CN108763996B - Plane positioning coordinate and direction angle measuring method based on two-dimensional code - Google Patents
Plane positioning coordinate and direction angle measuring method based on two-dimensional code Download PDFInfo
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- CN108763996B CN108763996B CN201810244403.9A CN201810244403A CN108763996B CN 108763996 B CN108763996 B CN 108763996B CN 201810244403 A CN201810244403 A CN 201810244403A CN 108763996 B CN108763996 B CN 108763996B
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- 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
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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
Abstract
The invention discloses a plane positioning coordinate and direction angle measuring method based on two-dimensional codes, which comprises the following steps: s1, laying two-dimensional codes designed by users at the appointed positions; s2, when the industrial control device is located at the station, a camera is used for sampling a two-dimensional code image; s3, carrying out graying and binarization processing on the acquired two-dimensional code image; s4, extracting the outline of each pattern in the binary image; s5, screening square-like outlines from the pattern outline image; s6, extracting the outer contour of the 7 x 7 module of the three position detection graphics of the two-dimensional code, and calculating the center coordinate of the contour; s7, checking whether the position detection graph contour extracted in S6 is reasonable and effective, if so, continuing to S8, otherwise, adjusting the binarization threshold value in S3 to repeat the subsequent operation until the repetition times reach the upper limit and stop; and S8, calculating the center coordinates and the reference rotation axis coordinates of the two-dimensional code, and calculating the plane positioning coordinates and the direction angle of the light spot of the imaging device relative to the two-dimensional code.
Description
The technical field is as follows:
the invention relates to a plane positioning coordinate and direction angle measuring method based on two-dimensional codes, and belongs to the technical field of image processing.
Background art:
the two-dimensional code is a matrix pattern formed by dark and light colored small square modules, the dark colored module represents binary 1, the light colored module represents binary 0, the side length of the small square is 1, the symbol of the small square is composed of a functional graph and a coding area, the functional graph comprises a position detection graph and a separator thereof, a positioning graph and a correction graph, and the coding area comprises format information, version information, data and an error correction code, as shown in figure 1. Each two-dimensional code has three identical position detection patterns, which are respectively located at the upper left corner, the upper right corner and the lower left corner of the symbol, as shown in fig. 2. Each position detection pattern can be regarded as consisting of 3 overlapping concentric squares, which are respectively dark, light and dark squares with side lengths of 7, 5 and 3. Since the pattern of the position detection pattern is extremely unlikely to occur at the remaining positions of the two-dimensional code symbol, the two-dimensional code can be quickly recognized in the field of view, and the position and direction of the symbol in the field of view can be accurately determined. In addition, compared with a bar code, the two-dimensional code also has the outstanding advantages of large information capacity, high reliability, good confidentiality and the like.
In the field of industrial production, various industrial control devices are generally required to have a high-precision positioning function in order to ensure the quality of products and the orderly proceeding of production activities. The invention provides a plane positioning coordinate and direction angle measuring method based on two-dimensional codes, which realizes the high-precision station positioning function of an industrial control device and comprises the measurement of horizontal and vertical coordinates and direction angles on a two-dimensional plane. The reason why the two-dimensional code is selected as the identification image is that: (1) the two-dimension code is applied to various industries at present and has good industry background; (2) the two-dimensional code pattern has obvious characteristics and is easy to process images; (3) the two-dimensional code has the outstanding advantages of large information capacity, high reliability, good confidentiality and the like.
The invention content is as follows:
the application provides a two-dimensional code-based plane positioning coordinate and direction angle measuring method, which can realize two-dimensional plane positioning and direction angle accurate measurement of an industrial control device, wherein two-dimensional plane positioning information comprises horizontal and longitudinal position coordinates on a two-dimensional plane.
The technical scheme adopted by the invention is as follows: a plane positioning coordinate and direction angle measuring method based on two-dimensional codes comprises the following steps:
s1, laying two-dimensional codes at positions where site location sampling is needed by the industrial control device, wherein the two-dimensional codes are common two-dimensional codes meeting the national standard of the two-dimensional codes, and the coding content of the two-dimensional codes is coded and designed according to the actual needs of users;
step S2, when the industrial control device is located at the station position, sampling the two-dimensional code image through a camera installed on the device;
step S3, gray processing is carried out on the two-dimensional code image obtained by sampling, and then binarization processing is carried out according to a specified threshold value;
step S4, extracting the outline of each pattern in the binarized two-dimensional code image;
step S5, preliminarily screening out an outline approximate to a square from the image obtained by extracting the outline of the pattern;
step S6, screening and reserving the outline of the 7 x 7 module of the position detection graph, and calculating the center coordinate of the outline;
step S7, checking whether the position detection graph contour extracted in the step S6 is reasonable and effective, if so, continuing the step S8, otherwise, adjusting the threshold value of the binarization processing in the step S3 to repeat the subsequent operation until the repetition frequency reaches the upper limit frequency and stops;
and step S8, calculating the center coordinates and the reference rotation axis coordinates of the two-dimensional code, and calculating the plane positioning coordinates and the direction angle of the light spot of the imaging device relative to the two-dimensional code.
Further, square o ″1、ο2、ο3Detecting the outline of a dark square module with the side length of 7 of a graph for three positions of a two-dimensional code, a triangle o1o2o3Is an isosceles right triangle, the original point o is the central point of the two-dimensional code, and the vector is recorded
For reference to the rotation axis vector, in the field of visual image processing, the pattern contour center coordinates of each regular pattern can be expressed by the first-order central moment of the pattern, hence omicron1、ο2、ο3The coordinate value of (2) can be calculated by formula (1):
wherein m and n represent subscripts of coordinates of each pixel point; m is00Is the zeroth order spatial moment of the image; m is10、m01Representing a first order spatial moment of the image in the x, y direction; value (m, n) represents the pixel value of each point of the image;
representing a first central moment of the image in the x-axis direction;
representing the first central moment of the image in the y-axis direction.
Further, the right-angle side and the hypotenuse of the triangle are determined according to the graphic characteristics of the isosceles right triangle, so that the reference rotation is judgedShaft
The coordinate value and direction of [ alpha ], the two-dimensional code central coordinate o [ alpha ] -1And o2When the plane positioning coordinate of the imaging device relative to the two-dimensional code is calculated, the midpoint coordinate is calculated by the formula (2):
wherein: Δ x and Δ y represent lateral and longitudinal position errors, respectively; the center coordinate of the actually acquired two-dimensional code is o (o)x,oy) (ii) a The resolution of the imaging device is (2X) × (2Y); sxRepresenting the pixel area of the position detection graph of the two-dimensional code; s0Representing the actual area of the two-dimensional code; d is the actual size of the outline of the detected graph, the two-dimensional code D used in the experiment is 12.8mm, and the value range is [ -180 degrees, +180 degrees ] when the direction angle theta of the imaging equipment relative to the two-dimensional code is calculated]If the counterclockwise rotation is positive, the standard reference rotation axis is the vector
The actual axis of rotation being a vector
The direction angle θ can be calculated by equation (3):
the invention has the following beneficial effects:
(1) according to the plane positioning coordinate and direction angle measuring method based on the two-dimensional codes, due to the fact that the probability that position detection graphs appear at other positions of the two-dimensional code symbols is extremely low, the position detection graphs of each two-dimensional code can be extracted, and visual image processing is carried out, so that the required two-dimensional plane positioning coordinate and direction angle information can be accurately extracted;
(2) in the plane positioning coordinate and direction angle measuring method based on the two-dimensional code, the used two-dimensional code is a common two-dimensional code, special processing is not needed, and the method is simple and convenient to use and easy to maintain; the gray processing and the binarization processing are firstly carried out on the initial image acquired by the camera, so that the visual image data resolving efficiency is improved, and the current plane positioning and direction angle information of the industrial control device can be quickly and effectively obtained; a verification link is added to the measurement data obtained by image processing, so that the effectiveness of the method is ensured to the greatest extent, and the situation of wrong measurement is avoided; when the experimental conditions are that the distance between the camera and the two-dimensional code is 17.5mm, the resolution of the camera is set to be 320 multiplied by 280, the size of a detection graph of the position of the two-dimensional code is 12.8mm multiplied by 12.8mm, and when natural light is adopted for illumination, the plane positioning measurement error is within +/-0.2 cm, and the direction angle error is within +/-0.001 degrees.
Description of the drawings:
fig. 1 is a two-dimensional code version 7 symbol structure diagram.
Fig. 2 is a diagram of a two-dimensional code position detection pattern.
Fig. 3 is a schematic diagram of a two-dimensional code image calculation result.
Fig. 4 is a flowchart for solving the two-dimensional code image.
Fig. 5 is a two-dimensional code initial sampling diagram.
Fig. 6 is a binarized grayscale image.
Fig. 7 is a pattern profile extracted from a grayscale image.
Fig. 8 is a profile view of all the approximate square patterns.
Fig. 9 is an outline of a position detection pattern of a two-dimensional code sampling chart.
The specific implementation mode is as follows:
the invention will be further described with reference to the accompanying drawings.
The invention relates to a plane positioning coordinate and direction angle measuring method based on a two-dimensional code, which mainly comprises the following steps:
(1) the two-dimensional code image acquired by the imaging equipment needs to be subjected to graying and binarization processing, and an original sampling image is converted into a grayscale image from an RGB image. The reason is that although the RGB image has visual intuitiveness, the RGB image cannot reflect the morphological characteristics of the image, and the gray scale image not only can effectively represent the morphological characteristics of the image, but also basically matches the description of the RGB image when describing the image from two core points, i.e., the overall and local color and brightness level distribution characteristics, and the data scale is much smaller than that of the RGB image when describing the image from the data amount perspective. Therefore, the gray level processing and the binarization processing are carried out on the original sampling image, the resolving efficiency of the algorithm can be effectively improved, meanwhile, the interference of external light can be reduced as much as possible, and the resolving success rate is improved.
(2) The contour of each pattern in the gray level image of the two-dimensional code is extracted, meanwhile, three position detection figure contours of the two-dimensional code are screened out according to the attribute parameters (taking pixel values as units) of the perimeter, the area, the size and the like of each contour, and the center coordinates of each position detection figure contour are calculated.
(3) And calculating the center coordinate and the reference rotating shaft of the two-dimensional code according to the center coordinates of the three position detection graph outlines, and then calculating the two-dimensional plane coordinate of the light spot of the imaging equipment, and the direction angle of the imaging equipment relative to the two-dimensional code when the center of the two-dimensional code is taken as the origin of coordinates.
FIG. 3 is a schematic diagram of the calculation results, in which square O is shown1、ο2、ο3Detecting the outline of a dark square module with the side length of 7 of a graph for three positions of a two-dimensional code, a triangle o1o2o3Is an isosceles right triangle, the original point o is the central point of the two-dimensional code, and the vector is recorded
Is a reference axis of rotation vector. In the field of visual image processing, the pattern contour center coordinates of each regular pattern can be represented by the first-order central moment of the pattern, hence omicron1、ο2、ο3The coordinate value of (2) can be calculated by formula (1):
wherein m, n represents subscript of each pixel point coordinate；m00Is the zeroth order spatial moment of the image; m is10、m01Representing a first order spatial moment of the image in the x, y direction; value (m, n) represents the pixel value of each point of the image;
representing a first central moment of the image in the x-axis direction;
representing the first central moment of the image in the y-axis direction.
When the actual image data is resolved, o1、ο2、ο3The arrangement sequence of the rotating shaft is disordered, and the right-angle side and the hypotenuse of the triangle are determined according to the graphic characteristics of the isosceles right triangle, and then the reference rotating shaft is judged according to the determined right-angle side and the hypotenuse
Coordinate values and directions of (c). Center coordinate o of two-dimensional code is taken omicron1And o2The midpoint coordinate of (a).
When the plane positioning coordinate of the imaging device relative to the two-dimensional code is calculated, the plane positioning coordinate can be obtained through the calculation of the formula (2):
wherein: Δ x and Δ y represent lateral and longitudinal position errors, respectively; the center coordinate of the actually acquired two-dimensional code is o (o)x,oy) (ii) a The resolution of the imaging device is (2X) × (2Y); sxRepresenting the pixel area of the position detection graph of the two-dimensional code; s0Representing the actual area of the two-dimensional code; d is the actual size of the outline of the position detection graph in fig. 3, and the two-dimensional code D used in the experiment is 12.8 mm.
When the direction angle theta of the imaging device relative to the two-dimensional code is calculated, the value range is [ -180 DEG, +180 DEG)]Rotating counterclockwise to positive. If the standard reference rotation axis is a vector
The actual axis of rotation being a vector
The direction angle θ can be calculated by equation (3):
in addition, in order to ensure that the screened contour is the outer contour of the position detection graph, whether the extracted outer contour of the position detection graph is reasonable and effective needs to be judged when the image is calculated, and the following two points can be referred to as a judgment basis:
1) calculating whether the ratio (maximum ratio minimum) of the perimeter of the screened contour is larger than 1 or not;
2) computing vector inner products
Whether or not it is close to 0;
if the conditions are basically consistent, the data obtained by image calculation is reasonable and effective.
The invention relates to a plane positioning coordinate and direction angle measuring method based on a two-dimensional code, the flow of an algorithm is shown in figure 4, and the method comprises the following steps: step S1, laying two-dimensional codes at positions where the industrial control devices need to perform site location sampling, wherein the two-dimensional codes are common two-dimensional codes meeting the national standard of the two-dimensional codes, and the coding content of the two-dimensional codes can be coded and designed according to the actual needs of users without strict requirements; step S2, when the industrial control device is located at the station, sampling the two-dimensional code image by a camera mounted on the device, as shown in fig. 5; step S3, performing grayscale processing on the two-dimensional code image obtained by sampling, and then performing binarization processing according to a specified threshold, as shown in fig. 6; step S4, extracting the outline of each pattern in the binarized two-dimensional code image, as shown in fig. 7; step S5, preliminarily screening out an outline of an approximate square from the image obtained by extracting the pattern outline, as shown in fig. 8; step S6, screening and retaining the outline of the 7 × 7 module of the position detection graph, and calculating the center coordinates of the outline, as shown in fig. 9; step S7, checking whether the position detection graph contour extracted in the step S6 is reasonable and effective, if so, continuing the step S8, otherwise, adjusting the threshold value of the binarization processing in the step S3 to repeat the subsequent operation until the repetition frequency reaches the upper limit frequency and stops; and step S8, calculating the center coordinates and the reference rotation axis coordinates of the two-dimensional code, and calculating the plane positioning coordinates and the direction angle of the light spot of the imaging device relative to the two-dimensional code.
The foregoing is only a preferred embodiment of this invention and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the invention and these modifications should also be considered as the protection scope of the invention.
Claims (1)
1. A plane positioning coordinate and direction angle measuring method based on two-dimensional codes is characterized in that: the method comprises the following steps:
s1, laying two-dimensional codes at positions where site location sampling is needed by the industrial control device, wherein the two-dimensional codes are common two-dimensional codes meeting the national standard of the two-dimensional codes, and the coding content of the two-dimensional codes can be coded and designed according to the actual needs of users;
step S2, when the industrial control device is located at the station position, sampling the two-dimensional code image through a camera installed on the device;
step S3, gray processing is carried out on the two-dimensional code image obtained by sampling, and then binarization processing is carried out according to a specified threshold value;
step S4, extracting the outline of each pattern in the binarized two-dimensional code image;
step S5, preliminarily screening out an outline approximate to a square from the image obtained by extracting the outline of the pattern;
step S6, screening and reserving the outline of the 7 x 7 module of the position detection graph, and calculating the center coordinate of the outline;
step S7, checking whether the position detection graph contour extracted in the step S6 is reasonable and effective, if so, continuing the step S8, otherwise, adjusting the threshold value of the binarization processing in the step S3 to repeat the subsequent operation until the repetition frequency reaches the upper limit frequency and stops;
step S8, calculating the center coordinate and the reference rotation axis coordinate of the two-dimensional code, and calculating the plane positioning coordinate and the direction angle of the light spot of the imaging device relative to the two-dimensional code;
square o1、ο2、ο3The outline of a square module of three position detection areas of the two-dimensional code is 7 in side length and a triangle o1o2o3Is an isosceles right triangle, the original point o is the central point of the two-dimensional code, and the vector is recorded
For reference to the rotation axis vector, in the field of visual image processing, the pattern contour center coordinates of each regular pattern can be expressed by the first-order central moment of the pattern, hence omicron1、ο2、ο3The coordinate value of (2) can be calculated by formula (1):
wherein m and n represent subscripts of coordinates of each pixel point; m is00Is the zeroth order spatial moment of the image; m is10、m01Representing a first order spatial moment of the image in the x, y direction; value (m, n) represents the pixel value of each point of the image;
representing a first central moment of the image in the x-axis direction;
representing a first central moment of the image in the y-axis direction;
determining the right-angle side and the hypotenuse of the triangle according to the graphic characteristics of the isosceles right triangle, thereby judging the reference rotation axis
The coordinate value and the direction of the two-dimensional code, and the central coordinate o of the two-dimensional code are takenο1And o2When the plane positioning coordinate of the imaging device relative to the two-dimensional code is calculated, the midpoint coordinate is calculated by the formula (2):
wherein: Δ x and Δ y represent lateral and longitudinal position errors, respectively; the center coordinate of the actually acquired two-dimensional code is o (o)x,oy) (ii) a The resolution of the imaging device is (2X) × (2Y); sxRepresenting the pixel area of the position detection graph of the two-dimensional code; s0Representing the actual area of the two-dimensional code; d is the actual size of the outline of the detected graph, the two-dimensional code D used in the experiment is 12.8mm, and the value range is [ -180 degrees, +180 degrees ] when the direction angle theta of the imaging equipment relative to the two-dimensional code is calculated]If the counterclockwise rotation is positive, the standard reference rotation axis is the vector
The actual axis of rotation being a vector
The direction angle θ can be calculated by equation (3):
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| CN110084080B (en) * | 2019-04-28 | 2021-07-09 | 上海快仓自动化科技有限公司 | Two-dimensional code identification and generation method and device, two-dimensional code and trolley |
| CN111931537B (en) * | 2020-06-19 | 2023-06-13 | 广东奥普特科技股份有限公司 | Granular QR two-dimensional code positioning method |
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