Two-dimensional code-based positioning method and device and storage medium

Abstract

The invention discloses a two-dimensional code-based positioning method, which relates to the field of map information acquisition. The method includes the steps of: obtaining a captured environment image; Determining a two-dimensional code image in the environmental image according to the environmental image; Analyzing the two-dimensional code image to obtain map coordinates corresponding to fourvertices of the two-dimensional code in a map coordinate system; Acquiring a camera coordinate system of an image pickup apparatus for photographing the environmental image, and determining corresponding image pickup coordinates of the four vertices in the camera coordinate system; According to the map coordinates and the camera coordinates, obtaining the relative pose to the two-dimensional code. The invention also provides a positioning device and a storage medium based on the two-dimensional code, which can more accurately calculate the relative position and posture of the AGV equipment and the two-dimensional code, thereby realizing the positioning of the AGV equipment with higher accuracy.

Description

technical field [0001] The invention relates to the field of map information collection, in particular to a two-dimensional code-based positioning method, device and storage medium. Background technique [0002] A two-dimensional code is a readable barcode, which records data through black and white images distributed on a plane according to certain rules according to a specific geometric figure. Two-dimensional codes have the characteristics of large information capacity and high reliability. Therefore, in application environments such as warehouse storage or workshop handling, two-dimensional code positioning technology, as one of the key technologies in AGV equipment control, is often used to navigate AGV equipment. and positioning. [0003] In the prior art, the relative position between the AGV device and the two-dimensional code of the known position is usually calculated according to the acquired image, so as to calculate the position of the AGV device according to t...

AI Technical Summary

Problems solved by technology

In the process of implementing the present invention, the inventors found that, since the prior art estimates the position of the AGV equipment through images of three positions, since it is difficult for multiple imaging positions to completely overlap, the relative relationship between the obtained AGV equipment and the two-dimensional code There is a large error in the position, and the high-precision positioning of the AGV equipment cannot be performed

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