CN111506056A - Positioning system and method of equipment - Google Patents
Positioning system and method of equipment Download PDFInfo
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- CN111506056A CN111506056A CN201910693303.9A CN201910693303A CN111506056A CN 111506056 A CN111506056 A CN 111506056A CN 201910693303 A CN201910693303 A CN 201910693303A CN 111506056 A CN111506056 A CN 111506056A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
Abstract
The embodiment of the invention provides a positioning system and a method of equipment, wherein the positioning system comprises: the map is stored with a plurality of optical identification OID codes, wherein each OID code corresponds to one piece of position information, and the position information comprises two-dimensional coordinate information and angle information which take a preset marker in the map as a reference; the positioning module is connected with the control module; the positioning module is arranged above the map and used for reading the OID codes in the map to obtain position information corresponding to the OID codes and sending the position information to the control module; and the control module controls the equipment to move according to the position information and target position information preset for the equipment. The embodiment of the invention realizes the accurate positioning of the equipment through the OID coding.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a system and a method for positioning a device.
Background
Automatic mobile equipment such as desktop entity interactive equipment with autonomous movement capability generally adopts an optical tracking definition mode based on a Digital L light Processing (D L P) high-speed projector, and the mode uses projection equipment with a high frame rate to project a series of coding patterns onto a 2D plane, and a decoder on the mobile equipment independently analyzes the position in a projection area and sends the position and the direction to a host.
Compared with a camera visual positioning mode, the projection-based tracking system cannot increase network delay for motion feedback control of each device, so that the system position control is more stable, and the positioning accuracy can reach a millimeter level. However, the above positioning method has high requirements on equipment and high cost, has certain requirements on installation environment, and cannot be used in places with strong illumination; in addition, the range over which the lens can support recognition is small.
Disclosure of Invention
The embodiment of the invention provides a positioning system and a positioning method of equipment, which are used for reducing the positioning difficulty of desktop entity interaction equipment.
An embodiment of the present invention provides a positioning system for a device, where the positioning system includes:
the map is stored with a plurality of optical identification OID codes, wherein each OID code corresponds to one piece of position information, and the position information comprises two-dimensional coordinate information and angle information which take a preset marker in the map as a reference;
the positioning module is connected with the control module; the positioning module is arranged above the map and used for reading the OID codes in the map to obtain position information corresponding to the OID codes and sending the position information to the control module; and the control module controls the equipment to move according to the position information and target position information preset for the equipment.
Optionally, the number of OID codes is 268435456.
Optionally, the length and width of each OID code in two dimensions are 1.355mm and 1.376mm, respectively.
Optionally, the reading angle range of the positioning module is-45 degrees to +45 degrees.
Optionally, the illuminance of the positioning module ranges from 0 to 10000L ux.
Optionally, the vertical distance of the positioning module from the map is greater than 7 mm.
Optionally, the positioning module includes an image sensor and an image decoder connected to the image sensor; the image sensor reads the OID code and sends the read OID code to the image decoder, and the image decoder analyzes the OID code sent by the image sensor to obtain position information corresponding to the OID code.
Optionally, the positioning system further includes an EEPROM base, and the positioning module is mounted on the EEPROM base; the EEPROM base is stored with calibration parameters of a positioning module and is used for calibrating initialization parameters of the positioning module.
The embodiment of the invention provides a positioning method of equipment, which is applied to a positioning module arranged on the equipment and comprises the following steps:
acquiring Optical Identification (OID) codes pre-stored in a map to obtain position information corresponding to the OID codes, wherein each OID code corresponds to one piece of position information, and the position information comprises two-dimensional coordinate information and angle information which take preset markers in the map as reference;
and sending the position information to a control module so that the control module controls the equipment to move according to the position information and target position information preset for the equipment.
Optionally, after the sending the location information to the control module, the positioning method further includes:
receiving a control instruction sent by the control module, wherein the control instruction carries command information instructing the positioning module to send position information acquired in real time in the moving process of the equipment to the control module in real time;
and according to the control instruction, sending the position information acquired in real time in the moving process of the equipment to the control module so that the control module detects whether the received position information is the same as the target position information or not, and controlling the equipment to stop moving when detecting that the received position information is the same as the target position information.
In the positioning system and method of the equipment provided by the embodiment of the invention, the positioning system comprises a map, a control module and a positioning module arranged on the equipment, wherein a plurality of OID codes are stored on the map, each OID code corresponds to position information comprising two-dimensional coordinate information and angle information which take a preset marker in the map as a reference, and the positioning module is arranged above the map, can read the OID codes in the map to obtain the position information corresponding to the OID codes and sends the position information to the control module, so that the control module can control the equipment to move according to the received position information and target position information preset for the equipment; the position information corresponding to the OID codes comprises two-dimensional coordinate information and angle information, so that accurate positioning can be realized when the equipment is positioned, the positioning difficulty of the equipment is reduced, in addition, the positioning system is simple to install, the requirement on the use environment is low, and the installation cost of the positioning system is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a block diagram of a positioning system of an apparatus according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a method for positioning a device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, which is a schematic block diagram of a positioning system of a device in an embodiment of the present invention, the positioning system includes:
the map comprises a map 1, wherein a plurality of optical identification OID codes are stored on the map 1, each OID code corresponds to one piece of position information, and the position information comprises two-dimensional coordinate information and angle information which take preset markers in the map as reference;
the device comprises a control module 2 and a positioning module 4 arranged on the equipment 3, wherein the positioning module 4 is connected with the control module 2; the positioning module 4 is arranged above the map 1, and is configured to read the OID code in the map 1, obtain position information corresponding to the OID code, and send the position information to the control module 2; and the control module 2 controls the equipment 3 to move according to the position information and target position information preset for the equipment.
The map 1 stores a plurality of Optical Identification (OID) codes, wherein each OID code pattern is composed of a plurality of fine and human eye-indistinct points according to a specific rule, and each OID code corresponds to a set of specific values. In addition, the OID code not only has the characteristics of confidentiality and low visual interference, but also can be printed by common ink and hidden under the color pattern of a printed matter. Of course, the OID code may be generated by software, and when the OID code is generated, the printing image and text may be loaded, and the base image file with the OID code may be output, and then the drawing may be printed by using a laser printer or a printing machine with a power of 1200dpi or more.
Specifically, in this embodiment, each OID code corresponds to one piece of location information, where the location information includes a set of values of two-dimensional coordinate information and angle information based on a preset marker in the map, that is, in this embodiment, each OID code corresponds to a set of values including two-dimensional coordinate information and angle information. In this way, the positioning module 4 installed on the device 3 reads and analyzes the two-dimensional coordinate information and the angle information corresponding to each OID code in the map 1, so that the device 3 can be accurately positioned through the two-dimensional coordinate information and the angle information.
In addition, the positioning module 4 can acquire the OID code on the map in real time, so that no accumulated error exists in motion control, and the position of the equipment is controlled more accurately.
In addition, the preset marker may be any two-dimensional coordinate point in the map, and the preset marker is not particularly limited herein.
In addition, in terms of optical characteristics, the number of OID codes in the map is 268435456, and the length and width of each OID code in two-dimensional dimensions are 1.355mm and 1.376mm, respectively. In this way, based on the number of OID codes in the map and the two-dimensional size of a single OID code, the identification accuracy of the positioning module 4 on the map 1 can reach 1/128 code point size, the positioning accuracy is in millimeter level, and the supported identification range can reach 20 square meters.
In addition, the precision of the OID code is in millimeter level, so that the two-dimensional coordinate information and the angle information in the acquired position information are more accurate, and when the control module controls the equipment to move according to the position information and the preset target position information of the equipment, the accurate control of the equipment can be realized according to the accurate two-dimensional coordinate information and the accurate position information.
It should be noted here that both the length and the width of the OID code may have errors, for example, both the length and the width of the OID code may have an error range of 0.0005mm, that is, the length of the OID code may be 1.350mm to 1.360 mm; the width of the OID code may be 1.371mm-1.381 mm.
In addition, the positioning module 4 may be a positioning sensor. The positioning module 4 is used for reading and analyzing the OID code. When the positioning module 4 analyzes the OID code, the OID code may be analyzed according to the characteristic that the general printing ink has different degrees of absorption of light with specific wavelengths.
The positioning module 4 comprises an image sensor and an image decoder connected with the image sensor; the image sensor reads the OID code and sends the read OID code to the image decoder, and the image decoder analyzes the OID code sent by the image sensor to obtain position information corresponding to the OID code. In this way, the OID code is read by the image sensor and is analyzed by the image decoder, so that the positioning module 4 can obtain the position information corresponding to the OID code, and further, the precise positioning of the equipment is realized.
Specifically, the illumination range of the positioning module 4 during operation is 0 to 10000L ux, so that the OID code can be easily and quickly read when the positioning system is exposed to outdoor sunlight (5000L ux), the static reading error rate is lower than 0.1%, the problems that the requirement on the installation environment of the positioning system is high and the positioning system cannot be used in a place with strong illumination in the prior art are avoided, and the installation requirement on the positioning system is reduced.
In addition, the reading angle range of the positioning module 4 is-45 degrees to +45 degrees, so that the visual hit rate of the positioning module 4 is up to 98%, and the positioning accuracy of the positioning system is improved.
In addition, specifically, the vertical distance between the positioning module 4 and the map 1 is greater than 7 mm. Therefore, when the positioning system works, the vertical distance between the positioning module 4 and the map 1 is larger than 7mm, and the positioning module 4 can be used for smoothly reading the OID codes in the map 1.
In addition, specifically, in terms of electrical characteristics, the power consumption of the positioning module 4 is only 6mA during operation, 1mA during standby, and the operating voltage range is 2.8V to 3.6V, which greatly prolongs the service life of the positioning module.
In addition, specifically, the working temperature range of the positioning module 4 is 0 to 55 degrees celsius, which enables the requirement of the positioning system on the installation environment to be reduced, and ensures a larger use range of the positioning system.
In addition, specifically, through the arrangement of the positioning module 4, the positioning accuracy of the positioning module 4 in a static state is as high as 99%, the average refresh rate is about 5.18Hz, and the effective data refresh rate in a moving state is reduced to 2.93 Hz.
In addition, further, the positioning system further comprises an Electrically Erasable Programmable Read Only Memory (EEPROM) base, and the positioning module 4 is mounted on the EEPROM base; the EEPROM base stores therein a positioning module calibration parameter for calibrating an initialization parameter of the positioning module 4.
Specifically, when the positioning module is used for the first time, the positioning module calibration parameters pre-stored in the EEPROM base can be adopted to calibrate the initialization parameters of the positioning module, so that the accuracy of the positioning system in positioning through the positioning module is ensured.
In addition, it should be further noted that the control module 2 may be a Micro Control Unit (MCU), and the control module 2 may be connected to the positioning module 4 through a communication protocol. Specifically, the positioning module 4 supports a two-wire communication interface, so that the control module 2 can read position information and send an instruction to the positioning module through the high and low levels of the input and output port, thereby realizing communication between the control module 2 and the positioning module 4 and further realizing positioning control of the device.
In addition, it should be further noted that, the positioning system in this embodiment may further provide an Application Programming Interface (API), where the API may provide a package library function based on the C language, where the package library function includes two-dimensional coordinate information and angle information corresponding to the OID code, so that a user may directly obtain the decimal two-dimensional coordinate and the angle value by calling the function, thereby implementing real-time positioning of the device.
In this way, the positioning system for the device provided by this embodiment includes a map for storing OID codes, a control module, and a positioning module disposed on the device, where each OID code in the map corresponds to position information including two-dimensional coordinate information and angle information based on a preset marker in the map, so that the positioning module disposed above the map can obtain position information corresponding to the OID code by reading and analyzing the OID code in the map, thereby implementing accurate positioning of the device and reducing the positioning difficulty of the device; in addition, the positioning module sends the position information to the control module, so that the control module can control the equipment to move according to the received position information and target position information preset for the equipment, and accurate movement control over the equipment is realized; in addition, the positioning system is simple in structure, low in requirements on installation and use environments, high in transportability and capable of guaranteeing usability of the positioning system.
In addition, as shown in fig. 2, this embodiment further provides a method for positioning a device, where the method is applied to a positioning module disposed on the device, and the method includes:
step 201: and acquiring an optical identification OID code pre-stored in the map to obtain position information corresponding to the OID code.
In this step, specifically, each OID code corresponds to one piece of location information, and the location information includes two-dimensional coordinate information and angle information based on a preset marker in the map.
In addition, the positioning module is arranged above the map, so that the positioning module can acquire and analyze the OID codes in the map, and further obtain the position information corresponding to the OID codes.
It should be noted that the position information includes two-dimensional coordinate information and angle information, which enables the positioning module to achieve accurate positioning of the device when performing positioning according to the OID code.
In addition, the number of the OID codes in the map is 268435456, and the length and the width of each OID code in two-dimensional sizes are 1.355mm and 1.376mm respectively, so that high precision of the equipment is further ensured when positioning is carried out according to the OID codes.
Step 202: and sending the position information to a control module so that the control module controls the equipment to move according to the position information and target position information preset for the equipment.
In this step, specifically, after the positioning module acquires the location information, the location information may be sent to the control module, so that the control module may control the device to move according to the location information and target location information preset for the device.
Specifically, the control module acquires target position information preset for the device in advance, and then after receiving the position information sent by the positioning module, can obtain a moving path of the device according to the received position information and the target position information, so as to control the device to move.
Further, after sending the location information to the control module, the embodiment may also receive a control instruction sent by the control module, where the control instruction carries command information instructing the positioning module to send the location information obtained in real time in the device moving process to the control module in real time; and then according to the control instruction, sending the position information acquired in real time in the moving process of the equipment to the control module so that the control module detects whether the received position information is the same as the target position information or not, and controlling the equipment to stop moving when detecting that the received position information is the same as the target position information.
Specifically, the control module sends an instruction to the positioning module, so that the positioning module sends the position information corresponding to the OID code acquired in real time to the control module in the moving process of the device, and at the moment, the control module can compare the position information received in real time with preset target position information, so as to judge whether the device reaches the target position. Specifically, when the control module detects that the received position information is the same as the target position information, the device is indicated to reach a preset position, and the device can be controlled to stop moving; of course, when the control module detects that the received location information is different from the target location information, the device does not reach the preset location, and at this time, the control module continues to control the device to move until the received location information is detected to be the same as the target location information.
In this way, according to the positioning method for the device provided by this embodiment, the position information corresponding to the OID code in the map is obtained, and the position information includes the two-dimensional coordinate information and the angle information based on the preset marker in the map, and is sent to the control module, so that the control module controls the device to move according to the position information and the target position information preset for the device, and the two-dimensional coordinate information and the angle information are corresponding to the OID code, thereby realizing the accurate positioning of the device through the OID code.
In addition, it should be noted that the description of the positioning method real-time example and the description of the positioning system embodiment are related to each other, that is, the description of the positioning system embodiment may be applied to the positioning method real-time example to implement hardware and software support for the positioning method; of course, the above description of the positioning method embodiment can also be applied to the positioning system embodiment to implement the method support for using the positioning system.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A positioning system for a device, the positioning system comprising:
the map is stored with a plurality of optical identification OID codes, wherein each OID code corresponds to one piece of position information, and the position information comprises two-dimensional coordinate information and angle information which take a preset marker in the map as a reference;
the positioning module is connected with the control module; the positioning module is arranged above the map and used for reading the OID codes in the map to obtain position information corresponding to the OID codes and sending the position information to the control module; and the control module controls the equipment to move according to the position information and target position information preset for the equipment.
2. The positioning system of claim 1, wherein the number of OID codes is 268435456.
3. The positioning system according to claim 1, wherein each OID code has a length and a width in two dimensions of 1.355mm and 1.376mm, respectively.
4. The positioning system of claim 1, wherein the reading angle of the positioning module ranges from-45 degrees to +45 degrees.
5. The positioning system of claim 1, wherein the positioning module has an illumination intensity ranging from 0 to 10000L ux.
6. The positioning system of claim 1, wherein the vertical distance of the positioning module from the map is greater than 7 mm.
7. The positioning system of claim 1, wherein the positioning module comprises an image sensor and an image decoder coupled to the image sensor; the image sensor reads the OID code and sends the read OID code to the image decoder, and the image decoder analyzes the OID code sent by the image sensor to obtain position information corresponding to the OID code.
8. The positioning system of claim 1, further comprising an EEPROM base, and wherein the positioning module is mounted to the EEPROM base; the EEPROM base is stored with calibration parameters of a positioning module and is used for calibrating initialization parameters of the positioning module.
9. A method for positioning a device is applied to a positioning module arranged on the device, and comprises the following steps:
acquiring Optical Identification (OID) codes pre-stored in a map to obtain position information corresponding to the OID codes, wherein each OID code corresponds to one piece of position information, and the position information comprises two-dimensional coordinate information and angle information which take preset markers in the map as reference;
and sending the position information to a control module so that the control module controls the equipment to move according to the position information and target position information preset for the equipment.
10. The method of claim 9, wherein after sending the location information to a control module, the method further comprises:
receiving a control instruction sent by the control module, wherein the control instruction carries command information instructing the positioning module to send position information acquired in real time in the moving process of the equipment to the control module in real time;
and according to the control instruction, sending the position information acquired in real time in the moving process of the equipment to the control module so that the control module detects whether the received position information is the same as the target position information or not, and controlling the equipment to stop moving when detecting that the received position information is the same as the target position information.
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| CN201910693303.9A CN111506056A (en) | 2019-07-30 | 2019-07-30 | Positioning system and method of equipment |
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| CN103345478A (en) * | 2013-06-17 | 2013-10-09 | 武汉天罡信息技术有限公司 | Universal identification coding system for smart city construction |
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