Two-dimension code structure and decoding method for movable robot

Abstract

The invention discloses a two-dimensional code structure and a decoding method used for a movable robot. The two-dimensional code structure is that a code pattern symbol is arranged on a substrate of a regular polygon plane graph; the code pattern symbol consists of a locating module provided with an optical reflectivity different from the substrate and a unit module; the modules are arranged on the plane pattern and are mutually kept with clearances. The decoding method utilizes a method for calculating an invariant to detect the five sides of the outer profile of the two-dimensional code and extract the two-dimensional code from the pattern; the currently captured two-dimensional code pattern is mapped to a standard code pattern for reading the code words by calculating a single mappingmatrix and then decoding is carried out. The regular polygon is adopted for leading the two-dimensional code to be detected from the environment robustly; round is adopted by the modules for reducingthe possibility of sticking between neighboring modules and being capable of reliably separating each module under a lower illumination degree in a remote distance; the recognition rate is ensured bythe decoding method with error correction; therefore, the structure and the decoding method is suitable for the movable robot for carrying out indoor environment location and object marking.

Description

technical field [0001] The invention relates to a two-dimensional code structure and a decoding method for a robot to locate indoor environments and identify objects. Background technique [0002] In robot vision, the extraction and recognition of environmental features has always been a difficult problem. General environmental features such as straight lines are not unique, and it is very difficult to use them in combination. It is necessary to establish a CAD model or use a probability-based positioning method. Complex environmental features such as SIFT have a large amount of calculation, so they are not suitable. It is used by robots with high real-time requirements. In addition, the environmental features in the scene are often very single and repeated, and it will be very difficult to use these environmental features for object recognition and positioning. Therefore, under the current technical conditions, using artificial markers to assist mobile robots in object re...

AI Technical Summary

Problems solved by technology

However, because most of the current two-dimensional codes are designed for short-distance recognition, it can be guaranteed that the two-dimensional code is in the image acquired by the decoding device when decoding, which is quite different from the application environment of the mobile robot, so it cannot Direct use in object recognition tasks for mobile robots

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