Unlock instant, AI-driven research and patent intelligence for your innovation.

Encoding and decoding method of nested guide two-dimensional code

A coding and decoding, two-dimensional code technology, applied in navigation, mapping and navigation, record carrier used by machines, etc., to achieve the effect of improving control accuracy, fast processing, and low hardware cost

Active Publication Date: 2021-09-07
CHONGQING UNIV OF POSTS & TELECOMM
View PDF7 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the purpose of the present invention is to provide a coding and decoding method for nested guiding two-dimensional codes, which is applied to the guiding control of autonomous mobile robots to solve the problems of mobile robot positioning accuracy and path planning, combined with SLAM autonomous navigation, fully Utilize the pose and information carried by the QR code to guide and control the mobile robot, improve the automation level and reduce the cost

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Encoding and decoding method of nested guide two-dimensional code
  • Encoding and decoding method of nested guide two-dimensional code
  • Encoding and decoding method of nested guide two-dimensional code

Examples

Experimental program
Comparison scheme
Effect test

example

[0043] As a preferred example of the present invention, mainly comprise the following steps:

[0044] Step 1. Generate a nested QR code icon. The icon includes a large-sized outer QR code and a small-sized inner QR code. The QR code icon uses AprilTag as the target QR code for nesting.

[0045] Step 11, design the size of different two-dimensional code icons, for the size of icons of different sizes in the nested icons, the visual sensor of the present invention selects a depth camera, according to the recognition accuracy of the camera, the field of view of the camera, and the working environment Identify the distance and determine the size of the QR code icon. The black pixel s in each small square area in the QR code di Equal to or greater than grid area S d Half of the small square is considered to be black, and the coded value d i is 1, similarly to the black pixel s in the small square area di smaller than grid area S d Half of the small square is considered to be b...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to an encoding and decoding method for a nested guide two-dimensional code, which belongs to the field of computer vision, and comprises the following steps: S1, constructing a nested two-dimensional code: adopting AprilTag as a basic code of the nested two-dimensional code, and nesting two or more two-dimensional code icons with different sizes, it is ensured that at least one two-dimensional code can be recognized in the dynamic change process of the recognition distance; s2, deploying a nested two-dimensional code; and S3, decoding the nested two-dimensional code: moving the recognition device to an region capable of recognizing the outer-layer code, adjusting the position and posture of the recognition device based on the recognized information, and moving the recognition device to the nested two-dimensional code until the decoding process is finished. The method is wide in recognition angle, long in recognition distance, obvious in pose feature, quick in processing, low in hardware cost and high in guiding precision.

Description

technical field [0001] The invention belongs to the field of computer vision, and relates to a coding and decoding method for nested guiding two-dimensional codes Background technique [0002] With the introduction of "Industry 4.0", mobile robots have become more and more well-known to people, and more and more related companies and institutions have joined the research on mobile robots. Mobile robot is a huge multi-functional comprehensive system, which has the advantages of high automation, high work efficiency and low cost. Autonomous mobile robots need to specify their "where", "where to go" and "how to go" during their work. Therefore, the realization of robot functions needs to rely on sensors to perceive the surrounding environment and reach the designated area to complete the follow-up work. Therefore, the guidance and positioning of mobile robots is becoming more and more important to the research of control methods, and the requirements for positioning accuracy a...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G06K19/06G06K7/10G01C21/00
CPCG06K19/06037G06K7/10099G01C21/00
Inventor 李勇李思阳杜发兴王平孔维康
Owner CHONGQING UNIV OF POSTS & TELECOMM