High-precision positioning method based on multi-QR-code vision

Abstract

The invention relates to the technical field of indoor positioning, in particular to a high-precision positioning method based on multi-QR-code vision. The high-precision positioning method includes the steps that a plurality of QR codes are arranged on a plane, and a camera is used for shooting by being perpendicular to the plane; the number of the QR codes in a shot image is greater than 1; a pixel coordinate system is established by taking the shot image as the edge, the pixel coordinates of vertexes of the QR codes are extracted, and the pixel distance of the center points of every two QRcodes is calculated; according to the pixel coordinates of the length-width image center points of the shot image, the pixel distance from the center point of any QR code to the center point of the image is calculated; according to the geographic coordinates of the center points of the QR codes, the actual distance of any two QR codes is obtained, and the ratio of the pixel distance in the currentshot image to the actual distance is obtained; then the actual distance D1 from the center points of the QR codes to the center point of the image is obtained; and in a geographic coordinate system,a circle is drawn with the center point of each QR code as the circle center and the actual distance D1 as the radius, and the geographic coordinates of the center point of the image are obtained. According to the method, the size and shape of the QR codes are not limited, and accurate positioning can be realized.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to a high-precision positioning method based on multiple two-dimensional code vision. Background technique [0002] With the rapid development of Internet of Things technology, the location awareness of people and objects indoors is becoming more and more important. The positioning and navigation of storage robots and other indoor robots has become a research hotspot. Various indoor positioning solutions and positioning sensors have emerged one after another. At present, several mainstream indoor positioning technologies have certain limitations in the actual application process, such as the low positioning accuracy of WiFi, the short range of RFID positioning, and the high cost of UWB positioning. Moreover, the positioning errors of the above-mentioned several positioning technologies are relatively large in warehouses where materials are densely placed. [0003] The ...

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Problems solved by technology

[0005] At present, the positioning based on the two-dimensional code mainly uses the camera to collect the two-dimensional code image, but there are many restrictions on the collection of the two-dimensional code image

For example, the application number is CN201410493517.9, which discloses a positioning method based on two-dimensional codes in the Chinese patent literature. When collecting two-dimensional code image information, firstly, only a single two-dimensional code is collected, and secondly, when the information is obtained, it includes the The acquisition of the positive direction of the two-dimensional code, so there are obviously more restrictions on the collection of the two-dimensional code

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