the region to be identified, identifying the Quick Response Code of composition primarily two-dimensional code image
Matrix point image and the predetermined solid image for determining the principal direction of Quick Response Code；
The third obtaining unit for being decoded to the Quick Response Code matrix point image, obtains the Quick Response Code institute
Location information in position；
The determination unit, for being closed according to the position of the predetermined solid image and the Quick Response Code matrix point image
System determines the principal direction of the Quick Response Code.
As a kind of realization method, based on Fig. 7, as shown in figure 8, described device can also include correction module 810 and place
Manage module 820；
The correction module 810, for, by scanning the Quick Response Code, obtaining image in 2 D code in the mobile robot
The step of after, image distortion correction is carried out to the image in 2 D code that is obtained；
The processing module 820, for carrying out image binaryzation processing to the image after correction；
The detection determining module 720, specifically for the predetermined circular chart in the image after the detection binary conversion treatment
Region in the predetermined annular image is determined as region to be identified by picture.
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.
Each embodiment in this specification is described using relevant mode, identical similar portion between each embodiment
Point just to refer each other, and the highlights of each of the examples are difference from other examples.Especially for system reality
For applying example, since it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
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 (18)
1. a kind of two-dimensional code generation method, which is characterized in that the method includes：
Obtain the primarily two-dimensional code image for including predetermined information；
The primarily two-dimensional code image is embedded in predetermined annular image, forms image；
The image that will be formed is determined as the Quick Response Code.
2. according to the method described in claim 1, it is characterized in that, the center of the primarily two-dimensional code image and the predetermined ring
The center of shape image overlaps, and the primarily two-dimensional code image and the predetermined annular image be not be overlapped.
3. according to the method described in claim 1, it is characterized in that, the predetermined annular image is annulus or elliptical ring.
4. according to the method described in claim 1, it is characterized in that, the predetermined information includes the Quick Response Code position
Location information and the predetermined solid image for determining the principal direction of the Quick Response Code；
Described the step of obtaining the primarily two-dimensional code image for including predetermined information, including：
Obtain the location information of scheduled Quick Response Code position；
For the location information, Quick Response Code matrix point image is generated；
Obtain for determine Quick Response Code principal direction predetermined solid image；
By the Quick Response Code matrix point image and the predetermined solid image, the primarily two-dimensional code image is formed.
5. according to claim 1-4 any one of them methods, which is characterized in that the Quick Response Code is printed in rectangular base,
The center of circle of the predetermined annular image is overlapped with the center of the rectangular base；Benchmark line segment is further included in the rectangular base,
Every benchmark 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.
6. it according to the method described in claim 5, it 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.
7. a kind of two-dimensional code identification method, which is characterized in that the method is directed to using method described in claim 1 generation
Quick Response Code, including：
Mobile robot obtains image in 2 D code by scanning the Quick Response Code；
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；
From the region to be identified, the predetermined information that primarily two-dimensional code image is included is identified.
8. the method according to the description of claim 7 is characterized in that the predetermined information includes the Quick Response Code position
Location information and the predetermined solid image for determining the principal direction of the Quick Response Code；
It is described from the region to be identified, the step of identifying the predetermined information that primarily two-dimensional code image is included, including：
From the region to be identified, the Quick Response Code matrix point image of composition primarily two-dimensional code image is identified and for determining
The predetermined solid image of the principal direction of Quick Response Code；
The Quick Response Code matrix point image is decoded, obtains the location information of the Quick Response Code position；
According to the predetermined solid image and the position relationship of the Quick Response Code matrix point image, the main side of the Quick Response Code is determined
To.
9. method according to claim 7 or 8, which is characterized in that in the mobile robot by scanning the two dimension
After the step of code, acquisition image in 2 D 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；
Predetermined annular image in the detection image in 2 D code, the region in the predetermined annular image is determined as treating
The step of identification region, including：
The predetermined annular image in the image after the binary conversion treatment is detected, the region in the predetermined annular image is determined
For region to be identified.
10. a kind of Quick Response Code generating means, which is characterized in that described device includes：
First obtains module, for obtaining the primarily two-dimensional code image for including predetermined information；
Embedded module for the primarily two-dimensional code image to be embedded in predetermined annular image, forms image；
Determining module for the image that will be formed, is determined as the Quick Response Code.
11. device according to claim 10, which is characterized in that the center of the primarily two-dimensional code image makes a reservation for described
The center of annular image overlaps, and the primarily two-dimensional code image and the predetermined annular image be not be overlapped.
12. device according to claim 10, which is characterized in that the predetermined annular image is annulus or elliptical ring.
13. device according to claim 10, which is characterized in that the predetermined information includes the Quick Response Code position
Location information and predetermined solid image for determining the principal direction of the Quick Response Code；
Described first, which obtains module, includes first obtains unit, generation unit, the second obtaining unit and component units；
The first obtains unit, for obtaining the location information of scheduled Quick Response Code position；
The generation unit for being directed to the location information, generates Quick Response Code matrix point image；
Second obtaining unit, for obtain for determine Quick Response Code principal direction predetermined solid image；
The component units, for by the Quick Response Code matrix point image and the predetermined solid image, composition described basic two
Tie up code image.
14. according to claim 10-13 any one of them devices, which is characterized in that the Quick Response Code is printed on rectangular base
On, the center of circle of the predetermined annular image is overlapped with the center of the rectangular base；Datum line is further included in the rectangular base
Section, every benchmark line segment is corresponding with a line in the four edges of the rectangular base respectively, and positioned at the perpendicular bisector of corresponding sides
On, the benchmark line segment is not Chong Die with the Quick Response Code.
15. device according to claim 14, 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.
16. a kind of two-dimension code recognition device, which is characterized in that described device is directed to be generated using device according to any one of claims 10
Quick Response Code, including：
Second obtains module, for mobile robot by scanning the Quick Response Code, obtains image in 2 D code；
Determining module is detected, it, will be in the predetermined annular image for detecting the predetermined annular image in the image in 2 D code
Region be determined as region to be identified；
Determining module is identified, for from the region to be identified, identifying the predetermined information that primarily two-dimensional code image is included.
17. device according to claim 16, which is characterized in that the predetermined information includes the Quick Response Code position
Location information and predetermined solid image for determining the principal direction of the Quick Response Code；
The identification determining module includes recognition unit, third obtaining unit and determination unit；
The recognition unit, for from the region to be identified, identifying the Quick Response Code matrix of composition primarily two-dimensional code image
Point image and the predetermined solid image for determining the principal direction of Quick Response Code；
For being decoded to the Quick Response Code matrix point image, it is in place to obtain the Quick Response Code institute for the third obtaining unit
The location information put；
The determination unit, for the position relationship according to the predetermined solid image and the Quick Response Code matrix point image, really
The principal direction of the fixed Quick Response Code.
18. device according to claim 16 or 17, which is characterized in that described device further includes correction module and processing mould
Block；
The correction module, for the mobile robot is by scanning the Quick Response Code, obtaining image in 2 D code the step of
Later, image distortion correction is carried out to the image in 2 D code obtained；
The processing module, for carrying out image binaryzation processing to the image after correction；
The detection determining module, specifically for the predetermined annular image in the image after the detection binary conversion treatment, by institute
It states the region in predetermined annular image and is determined as region to be identified.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611111139.9A CN108154210B (en) | 2016-12-02 | 2016-12-02 | Two-dimensional code generation and identification method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611111139.9A CN108154210B (en) | 2016-12-02 | 2016-12-02 | Two-dimensional code generation and identification method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108154210A true CN108154210A (en) | 2018-06-12 |
| CN108154210B CN108154210B (en) | 2021-04-16 |
Family
ID=62468487
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611111139.9A Active CN108154210B (en) | 2016-12-02 | 2016-12-02 | Two-dimensional code generation and identification method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108154210B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108827316A (en) * | 2018-08-20 | 2018-11-16 | 南京理工大学 | Mobile robot visual orientation method based on improved Apriltag label |
| CN109271823A (en) * | 2018-08-08 | 2019-01-25 | 佛山市顺德区中山大学研究院 | A kind of method for rapidly positioning of customized two dimensional code |
| CN109359999A (en) * | 2018-08-21 | 2019-02-19 | 同济大学 | The decoding method of two-dimensional line segment figure for commodity outer packing |
| CN110561381A (en) * | 2019-08-29 | 2019-12-13 | 黑龙江大学 | Intelligent verification robot and verification method |
| CN111681161A (en) * | 2020-05-28 | 2020-09-18 | 深圳市无虚科技有限公司 | Restoration method and device for folded two-dimensional code image and computer readable storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003087990A2 (en) * | 2002-04-09 | 2003-10-23 | The Escher Group, Ltd. | Encoding and decoding data using angular symbology and beacons |
| CN101398907A (en) * | 2007-09-26 | 2009-04-01 | 中国科学院自动化研究所 | Two-dimension code structure and decoding method for movable robot |
| CN101751591A (en) * | 2010-01-14 | 2010-06-23 | 复旦大学 | High-capacity two-dimensional barcode capable of recording voice message and reader |
| CN102999772A (en) * | 2012-11-14 | 2013-03-27 | 韩偲铭 | Novel array-type two-dimension code encoding and decoding methods |
| CN104794421A (en) * | 2015-04-29 | 2015-07-22 | 华中科技大学 | QR (quick response) code positioning and recognizing methods |
| CN105027141A (en) * | 2013-01-31 | 2015-11-04 | 富士机械制造株式会社 | Image processing system and aid system |
| CN105437251A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Method and device for locating position of robot |
| JP2016201492A (en) * | 2015-04-13 | 2016-12-01 | 富士電機株式会社 | Impurity introduction device, impurity introduction method and manufacturing method of semiconductor element |
-
2016
- 2016-12-02 CN CN201611111139.9A patent/CN108154210B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003087990A2 (en) * | 2002-04-09 | 2003-10-23 | The Escher Group, Ltd. | Encoding and decoding data using angular symbology and beacons |
| CN101398907A (en) * | 2007-09-26 | 2009-04-01 | 中国科学院自动化研究所 | Two-dimension code structure and decoding method for movable robot |
| CN101751591A (en) * | 2010-01-14 | 2010-06-23 | 复旦大学 | High-capacity two-dimensional barcode capable of recording voice message and reader |
| CN102999772A (en) * | 2012-11-14 | 2013-03-27 | 韩偲铭 | Novel array-type two-dimension code encoding and decoding methods |
| CN105027141A (en) * | 2013-01-31 | 2015-11-04 | 富士机械制造株式会社 | Image processing system and aid system |
| JP2016201492A (en) * | 2015-04-13 | 2016-12-01 | 富士電機株式会社 | Impurity introduction device, impurity introduction method and manufacturing method of semiconductor element |
| CN104794421A (en) * | 2015-04-29 | 2015-07-22 | 华中科技大学 | QR (quick response) code positioning and recognizing methods |
| CN105437251A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Method and device for locating position of robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109271823A (en) * | 2018-08-08 | 2019-01-25 | 佛山市顺德区中山大学研究院 | A kind of method for rapidly positioning of customized two dimensional code |
| CN108827316A (en) * | 2018-08-20 | 2018-11-16 | 南京理工大学 | Mobile robot visual orientation method based on improved Apriltag label |
| CN109359999A (en) * | 2018-08-21 | 2019-02-19 | 同济大学 | The decoding method of two-dimensional line segment figure for commodity outer packing |
| CN110561381A (en) * | 2019-08-29 | 2019-12-13 | 黑龙江大学 | Intelligent verification robot and verification method |
| CN110561381B (en) * | 2019-08-29 | 2023-03-21 | 黑龙江大学 | Intelligent verification robot and verification method |
| CN111681161A (en) * | 2020-05-28 | 2020-09-18 | 深圳市无虚科技有限公司 | Restoration method and device for folded two-dimensional code image and computer readable storage medium |
| CN111681161B (en) * | 2020-05-28 | 2021-05-07 | 深圳市无虚科技有限公司 | Restoration method and device for folded two-dimensional code image and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108154210B (en) | 2021-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108154210A (en) | A kind of Quick Response Code generation, recognition methods and device | |
| KR102367438B1 (en) | Simultaneous positioning and mapping navigation method, apparatus and system combined with markers | |
| CN107328420B (en) | Positioning method and device | |
| CN101398907B (en) | Two-dimension code structure and decoding method for movable robot | |
| CN108154209B (en) | Two-dimensional code generation and identification method and device for mobile robot positioning | |
| US20100001991A1 (en) | Apparatus and method of building map for mobile robot | |
| CN105091782A (en) | Multilane laser light plane calibration method based on binocular vision | |
| CN105701492A (en) | Machine vision identification system and implementation method thereof | |
| CN208937054U (en) | Position Fixing Navigation System and robot based on two dimensional code | |
| CN107609510B (en) | Positioning method and device for lower set of quayside container crane | |
| CN112766008B (en) | Object space pose acquisition method based on two-dimensional code | |
| CN108267133B (en) | Laser type reflecting plate coordinate system redundancy calibration method and laser navigation system | |
| CN107742304A (en) | Determination method and device, mobile robot and the storage medium of motion track | |
| CN104552341A (en) | Single-point multi-view meter-hanging posture error detecting method of mobile industrial robot | |
| CN104376328B (en) | Coordinate-based distributed coding mark identification method and system | |
| US11372075B2 (en) | Positioning method, apparatus and system, layout method of positioning system, and storage medium | |
| CN109840463A (en) | A kind of Lane detection method and apparatus | |
| KR100557202B1 (en) | The device for detecting variation about a stop position of moving matter | |
| CN111950308A (en) | Two-dimensional code positioning method for AGV | |
| CN105627934A (en) | Vision proportionality coefficient obtaining method based on machine vision | |
| Yap et al. | Landmark-based automated guided vehicle localization algorithm for warehouse application | |
| CN113361674B (en) | Encoding and decoding method of nested guide two-dimensional code | |
| CN114526724A (en) | Positioning method and equipment for inspection robot | |
| EP4043914A1 (en) | Six-dof measuring aid | |
| CN113954064B (en) | Robot navigation control method, device and system, robot and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310051 Hall 5, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address |