CN109990746A - A method of obtaining plan-position - Google Patents

A method of obtaining plan-position Download PDF

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Publication number
CN109990746A
CN109990746A CN201711473137.9A CN201711473137A CN109990746A CN 109990746 A CN109990746 A CN 109990746A CN 201711473137 A CN201711473137 A CN 201711473137A CN 109990746 A CN109990746 A CN 109990746A
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CN
China
Prior art keywords
dimensional code
identifier
array
measured target
code identifier
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.)
Pending
Application number
CN201711473137.9A
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Chinese (zh)
Inventor
邹风山
唐忠华
刘贺
张锋
张中泰
刘伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Siasun Robot and Automation Co Ltd
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Shenyang Siasun Robot and Automation Co Ltd
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by Shenyang Siasun Robot and Automation Co Ltd filed Critical Shenyang Siasun Robot and Automation Co Ltd
Priority to CN201711473137.9A priority Critical patent/CN109990746A/en
Publication of CN109990746A publication Critical patent/CN109990746A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06KGRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The embodiment of the present invention discloses a kind of method for obtaining plan-position.This method arranges two dimensional code array in test plane, and two dimensional code identifier is installed on measured target, and the position and orientation angle for obtaining measured target in test plane are calculated by the two-dimentional code value in identification two dimensional code array.It is big based on two dimensional code information memory capacity, convenient for propagating and the advantages such as low in cost, method provided by the embodiment of the present invention is not only able to satisfy measuring accuracy requirement, moreover it is possible to improve testing efficiency and have biggish ownership.

Description

A method of obtaining plan-position
Technical field
The present invention relates to the technical fields of test measurement, and in particular to a kind of side for obtaining the position of target planar Method.
Background technique
Currently, measurement target position in the planes has a various test, it is specific as using graduated scale protractor into Row measurement, using total station survey, measured using laser tracker etc..It is every although measurement method is varied Kind method all haves the defects that its is intrinsic.It is specific as not only measurement efficiency is not or not the method that is measured using graduated scale protractor Height, and measurement accuracy is relatively low;Although measurement accuracy and measurement are able to satisfy using total station or laser tracker measurement method Efficiency, but instrument itself is expensive and has required, higher cost and data ownership is less to use environment to instrument.
Therefore, the problems of the method for existing acquisition target in plan-position is badly in need of one kind and had both been able to satisfy survey It tries precision, improve testing efficiency, and can control cost and there is the method for the acquisition plan-position largely possessed.
Summary of the invention
For the problems of existing acquisition plan-position method, the embodiment of the present invention proposes a kind of based on two dimensional code battle array The method of the acquisition plan-position of column.The method combination two dimensional code that plan-position is obtained provided by the embodiment of the present invention stores letter Breath capacity is big, facilitates the advantages such as propagation, at low cost, effectively improves the testing efficiency of plan-position where obtaining target, test Precision and it is low in cost, possess and largely possess.
The concrete scheme of the acquisition plan-position method is as follows: a method of obtaining plan-position comprising step: Two dimensional code identifier is installed on measured target;Arrange that two dimensional code array, the two dimensional code array include plural number in test plane A two dimensional code for being spaced apart from each other preset distance;According to the two-dimentional code value that the two dimensional code identifier is identified, the two dimension is determined Position of the two dimensional code that code identifier is identified in the two dimensional code array;According to the two dimensional code of the identification relatively described two The center for tieing up code identifier, determines position of the measured target in test plane.
Preferably, the method also includes steps: according to the relatively described two dimensional code identifier of the two dimensional code of the identification Angle is rotated, determines angle of the measured target in test plane.
Preferably, the two dimensional code identifier is camera.
Preferably, the two dimensional code identifier can be identified with respect to the height of test plane according to the two dimensional code identifier The height of two dimensional code is determined.
Preferably, the two dimensional code identifier is fixed by the bracket on the measured target.
Preferably, the maximum spacing in the two dimensional code array between adjacent two dimensional code is according to the two dimensional code identifier Identification range is determined.
Preferably, the spacing between the adjacent two dimensional code in the two dimensional code array is according to measuring accuracy or/and test effect Rate is determined.
Preferably, the two-dimentional code value of a plurality of two dimensional codes in the two dimensional code array is different.
Preferably, the two dimensional code array is the two dimensional code matrix with a plurality of two dimensional codes.
Preferably, position of the determining measured target in test plane specific formula is as follows: x=(m-1) × b+ λ ×xc+xa;Y=(n-1) × b+ λ × yc+ya;Wherein, (x, y) indicates measured target in the position of test plane, and (m, n) is indicated Position of the two dimensional code that two dimensional code identifier is identified in two dimensional code array, λ are indicated in actual range and two dimensional code identifier The ratio of distance, (xa,ya) indicate relative distance between two dimensional code identifier and measured target, (xc,yc) indicate to be identified The position at two dimensional code relative two dimensional code identifier center.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
The embodiment of the present invention provides a kind of method for obtaining plan-position, and this method arranges two dimensional code battle array in test plane Column install two dimensional code identifier on measured target, are tested by the two-dimentional code value in identification two dimensional code array to calculate Position and orientation angle of the target in test plane.It is big based on two dimensional code information memory capacity, convenient for propagating and low in cost etc. excellent Gesture, method provided by the embodiment of the present invention are not only able to satisfy measuring accuracy requirement, moreover it is possible to improve testing efficiency and have larger Ownership.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the acquisition plan-position method provided in the embodiment of the present invention;
Fig. 2 is the system structure diagram of the acquisition plan-position provided in the embodiment of the present invention;
Fig. 3 is the two dimensional code identifier and measured target relative positional relationship schematic diagram provided in the embodiment of the present invention;
Fig. 4 is the maximum spacing schematic diagram in the two dimensional code array provided in the embodiment of the present invention between adjacent two dimensional code;
Fig. 5 is the two dimensional code array schematic diagram provided in the embodiment of the present invention;
Fig. 6 is the schematic diagram that two dimensional code identifier identifies the specific two dimensional code in two dimensional code array in the embodiment of the present invention.
Numbering in the drawing explanation:
100, measured target 120, bracket 200, two dimensional code identifier
300, two dimensional code array 400, test plane 220, the identification visual field
301, specific two dimensional code
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work It encloses.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein Or the sequence other than the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce The other step or units of product or equipment inherently.
As shown in Figure 1, a kind of flow diagram of the acquisition plan-position method provided in the embodiment of the present invention.In the reality It applies in example, the method for the position where obtaining measured target in test plane specifically includes four steps, specifically:
Step S1: two dimensional code identifier is installed on measured target.Two dimensional code identifier two dimensional code for identification, often at present Two dimensional code identifier is camera or camera.Two dimensional code identifier obtains two dimensional code figure by camera or camera Picture, then parsed by controller and obtain two-dimentional code value corresponding to two dimensional code.
Step S2: two dimensional code array is arranged in test plane.In this embodiment, two dimensional code array includes a plurality of phases The two dimensional code being mutually spaced a predetermined distance, and the value of each two dimensional code is different.Two dimensional code is with certain specific geometric figure The chequered with black and white graphic recording data symbol information being distributed in the two-dimensional direction according to certain rules.Two dimensional code is relative to other classes The data storage method of type has big information capacity, secrecy and the advantages such as anti-counterfeiting performance is good, decoding is reliable, low in cost.
Step S3: the two-dimentional code value identified according to two dimensional code identifier determines the two dimension that two dimensional code identifier is identified Position of the code in two dimensional code array.It, can be by two dimensional code array according to cartesian coordinate system in specific embodiment calculating process It is indexed, each two dimensional code has corresponding ordinate value and abscissa value in an array.
Step S4: according to the center of the relatively described two dimensional code identifier of the two dimensional code of identification, determine that measured target exists Position in test plane.In the particular embodiment, being calculated according to following equation determines measured target in test plane Position:
X=(m-1) × b+ λ × xc+xa;(formula 1)
Y=(n-1) × b+ λ × yc+ya;(formula 2)
Wherein, (x, y) indicates measured target in the position of test plane, and (m, n) indicates what two dimensional code identifier was identified Position of the two dimensional code in two dimensional code array, λ indicate the ratio of distance in actual range and two dimensional code identifier, (xa,ya) indicate Relative distance between two dimensional code identifier and measured target, (xc,yc) indicate identified two dimensional code relative two dimensional code identifier The position at center.
In the above-mentioned acquisition plan-position method the step of, the sequence of step S1 and step S2 can be interchangeable.In step When S3 is identified, measured target needs to be moved to the corresponding region of test plane.
In this embodiment, the method for obtaining plan-position is identified and is obtained based on two dimensional code.Such as this field Known to technical staff, the thought of the embodiment of the present invention also can be applied to the other technologies of similar two dimensional code mode, such as will be two-dimentional Code is substituted for bar code;Correspondingly, two dimensional code identifier is substituted for barcode recognizer, such as laser scanning gun, camera or photograph Camera etc..
As shown in Fig. 2, the system structure diagram of the acquisition plan-position provided in the embodiment of the present invention.System includes quilt Target 100 is surveyed, two dimensional code identifier 200 is fixed to the bracket 120 on measured target 100 by two dimensional code identifier 200, is tested Plane 400 and the two dimensional code array 300 for being laid on 400 surface of test plane.Measured target 100 is it needs to be determined that flat in test The object of position and direction angle in face 400.Measured target 100 can be different objects according to real work demand, in this hair Measured target 100 is moveable trolley in bright embodiment.Two dimensional code identifier 200 is for identification in two dimensional code array 300 Two dimensional code, in this embodiment, two dimensional code identifier 200 are camera.The probe direction of camera is laid with two dimensional code array 300 Test plane 400.
Two dimensional code identifier 200 is fixed on measured target 100 by bracket 120.The specific structure of bracket 120 and specific Shape the variation of adaptability can be carried out according to measured target 100 and two dimensional code identifier 200, details are not described herein again.In difference Under the bracket 120 of structure or shape, measured target 100 and two dimensional code identifier 200 all have relative distance.As shown in figure 3, this The relative positional relationship schematic diagram of the two dimensional code identifier 200 and measured target 100 that are provided in inventive embodiments.Two dimensional code identification The central point of device 200 is defined as two dimensional code identifier 200 to the linear distance S between the central point of measured target 100 and is tested The relative distance of target 100.The height of the opposite test plane 400 of two dimensional code identifier 200 is according to 200 institute of two dimensional code identifier It can identify that the height of two dimensional code is determined.
Two dimensional code array 300 includes a plurality of two dimensional codes for being spaced apart from each other preset distance, wherein the two dimension of each two dimensional code Code value is different.Preferably, the two dimensional code in two dimensional code array forms the battle array of a specific shape according to identical location rule Column, such as it is rectangle, square, trapezoidal.Identical location rule includes that the spacing of adjacent two dimensional code is equivalent.
As shown in figure 4, the maximum spacing in the two dimensional code array 300 provided in the embodiment of the present invention between adjacent two dimensional code The schematic diagram of D.In this embodiment, the maximum space D in two dimensional code array 300 between adjacent two dimensional code is identified according to two dimensional code The identification visual field 220 of device 200 is determined.As shown in figure 4, the identification visual field 220 of two dimensional code identifier 200 in this embodiment For border circular areas range, then the side length of the largest square of the circle can be approximately the sum of maximum space D and a two-dimentional code length. Preferably, the spacing between the adjacent two dimensional code in two dimensional code array 300 carries out true according to measuring accuracy or/and testing efficiency It is fixed, as long as being no more than maximum space D.
As shown in figure 5, the schematic diagram of the two dimensional code array 300 provided in the embodiment of the present invention.In this embodiment, two-dimentional Code array 300 includes 9 two dimensional codes, and 9 two dimensional codes are arranged together in equidistant 3 row 3 and arrange, thus one square of composition.When So, the concrete form of two dimensional code array 300 can also equidistantly be set between other other shapes or adjacent two dimensional code It sets.
As shown in fig. 6, two dimensional code identifier 200 identifies one specific two in two dimensional code array 300 in the embodiment of the present invention Tie up the schematic diagram of code 301.There is a specific two dimensional code 301 in the identification visual field 220 of two dimensional code identifier 200.Specific two dimensional code 301 are located at m row and the n-th column in two dimensional code array 300, and converting to cartesian coordinate is (m, n).Specific two dimensional code The center rotation angle of 301 relative two dimensional code identifiers 200 is θ.
In this embodiment, the specific formula for calculation such as formula 1 of position of the measured target 100 in test plane 400 is determined With shown in formula 2:
X=(m-1) × b+ λ × xc+xa;(formula 1)
Y=(n-1) × b+ λ × yc+ya;(formula 2)
Wherein, (x, y) indicates measured target 100 in the position of test plane 400, and (m, n) indicates two dimensional code identifier 200 Position of the specific two dimensional code 301 identified in two dimensional code array 300, λ indicate in actual range and two dimensional code identifier away from From ratio, (xa,ya) indicate relative distance between two dimensional code identifier 200 and measured target 100, i.e. linear distance in Fig. 3 The cartesian coordinate expression of S, (xc,yc) indicate the position at specific 200 center of two dimensional code 301 relative two dimensional code identifier of institute.
In this embodiment, the specific formula for calculation of orientation angle of the measured target 100 in test plane 400 is determined such as Shown in formula 3:
Φ=θ (formula 3)
In this embodiment, by arranging two dimensional code array 300 in test plane 400, and pacify on measured target 100 Two dimensional code identifier 200 is filled, acquisition measured target 100 is calculated by the two-dimentional code value in identification two dimensional code array 300 and is being surveyed Try the position (x, y) and orientation angle θ in plane 400.It is big based on two dimensional code information memory capacity, convenient for propagating and low in cost etc. Advantage, the provided method for obtaining plan-position of the embodiment of the present invention are not only able to satisfy measuring accuracy requirement, moreover it is possible to improve and survey It tries efficiency and there is biggish ownership.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned Embodiment is changed, modifies, replacement and variant.

Claims (10)

1. a kind of method for obtaining plan-position, which is characterized in that the method includes the steps:
Two dimensional code identifier is installed on measured target;
Two dimensional code array is arranged in test plane, the two dimensional code array includes a plurality of two dimensions for being spaced apart from each other preset distance Code;
According to the two-dimentional code value that the two dimensional code identifier is identified, the two dimensional code for determining that the two dimensional code identifier is identified exists Position in the two dimensional code array;
According to the center of the relatively described two dimensional code identifier of the two dimensional code of the identification, determine measured target in test plane On position.
2. a kind of method for obtaining plan-position according to claim 1, which is characterized in that the method also includes steps It is rapid: according to the two dimensional code of the identification relative to the rotation angle of the two dimensional code identifier, to determine measured target in test plane On angle.
3. a kind of method for obtaining plan-position according to claim 1, which is characterized in that the two dimensional code identifier is Camera.
4. a kind of method for obtaining plan-position according to claim 1, which is characterized in that the two dimensional code identifier phase The height of two dimensional code, which is determined, to be identified according to the two dimensional code identifier to the height of test plane.
5. a kind of method for obtaining plan-position according to claim 1, which is characterized in that the two dimensional code identifier is logical Bracket is crossed to be fixed on the measured target.
6. a kind of method for obtaining plan-position according to claim 1, which is characterized in that phase in the two dimensional code array Maximum spacing between adjacent two dimensional code is determined according to the identification range of the two dimensional code identifier.
7. a kind of method for obtaining plan-position according to claim 1, which is characterized in that in the two dimensional code array Spacing between adjacent two dimensional code is determined according to measuring accuracy or/and testing efficiency.
8. a kind of method for obtaining plan-position according to claim 1, which is characterized in that in the two dimensional code array The two-dimentional code value of a plurality of two dimensional codes is different.
9. a kind of method for obtaining plan-position according to claim 1, which is characterized in that the two dimensional code array is tool There is the two dimensional code matrix of a plurality of two dimensional codes.
10. a kind of method for obtaining plan-position according to claim 1, which is characterized in that the determining measured target Position in test plane specific formula is as follows:
X=(m-1) × b+ λ × xc+xa
Y=(n-1) × b+ λ × yc+ya
Wherein, (x, y) indicates measured target in the position of test plane, and (m, n) indicates the two dimension that two dimensional code identifier is identified Position of the code in two dimensional code array, λ indicate the ratio of distance in actual range and two dimensional code identifier, (xa,ya) indicate two dimension Relative distance between code identifier and measured target, (xc,yc) indicate identified two dimensional code relative two dimensional code identifier center Position.
CN201711473137.9A 2017-12-29 2017-12-29 A method of obtaining plan-position Pending CN109990746A (en)

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CN103123682A (en) * 2013-01-17 2013-05-29 无锡普智联科高新技术有限公司 System and method for positioning mobile robot based on regular graphic code composite tags
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