CN113095103A - Intelligent equipment positioning method, device, equipment and storage medium - Google Patents
Intelligent equipment positioning method, device, equipment and storage medium Download PDFInfo
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Abstract
The application relates to an intelligent device positioning method, an intelligent device positioning device, an intelligent device and a storage medium. The method comprises the following steps: acquiring an identification image obtained by shooting an identification object at the current position by intelligent equipment, wherein the identification object comprises an axis indication identification and an identity indication identification, and the intelligent equipment comprises a camera for shooting the identification object; identifying an axis indicating mark in the mark image, and acquiring a virtual coordinate system corresponding to the axis indicating mark; according to the virtual coordinate system, identifying an identity indicating identifier in the identifier image, acquiring a first coordinate of the identity indicating identifier in the virtual coordinate system, and acquiring an identifier identity corresponding to the identity indicating identifier; acquiring a corresponding second coordinate of the identification identity in a world coordinate system; and acquiring the device coordinates of the intelligent device in a world coordinate system according to the first coordinate and the second coordinate and a camera pose estimation algorithm. The method and the device are used for solving the problem that black and white codes used in the existing outward and inward tracking technology have great influence on the environment.
Description
Technical Field
The present application relates to the field of positioning, and in particular, to a method, an apparatus, a device, and a storage medium for positioning an intelligent device.
Background
With the continuous development of artificial intelligence, the application scene of the robot is greatly expanded, and great convenience is brought to the production and life of people. The navigation and positioning technology is one of the key technologies of an indoor robot system, and currently, the commonly used positioning technology mainly includes an outward-inward Tracking technology (outward-in Tracking) and an inward-outward Tracking technology (Inside-out Tracking). Wherein the positioning mode of Outside-in Tracking comprises a visual positioning method based on a visual reference library (April tag), a positioning method based on visible light communication and the like; the Inside-out Tracking method includes a visual and laser instant positioning and mapping (SLAM) positioning method and the like. The two methods have the advantages and the disadvantages, wherein the Inside-out Tracking method does not need to transform the environment, has wider applicability, but has certain requirements on the stability and the structurization of the environment; the positioning method of Outside-in Tracking needs to deploy an auxiliary positioning identifier in an environment, so that the environment needs to be modified to a certain extent, the applicability of the technology is influenced, and the requirements on the stability and the structuralization of the environment are lower.
Although the Inside-out Tracking positioning mode can actively adapt to the environment, the requirement on the stability of the environment is high, so that the positioning difficulty is increased in a variable scene, such as a person-flow intensive site like a market and a front desk, a goods storage site like a warehouse, and the like. Although the existing locating method of Outside-in Tracking can better achieve locating in a variable scene, the existing Outside-in Tracking generally uses visual locating methods such as two-dimensional codes, Quick Response (QR) codes and April tag codes which can be quickly identified, wherein the various codes belong to black and white codes, and the black and white codes are relatively sharp in the environment, have relatively large influence on the environment, easily cause the problem of harmony with the original environment, reduce the comfort and experience of people in the environment, and therefore limit the technical expansion.
Disclosure of Invention
The application provides an intelligent device positioning method, an intelligent device positioning device, an intelligent device and a storage medium, which are used for solving the problem that black and white codes used in the existing outward and inward tracking technology have large influence on the environment.
In a first aspect, an embodiment of the present application provides an intelligent device positioning method, including: acquiring an identification image obtained by shooting an identification object at a current position by intelligent equipment, wherein the identification object comprises an axis indication identification and an identity indication identification, and the intelligent equipment comprises a camera for shooting the identification object; identifying the axis indicating mark in the mark image, and acquiring a virtual coordinate system corresponding to the axis indicating mark; according to the virtual coordinate system, identifying the identity indication mark in the identification image, acquiring a first coordinate of the identity indication mark in the virtual coordinate system, and acquiring an identification identity corresponding to the identity indication mark; acquiring a corresponding second coordinate of the identification identity in a world coordinate system, wherein the second coordinate is preset; and acquiring the device coordinates of the intelligent device in the world coordinate system according to the first coordinate and the second coordinate and a camera pose estimation algorithm.
Optionally, the axis indicators include a horizontal axis indicator and a vertical axis indicator; identifying the axis indicating mark in the mark image, and acquiring a virtual coordinate system corresponding to the axis indicating mark, wherein the method comprises the following steps: taking the marks arranged according to a first preset rule in the mark image as the transverse axis indicating marks; according to the transverse axis indicating mark, taking the marks arranged according to a second preset rule in the mark image as the longitudinal axis indicating mark; and acquiring the virtual coordinate system corresponding to the transverse axis indication mark and the longitudinal axis indication mark according to the transverse axis indication mark and the longitudinal axis indication mark.
Optionally, the obtaining the virtual coordinate system corresponding to the horizontal axis indication identifier and the vertical axis indication identifier according to the horizontal axis indication identifier and the vertical axis indication identifier includes: taking the straight line where the transverse axis indication mark is located as a transverse axis, and taking the straight line where the longitudinal axis indication mark is located as a longitudinal axis; and establishing the virtual coordinate system according to the horizontal axis and the vertical axis.
Optionally, the recognizing, according to the virtual coordinate system, the identity indicator in the identifier image, obtaining a first coordinate of the identity indicator in the virtual coordinate system, and obtaining an identifier corresponding to the identity indicator include: taking the mark in a first preset quadrant of the virtual coordinate system as the identity indication mark; acquiring a first coordinate corresponding to the identity indication identifier in the virtual coordinate system; and converting the first coordinate into an identification identity corresponding to the identity indication identification according to a preset coordinate conversion rule.
Optionally, the taking the marks arranged according to a first preset rule in the mark image as the horizontal axis indication marks according to the mark information includes: and when M marks in the mark image are determined to be on the same straight line according to the mark information, taking the M marks as the horizontal axis indication marks, wherein M is an integer larger than 3.
Optionally, the taking the marks arranged according to a second preset rule in the mark image as the vertical axis indication marks according to the mark information and the horizontal axis indication marks includes: acquiring an end point identifier in the transverse axis indicating identifier according to the identifier information, wherein the end point identifier is an identifier positioned at two ends in the transverse axis indicating identifier; and when one end point mark and two marks respectively positioned at two sides of the straight line where the transverse axis indicating mark is positioned are positioned on the same straight line, taking the end point mark and the two marks respectively positioned at two sides of the straight line where the transverse axis indicating mark is positioned as the longitudinal axis indicating mark.
Optionally, the identifier further comprises a location verification identifier; the acquiring the device coordinates of the intelligent device in the world coordinate system according to the first coordinate and the second coordinate and a camera pose estimation algorithm comprises: acquiring a transformation relation of the identifier from the world coordinate system to a virtual coordinate system according to the first coordinate and the second coordinate and a camera pose estimation algorithm; acquiring the identifier in a second preset quadrant of the virtual coordinate system as the position verification identifier; acquiring a fourth coordinate of the position verification identifier in a virtual coordinate system; obtaining a position conversion result of the intelligent equipment according to the conversion relation; and acquiring the device coordinate of the intelligent device in the world coordinate system according to the fourth coordinate and the position transformation result.
Optionally, the marker is made of a retro-reflective material, and the camera comprises a camera with a filter.
In a second aspect, an embodiment of the present application provides a marker, including an axis indicator and an identity indicator; the axis indicating mark is used for indicating a virtual coordinate system of an identification image, the identification image is obtained by shooting the identifier, and the identity indicating mark is used for indicating the identity of the identifier through the position of the identifier image relative to the virtual coordinate system.
Optionally, the axis indicators comprise at least one transverse axis indicator and at least one longitudinal axis indicator; the at least one horizontal axis indicating mark is arranged according to a first preset rule and is used for indicating a horizontal axis of the virtual coordinate system; the at least one longitudinal axis indicating mark is arranged according to a second preset rule and is used for indicating a longitudinal axis of the virtual coordinate system.
Optionally, the identity indicator is located in a first predetermined quadrant of the virtual coordinate system.
Optionally, the number of the horizontal axis indication marks is M, where M is an integer greater than 3; the at least one horizontal axis indication mark is arranged according to a first preset rule, and the method comprises the following steps: m horizontal axis indicates that the sign is arranged in succession on the collinear.
Optionally, the number of the vertical axis indicators is two; the at least one longitudinal axis indicator is arranged according to a second preset rule, and comprises: the two longitudinal axis indicating marks are respectively arranged on two sides of a straight line where the transverse axis indicating mark is located, and the two longitudinal axis indicating marks and one end point mark in the transverse axis indicating mark are arranged on the same straight line.
Optionally, the marker is made of a material comprising a retro-reflective material.
Optionally, the marker further comprises a light generating device, wherein the light generating device is an infrared light generating device or a light emitting diode; the axis indicating mark and the identity indicating mark are made of reverse reflecting materials and used for reflecting light emitted by the light generating device.
Optionally, the axis indicator and the identity indicator are both circular; or, the axis indicator and the identity indicator are both square.
In a third aspect, an embodiment of the present application provides an intelligent device positioning apparatus, including: the intelligent device comprises a first acquisition module, a second acquisition module and a display module, wherein the first acquisition module is used for acquiring an identification image obtained by shooting an identification object at the current position by the intelligent device, the identification object comprises an axis indication identification and an identity indication identification, and the intelligent device comprises a camera used for shooting the identification object; the first identification module is used for identifying the axis indicating mark in the mark image and acquiring a virtual coordinate system corresponding to the axis indicating mark; the second identification module is used for identifying the identity indication mark in the identification image according to the virtual coordinate system, acquiring a first coordinate of the identity indication mark in the virtual coordinate system and acquiring an identification identity corresponding to the identity indication mark; the second acquisition module is used for acquiring a corresponding second coordinate of the identification identity in a world coordinate system, wherein the second coordinate is preset; and the processing module is used for acquiring the equipment coordinates of the intelligent equipment in the world coordinate system according to the first coordinate and the second coordinate and a camera pose estimation algorithm.
In a fourth aspect, an embodiment of the present application provides an electronic device, including: the system comprises a processor, a memory and a communication bus, wherein the processor and the memory are communicated with each other through the communication bus; the memory for storing a computer program; the processor is configured to execute the program stored in the memory to implement the intelligent device positioning method according to the first aspect.
In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the intelligent device positioning method according to the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages: according to the method provided by the embodiment of the application, the identifier is shot through the camera contained in the intelligent equipment to obtain the identifier image, and the identifier in the identifier image is identified and processed to finally obtain the coordinate of the intelligent equipment in the world coordinate system, namely, the intelligent equipment is positioned. In the method, the marker in the environment is used in the process of positioning the intelligent equipment, and the camera on the intelligent equipment can shoot the marker without the marker having black and white color or fixed shape similar to standard codes such as two-dimensional codes. Under the prerequisite that the camera at the smart machine can catch, the marker can set up according to the environment, and the form that sets up of marker is more free, reduces the influence to the environment, avoids destroying the harmony of environment, promotes the comfort and the experience of people in the environment and feels.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
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 for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flowchart illustrating steps of a positioning method for an intelligent device provided in an embodiment of the present application;
fig. 2 is a schematic diagram of a virtual coordinate system obtaining process provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of a specific identifier arrangement provided in an embodiment of the present application;
fig. 4 is a schematic structural connection diagram of an intelligent device positioning apparatus provided in an embodiment of the present application;
fig. 5 is a schematic structural connection diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. 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 application.
The intelligent device positioning method provided in the embodiment of the application belongs to Outside-in Tracking, and the marker needs to be placed in the environment in advance, and then the camera on the intelligent device is used for shooting the marker image containing the marker. The imaging of a marker in the marker image represents a marker. Multiple identifiers may be provided in the environment, as desired.
The intelligent device comprises a camera capable of shooting, the intelligent device can be an intelligent robot provided with the camera, and can also be other types of intelligent devices provided with the camera, and the protection range of the intelligent device is not limited by the specific type of the intelligent device.
In one embodiment, as shown in fig. 1, a method for positioning an intelligent device includes the following specific steps:
In this embodiment, when the smart device is at the current location, the identifier is captured by a camera on the smart device to obtain an identifier image. The identifier comprises an axis indicating mark and an identity indicating mark. The axis indicating marks are used for indicating the positions of the axes, and the number of the axis indicating marks needs to indicate the axes; the identity indication mark is used for identifying the identity of the marker corresponding to the identity indication mark, and the number of the identity indication marks can be set according to the requirement. The protection scope of the present application is not limited to the specific number of the axis indicators and the identity indicators.
In this embodiment, the specific shapes and colors of the axis indicator and the identity indicator may be set as required, for example, both the axis indicator and the identity indicator may be circular or square; the color of the axis indicator and the identity indicator may be yellow or red. The scope of protection of the present application is not limited to the particular shape or color of the identifier.
In one embodiment, the marker is made of a retro-reflective material and the camera comprises a camera with a filter.
In this embodiment, the retroreflective material utilizes the light emitted from the light generating device to directly retroreflect the light in the opposite direction to the light generating device to flare the light. The light generating device can be installed on the intelligent equipment, also can install around axis indicating mark and identity indicating mark, as long as can guarantee the light that this light generating device sent, it can to reflect by axis indicating mark and identity indicating mark. The light generating device may be an infrared light generating device, a Light Emitting Diode (LED), a self-luminous material, a fluorescent material, or the like, and preferably, the light generating device is a non-visible light generating device. After the light generating device emits light, the camera collects an axis indicating mark and an identity indicating mark which are made of a retro-reflective material through a camera of the optical filter to generate a mark image.
And 102, identifying an axis indicating mark in the mark image, and acquiring a virtual coordinate system corresponding to the axis indicating mark.
In this embodiment, a virtual coordinate system is established by the axis indication mark, the coordinate system is a two-dimensional coordinate system specified manually, and the two-dimensional coordinate system includes a horizontal axis and a vertical axis.
In one embodiment, the axis indicators include a horizontal axis indicator and a vertical axis indicator. Specifically, as shown in fig. 2, the process of identifying the axis indicator in the indicator image and acquiring the virtual coordinate system corresponding to the axis indicator is as follows:
And identifying all the marks in the mark image, and when part of the marks are arranged according to a first preset rule, taking the marks which accord with the first preset arrangement rule in the mark image as the indication marks of the horizontal axis. The first preset arrangement rule is a rule set in advance manually, and the specific rule content can be set according to actual conditions and requirements.
In one embodiment, according to the identification information, the identifiers arranged according to the first preset rule in the identifier image are taken as the horizontal axis indication identifiers, and the specific process is as follows: according to the identification information, when M identifications in the identification image are on the same straight line, the M identifications are taken as horizontal axis indication identifications, wherein M is an integer larger than 3.
That is, when M markers are located on the same straight line in an image, the M markers indicate the markers as the horizontal axis. More specifically, for example, when the marks are circles, when the centers of M circle marks are on the same straight line, the M marks are taken as the horizontal axis indicating marks.
And step 202, taking the marks arranged according to the second preset rule in the mark image as vertical axis indication marks according to the horizontal axis indication marks.
And when part of the marks are arranged according to a second preset rule, taking the marks which accord with the second preset arrangement rule in the mark image as the vertical axis indication marks. The second preset arrangement rule is a rule set in advance manually, and the specific rule content can be set according to actual conditions and requirements.
In one embodiment, according to the identification information and the horizontal axis indication identifier, identifiers arranged according to a second preset rule in the identifier image are used as the vertical axis indication identifier, and the specific process is as follows: acquiring an end point identifier in the horizontal axis indication identifier according to the identification information, wherein the end point identifier is an identifier positioned at two ends in the horizontal axis indication identifier; when one end point mark and two marks respectively positioned at two sides of the straight line where the horizontal axis indicating mark is positioned are positioned on the same straight line, the end point mark and the two marks respectively positioned at two sides of the straight line where the horizontal axis indicating mark is positioned are used as the vertical axis indicating marks.
And 203, acquiring a virtual coordinate system corresponding to the horizontal axis indication mark and the vertical axis indication mark according to the horizontal axis indication mark and the vertical axis indication mark.
In one embodiment, the virtual coordinate system corresponding to the horizontal axis indication mark and the vertical axis indication mark is obtained according to the horizontal axis indication mark and the vertical axis indication mark, and the specific process is as follows: taking a straight line where the horizontal axis indication mark is located as a horizontal axis, and taking a straight line where the vertical axis indication mark is located as a vertical axis; and establishing a virtual coordinate system according to the horizontal axis and the vertical axis.
More specifically, the end points on the vertical axis are identified and point in the direction of the end point elements that are not on the vertical axis, as the positive direction of the horizontal axis. Acquiring the number of marks on two sides of a transverse shaft, and taking the side with the number of marks as a preset fixed number as the positive direction of the longitudinal shaft; and establishing a virtual coordinate system according to the positive direction of the horizontal axis and the positive direction of the vertical axis.
In one embodiment, after the virtual coordinate system is established, the identification image is subjected to perspective transformation. The perspective transformation refers to the transformation that a supporting surface (perspective surface) rotates a certain angle around a trace line (perspective axis) according to a perspective rotation law by utilizing the condition that three points of a perspective center, an image point and a target point are collinear, the original projection light beam is damaged, and the projection geometric figure on the supporting surface can still be kept unchanged. After perspective transformation, the acquisition of coordinates can be better realized.
In this embodiment, after the virtual coordinate system is obtained, the coordinates of each identifier in the virtual coordinate system are unique, and each identifier can be better distinguished according to the virtual coordinate system. Because the identified coordinates in the virtual coordinate system are unique, the unique identification identity corresponding to the identification can be obtained according to the coordinates.
In one embodiment, identifying an identity indicator in an identifier image according to a virtual coordinate system, obtaining a first coordinate of the identity indicator in the virtual coordinate system, and obtaining an identifier identity corresponding to the identity indicator specifically include: taking the mark in a first preset quadrant of the virtual coordinate system as an identity indicating mark; acquiring a first coordinate corresponding to the identity indication identifier in a virtual coordinate system; and converting the first coordinate into an identification identity corresponding to the identity indication identification according to a preset coordinate conversion rule.
The preset coordinate conversion rule is a rule specified manually according to actual conditions and requirements, and the protection range of the application is not limited by specific rule contents of the preset coordinate conversion rule.
In this embodiment, a preset quadrant of four quadrants formed by the virtual coordinate system may be used as a first preset quadrant, where the first preset quadrant includes the identity indication identifier. For example, the first quadrant of the virtual coordinate system is a first preset quadrant, and the identifier in the first preset quadrant is an identity indicator.
According to the coordinates of the identity indication mark, the corresponding mark identity can be obtained. For example, if a coordinate in the virtual coordinate system is (1, 1), the identity is 11. The identity may also be generated by a combination of more than two identity indicating identities. For example, if there are two identity indicators, one coordinate is (1, 1) and the other coordinate is (2, 1), the identity is 1121.
And 104, acquiring a corresponding second coordinate of the identification identity in a world coordinate system, wherein the second coordinate is preset.
In this embodiment, the world coordinate system is a reference coordinate system that exists physically, for example, a coordinate system expressed by latitude and longitude. The second coordinate is an identity indicating identifier corresponding to the identifier identity, and the second coordinate and the corresponding relation between the second coordinate and the identifier identity are obtained and stored in advance in a world coordinate system. And after the identification identity is obtained through the identity indicating identification, a second coordinate in the world coordinate system can be obtained through the corresponding relation.
And 105, acquiring the device coordinates of the intelligent device in a world coordinate system according to the first coordinate and the second coordinate and a camera pose estimation algorithm.
In this embodiment, the camera pose estimation algorithm is used to solve the coordinates and the rotation angle of the camera in the world coordinate system through the coordinates of the feature points in the world coordinate system and the imaging of the feature points in the camera photograph.
In a specific embodiment, a camera pose estimation algorithm is used when positioning the smart device, and the algorithm needs a verification that the identification is used for determining the final position. Therefore, the identification also includes a location verification identification.
In this embodiment, the device coordinates of the smart device in the world coordinate system are obtained according to the first coordinate and the second coordinate and according to a camera pose estimation algorithm, and the specific process is as follows:
acquiring a transformation relation of the identifier from a world coordinate system to a virtual coordinate system according to the first coordinate and the second coordinate and a camera pose estimation algorithm; acquiring an identifier in a second preset quadrant of the virtual coordinate system as a position verification identifier; acquiring a fourth coordinate of the position verification identifier in a virtual coordinate system; obtaining a position conversion result of the intelligent equipment according to the conversion relation; and acquiring the device coordinates of the intelligent device in the world coordinate system according to the fourth coordinates and the position transformation result.
In one embodiment, the second predetermined quadrant is a quadrant of the virtual coordinate system that is determined artificially according to actual conditions and needs, for example, when the first predetermined quadrant is a first quadrant of the virtual coordinate system, the second predetermined quadrant is a fourth quadrant. The scope of protection of the present application is not limited to the specific location of the second predetermined quadrant.
In one embodiment, the identifiers are circular and have a total of 10 identifiers, and M is 5, and the arrangement in the environment is abstracted as shown in fig. 3. In the figure, a figure with an "x" in a circle indicates that the location cannot have a marker, and a circle indicates that the location has a marker. Wherein the content of the first and second substances,
after the intelligent equipment shoots the identification image of the marker at the current position, the intelligent equipment recognizes that the numbers 0, 1, 2, 3 and 4 are on the same straight line, and then the numbers 0, 1, 2, 3 and 4 are used as the indication identification of the horizontal axis, and the straight lines where the numbers 0, 1, 2, 3 and 4 are located are used as the horizontal axis. The direction in which the 0 sign points to the 4 sign is the positive direction of the horizontal axis.
And the marks 0 and 4 are identified as endpoint marks, the mark 0 has two marks 5 and 6 on two sides of the transverse axis respectively, the marks 5, 0 and 6 are longitudinal axis indicating marks, and the straight line where the marks 5, 0 and 6 are located is the longitudinal axis.
The number of the preset marks is 3 when the positive direction of the longitudinal axis is determined, 3 marks above the transverse axis are recognized, the number of the preset marks is met, and the direction where the 3 marks are located is the positive direction of the longitudinal axis. Thereby, a virtual coordinate system is established.
In this embodiment, the first quadrant of the virtual coordinate system is a first preset quadrant, and the identifiers No. 8 and No. 9 in the first preset quadrant are identity indicators. And obtaining the identification identities corresponding to the No. 8 and the No. 9 according to the coordinates of the No. 8 and the No. 9 in the virtual coordinate system, and obtaining second coordinates of the No. 8 and the No. 9 in a world coordinate system.
In this embodiment, the fourth quadrant of the virtual coordinate system is a second preset quadrant, and the identifier No. 7 in the second preset quadrant is a position verification identifier. And acquiring the fourth coordinate of the No. 7 mark in the virtual coordinate system. In the same way as the above process, the coordinates of the number 7 identifier in the world coordinate system are acquired.
And obtaining the coordinates of the intelligent equipment for shooting the identification image in the world coordinate system according to the coordinates of the No. 8, the No. 9 and the No. 7 in the virtual coordinate system and the world coordinate system respectively and according to a camera pose estimation algorithm, and finishing the positioning of the intelligent equipment.
In this embodiment, the camera pose estimation algorithm may be a P3P pose estimation algorithm, or may be another specific estimation algorithm. The protection scope of the present application is not limited by the specific implementation content of the camera pose estimation algorithm.
According to the intelligent device positioning method, the marker is shot through the camera contained in the intelligent device, the marker image is obtained, and the marker in the marker image is identified and processed, so that the coordinate of the intelligent device in a world coordinate system is finally obtained, namely the intelligent device is positioned. In the method, the marker in the environment is used in the process of positioning the intelligent equipment, and the camera on the intelligent equipment can shoot the marker without the marker having black and white color or fixed shape similar to standard codes such as two-dimensional codes. Under the prerequisite that the camera at the smart machine can catch, the marker can set up according to the environment, and the form that sets up of marker is more free, reduces the influence to the environment, avoids destroying the harmony of environment, promotes the comfort and the experience of people in the environment and feels.
Meanwhile, when the marker is made of a retro-reflective material, especially when the light is invisible, the influence of the marker on the environment is further reduced. People can not feel obtrusive because of the marker in the environment, and the comfort of people is further improved.
Based on the same concept, the embodiment of the present application provides a marker, and specific implementation of the marker may refer to the description of the method embodiment, and repeated details are not repeated.
In one embodiment, the identifier comprises an axis indicator and an identity indicator; the axis indicating mark is used for indicating a virtual coordinate system of a mark image, the mark image is obtained by shooting a mark, and the identity indicating mark is used for indicating the identity of the mark through the position relative to the virtual coordinate system in the mark image.
In one embodiment, the axis indicators include at least one horizontal axis indicator and at least one vertical axis indicator; at least one horizontal axis indicating mark is arranged according to a first preset rule and is used for indicating a horizontal axis of a virtual coordinate system; and the at least one vertical axis indicating mark is arranged according to a second preset rule and is used for indicating the vertical axis of the virtual coordinate system.
In one embodiment, the identity indicator is located in a first predetermined quadrant of the virtual coordinate system. The first predetermined quadrant is a first area defined by the axis indicating mark.
In one embodiment, the number of the indication marks of the horizontal axis is M, and M is an integer greater than 3; at least one horizontal axis indication mark is arranged according to a first preset rule, and the method comprises the following steps: the M horizontal axes indicate that the marks are arranged consecutively on the same straight line.
In one embodiment, the number of vertical axis indicators is two; at least one vertical axis indicator is arranged according to a second preset rule, and the method comprises the following steps: the two vertical axis indicating marks are respectively arranged on two sides of a straight line where the horizontal axis indicating mark is located, and the two vertical axis indicating marks and one end point mark in the horizontal axis indicating marks are arranged on the same straight line.
In one embodiment, the marker is made of a material that includes a retro-reflective material.
In one embodiment, the marker further comprises a light generating device, the light generating device being an infrared light generating device or a light emitting diode; the axis indicating mark and the identity indicating mark are made of a retro-reflective material and are used for reflecting light emitted by the light generating device.
In one embodiment, the axis indicator and the identity indicator are both circular; or the axis indicator and the identity indicator are both square.
In one embodiment, the identifier further comprises a location verification marker, the location verification marker being located in a second predetermined quadrant of the virtual coordinate system. The second predetermined quadrant is a second area defined by the axis indicating mark.
Based on the same concept, the embodiment of the present application provides an intelligent device positioning apparatus, and specific implementation of the apparatus may refer to the description of the method embodiment section, and repeated details are not repeated, as shown in fig. 4, the apparatus mainly includes:
a first obtaining module 401, configured to obtain an identifier image obtained by shooting an identifier at a current location by an intelligent device, where the identifier includes an axis indication identifier and an identity indication identifier, and the intelligent device includes a camera used for shooting the identifier;
a first recognition module 402, configured to recognize an axis indicator in the identifier image, and obtain a virtual coordinate system corresponding to the axis indicator;
a second identification module 403, configured to identify an identity indicator in the identifier image according to the virtual coordinate system, obtain a first coordinate of the identity indicator in the virtual coordinate system, and obtain an identifier identity corresponding to the identity indicator;
a second obtaining module 404, configured to obtain a second coordinate corresponding to the identifier in the world coordinate system, where the second coordinate is preset;
and the processing module 405 is configured to obtain device coordinates of the smart device in a world coordinate system according to the first coordinate and the second coordinate and according to a camera pose estimation algorithm.
Based on the same concept, an embodiment of the present application further provides an electronic device, as shown in fig. 5, the electronic device mainly includes: a processor 501, a memory 502 and a communication bus 503, wherein the processor 501 and the memory 502 communicate with each other through the communication bus 503. The memory 502 stores a program executable by the processor 501, and the processor 501 executes the program stored in the memory 502, so as to implement the following steps: acquiring an identification image obtained by shooting an identifier at a current position by intelligent equipment, wherein the identifier comprises an axis indication identifier and an identity indication identifier, and the intelligent equipment comprises a camera for shooting the identifier; identifying an axis indicating mark in the mark image, and acquiring a virtual coordinate system corresponding to the axis indicating mark; according to the virtual coordinate system, identifying an identity indicating identifier in the identifier image, acquiring a first coordinate of the identity indicating identifier in the virtual coordinate system, and acquiring an identifier identity corresponding to the identity indicating identifier; acquiring a corresponding second coordinate of the identification identity in a world coordinate system, wherein the second coordinate is preset; and acquiring the device coordinates of the intelligent device in a world coordinate system according to the first coordinate and the second coordinate and a camera pose estimation algorithm.
The communication bus 503 mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus 503 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.
The Memory 502 may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Alternatively, the memory may be at least one memory device located remotely from the aforementioned processor 501.
The Processor 501 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc., and may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components.
In yet another embodiment of the present application, a computer-readable storage medium is further provided, in which a computer program is stored, and when the computer program runs on a computer, the computer is caused to execute the intelligent device positioning method described in the above embodiment.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wirelessly (e.g., infrared, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The available media may be magnetic media (e.g., floppy disks, hard disks, tapes, etc.), optical media (e.g., DVDs), or semiconductor media (e.g., solid state drives), among others.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (19)
1. An intelligent device positioning method is characterized by comprising the following steps:
acquiring an identification image obtained by shooting an identification object at a current position by intelligent equipment, wherein the identification object comprises an axis indication identification and an identity indication identification, and the intelligent equipment comprises a camera for shooting the identification object;
identifying the axis indicating mark in the mark image, and acquiring a virtual coordinate system corresponding to the axis indicating mark;
according to the virtual coordinate system, identifying the identity indication mark in the identification image, acquiring a first coordinate of the identity indication mark in the virtual coordinate system, and acquiring an identification identity corresponding to the identity indication mark;
acquiring a corresponding second coordinate of the identification identity in a world coordinate system, wherein the second coordinate is preset;
and acquiring the device coordinates of the intelligent device in the world coordinate system according to the first coordinate and the second coordinate and a camera pose estimation algorithm.
2. The smart device location method of claim 1, wherein the axis indicators comprise a horizontal axis indicator and a vertical axis indicator;
identifying the axis indicating mark in the mark image, and acquiring a virtual coordinate system corresponding to the axis indicating mark, wherein the method comprises the following steps:
taking the marks arranged according to a first preset rule in the mark image as the transverse axis indicating marks;
according to the transverse axis indicating mark, taking the marks arranged according to a second preset rule in the mark image as the longitudinal axis indicating mark;
and acquiring the virtual coordinate system corresponding to the transverse axis indication mark and the longitudinal axis indication mark according to the transverse axis indication mark and the longitudinal axis indication mark.
3. The intelligent device positioning method according to claim 2, wherein the obtaining the virtual coordinate system corresponding to the horizontal axis indication mark and the vertical axis indication mark according to the horizontal axis indication mark and the vertical axis indication mark comprises:
taking the straight line where the transverse axis indication mark is located as a transverse axis, and taking the straight line where the longitudinal axis indication mark is located as a longitudinal axis;
and establishing the virtual coordinate system according to the horizontal axis and the vertical axis.
4. The intelligent device positioning method according to claim 1, wherein the recognizing the identity indicator in the identifier image according to the virtual coordinate system, obtaining a first coordinate of the identity indicator in the virtual coordinate system, and obtaining an identifier identity corresponding to the identity indicator comprises:
taking the mark in a first preset quadrant of the virtual coordinate system as the identity indication mark;
acquiring a first coordinate corresponding to the identity indication identifier in the virtual coordinate system;
and converting the first coordinate into an identification identity corresponding to the identity indication identification according to a preset coordinate conversion rule.
5. The intelligent device positioning method according to claim 2, wherein the taking the marks arranged according to a first preset rule in the mark image as the horizontal axis indication marks according to the mark information comprises:
and when M marks in the mark image are determined to be on the same straight line according to the mark information, taking the M marks as the horizontal axis indication marks, wherein M is an integer larger than 3.
6. The intelligent device positioning method according to claim 5, wherein the taking the marks arranged according to a second preset rule in the mark image as the vertical axis indication marks according to the mark information and the horizontal axis indication marks comprises:
acquiring an end point identifier in the transverse axis indicating identifier according to the identifier information, wherein the end point identifier is an identifier positioned at two ends in the transverse axis indicating identifier;
and when one end point mark and two marks respectively positioned at two sides of the straight line where the transverse axis indicating mark is positioned are positioned on the same straight line, taking the end point mark and the two marks respectively positioned at two sides of the straight line where the transverse axis indicating mark is positioned as the longitudinal axis indicating mark.
7. The smart device location method of claim 1 wherein the identification further comprises a location verification identification;
the acquiring the device coordinates of the intelligent device in the world coordinate system according to the first coordinate and the second coordinate and a camera pose estimation algorithm comprises:
acquiring a transformation relation of the identifier from the world coordinate system to a virtual coordinate system according to the first coordinate and the second coordinate and a camera pose estimation algorithm;
acquiring the identifier in a second preset quadrant of the virtual coordinate system as the position verification identifier;
acquiring a fourth coordinate of the position verification identifier in a virtual coordinate system;
obtaining a position conversion result of the intelligent equipment according to the conversion relation;
and acquiring the device coordinate of the intelligent device in the world coordinate system according to the fourth coordinate and the position transformation result.
8. The intelligent device positioning method according to claim 1, wherein the marker is made of a retro-reflective material, and the camera comprises a camera with a filter.
9. The marker is characterized by comprising an axis indicating mark and an identity indicating mark;
the axis indicating mark is used for indicating a virtual coordinate system of an identification image, the identification image is obtained by shooting the identifier, and the identity indicating mark is used for indicating the identity of the identifier through the position of the identifier image relative to the virtual coordinate system.
10. The marker according to claim 9, wherein said axis indicators comprise at least one transverse axis indicator and at least one longitudinal axis indicator;
the at least one horizontal axis indicating mark is arranged according to a first preset rule and is used for indicating a horizontal axis of the virtual coordinate system;
the at least one longitudinal axis indicating mark is arranged according to a second preset rule and is used for indicating a longitudinal axis of the virtual coordinate system.
11. The marker according to claim 9, wherein said identity indicating identifier is located in a first predetermined quadrant of said virtual coordinate system.
12. The marker according to claim 10, wherein said horizontal axis indicates that the number of markers is M, M being an integer greater than 3;
the at least one horizontal axis indication mark is arranged according to a first preset rule, and the method comprises the following steps:
m horizontal axis indicates that the sign is arranged in succession on the collinear.
13. The marker according to claim 11, wherein said longitudinal axis indicates a number of markers of two;
the at least one longitudinal axis indicator is arranged according to a second preset rule, and comprises:
the two longitudinal axis indicating marks are respectively arranged on two sides of a straight line where the transverse axis indicating mark is located, and the two longitudinal axis indicating marks and one end point mark in the transverse axis indicating mark are arranged on the same straight line.
14. The marker according to claim 9, wherein said marker is formed from a material comprising retroreflective material.
15. The marker according to claim 14, further comprising light generating means, said light generating means being an infrared light generating means or a light emitting diode;
the axis indicating mark and the identity indicating mark are made of reverse reflecting materials and used for reflecting light emitted by the light generating device.
16. The marker according to any of claims 9 to 15, wherein said axis indicator and said identity indicator are both circular;
or, the axis indicator and the identity indicator are both square.
17. An intelligent device positioning apparatus, comprising:
the intelligent device comprises a first acquisition module, a second acquisition module and a display module, wherein the first acquisition module is used for acquiring an identification image obtained by shooting an identification object at the current position by the intelligent device, the identification object comprises an axis indication identification and an identity indication identification, and the intelligent device comprises a camera used for shooting the identification object;
the first identification module is used for identifying the axis indicating mark in the mark image and acquiring a virtual coordinate system corresponding to the axis indicating mark;
the second identification module is used for identifying the identity indication mark in the identification image according to the virtual coordinate system, acquiring a first coordinate of the identity indication mark in the virtual coordinate system and acquiring an identification identity corresponding to the identity indication mark;
the second acquisition module is used for acquiring a corresponding second coordinate of the identification identity in a world coordinate system, wherein the second coordinate is preset;
and the processing module is used for acquiring the equipment coordinates of the intelligent equipment in the world coordinate system according to the first coordinate and the second coordinate and a camera pose estimation algorithm.
18. An electronic device, comprising: the system comprises a processor, a memory and a communication bus, wherein the processor and the memory are communicated with each other through the communication bus;
the memory for storing a computer program;
the processor, configured to execute the program stored in the memory, and implement the smart device positioning method according to any one of claims 1 to 8.
19. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the smart device location method according to any one of claims 1 to 8.
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