WO2020220388A1 - 二维码识别和生成的方法、装置、二维码和小车 - Google Patents

二维码识别和生成的方法、装置、二维码和小车 Download PDF

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Publication number
WO2020220388A1
WO2020220388A1 PCT/CN2019/086158 CN2019086158W WO2020220388A1 WO 2020220388 A1 WO2020220388 A1 WO 2020220388A1 CN 2019086158 W CN2019086158 W CN 2019086158W WO 2020220388 A1 WO2020220388 A1 WO 2020220388A1
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WO
WIPO (PCT)
Prior art keywords
center
rotation angle
graphic
dimensional code
positioning
Prior art date
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PCT/CN2019/086158
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English (en)
French (fr)
Chinese (zh)
Inventor
杨树森
周韬宇
孙宇
Original Assignee
上海快仓智能科技有限公司
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Priority to JP2021559117A priority Critical patent/JP7289927B2/ja
Publication of WO2020220388A1 publication Critical patent/WO2020220388A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G06K7/1417—2D bar codes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1439—Methods for optical code recognition including a method step for retrieval of the optical code
    • G06K7/1443—Methods for optical code recognition including a method step for retrieval of the optical code locating of the code in an image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1439—Methods for optical code recognition including a method step for retrieval of the optical code
    • G06K7/1456—Methods for optical code recognition including a method step for retrieval of the optical code determining the orientation of the optical code with respect to the reader and correcting therefore

Definitions

  • the invention relates to the technical field of two-dimensional codes, in particular to a method, device, two-dimensional code and a small car for identifying and generating a two-dimensional code.
  • the existing two-dimensional code recognition technology obtains the two-dimensional code image by scanning and shooting, etc., to read the coding information carried in the coding area of the two-dimensional code.
  • the acquired two-dimensional code image usually has an angular offset.
  • the two-dimensional code image may be reversed and the coding area is also reversed.
  • the encoding information read based on the encoding area of the current angle is wrong. Therefore, it is necessary to determine at least three positioning blocks on the top of the two-dimensional code through image processing, and then determine the rotation angle based on these positioning blocks, and further determine the content of the encoding area of the two-dimensional code through image processing.
  • the existing technology relies on the recognition of image processing technology, and the amount of calculation is very large.
  • the embodiment of the present invention provides a method, device, two-dimensional code and trolley for recognizing and generating a two-dimensional code to solve one or more technical problems in the prior art.
  • an embodiment of the present invention provides a two-dimensional code recognition method, where the two-dimensional code includes a center positioning pattern and a rotation angle positioning pattern; the method includes:
  • the center positioning pattern includes a first center positioning pattern and a second center positioning pattern, and the center position of the first center positioning pattern and the center position of the second center positioning pattern are both the same as those of the The center positions of the two-dimensional codes coincide;
  • the determining center positioning graphic includes:
  • the determining the center position of the two-dimensional code according to the center positioning graphic includes:
  • the center position of the second center positioning graphic is determined as the center position of the two-dimensional code.
  • the second center positioning graphic is circular
  • the step of using the center position of the second center positioning graphic as a seed point for region growth, and determining the second center positioning graphic includes:
  • the determining the center position of the second center positioning graphic as the center position of the two-dimensional code includes:
  • the center position of the second center positioning pattern is determined as the center position of the two-dimensional code.
  • the first center positioning figure is a circular ring
  • the recognizing the first center positioning graphic includes:
  • the determining the center position of the first center positioning graphic according to the first center positioning graphic includes:
  • the determining the position of the rotation angle positioning graphic according to the center position of the two-dimensional code includes:
  • the determining the rotation angle of the two-dimensional code according to the position of the rotation angle positioning graphic includes:
  • the determining the preset edge point of the current rotation angle positioning graph includes:
  • the position of the preset edge point of the current rotation angle positioning graph is determined.
  • the two-dimensional code includes an encoding area and a rotation angle auxiliary graphic, wherein the encoding area includes encoding information, and the method further includes:
  • the two-dimensional code includes a coding area, wherein the coding area includes coding information, and the two-dimensional code lays out the coding information in a polar coordinate manner, and the method further includes:
  • the determining the coding area according to the center position of the two-dimensional code includes:
  • the center position of the two-dimensional code determine a number of code information collection circles with different preset radii; wherein, the code information collection circle is located in the code area;
  • the identifying the encoding information according to the encoding area and the rotation angle includes:
  • an embodiment of the present invention provides a method for generating a two-dimensional code.
  • the two-dimensional code includes a center positioning graphic, a rotation angle positioning graphic, and an encoding area; wherein the encoding area includes encoding information; the method includes:
  • the position of the center positioning pattern, the position of the rotation angle positioning pattern, and the position of the encoding area, the center positioning pattern, the rotation angle positioning pattern, and the encoding area are generated, in the encoding area Write the coding information to generate the two-dimensional code so that the center of the center positioning graphic coincides with the center position of the two-dimensional code, and a plurality of preset edge points on the rotation angle positioning graphic are set at In a predetermined angular orientation relative to the center position, the plurality of preset edge points are on the same virtual circle centered on the center position of the two-dimensional code, and the coding area is located between the center positioning graphic and the two The position between the center positions of the dimension code.
  • the center positioning pattern includes a first center positioning pattern and a second center positioning pattern, and the center position of the first center positioning pattern and the center position of the second center positioning pattern are both the same as those of the The center positions of the two-dimensional codes coincide;
  • the first center positioning pattern is a circle;
  • the second center positioning pattern is a circle;
  • the coding area is ring-shaped, and the coding area is located in an area between the first center positioning pattern and the second center positioning pattern;
  • the rotation angle positioning graphics include at least two, and there are at least two rotation angle positioning graphics that are not center-symmetric about the center position of the two-dimensional code.
  • the two-dimensional code further includes a rotation angle auxiliary graphic
  • the rotation angle auxiliary graphic includes a plurality of positioning circles
  • the method further includes:
  • the rotation angle auxiliary graphic is generated according to the position of the rotation angle auxiliary graphic.
  • an embodiment of the present invention provides a two-dimensional code recognition device, the two-dimensional code includes a center positioning pattern and a rotation angle positioning pattern; the device includes:
  • the central positioning graphic determining module is used to determine the central positioning graphic
  • a center position determination module configured to determine the center position of the two-dimensional code according to the center positioning graph
  • a rotation angle graphic determination module configured to determine the position of the rotation angle positioning graphic according to the center position of the two-dimensional code
  • the rotation angle determination module determines the rotation angle of the two-dimensional code according to the position of the rotation angle positioning graphic.
  • the center positioning pattern includes a first center positioning pattern and a second center positioning pattern, and the center position of the first center positioning pattern and the center position of the second center positioning pattern are both the same as those of the The center position of the QR code coincides;
  • the central positioning graphic determining module includes:
  • a first center positioning graphic unit for identifying the first center positioning graphic
  • the first center positioning graphic center unit is used to determine the center position of the first center positioning graphic according to the first center positioning graphic
  • the second center positioning graphic unit is configured to use the center position of the first center positioning graphic as a seed point for region growth, and determine the second center positioning graphic;
  • the center position determining module is specifically configured to determine the center position of the second center positioning graphic as the center position of the two-dimensional code.
  • the rotation angle graph determining module includes:
  • the virtual circle determining unit is used to determine a virtual circle with a preset radius by taking the center position of the two-dimensional code as the center of the circle;
  • a preset edge point determining unit configured to determine a preset edge point of the current rotation angle positioning graph on the virtual circle
  • the rotation angle determination module is configured to determine the two-dimensional code according to the position of the preset edge point of the current rotation angle positioning graph and the prestored position of the preset edge point of the original rotation angle positioning graph The angle of rotation.
  • the preset edge point determining unit includes:
  • the gray-scale sampling subunit is used to perform gray-scale sampling of pixels at a number of preset positions on the virtual circle to obtain coordinate information and gray-scale information of the sampled pixels;
  • the grayscale gradient subunit is used to obtain the grayscale gradient of adjacent sampling pixels according to the grayscale information of the sampling pixels;
  • the preset edge point subunit is configured to determine the position of the preset edge point of the current rotation angle positioning graph according to the position information of the sampling pixel corresponding to the maximum gray gradient.
  • the two-dimensional code includes an encoding area and a rotation angle auxiliary graphic, wherein the encoding area includes encoding information; the device further includes:
  • the first center position module is configured to determine the first center position of the rotation angle auxiliary graphic according to the rotation angle and the center position of the two-dimensional code;
  • a rotation angle auxiliary graphic module configured to perform area growth based on the center position of the rotation angle auxiliary graphic, and determine the rotation angle auxiliary graphic
  • the second center position module is configured to determine the second center position of the rotation angle auxiliary graphic according to the rotation angle auxiliary graphic;
  • An encoding area determination module configured to determine the encoding area according to the center position of the two-dimensional code
  • the recognition module is used for recognizing the coding information according to the coding area and the precise rotation angle.
  • an embodiment of the present invention provides a two-dimensional code generating device.
  • the two-dimensional code includes a center positioning graphic, a rotation angle positioning graphic, and a coding area; wherein the coding area includes coding information, and the device includes:
  • a two-dimensional code center position determining module configured to determine the center position of the two-dimensional code
  • a position determining module configured to determine the position of the center positioning graphic, the position of the rotation angle positioning graphic, and the position of the coding area according to the center position of the two-dimensional code
  • the generating module is used to generate the center positioning graphic, the rotation angle positioning graphic and the coding area according to the position of the center positioning graphic, the position of the rotation angle positioning graphic, and the position of the coding area.
  • the coding information is written in the coding area, thereby generating the two-dimensional code, so that the center of the center positioning graphic coincides with the center position of the two-dimensional code, and the rotation angle positioning a plurality of preset edge points on the graphic Set at a predetermined angle and orientation, the plurality of preset edge points are located on the same virtual circle centered on the center of the two-dimensional code, and the coding area is located at the center of the center positioning graphic and the two-dimensional code Location between locations.
  • the center positioning pattern includes a first center positioning pattern and a second center positioning pattern, and the center position of the first center positioning pattern and the center position of the second center positioning pattern are both the same as those of the The center positions of the two-dimensional codes coincide;
  • the rotation angle positioning graphics include at least two, and there are at least two rotation angle positioning graphics that are not centrally symmetric about the center position of the two-dimensional code;
  • the two-dimensional code further includes a rotation angle auxiliary graphic, and the device further includes:
  • a rotation angle auxiliary graphic determination module configured to determine the position of the rotation angle auxiliary graphic according to the center position of the two-dimensional code
  • the generating module is configured to generate the two-dimensional code according to the position of the center positioning graphic, the position of the rotation angle positioning graphic, the position of the coding area, and the position of the rotation angle auxiliary graphic.
  • an embodiment of the present invention provides a two-dimensional code recognition device, and the function of the device can be realized by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above-mentioned functions.
  • the structure of the device includes a processor and a memory, the memory is used to store a program that supports the device to execute the above two-dimensional code recognition method, and the processor is configured to execute all The program stored in the memory.
  • the device may also include a communication interface for communicating with other devices or a communication network.
  • an embodiment of the present invention provides a two-dimensional code generating device, and the function of the device can be realized by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above-mentioned functions.
  • the structure of the device includes a processor and a memory, the memory is used to store a program that supports the device to execute the above two-dimensional code generation method, and the processor is configured to execute all The program stored in the memory.
  • the device may also include a communication interface for communicating with other devices or a communication network.
  • an embodiment of the present invention further provides a small car, including the two-dimensional code recognition device provided by any embodiment of the present invention; and further includes:
  • the controller is used for controlling the operation of the trolley according to the recognition result of the two-dimensional code recognition device.
  • an embodiment of the present invention also provides a two-dimensional code, which is generated according to the two-dimensional code generating apparatus provided in any embodiment of the present invention.
  • an embodiment of the present invention also provides a product provided with a two-dimensional code, the two-dimensional code including a center positioning pattern, a rotation angle positioning pattern, and a coding area; wherein,
  • the center positioning graphic is used to determine the center position of the two-dimensional code
  • the rotation angle positioning graph is used to determine the rotation angle of the two-dimensional code
  • the coding area is used to carry coding information
  • the center of the center positioning graphic coincides with the center position of the two-dimensional code
  • the rotation angle positioning graphic has a plurality of preset edge points, and the plurality of preset edges The points are arranged at a predetermined angular orientation relative to the center position, and the plurality of preset edge points are on the same virtual circle with the center position of the two-dimensional code as the center.
  • the center positioning pattern includes a first center positioning pattern and a second center positioning pattern, and the center position of the first center positioning pattern and the center position of the second center positioning pattern are both the same as those of the The center positions of the QR codes coincide.
  • the two-dimensional code further includes a rotation angle auxiliary graphic, the rotation angle auxiliary graphic is used to obtain an accurate rotation angle of the two-dimensional code to replace the rotation angle of the two-dimensional code determined according to the rotation angle positioning graphic, each The angle of the predetermined angular orientation is a prime number.
  • an embodiment of the present invention provides a computer-readable storage medium for storing computer software instructions used by the two-dimensional code generation device and the two-dimensional code recognition device, which includes the two-dimensional code generation device and The program involved in the two-dimensional code recognition device.
  • One of the above technical solutions has the following advantages or beneficial effects: after the center position of the two-dimensional code is recognized according to the center positioning graphic, the position of the rotation angle positioning graphic can be determined correspondingly, and then the rotation angle can be obtained based on the position of the rotation angle positioning graphic , And determine the coding area according to the rotation angle and center position to realize the identification of coding information and reduce the amount of calculation for the identification of the two-dimensional code.
  • Fig. 1 shows a first example diagram of a two-dimensional code according to an embodiment of the present invention
  • Fig. 2 shows a second example diagram of a two-dimensional code according to an embodiment of the present invention
  • Fig. 3 shows a third example diagram of a two-dimensional code according to an embodiment of the present invention
  • Figure 4 shows a flowchart of a two-dimensional code recognition method according to an embodiment of the present invention
  • Fig. 5 shows an example diagram of scanning and recognizing a two-dimensional code according to an embodiment of the present invention
  • FIG. 6 shows an example diagram of determining the center position of a first center positioning graphic according to an embodiment of the present invention
  • FIG. 7 shows an example diagram of area growth based on the center position of the first center positioning graph as the seed point according to an embodiment of the present invention
  • FIG. 8 shows an example diagram of determining a preset edge point of a rotation angle positioning graphic through a virtual circle according to an embodiment of the present invention
  • FIG. 9 shows an example diagram of the growth of the rotation angle auxiliary pattern area according to an embodiment of the present invention.
  • Fig. 10 shows an example diagram of performing grayscale sampling on a coding region according to an embodiment of the present invention
  • FIG. 11 shows a flowchart of a method for generating a two-dimensional code according to an embodiment of the present invention
  • Figure 12 shows a structural block diagram of a two-dimensional code recognition device according to an embodiment of the present invention
  • Figure 13 shows a structural block diagram of a two-dimensional code generating device according to an embodiment of the present invention
  • Fig. 14 shows a hardware diagram of a two-dimensional code recognition device and a two-dimensional code generation device according to an embodiment of the present invention.
  • Fig. 1 shows a first example diagram of a two-dimensional code according to an embodiment of the present invention.
  • the two-dimensional code can be formed as a kind of label, or attached or printed on various products using the two-dimensional code.
  • a two-dimensional code according to an embodiment of the present invention includes a first center positioning pattern 11 and a second center positioning pattern 12, a rotation angle positioning pattern 13 and an encoding area 14; wherein the encoding area 14 includes encoding information.
  • the first center positioning pattern 11 and the second center positioning pattern 12 are collectively referred to as center positioning patterns.
  • the center position of the first center positioning pattern 11 coincides with the center position of the second center positioning pattern 12, which is the center position of the two-dimensional code.
  • the first center positioning pattern 11 and the second center positioning pattern 12 are symmetrical patterns whose centers are easily determined, such as circles and squares.
  • Other asymmetric graphics can also be used as the first center positioning graphics if the center can be calculated.
  • the intersection of the diagonals of the parallelogram can determine the center.
  • the interior of the first center positioning graphic 11 may be empty, and the first center positioning graphic 11 may be a ring as shown in FIG. 1 or a square with an empty interior as shown in FIG. 2; of course, it may also be empty inside.
  • the second center positioning graphic 12 may include a circle, a square, a triangle, or the like.
  • the size of the first center positioning pattern 11 is larger than the size of the second center positioning pattern 12, and the second center positioning pattern 12 is located inside the first center positioning pattern.
  • the coding area 14 is located between the second center positioning pattern 12 and the first center positioning pattern 11.
  • the coding area 14 may take various forms as long as it can effectively contain coding information.
  • the rotation angle positioning pattern 13 is located between the second central positioning pattern and the coding area 14. In one embodiment, the rotation angle positioning pattern 13 includes at least two, and there are at least two rotation angle positioning patterns 13 that are not centrally symmetric about the center position of the two-dimensional code. It is required that there are at least two rotation angle positioning graphics 13 that are not center-symmetric about the center position of the two-dimensional code, which is beneficial to determine the rotation angle of the two-dimensional code.
  • the rotation angle positioning graph 13 has a plurality of preset edge points, and these preset edge points are located on the same virtual circle.
  • the preset edge points of the rotation angle positioning graph (that is, the position where the rotation angle positioning graph intersects the virtual circle) Edge point)
  • the angle relative to the center position of the QR code (for example, the angle of the connection with the center position of the QR code relative to the horizontal direction) is a prime number, so that the angle of the edge point is preset There is no greatest common divisor between the values.
  • the two-dimensional code is laid out in polar coordinates, wherein the center position of the two-dimensional code is the origin of the polar coordinates.
  • Polar coordinates have the characteristics of rotation invariance, so in the process of two-dimensional code recognition and scanning, they are the same from all directions, which makes scanning more concise.
  • the layout In the coding area, the layout is generally rectangular, and the rectangular layout will waste space in the corner area. The layout of polar coordinates makes the space utilization more fully.
  • polar coordinates are preferred implementations, and the embodiment of the present invention may also adopt a non-polar coordinate two-dimensional code layout.
  • the two-dimensional code further includes a rotation angle auxiliary graphic 111.
  • a rotation angle auxiliary graphic 111 Referring to Figure 3, an example of four positioning circles is given. The four positioning circles are evenly distributed on the outside of the first central positioning pattern 11, which is beneficial to ensure accurate identification of the QR code when any positioning circle is contaminated. . In other embodiments, the number and distribution positions of the positioning circles can also be adjusted.
  • the two-dimensional code further includes a paste alignment mark 112, and the user can accurately paste the two-dimensional code according to the paste alignment mark 112.
  • Fig. 4 shows a flowchart of a two-dimensional code recognition method according to an embodiment of the present invention. Referring to Figure 4, the method includes:
  • S43 Determine the position of the rotation angle positioning graphic 13 according to the center position of the two-dimensional code
  • Step S41 determines the center positioning graphic, including steps A to C:
  • Step A Identify the first center positioning pattern 11.
  • the recognized first center positioning graphic may include the pixels of the entire first center positioning graphic, or may include the boundary of the first center positioning graphic or the key pixel points located on the first center positioning graphic Wait.
  • the specific selection needs to be determined according to the shape of the first center positioning graphic 11. For example, when the first center positioning graphic 11 is a circular ring, since the circular ring does not change with rotation, only a few key boundary pixels need to be identified. Can represent the first center positioning graphic.
  • the step S411 identifying the first central positioning pattern 11 may include identifying a number of preset points of the first central positioning pattern 11.
  • the several preset points can be obtained as follows.
  • the two-dimensional code is scanned horizontally, for example, once every 5 rows, and the scanning interval of each row is 3 columns, and the coordinate points on the circle are determined according to the gray value difference of adjacent pixels; and Perform the following steps during scanning from left to right:
  • the gray value of the adjacent pixel on the right minus the gray value of the adjacent pixel on the left is less than the first gray value difference, for example, the first gray value difference is -30, then the white color becomes black. Edge point.
  • the edge where black becomes white is solved point.
  • the center point between the two points is solved, For example, the center point C between point A and point B.
  • the plurality of preset points of the first center positioning graphic 11 determined in step A include a plurality of center points C determined in the above step.
  • Figure 6 shows three points C: C1, C2 and C0. Confirming only a few points can reduce the amount of calculation, save recognition time, and improve user experience.
  • the several preset points of the first center positioning graphic 11 determined in step A may also include the edge points determined in steps (1) and (2), such as point A and point B shown in FIG. 5.
  • Step B Determine the center position of the first center positioning pattern 11 according to the first center positioning pattern 11, such as the point G1 in FIG. 6.
  • the first center positioning graphic 11 as a circular ring as an example, if a number of pixels located on the boundary of the circular ring are determined, the center of the circle can be calculated by selecting pixels on the three boundaries according to the characteristics of the circle.
  • step B selects three points from a number of preset points of the first center positioning graphic 11 obtained in step A, as shown in FIG. 6, the point C1 and the point C2 in the center point of step (3) are optimized. And point C0.
  • the center of the circle defined by these three points can be determined according to C1, C2, and CO, as the center position of the first center positioning graph 11.
  • the point C1, the point C2, and the point C0 are selected as in step B of the previous embodiment.
  • the point C0 in this embodiment satisfies: it is the midpoint of all the central points located between the point C1 and the point C2.
  • the midpoint C12 of the two center points Connecting C12 and C0, the center of the circle must pass through the line where C12 and C0 are located.
  • the center of the circle can be determined based on the known diameter or radius of the ring. Since the radius or diameter of the ring is known in advance, this algorithm saves more computing resources than the algorithm that uses three points to define a circle to calculate the center of the circle.
  • Step C Use the center position of the first center positioning pattern 11 as the seed point to perform region growth, and determine the second center positioning pattern 12.
  • area growth refers to the process of developing groups of pixels or areas into larger areas. Starting from the seed point set, from the region of the growth of these points is similar attributes by each seed point image intensity, gray scale, texture color binning adjacent to this area.
  • the center position of the first center positioning pattern 11 is used as the seed point, and the growth is carried out in the vertical direction and the horizontal direction respectively, and the vertical direction is determined.
  • the growth path in the direction and the growth path in the horizontal direction, and the growth path in the vertical direction and the growth path in the horizontal direction constitute the cross growth path in FIG. 7. According to the cross growth path, the boundary of the first center positioning pattern 11 can be determined.
  • the second center positioning figure is a circle
  • the characteristics of the circle only the growth of the two paths in the vertical and horizontal directions is required, and the center of the circle can be determined by solving the midpoint of the path, which greatly saves Calculation amount.
  • the determination of the center position of the two-dimensional code according to the center positioning pattern in step S42 is to determine the center position of the second center positioning pattern 12 as the center position of the two-dimensional code.
  • step S42 when the second center positioning pattern 12 is circular, step S42 includes:
  • the center position of the second center positioning graph is determined as the center position of the two-dimensional code.
  • the above steps A to C adopt the method that the center positioning graphics include the first center positioning graphics and the second center positioning graphics.
  • the method of the second center positioning graphic is determined according to the first center positioning graphic, and the second center positioning graphic 12 is smaller in size.
  • step S43 is entered to determine the position of the rotation angle positioning graphic.
  • step S43 includes:
  • Step D Determine a virtual circle with a preset radius by taking the center position of the QR code as the center of the circle; the virtual circle is a closed curve, and the points on the virtual circle are all separated from the center position of the QR code by a preset radius.
  • Step E Referring to FIG. 8, on the virtual circle, determine the preset edge point of the current rotation angle positioning graph; wherein, the preset edge point is an edge point passing through the virtual circle among the edge points of the rotation angle positioning graph 13.
  • the relative distance relationship between the rotation angle positioning pattern 13 and the center position of the two-dimensional code is known, and it must pass through a virtual circle centered on the center of the two-dimensional code. Therefore, one is determined according to the center position of the two-dimensional code.
  • the edge point of the rotation angle positioning graphic is determined on the virtual circle, and the position of the preset edge point of the rotation angle positioning graphic 13 can be obtained.
  • step E is on the virtual circle, and determining the preset edge point of the current rotation angle positioning graph includes:
  • the gray gradient of the sampling pixel at position n is
  • the sampling pixel of the maximum gray gradient is the largest sampling pixel of
  • the sampled pixel points of the maximum gray gradient are the preset edge points of the rotation angle positioning graphic 13. The determination of these preset edge points is to determine the position of the rotation angle positioning graph.
  • preset edge points are shown in FIG. 8: P1, P2, P3, and P4.
  • the number of preset edge points is related to the number and shape of the rotation angle positioning graphics 13, and the preset virtual circle radius. It can be increased or decreased according to actual needs. Taking the center position of the two-dimensional code as the origin, selecting a predetermined direction (for example, vertical up/horizontal right) as the polar axis, and selecting the positive direction of the angle (for example, the clockwise direction is the positive direction) to establish polar coordinates.
  • the positions of these four preset edge points should be at the preset angle positions, assuming the orientation of ⁇ 1, ⁇ 2, ⁇ 3, ⁇ 4 (ie no rotation angle), that is, the polar coordinate position is P1( R, ⁇ 1), P2 (R, ⁇ 2), P3 (R, ⁇ 3), P4 (R, ⁇ 4).
  • step S44 the difference between the obtained angle of each preset edge point and the corresponding non-rotation angle (preset angle position) can be determined to obtain the rotation angle of the two-dimensional code.
  • the average value of the difference obtained based on the angles of these preset edge points can be calculated as the rotation angle of the two-dimensional code.
  • each preset edge point is at a predetermined angle
  • the rotation angles are -(K+ ⁇ 1), -(K+ ⁇ 2), -(K+ ⁇ 3), -(K+ ⁇ 4), and K is an optional
  • K is an optional
  • the angle of each preset edge point will appear K at least once, so the K value appears the most. If there is rotation and the rotation angle is Q, the angle K-Q appears the most times.
  • the difference between the K value and the angle that appears most in each rotation, that is, Q can be determined as the rotation angle of the two-dimensional code. That is, the rotation angle of the two-dimensional code can be determined as follows: rotate the two-dimensional code multiple times, respectively rotate the sum of the non-rotation angle of each preset edge point and the preset angle K, and obtain the value of each preset edge point after each rotation Angle, select the angle KQ with the most occurrences among these angles, and use the difference between the preset angle K and the angle KQ with the most occurrences as the rotation angle of the two-dimensional code.
  • the preset edge points of the rotation angle positioning graph are located at positions P1 (R, 10°), P2 (R, 30°), P3 (R , 170°), P4 (R, 240°).
  • the pixels located at the positions P1, P2, P3, and P4 obtain the largest gray gradient.
  • the total gray gradient value obtained is also the maximum, that is, the coordinate information corresponding to the maximum value of the prestored original gray gradient total value is ( R,0°)
  • the preset edge point of the rotation angle positioning graphic (that is, the edge point where the rotation angle positioning graphic intersects the virtual circle) is located at position P1' (R, 350°), P2 '(R, 10°), P3' (R, 150°), P4' (R, 220°).
  • the two-dimensional code is rotated counterclockwise by 10°, 30°, 170°, and 240°, and the grayscale samples of four sets of sampled pixels are obtained.
  • the maximum value of gray gradient in each group of data is located in the following position
  • Rotation 240° 150°, 130°, 270°, 340°
  • the rotation angle of the two-dimensional code can be determined more accurately.
  • the original position of the preset edge point of the rotation angle positioning graph (that is, the edge point where the rotation angle positioning graph intersects the virtual circle) usually satisfies the angle value as a prime number, so that the angle value of the preset edge point is between There is no greatest common divisor; for example, the original positions of the preset edge points in step S441 are respectively located in the azimuths of ⁇ 1, ⁇ 2, ⁇ 3, and ⁇ 4 of the center position of the two-dimensional code, and ⁇ 1, ⁇ 2, ⁇ 3, and ⁇ 4 are usually prime numbers. It is helpful to reduce the number and intensity of interference peaks when judging the maximum value of the total gray gradient.
  • a rotation angle positioning graphics and preset edge points of the rotation angle positioning graphics can also be added. quantity. In order to ensure reliability, it is usually required to include at least two rotation angle positioning graphics.
  • the rotation angle auxiliary graphic is added to further accurately rotate the value of the angle, and the accuracy of the two-dimensional code recognition is improved.
  • the boundary of the rotation angle auxiliary graphic is determined by the method of region growth and then accurately determined. The center position, based on the accurately determined center position, determines a more accurate rotation angle, which improves the accuracy of the rotation angle.
  • the two-dimensional code lays out the encoded information in a polar coordinate manner.
  • determining the encoding area according to the center position of the two-dimensional code may include: determining a number of encoding information collection circles with different preset radii according to the center position of the two-dimensional code, wherein the encoding area includes a number of different preset radii The area covered by the coded information collection circle.
  • Step S46 identifies the encoding information according to the encoding area and the rotation angle Q of the two-dimensional code, including:
  • Step F starting from the rotation angle Q, collect the coordinate information and gray value information of the pixel points on each coded information collection circle every preset angle;
  • Step G Identify the encoded information according to the collected coordinate information and gray value information of the pixel points.
  • the encoded information includes data information and error correction information.
  • the process of identifying coded information in step G may include:
  • the error location polynomial is determined by the value of the syndrome, and the root value, that is, the value of the error position, is calculated, and the error value is calculated according to the error position value, and the corresponding error is added to the corresponding error position Value, complete error correction.
  • step F to step G see Figure 10, under the condition that the rotation angle, the center position of the two-dimensional code, and the radius of the ring of the first center positioning graph are known, the coding area is located at the second center of the two-dimensional code The area between the positioning graphic and the first central positioning graphic.
  • the radius of the ring is multiplied by a coefficient less than 1 (for example, 3.4/4.6, 2.8/4.6, 2.2/4.6) to obtain a preset small radius (for example, 3 small radii), starting from the rotation angle every predetermined angle ( For example, 16.37 degrees) take a preset coordinate under a small radius (for example, 3 coordinates under 3 small radii), and you will get several coordinate information (for example, 66 coordinates). For this, several coordinate information (for example, 66 coordinates) )
  • the gray value of the corresponding pixel points is accumulated and averaged, and the gray value of several pixel coordinates (for example, 66 coordinates) is greater than this average value becomes 1, otherwise it becomes 0, thereby obtaining several binary values.
  • a number of bins contain corresponding bytes (for example, 66 bins contain 8 bytes), which represent data information and error correction information.
  • Step H Determine the first center position of the rotation angle auxiliary graphic 111 according to the rotation angle and the center position of the two-dimensional code
  • the rotation angle auxiliary graphic 111 can be determined.
  • the center position of the two-dimensional code is the coordinate origin
  • the center position of the rotation angle auxiliary pattern in the original two-dimensional code is (R7, ⁇ 7); when the rotation angle is ⁇ 8, the first rotation angle auxiliary pattern 111 can be obtained.
  • the center position is (R7, ⁇ 7- ⁇ 8).
  • Step I Use the first center position of the rotation angle auxiliary pattern 111 as a seed point to perform region growth to determine the rotation angle auxiliary pattern; wherein, region growth refers to a process of developing a group of pixels or regions into a larger area. Starting from the seed point set, from the region of the growth of these points is similar attributes by each seed point image intensity, gray scale, texture color binning adjacent to this area.
  • step I may include: taking the center position of the rotation angle auxiliary graphic as the seed point, grow the path along the horizontal and vertical directions to obtain the cross growth path, and determine the positioning circle.
  • Step J Determine the second center position of the rotation angle auxiliary graph 111 according to the rotation angle auxiliary graph 111;
  • Step J may include: determining the midpoint of the horizontal growth path and the midpoint of the vertical growth path in step I, Determine the center F of the positioning circle, that is, the second center position of the rotation angle auxiliary graphic.
  • Figure 9 shows the growth path and center F of one of the positioning circles. Other positioning circles can refer to this method to determine the center of the circle.
  • Step K Determine an accurate rotation angle according to the second center position of the rotation angle auxiliary graphic 111 and the center position of the two-dimensional code. Specifically, when the two-dimensional code is not rotated, the center position of the rotation angle auxiliary graphic relative to the center position of the two-dimensional code is determined, which is the same as the second center position of the rotation angle auxiliary graphic 111 and the center position of the two-dimensional code in step J Comparing the positional relationship of, it is possible to obtain the center position of the current rotation angle auxiliary graphic compared to the angle deflected when the two-dimensional code is not rotated, and then correct the rotation angle obtained in step S44 to obtain an accurate rotation angle.
  • Fig. 11 shows a flow chart of generating a two-dimensional code according to an embodiment of the present invention. This embodiment includes the steps:
  • S112 Determine the position of the center positioning graphic, the position of the rotation angle positioning graphic, and the position of the coding area according to the center position of the two-dimensional code;
  • the first center positioning pattern is a circular ring
  • the second center positioning pattern is a circle or a circular ring, which is determined according to the center position and the radius of the circular or circular (inner circle and outer circle)
  • the positions of the first center positioning graphic and the second center positioning graphic are determined according to the non-rotation angle of the preset edge point (for example, ⁇ 1, ⁇ 2, ⁇ 3, ⁇ 4), for example, the code information area is determined according to the radius of the code information collection circle and so on.
  • the position of the center positioning graphic According to the position of the center positioning graphic, the position of the rotation angle positioning graphic and the position of the coding area, generate the center positioning graphic, the rotation angle positioning graphic and the coding area, and write coding information in the coding area, thereby generating a two-dimensional code, so that The center of the center positioning graphic coincides with the center position of the QR code, the multiple preset edge points on the rotation angle positioning graphic are set at a predetermined angle and orientation, and the multiple preset edge points are centered on the center of the QR code On the same virtual circle of, the coding area is located between the center positioning graphic and the center position of the QR code.
  • the center position of the two-dimensional code can be used as the origin, and the center positioning graphics, the rotation angle positioning graphics and the coding area can be generated according to the coordinates and shapes of these graphics. Any technical means known now and in the future can be used to write coding information in the coding area.
  • generating the two-dimensional code in step S113 includes generating an information code and printing the information code on a corresponding carrier to generate a product with a two-dimensional code, such as a paper two-dimensional code label.
  • the two-dimensional code further includes a rotation angle auxiliary graphic 111
  • the generating method further includes: determining the position of the rotation angle auxiliary graphic 111 according to the center position of the two-dimensional code.
  • This step includes: determining the center position of the positioning circle according to the center position of the two-dimensional code. In the case of multiple positioning circles, determine the center position of each positioning circle. According to the determined center of the positioning circle and the predetermined radius of the positioning circle, the position of the positioning circle can be determined.
  • the method for generating a two-dimensional code further includes: determining a position where the alignment mark 112 is pasted according to the center position of the two-dimensional code. Specifically, the pre-stored relative position relationship between the alignment mark 112 and the center of the two-dimensional code is acquired, and the position of the alignment mark 112 is determined according to the center position of the two-dimensional code. For example, referring to Figure 6, when establishing polar coordinates with the center position of the QR code as the origin, determine four preset marks that are separated from the center position of the QR code at 0°, 90°, 180° and 270° The distance position is used as the position to paste the alignment mark.
  • step S113 includes: generating a two-dimensional code according to the position of the center positioning graphic, the position of the rotation angle positioning graphic, the position of the coding area, and the position where the alignment mark is pasted.
  • the embodiment of the present invention also provides a two-dimensional code recognition device, referring to FIG. 12, including:
  • the center positioning pattern determining module 121 is used to determine the center positioning pattern
  • the center position determining module 122 is used to determine the center position of the QR code according to the center positioning graph;
  • the rotation angle graphic determination module 123 is used to determine the position of the rotation angle positioning graphic according to the center position of the QR code;
  • the rotation angle determination module 124 determines the rotation angle of the QR code according to the position of the rotation angle positioning graphic
  • the coding area determining module 125 is used to determine the coding area according to the center position of the two-dimensional code
  • the identification module 126 is used to identify encoded information according to the encoding area and the rotation angle.
  • the center positioning graphic includes a first center positioning graphic and a second center positioning graphic, and the center position of the first center positioning graphic and the center position of the second center positioning graphic both coincide with the center position of the two-dimensional code.
  • the center positioning graphic determining module 121 includes:
  • the first center positioning graphic unit is used to identify the first center positioning graphic
  • the first center positioning graphic center unit is used to determine the center position of the first center positioning graphic according to the first center positioning graphic
  • the second center positioning graphic unit is used to use the center position of the first center positioning graphic as the seed point to grow the area and determine the second center positioning graphic;
  • the center position determining module is used to determine the center position of the second center positioning graphic as the center position of the two-dimensional code.
  • the rotation angle graph determining module 123 includes:
  • the virtual circle determining unit is used to determine a virtual circle with a preset radius by taking the center position of the two-dimensional code as the center of the circle; wherein the virtual circle locates the figure through the rotation angle;
  • the preset edge point determining unit is used to determine the position of the preset edge point of the current rotation angle positioning graph; wherein the preset edge point is an edge point passing through the virtual circle among the edge points of the rotation angle positioning graph.
  • the rotation angle determination module is used for determining the rotation angle of the QR code according to the position of the preset edge point of the current rotation angle positioning graphic and the preset edge point of the original rotation angle positioning graphic.
  • the preset edge point determination unit includes:
  • the gray-scale sampling sub-unit is used to perform gray-scale sampling of pixels at a number of preset positions on the virtual circle to obtain coordinate information and gray-scale information of the sampled pixels;
  • the grayscale gradient subunit is used to obtain the grayscale gradient of adjacent sampling pixels according to the grayscale information of the sampling pixels;
  • the preset edge point subunit is used to determine the position of the preset edge point of the current rotation angle positioning graph according to the position information of the sampled pixel point of the maximum gray gradient.
  • the two-dimensional code further includes a rotation angle auxiliary graphic.
  • the first center position module is used to determine the first center position of the rotation angle auxiliary graphic according to the rotation angle and the center position of the two-dimensional code;
  • Rotation angle auxiliary graphics module used for regional growth based on the center position of the rotation angle auxiliary graphics, and determine the rotation angle auxiliary graphics
  • the second center position module is used to determine the second center position of the rotation angle auxiliary graphic according to the rotation angle auxiliary graphic;
  • the precise rotation angle module is used to determine the precise rotation angle according to the second center position of the rotation angle auxiliary graphic and the center position of the two-dimensional code.
  • the identification module 126 is used to identify the encoded information according to the encoding area and the precise rotation angle.
  • each module in each device in the embodiment of the present invention can be referred to the corresponding description in the above-mentioned two-dimensional code recognition method, which will not be repeated here.
  • an embodiment of the present invention provides a two-dimensional code generating device.
  • the two-dimensional code includes a center positioning graph, a rotation angle positioning graph, and a coding area; the device includes:
  • the center position acquisition module 131 of the two-dimensional code is used to determine the center position of the two-dimensional code
  • the position determining module 132 is used to determine the position of the center positioning graphic, the position of the rotation angle positioning graphic, and the coding area according to the center position of the two-dimensional code;
  • the generating module 133 is used to generate a center positioning graphic, a rotation angle positioning graphic and a coding area according to the position of the center positioning graphic, the position of the rotation angle positioning graphic, and the position of the coding area, and writing coding information in the coding area to generate a two-dimensional Code so that the center of the center positioning graph coincides with the center position of the QR code, the multiple preset edge points on the rotation angle positioning graph are set at a predetermined angle and orientation, and the multiple preset edge points are at the center of the QR code On the same virtual circle whose position is the center of the circle, the coding area is located between the center positioning graphic and the center position of the two-dimensional code.
  • the center position of the two-dimensional code can be used as the origin, and the center positioning graphics, the rotation angle positioning graphics and the coding area can be generated according to the coordinates and shapes of these graphics. Any technical means known now and in the future can be used to write the coding information in the coding area.
  • the center positioning graphic includes a first center positioning graphic and a second center positioning graphic, and the center position of the first center positioning graphic and the center position of the second center positioning graphic both coincide with the center position of the two-dimensional code.
  • the rotation angle positioning graphics include at least two, and there are at least two rotation angle positioning graphics that are not center-symmetric about the center position of the two-dimensional code.
  • the two-dimensional code further includes a rotation angle auxiliary graphic
  • the device further includes:
  • the rotation angle auxiliary graphic determination module is used to determine the position of the rotation angle auxiliary graphic according to the center position of the QR code
  • the generating module is used to generate a two-dimensional code according to the position of the center positioning graphic, the position of the rotation angle positioning graphic, the coding area and the position of the rotation angle auxiliary graphic.
  • each module in each device in the embodiment of the present invention can be referred to the corresponding description in the above-mentioned two-dimensional code generation method or identification method, which will not be repeated here.
  • Fig. 14 shows a hardware diagram of a two-dimensional code generation device and a two-dimensional code recognition device according to an embodiment of the present invention.
  • the device includes a memory 910 and a processor 920, and the memory 910 stores a computer program that can run on the processor 920.
  • the processor 920 executes the computer program, the two-dimensional code generation method and the two-dimensional code recognition method in the foregoing embodiments are implemented.
  • the number of the memory 910 and the processor 920 may be one or more.
  • the device also includes:
  • the communication interface 930 is used to communicate with external devices and perform data interactive transmission.
  • the memory 910 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), for example, at least one disk memory.
  • the bus may be an Industry Standard Architecture (ISA, Industry Standard Architecture) bus, a Peripheral Component Interconnect (PCI, Peripheral Component Interconnect) bus, or an Extended Industry Standard Architecture (EISA, Extended Industry Standard Architecture) bus, etc.
  • ISA Industry Standard Architecture
  • PCI Peripheral Component Interconnect
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only a thick line is used in FIG. 15, but it does not mean that there is only one bus or one type of bus.
  • the memory 910, the processor 920, and the communication interface 930 may communicate with each other through internal interfaces.
  • the embodiment of the present invention provides a computer-readable storage medium that stores a computer program, and when the program is executed by a processor, the method described in any of the above embodiments is implemented.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features.
  • the features defined with “first” and “second” may explicitly or implicitly include at least one of the features.
  • “plurality” means two or more than two, unless specifically defined otherwise.
  • a "computer-readable medium” can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, device, or device or in combination with these instruction execution systems, devices, or devices.
  • computer readable media include the following: electrical connections (electronic devices) with one or more wiring, portable computer disk cases (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable read only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable media on which the program can be printed, because it can be used, for example, by optically scanning the paper or other media, and then editing, interpreting, or other suitable media if necessary. The program is processed in a manner to obtain the program electronically and then stored in the computer memory.
  • each part of the present invention can be implemented by hardware, software, firmware or a combination thereof.
  • multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a logic gate circuit for implementing logic functions on data signals
  • PGA programmable gate array
  • FPGA field programmable gate array
  • the functional units in the various embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware or software functional modules. If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.
  • the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
  • the embodiment of the present invention also provides a trolley, including the two-dimensional code recognition device provided by any embodiment of the present invention.
  • the trolley further includes:
  • the controller is used to control the operation of the trolley according to the recognition result of the two-dimensional code recognition device.
  • the recognition result of the two-dimensional code recognition device includes the rotation angle recognition result of the two-dimensional code and the code information recognition result.
  • the rotation angle recognition result of the two-dimensional code can be used to know the deflection angle of the car relative to the captured two-dimensional code, so that the car can know the current position.
  • the coded information can include cart task instructions, etc.
  • the trolley in this embodiment may be an AGV (Automated Guided Vehicle, AGV for short), which is also commonly referred to as an AGV trolley. It is equipped with electromagnetic or optical automatic guidance devices, can travel along a prescribed guidance path, has safety protection and various A transport vehicle with transfer function), the AGV car is equipped with an embedded computing platform and a camera, which can continuously collect images and perform image analysis, and can calculate its current pose according to the position and rotation angle of the QR code in the field of view .
  • AGV Automated Guided Vehicle
  • QR code which is posted on the warehouse floor and is mainly used to locate and navigate the AVG trolley.
  • the position where the QR code is pasted is fixed, and each QR code carries unique information that can be used to mark the location of the current QR code.
  • the pattern of the two-dimensional code has a certain center position and main direction.
  • the AGV trolley can infer the current position and rotation direction of the AGV trolley according to the imaging of the two-dimensional code in the down-view camera.
  • the AGV car is equipped with an embedded computing platform and a camera, which can continuously collect images and perform image analysis. It can calculate its current pose based on the position and rotation angle of the QR code in the field of view.
  • the embodiment of the present invention also provides a two-dimensional code, which is generated according to the two-dimensional code generating device provided in any embodiment of the present invention.
  • a two-dimensional code which is generated according to the two-dimensional code generating device provided in any embodiment of the present invention.
  • For the content of the generated two-dimensional code reference may be made to the description of the foregoing embodiment, which will not be repeated here.
  • the embodiment of the present invention also provides a product provided with a two-dimensional code.
  • the two-dimensional code includes a center positioning graphic, a rotation angle positioning graphic and a coding area; wherein,
  • the center positioning graphic is used to determine the center position of the QR code
  • the rotation angle positioning graphic is used to determine the rotation angle of the QR code
  • the coding area is used to carry coding information.
  • the center of the center positioning graphic coincides with the center position of the QR code.
  • the rotation angle positioning graphic has multiple preset edge points, and the multiple preset edge points are set at a predetermined angle relative to the center position. In terms of orientation, multiple preset edge points are located on the same virtual circle with the center position of the QR code as the center.
  • the center positioning graphic includes a first center positioning graphic and a second center positioning graphic.
  • the center position of the first center positioning graphic and the center position of the second center positioning graphic coincide with the center position of the two-dimensional code.
  • the two-dimensional code also includes a rotation angle auxiliary graphic.
  • the rotation angle auxiliary graphic is used to obtain the precise rotation angle of the two-dimensional code to replace the rotation angle of the two-dimensional code determined according to the rotation angle positioning graphic.
  • the angle of each predetermined angle is a prime number. .
  • the product provided with the two-dimensional code referred to in this embodiment may include paper, board or metal plate printed or coated with the two-dimensional code of this embodiment; it may also include the two-dimensional code of this embodiment.
  • Electronic equipment such as mobile phones, computers, TVs, LED displays, etc.

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CN114239631B (zh) * 2021-11-19 2024-03-26 支付宝(杭州)信息技术有限公司 二维码识别方法、装置、存储介质及电子设备

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