CN117829183A - Projection-based two-dimensional code positioning method, system, equipment and medium - Google Patents
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Abstract
The invention relates to a two-dimensional code positioning method, a system, equipment and a medium based on projection, wherein the method comprises the following steps: acquiring a first two-dimensional code image on a projection surface shot by a camera, internal parameters of the camera and first position data of a projection device, determining a target two-dimensional code in the first two-dimensional code image, wherein the projection surface comprises a plurality of non-materialized two-dimensional codes, the non-materialized two-dimensional codes are projected onto the projection surface through the projection device, second position data of the target two-dimensional code on a light-transmitting plate are determined, third position data of the target two-dimensional code on the projection surface are determined according to the second position data and the first position data, the position offset of the camera and the target two-dimensional code is determined according to the internal parameters of the camera and fourth position data of the target two-dimensional code on the first two-dimensional code image, and the current position of the camera is obtained according to the third position data and the position offset. The invention can reduce maintenance cost and increase the positioning precision of the two-dimension code, and is applied to the technical fields of space layout and space positioning.
Description
Technical Field
The invention relates to the technical field of space layout and space positioning, in particular to a projection-based two-dimensional code positioning method, a projection-based two-dimensional code positioning system, projection-based two-dimensional code positioning equipment and a projection-based two-dimensional code positioning medium.
Background
The AGV (Automated Guided Vehicle) and the automatic guide vehicle)/intelligent warehouse also have the advantages that a certain proportion is occupied in the market by two-dimensional code identification and positioning, the installation precision (a deviation between the actual installation position and the planning position of the label) of the two-dimensional code label is directly influenced in the existing two-dimensional code positioning method, most manufacturers firstly plan the two-dimensional code installation plane at present, paste the two-dimensional code on the planned position, and when the camera identifies the two-dimensional code, the current position of the camera can be obtained after the physical position of the two-dimensional code on the installation surface is obtained through inquiring the database.
The method can reduce the installation time, but cannot reduce the cost of later maintenance, and the method has lower precision in realizing the two-dimension code positioning than the precision in orderly installing the two-dimension codes.
Disclosure of Invention
In view of the above, the present invention aims to provide a two-dimensional code positioning method, system, device and medium based on projection, which can reduce maintenance cost and increase the accuracy of two-dimensional code positioning.
In one aspect, the invention provides a two-dimensional code positioning method based on projection, which comprises the following steps:
acquiring a first two-dimensional code image on a projection surface, internal parameters of a camera and first position data of a projection device, and determining a target two-dimensional code in the first two-dimensional code image; the projection surface comprises a plurality of non-materialized two-dimensional codes, and the non-materialized two-dimensional codes are projected onto the projection surface through the projection device;
determining second position data of the target two-dimensional code on the light-transmitting plate, and determining third position data of the target two-dimensional code on the projection surface according to the second position data and the first position data;
determining the position offset of the camera and the target two-dimensional code according to the internal parameters of the camera and fourth position data of the target two-dimensional code on the first two-dimensional code image;
and obtaining the current position of the camera according to the third position data and the position offset.
Optionally, the determining the target two-dimensional code in the first two-dimensional code image specifically includes:
performing binarization operation on the first two-dimensional code image to obtain a second two-dimensional code image;
performing edge detection on the second two-dimensional code image to obtain a plurality of image areas of the two-dimensional code without quality;
and determining an image area of the two-dimensional code without quality from the image areas of the two-dimensional code without quality as a target two-dimensional code.
Optionally, the determining the second position data of the target two-dimensional code on the light-transmitting plate specifically includes:
acquiring an identity recognition matrix of the target two-dimensional code according to the binarization image of the target two-dimensional code;
determining the identity identification number according to the identity identification matrix and a preset rule;
and acquiring second position data of the target two-dimensional code on the light-transmitting plate according to the identity identification number.
Optionally, the first position data includes first center point position data, a first distance and a second distance of the projection device, and the determining, according to the second position data and the first position data, third position data of the target two-dimensional code on a projection plane specifically includes:
obtaining initial position data of the target two-dimensional code on the projection surface according to the second position data, the first distance, the second distance and a projection theorem; the first distance is the distance from the projection device to the projection surface, and the second distance is the distance from the projection device to the light-transmitting plate;
and obtaining the third position data according to the initial position data and the first central point position data.
Optionally, the determining the position offset of the camera and the target two-dimensional code according to the internal parameter of the camera and the fourth position data of the target two-dimensional code on the first two-dimensional code image specifically includes:
determining second center point position data of the target two-dimensional code on the first two-dimensional code image according to the fourth position data degree;
and obtaining the position offset according to the second center point position data and the internal parameters of the camera.
Optionally, the obtaining the current position of the camera according to the third position data and the position offset specifically includes:
obtaining third center point position data of the target two-dimensional code on the projection surface according to the third position data;
and adding the third center point position data and the position offset to obtain the current position of the camera.
On the other hand, the invention provides a two-dimensional code positioning system based on projection, which comprises a projection device, a camera and a positioning device, wherein the projection device comprises a light source and a light-transmitting plate, a two-dimensional code label is marked on the light-transmitting plate, and the two-dimensional code label is marked on the light-transmitting plate,
the light source is used for projecting the two-dimensional code label on the light-transmitting plate onto a projection surface;
the camera is used for shooting the projection surface to obtain a first two-dimensional code image and uploading the first two-dimensional code image to the positioning device;
the positioning device is used for realizing the method.
Optionally, the light source is specifically configured to generate infrared light, and the two-dimensional code tag is projected onto the projection surface by using the infrared light.
In another aspect, the invention provides an electronic device comprising a memory storing a computer program and a processor implementing the method described above when executing the computer program.
In another aspect, the invention provides a computer readable storage medium in which is stored a processor executable program which, when executed by a processor, is adapted to carry out a method as hereinbefore described.
The implementation of the invention has the following beneficial effects: according to the invention, the target two-dimensional code in the first two-dimensional code image is determined by acquiring the first two-dimensional code image on the projection surface shot by the camera, the internal parameters of the camera and the first position data of the projection device, the projection surface comprises a plurality of non-materialized two-dimensional codes, the non-materialized two-dimensional codes are projected onto the projection surface through the projection device, and the non-entity two-dimensional codes are obtained in a projection manner, so that maintenance cost after the two-dimensional codes and the entity two-dimensional codes are stuck can be reduced; the method comprises the steps of determining second position data of a target two-dimensional code on a light-transmitting plate, determining third position data of the target two-dimensional code on a projection surface according to the second position data and the first position data, determining the position offset of a camera and the target two-dimensional code according to internal parameters of the camera and fourth position data of the target two-dimensional code on a first two-dimensional code image, obtaining the current position of the camera according to the third position data and the position offset, obtaining the position of the camera by combining the position data of the two-dimensional code on the projection surface, the light-transmitting plate and the two-dimensional code image, namely the position of an object to be detected, and combining the unordered and unordered two-dimensional code.
Drawings
FIG. 1 is a flow chart of steps of a two-dimensional code positioning method based on projection;
FIG. 2 is a schematic view of a light-transmitting plate according to the present invention;
FIG. 3 is a schematic view of projecting a two-dimensional code label on a light-transmitting plate onto a projection surface;
FIG. 4 is a binarized image of a square target two-dimensional code provided by the invention;
FIG. 5 is a schematic diagram of a coordinate system established by using a center point of a transparent plate as an origin;
FIG. 6 is a schematic diagram of a projection theorem provided by the present invention;
FIG. 7 is a schematic structural diagram of a two-dimensional code positioning system based on projection;
FIG. 8 is a schematic diagram of the positions of an infrared camera and a projection surface according to the present invention;
fig. 9 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples. The step numbers in the following embodiments are set for convenience of illustration only, and the order between the steps is not limited in any way, and the execution order of the steps in the embodiments may be adaptively adjusted according to the understanding of those skilled in the art.
The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims. In the description of this application, it should be understood that the terms "first," "second," "third," and the like are used merely to distinguish between similar objects and are not necessarily used to describe a particular order or sequence, nor should they be construed to indicate or imply relative importance. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
In the following fig. 1 to 8, 1 denotes a two-dimensional code label on the light-transmitting plate, 2 denotes the light-transmitting plate, 3 denotes a light source, 4 denotes a non-quality two-dimensional code on the projection surface, and 5 denotes a camera.
In some embodiments, as shown in fig. 1-3, fig. 1 is a flowchart illustrating steps of a two-dimensional code positioning method based on projection, fig. 2 is a schematic structural diagram of a light-transmitting plate, and fig. 3 is a schematic diagram of projecting a two-dimensional code label on the light-transmitting plate onto a projection surface. The two-dimensional code positioning method based on projection comprises the following steps:
s100, acquiring a first two-dimensional code image on a projection surface shot by a camera, internal parameters of the camera and first position data of a projection device, and determining a target two-dimensional code in the first two-dimensional code image.
The projection surface comprises a plurality of non-materialized two-dimensional codes, and the non-materialized two-dimensional codes are projected onto the projection surface through the projection device.
The first two-dimensional code image is a projection surface image shot by the camera, the projection surface image at least comprises a non-materialized two-dimensional code, the first two-dimensional code image can be but is not limited to a visible light image, an infrared image or other invisible light images, and the non-materialized two-dimensional code on the projection surface can be a visible light two-dimensional code, an infrared two-dimensional code and other invisible light two-dimensional codes. In this embodiment, the first two-dimensional code image is an infrared image, and the non-materialized two-dimensional code is an infrared two-dimensional code.
The projection device includes a light source and a light transmissive plate, the light source may emit light including, but not limited to, visible light, infrared light, and other non-visible light. Wherein the first position data of the projection device includes, but is not limited to, coordinate data including a center point of the projection device (first center point positionPut data) (x 1) 0 ，y1 0 ) Distance h from projection device to projection surface, distance h from projection device to light-transmitting plate 1 Wherein x1 0 Representing the position data in the plane of the light source.
The coordinate data of the central point is obtained by establishing a coordinate system on a plane where the light source is located.
Specifically, determining the target two-dimensional code in the first two-dimensional code image specifically includes:
s110, performing binarization operation on the first two-dimensional code image to obtain a second two-dimensional code image.
Specifically, for a single-frame first two-dimensional code image, more than one non-materialized two-dimensional code is often in the first two-dimensional code image, and the first step of two-dimensional code positioning is to determine one or more non-materialized two-dimensional codes from a plurality of non-materialized two-dimensional codes, and the one or more non-materialized two-dimensional codes serve as target two-dimensional codes according to subsequent positioning.
And performing binarization operation on the first two-dimensional code image, converting the first two-dimensional code image into a black-and-white image, and converting the black-and-white image into a second two-dimensional code image.
And S120, performing edge detection on the second two-dimensional code image to obtain a plurality of image areas of the two-dimensional code without quality.
Specifically, edge detection is performed on the second two-dimensional code image, an image area with a preset shape in the second two-dimensional code image is identified, and the image area with the preset shape is the image area of the non-materialized two-dimensional code.
The preset shape includes, but is not limited to, a circle and a square, and can be any shape, and the specific shape is the same as the shape of each two-dimensional code label marked on the light-transmitting plate.
S130, determining an image area of the two-dimensional code without quality from the image areas of the two-dimensional code without quality as a target two-dimensional code.
Specifically, the image area of one non-materialized two-dimensional code may be randomly selected from the image areas of the non-materialized two-dimensional codes as the target two-dimensional code, or the image area of one non-materialized two-dimensional code closest to the center point of the second two-dimensional code image may be selected as the target two-dimensional code, which is not limited herein.
In some embodiments, two or more image areas of the two-dimensional code without quality may be randomly selected from the image areas of the two-dimensional code without quality as the target two-dimensional code, or two or more image areas of the two-dimensional code without quality closest to the center point of the image of the second two-dimensional code may be selected as the target two-dimensional code, which is not limited herein.
In this embodiment, the two-dimensional codes with large edge distortion in the image area images of the plurality of two-dimensional codes with no quality are filtered, and the remaining two-dimensional codes with no quality meeting imaging requirements are used as target two-dimensional codes.
S200, determining second position data of the target two-dimensional code on the light-transmitting plate, and determining third position data of the target two-dimensional code on the projection surface according to the second position data and the first position data.
Wherein the second position data includes, but is not limited to, angular point coordinate data including the target two-dimensional code on the light-transmitting plate, for example, (x 2) 0 ，y2 0 )、(x2 1 ，y2 1 )、(x2 2 ，y2 2 )、(x2 3 ，y2 3 ) If the target two-dimensional code is a square two-dimensional code, the second position data can be coordinate data of four corner points of the square two-dimensional code on the light-transmitting plate, or coordinate data of any four points inside the square two-dimensional code.
The first position data includes, but is not limited to, coordinate data including a center point of the projection device (first center point position data), a distance of the projection device to the projection surface (first distance), and a distance of the projection device to the light-transmitting plate (second distance).
The third position data includes, but is not limited to, angular point coordinate data of the target two-dimensional code on the projection surface, for example, (x 3) 0 ，y3 0 )、(x3 1 ，y3 1 )、(x3 2 ，y3 2 )、(x3 3 ，y3 3 ) If the target two-dimensional code is a square two-dimensional code, the third position data may be four corner coordinate data of the square two-dimensional code on the projection surface, or may be square two-dimensional dataCoordinate data of any four points inside the code on the projection surface.
The second position data is coordinate data of the target two-dimensional code on the light-transmitting plate, wherein the coordinate data is established on the light-transmitting plate.
The third position data is coordinate data of the target two-dimensional code on the projection plane, wherein the coordinate data is obtained by establishing a coordinate system on the plane where the whole projection plane is located.
In some embodiments, in S200, determining the second position data of the target two-dimensional code on the light-transmitting plate specifically includes:
s210, acquiring an identity recognition matrix of the target two-dimensional code according to the binarized image of the target two-dimensional code.
Specifically, the binarized data of the target two-dimensional code obtained in step S130 is extracted, for example, as shown in fig. 4, fig. 4 is a binarized image of a square target two-dimensional code, the binarized image is divided into n×n squares, in this embodiment, 5*5 squares, the gray scale of each square is determined, the square is divided into black and white according to the gray scale, the white square is 0, and the black square is 1.
The identification matrix of the target two-dimensional code on the left in fig. 4 is as follows:
s220, determining the identity identification number according to the identity identification matrix and a preset rule.
Specifically, the identification number is obtained according to the identification matrix and a preset rule, wherein the preset rule can be a specific operation rule or can be compared with the identification matrix stored in the database.
S230, acquiring second position data of the target two-dimensional code on the light-transmitting plate according to the identity identification number.
Specifically, the second position data of the target two-dimensional code on the light-transmitting plate can be obtained by measuring with the center point of the light-transmitting plate as the origin or with any one corner point of the light-transmitting plate as the origin, and each identity identification number corresponds to the second position data of the two-dimensional code label marked on one light-transmitting plate. For example, as shown in fig. 5, fig. 5 is a schematic view of setting up a coordinate system with the center point of the light-transmitting plate as the origin, where X represents the abscissa axis and Y represents the ordinate axis.
In some embodiments, in S200, determining third position data of the target two-dimensional code on the projection plane according to the second position data and the first position data specifically includes:
s240, obtaining initial position data of the target two-dimensional code on the projection surface according to the second position data, the first distance, the second distance and a projection theorem.
The first distance is the distance from the projection device to the projection surface, and the second distance is the distance from the projection device to the light-transmitting plate.
The initial position data includes, but is not limited to, corner coordinate data including a target two-dimensional code, and corresponds to coordinate data obtained by establishing coordinates by projecting a center point of the light-transmitting plate on the projection plane as an origin.
Specifically, as shown in fig. 6, fig. 6 is a schematic diagram of a projection theorem, according to a first distance h and a second distance h 1 Obtaining the amplification ratio of the two-dimension code without quality on the projection surfaceAt this time, the initial position data of the target two-dimensional code on the projection surface is that
S250, obtaining the third position data according to the initial position data and the first center point position data.
Specifically, taking a target two-dimensional code as an example, the first center point position data (x 1 0 ，y1 0 ) Adding the third position data of the target two-dimension code on the projection surface to each corner coordinate data of the initial position data, for example It will be appreciated that in the four equations, the abscissa on the left of the equation is equal to the abscissa on the right of the equation, the ordinate on the left of the equation is equal to the ordinate on the right of the equation, and in this embodiment, all x represent the abscissa and all y represent the ordinate.
S300, determining the position offset of the camera and the target two-dimensional code according to the internal parameters of the camera and fourth position data of the target two-dimensional code on the first two-dimensional code image.
The fourth position data is coordinate data of the target two-dimensional code on the first two-dimensional code image, wherein the coordinate data is obtained by establishing coordinates on the first two-dimensional code image.
Wherein the internal parameters of the camera include, but are not limited to including f x 、f y 、c x 、c y Wherein f x 、f y Focal length of the camera in the x-axis and the y-axis in turn, c x 、c y The offset values of the origin of the image and the origin of the photosensitive chip on the x axis and the y axis are sequentially shown.
The step S300 specifically includes:
and S310, determining second center point position data of the target two-dimensional code on the first two-dimensional code image according to the fourth position data degree.
Specifically, fourth position data (x 4) of the target two-dimensional code on the first two-dimensional code image is obtained by image recognition 0 ，y4 0 )、(x4 1 ，y4 1 )、(x4 2 ，y4 2 )、(x4 3 ，y4 3 ) Obtaining second center point position data based on the fourth position data
S320, obtaining the position offset according to the second center point position data and the internal parameters of the camera.
Specifically, the physical position offset (X, Y) of the camera center and the two-dimensional code tag center is obtained according to formula (1):
(X＝H(x5 0 -c x )/f x ，Y＝H(y5 0 -c y )/f y ) (1)
wherein H is the distance between the camera and the projection surface, and the other letters have the same meaning.
S400, obtaining the current position of the camera according to the third position data and the position offset.
Specifically, step S400 specifically includes:
and S410, obtaining third center point position data of the target two-dimensional code on the projection surface according to the third position data.
Specifically, according to the third position data (x 3 0 ，y3 0 )、(x3 1 ，y3 1 )、(x3 2 ，y3 2 )、(x3 3 ，y3 3 ) Calculating third center point position data (x Article (B) ，y Article (B) )。
And S420, adding the third center point position data and the position offset to obtain the current position of the camera.
Specifically, the third center point position data is added to the position offset, that is, (x) Article (B) +-，y Article (B) +y) to obtain the current position of the camera.
If two or more image areas without materialization are selected as target two-dimensional codes, in the step S300, first, second center point position data of each target two-dimensional code on the first two-dimensional code image is determined according to fourth position data degree of each target two-dimensional code, then, position offset of each target two-dimensional is obtained according to the second center point position data and internal parameters of a camera, and an average value of the position offset of all the target two-dimensional codes is taken as a final position offset; correspondingly, in the step S410, center point position data of each target two-dimensional code is obtained according to the third position data of each target two-dimensional code; correspondingly, in step S420, the final position offset and the center point position data of each target two-dimensional code are added to obtain the positions of a plurality of cameras, and an average value of the positions of the plurality of cameras is taken as the current position of the camera. And the positions of a plurality of cameras are calculated through a plurality of two-dimensional codes, and finally, the average value is taken, so that the positioning accuracy can be improved.
In some embodiments, as shown in fig. 7, fig. 7 is a schematic structural diagram of a two-dimensional code positioning system based on projection, the system including a projection device, a camera, and a positioning apparatus, the projection device including a light source and a light-transmitting plate, the light-transmitting plate being marked with a two-dimensional code label, wherein,
the light source is used for projecting the two-dimensional code label on the light-transmitting plate onto a projection surface;
the camera is used for shooting the projection surface to obtain a first two-dimensional code image and uploading the first two-dimensional code image to the positioning device;
the positioning device is used for realizing the method.
Wherein the light generated by the light source includes, but is not limited to including, visible light, infrared light, and other non-visible light.
In some embodiments, the light source is specifically configured to generate infrared light, and the two-dimensional code tag is projected onto the projection surface by using the infrared light;
the camera is an infrared camera and is used for shooting the projection surface to obtain a first two-dimensional code image, uploading the first two-dimensional code image to the positioning device, and the first two-dimensional code image is an infrared light image.
The positioning device comprises an infrared camera and a data processing module, wherein the infrared camera is used for shooting the non-materialized two-dimensional code on the projection surface to obtain a two-dimensional code image, and the data processing module is used for realizing the method.
Specifically, as shown in fig. 2 and 8, fig. 8 is a schematic position diagram of an infrared camera and a projection surface, infrared light generated by a light source penetrates through a light-transmitting plate, a two-dimensional code label on the light-transmitting plate is projected onto the projection surface, a plurality of non-materialized two-dimensional codes are generated on the projection surface, the infrared camera shoots the non-materialized two-dimensional codes on the projection surface to obtain two-dimensional code images, the two-dimensional code images are sent to a data processing module, and the data processing module obtains the current position of the camera according to the method.
By means of invisible light projection, as infrared light is not in the receiving range of human eyes, people cannot see related illumination phenomena, and the original spatial arrangement and vision cannot be affected.
In some embodiments, as shown in fig. 9, fig. 9 is a schematic structural diagram of an electronic device provided by the present invention, and the present invention further provides an electronic device, where the electronic device includes a processor 10 and a memory 20, and the memory 20 stores a computer program, and when the processor 10 executes the computer program, any one of the methods described in the foregoing method embodiments is implemented.
Wherein the memory is operable as a non-transitory computer readable storage medium storing a non-transitory software program and a non-transitory computer executable program. The memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes remote memory provided remotely from the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Furthermore, embodiments of the present application disclose a computer program product or a computer program, which is stored in a computer readable storage medium. The computer program may be read from a computer readable storage medium by a processor of a computer device, the processor executing the computer program causing the computer device to perform the method as described above.
The present invention also provides a computer-readable storage medium in which a processor-executable program is stored, which when executed by a processor is adapted to carry out any one of the methods described in the above-described method embodiments.
Similarly, the content in the above method embodiment is applicable to the present storage medium embodiment, and the specific functions of the present storage medium embodiment are the same as those of the above method embodiment, and the achieved beneficial effects are the same as those of the above method embodiment.
It is to be understood that all or some of the steps, systems, and methods disclosed above may be implemented in software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
While the preferred embodiment of the present invention has been described in detail, the invention is not limited to the embodiment, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the invention, and these modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (10)
1. The two-dimensional code positioning method based on projection is characterized by comprising the following steps of:
acquiring a first two-dimensional code image on a projection surface shot by a camera, internal parameters of the camera and first position data of a projection device, and determining a target two-dimensional code in the first two-dimensional code image; the projection surface comprises a plurality of non-materialized two-dimensional codes, and the non-materialized two-dimensional codes are projected onto the projection surface through the projection device;
determining second position data of the target two-dimensional code on the light-transmitting plate, and determining third position data of the target two-dimensional code on the projection surface according to the second position data and the first position data;
determining the position offset of the camera and the target two-dimensional code according to the internal parameters of the camera and fourth position data of the target two-dimensional code on the first two-dimensional code image;
and obtaining the current position of the camera according to the third position data and the position offset.
2. The method of claim 1, wherein the determining the target two-dimensional code in the first two-dimensional code image specifically comprises:
performing binarization operation on the first two-dimensional code image to obtain a second two-dimensional code image;
performing edge detection on the second two-dimensional code image to obtain a plurality of image areas of the two-dimensional code without quality;
and determining an image area of the two-dimensional code without quality from the image areas of the two-dimensional code without quality as a target two-dimensional code.
3. The method of claim 1, wherein determining the second position data of the target two-dimensional code on the light-transmitting plate specifically includes:
acquiring an identity recognition matrix of the target two-dimensional code according to the binarization image of the target two-dimensional code;
determining the identity identification number according to the identity identification matrix and a preset rule;
and acquiring second position data of the target two-dimensional code on the light-transmitting plate according to the identity identification number.
4. The method according to claim 1, wherein the first position data includes first center point position data, a first distance, and a second distance of the projection device, and the determining third position data of the target two-dimensional code on the projection surface according to the second position data and the first position data specifically includes:
obtaining initial position data of the target two-dimensional code on the projection surface according to the second position data, the first distance, the second distance and a projection theorem; the first distance is the distance from the projection device to the projection surface, and the second distance is the distance from the projection device to the light-transmitting plate;
and obtaining the third position data according to the initial position data and the first central point position data.
5. The method of claim 1, wherein determining the position offset of the camera and the target two-dimensional code according to the internal parameter of the camera and the fourth position data of the target two-dimensional code on the first two-dimensional code image specifically comprises:
determining second center point position data of the target two-dimensional code on the first two-dimensional code image according to the fourth position data degree;
and obtaining the position offset according to the second center point position data and the internal parameters of the camera.
6. The method according to claim 1, wherein the obtaining the current position of the camera according to the third position data and the position offset includes:
obtaining third center point position data of the target two-dimensional code on the projection surface according to the third position data;
and adding the third center point position data and the position offset to obtain the current position of the camera.
7. A two-dimensional code positioning system based on projection is characterized by comprising a projection device, a camera and a positioning device, wherein the projection device comprises a light source and a light-transmitting plate, a two-dimensional code label is marked on the light-transmitting plate, and the two-dimensional code label is marked on the light-transmitting plate,
the light source is used for projecting the two-dimensional code label on the light-transmitting plate onto a projection surface;
the camera is used for shooting the projection surface to obtain a first two-dimensional code image and uploading the first two-dimensional code image to the positioning device;
the positioning device for implementing the method of any one of claims 1-6.
8. The system of claim 7, wherein the light source is specifically configured to generate infrared light, and the infrared light is used to project a two-dimensional code tag onto the projection surface.
9. An electronic device comprising a memory storing a computer program and a processor implementing the method of any of claims 1-6 when the computer program is executed by the processor.
10. A computer readable storage medium, in which a processor executable program is stored, which when executed by a processor is adapted to carry out the method of any one of claims 1-6.
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