Positioning mark, robot for identifying positioning mark, and positioning method

Abstract

The present application provides a positioning mark, a robot for identifying the positioning mark, and a positioning method performed by the robot, wherein the robot first obtains a target image including the positioning mark, the positioning mark including a two-dimensional code and at least two positioning markers arranged on the periphery of the two-dimensional code, and then the robot determines the center position and rotation angle of the two-dimensional code in the target image based on the at least two positioning markers. The above technical solution determines the center position and rotation angle of the two-dimensional code in the target image based on the position information of the positioning marker in the target image and the preset position of each positioning marker relative to the two-dimensional code, which can effectively improve the positioning accuracy of the two-dimensional code, thereby facilitating the improvement of the parsing and utilization efficiency of the two-dimensional code.

Description

Technical Field

[0001] The present application relates to the fields of computer technology and image processing, and more specifically, to a positioning mark, a robot for identifying the positioning mark, and a positioning method performed by the robot. Background Art

[0002] Since QR codes can flexibly include various information, they are increasingly widely used. When robots use QR codes, they need to be parsed. The premise of parsing a QR code is to locate the QR code in the image. Only when the exact position of the QR code is determined can the QR code be successfully parsed. Quickly and accurately locating the position of the QR code can improve the processing speed of QR code parsing.

[0003] During the process of QR code positioning, the robot may not be able to accurately locate the QR code in the image due to interference from other objects, resulting in reduced efficiency in QR code parsing and utilization. Summary of the invention

[0004] In view of this, the present application at least provides a positioning mark, a robot for identifying the positioning mark, and a positioning method performed by the robot.

[0005] In the first aspect, the present application provides a positioning identification, including: a QR code and at least two positioning markers arranged on the periphery of the QR code, the at least two positioning markers being used to determine the center position and rotation angle of the QR code; wherein each of the positioning markers has a different representation form and a different preset position relative to the QR code.

[0006] In a possible implementation manner, a representation form of the positioning marker and a preset position of the positioning marker relative to the QR code have a mapping relationship.

[0007] In a possible implementation, a line connecting at least two of the positioning markers passes through the center of the two-dimensional code, and the distances between the two positioning markers and the center of the two-dimensional code are equal.

[0008] In a possible implementation, among the positioning markers, at least two of the positioning markers are located at both ends of one side of the QR code, and at least one of the positioning markers is located on the other side of the QR code and is located on the perpendicular bisector of the line connecting the two positioning markers at both ends of the same side of the QR code.

[0009] In a second aspect, the present application provides a robot for identifying a positioning mark, comprising: a camera, an action mechanism, and a processor;

[0010] The camera is configured to capture a target image including a positioning mark; wherein the positioning mark includes a two-dimensional code and at least two positioning markers arranged on the periphery of the two-dimensional code; the at least two positioning markers have different representation forms and different preset positions relative to the two-dimensional code;

[0011] The processor is configured to determine a center position and a rotation angle of the two-dimensional code in the target image based on the at least two positioning markers.

[0012] In a possible implementation, the processor includes a marker positioning module, a first positioning module, and a second positioning module;

[0013] The marker positioning module is configured to determine a plurality of positioning markers in a target image, and determine a position of each positioning marker in the target image;

[0014] The first positioning module is configured to determine the center position of the two-dimensional code in the target image based on the position of each positioning marker in the target image;

[0015] The second positioning module is configured to determine a rotation angle of the two-dimensional code in the target image based on a position of each of the positioning markers in the target image and a preset position of each of the positioning markers relative to the two-dimensional code.

[0016] In a possible implementation, when determining a plurality of positioning markers in a target image, the marker positioning module is specifically configured as follows:

[0017] Determining a target object having a preset color in the target image;

[0018] Whether the target object has a preset shape, and the target object with the preset shape is used as the positioning marker.

[0019] In a possible implementation, when a line connecting at least two positioning markers passes through the center of the two-dimensional code, and the distances between the two positioning markers and the center of the two-dimensional code are equal, the first positioning module is specifically configured as follows:

[0020] Based on the position of each positioning marker in the target image, determine the position of the line connecting the two positioning markers in the target image, and based on the position of the line connecting the two positioning markers in the target image, determine the position of the midpoint of the line connecting the two positioning markers, and use the position of the midpoint as the center position of the QR code;

[0021] The second positioning module is specifically configured as:

[0022] Based on the positions of the two positioning markers in the target image, determine the position of the line connecting the two positioning markers in the target image, and based on the position of the line connecting the two positioning markers in the target image, determine the angle of the line connecting the two positioning markers in the target image;

[0023] Determining the directional characteristics of the connection line based on the preset positions of the two positioning markers relative to the QR code;

[0024] Based on the angle of the connecting line in the target image and the directional characteristics of the connecting line, the rotation angle of the two-dimensional code in the target image is determined.

[0025] In a possible implementation, when at least two of the positioning markers are located at both ends of one side of the two-dimensional code, and at least one of the positioning markers is located on the other side of the two-dimensional code, and is located on the perpendicular midline of the line connecting the two positioning markers at both ends of the same side of the two-dimensional code, the first positioning module is specifically configured as:

[0026] Based on the position of each positioning marker in the target image, determine the position of the positioning marker located on the other side of the two-dimensional code on the perpendicular midline, and determine the center position of the two-dimensional code based on the position of the positioning marker located on the other side of the two-dimensional code on the perpendicular midline;

[0027] The second positioning module is specifically configured as follows:

[0028] Based on the position of each positioning marker in the target image, determine the position of the perpendicular bisector in the target image, and based on the position of the perpendicular bisector in the target image, determine the angle of the perpendicular bisector in the target image;

[0029] Determine the directional characteristics of the perpendicular midline based on the preset position of each positioning marker relative to the QR code;

[0030] Based on the angle of the perpendicular bisector in the target image and the directional characteristics of the perpendicular bisector, the rotation angle of the two-dimensional code in the target image is determined.

[0031] In a third aspect, the present application provides a positioning method performed by a robot, comprising:

[0032] Acquire a target image including a positioning mark; wherein the positioning mark includes a two-dimensional code and at least two positioning markers arranged outside the two-dimensional code; the multiple positioning markers have different representation forms and different preset positions relative to the two-dimensional code;

[0033] Based on the at least two positioning markers, the center position and rotation angle of the two-dimensional code in the target image are determined.

[0034] In a possible implementation, determining the center position and rotation angle of the two-dimensional code in the target image based on the at least two positioning markers includes:

[0035] Determine a plurality of positioning markers in a target image, and determine a position of each positioning marker in the target image;

[0036] Based on the position of each positioning marker in the target image, determine the center position of the two-dimensional code in the target image;

[0037] Based on the position of each positioning marker in the target image and the preset position of each positioning marker relative to the two-dimensional code, the rotation angle of the two-dimensional code in the target image is determined.

[0038] In a possible implementation, the determining a plurality of positioning markers in the target image includes:

[0039] Determining a target object having a preset color in the target image;

[0040] Detect whether the target object has a preset shape, and use the target object with the preset shape as the positioning marker.

[0041] In a possible implementation, determining the position of each positioning marker in the target image includes:

[0042] The coordinates of the center point of each positioning marker are determined, and the determined center point coordinates are used as the position of the corresponding positioning marker.

[0043] In a possible implementation, determining the center position of the two-dimensional code in the target image based on the position of each positioning marker in the target image includes:

[0044] When a line connecting at least two positioning markers passes through the center of the two-dimensional code, and the distances between the two positioning markers and the center of the two-dimensional code are equal, based on the position of each positioning marker in the target image, the position of the line connecting the two positioning markers in the target image is determined, and based on the position of the line connecting the two positioning markers in the target image, the position of the midpoint of the line is determined, and the position of the midpoint is used as the center position of the two-dimensional code;

[0045] The determining the rotation angle of the two-dimensional code in the target image based on the position of each of the positioning markers in the target image and the preset position of each of the positioning markers relative to the two-dimensional code comprises:

[0046] Based on the positions of the two positioning markers in the target image, determine the position of the line connecting the two positioning markers in the target image, and based on the position of the line connecting the two positioning markers in the target image, determine the angle of the line connecting the two positioning markers in the target image;

[0047] Determining the directional characteristics of the connection line based on the preset positions of the two positioning markers relative to the QR code;

[0048] Based on the angle of the connecting line in the target image and the directional characteristics of the connecting line, the rotation angle of the two-dimensional code in the target image is determined.

[0049] In a possible implementation, determining the center position of the two-dimensional code in the target image based on the position of each positioning marker in the target image includes:

[0050] When at least two of the positioning markers are located at the two ends of one side of the two-dimensional code, and at least one of the positioning markers is located at the other side of the two-dimensional code, and is located on the perpendicular bisector of the line connecting the two positioning markers at the two ends of the same side of the two-dimensional code, based on the position of each of the positioning markers in the target image, the position of the positioning marker located on the other side of the two-dimensional code on the perpendicular bisector is determined, and the center position of the two-dimensional code is determined based on the position of the positioning marker located on the other side of the two-dimensional code on the perpendicular bisector;

[0051] The determining the rotation angle of the two-dimensional code in the target image based on the position of each of the positioning markers in the target image and the preset position of each of the positioning markers relative to the two-dimensional code comprises:

[0052] Based on the position of each positioning marker in the target image, determine the position of the perpendicular bisector in the target image, and based on the position of the perpendicular bisector in the target image, determine the angle of the perpendicular bisector in the target image;

[0053] Determine the directional characteristics of the perpendicular midline based on the preset position of each positioning marker relative to the QR code;

[0054] Based on the angle of the perpendicular bisector in the target image and the directional characteristics of the perpendicular bisector, the rotation angle of the two-dimensional code in the target image is determined.

[0055] The present application provides a positioning mark, a robot for identifying the positioning mark, and a positioning method performed by the robot, wherein the robot first obtains a target image including the positioning mark, and the positioning mark includes a two-dimensional code and at least two positioning markers arranged on the periphery of the two-dimensional code. After that, the robot determines the center position and rotation angle of the two-dimensional code in the target image based on the at least two positioning markers. The above technical scheme determines the center position and rotation angle of the two-dimensional code in the target image based on the position information of the positioning marker in the target image and the preset position of each positioning marker relative to the two-dimensional code, which can effectively improve the positioning accuracy of the two-dimensional code, thereby facilitating the improvement of the parsing and utilization efficiency of the two-dimensional code. Furthermore, the present application can screen the positioning markers used to locate the two-dimensional code based on the representation form, effectively avoiding the interference of non-positioning markers, and facilitating the improvement of the accuracy of the position information of the determined two-dimensional code in the target image. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0057] Figure 1 A schematic diagram of a positioning mark provided in an embodiment of the present application is shown;

[0058] Figure 2 One of the schematic diagrams for setting the positioning marker in the embodiment of the present application is shown;

[0059] Figure 3 The second schematic diagram of the arrangement of the positioning marker in the embodiment of the present application is shown;

[0060] Figure 4 The third schematic diagram of the arrangement of the positioning marker in the embodiment of the present application is shown;

[0061] Figure 5 A schematic diagram of a robot for identifying a positioning mark in an embodiment of the present application is shown;

[0062] Figure 6 The fourth schematic diagram of the arrangement of the positioning marker in the embodiment of the present application is shown;

[0063] Figure 7 The fifth schematic diagram of the arrangement of the positioning marker in the embodiment of the present application is shown;

[0064] Figure 8 A flow chart of a positioning method performed by a robot provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0065] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0066] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0067] In order to enable those skilled in the art to use the content of this application, the following implementation is provided in conjunction with the specific application scenario "location of DM code". For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios that require positioning without departing from the spirit and scope of this application. Although this application is mainly described around the positioning of DM code, it should be understood that this is only an exemplary embodiment.

[0068] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0069] In view of the need for the robot to first locate the QR code before recognizing the QR code, and the defect of the failure of QR code positioning or low positioning accuracy due to interference from other objects, the present application provides a positioning mark, a robot for identifying the positioning mark, and a positioning method performed by the robot. The present application determines the center position and rotation angle of the QR code in the target image based on the position information of the positioning marker in the target image, and the preset position of each positioning marker relative to the QR code, that is, determines the position information of the QR code in the target image, which can effectively improve the positioning accuracy of the QR code, thereby facilitating the improvement of the parsing and utilization efficiency of the QR code. In addition, the positioning markers used to locate the QR code can be screened based on the representation form, which effectively avoids the interference of non-positioning markers, and is conducive to improving the accuracy of the position information of the determined QR code in the target image.

[0070] like Figure 1 As shown, the positioning mark provided in the embodiment of the present application includes a QR code 11 and at least two positioning markers 12 arranged on the periphery of the QR code, and the at least two positioning markers 12 are used to determine the center position and rotation angle of the QR code 11; wherein each of the positioning markers has a different representation form and a different preset position relative to the QR code.

[0071] The representation form of the above-mentioned positioning marker 12 has a mapping relationship with the preset position of the positioning marker 12 relative to the QR code 11. Specifically, the positioning marker can be set as a circular marker of different colors, and the preset position of the positioning marker with a red representation form relative to the QR code is the upper left corner of the QR code, and the preset position of the positioning marker with a yellow representation form relative to the QR code is the lower right corner of the QR code. Since the representation form of the positioning marker can be obtained through image detection, and the representation form of the positioning marker has a mapping relationship with the preset position of the positioning marker relative to the QR code, the preset position of the positioning marker relative to the QR code can be obtained based on the representation form of the positioning marker and the mapping relationship. Then, based on the preset position, the rotation angle of the QR code in the target image can be further determined.

[0072] In order to determine the center of the QR code, among the positioning markers in the positioning mark, the line connecting at least two positioning markers passes through the center of the QR code, and the distances between the two positioning markers and the center of the QR code are equal; or, among the positioning markers in the positioning mark, at least two positioning markers are located at both ends of one side of the QR code, and at least one positioning marker is located on the other side of the QR code and is located on the perpendicular bisector of the line connecting the two positioning markers at both ends of the same side of the QR code.

[0073] like Figure 2As shown, the positioning marker 21 and the positioning marker 22 are located on the diagonal line of the two-dimensional code 23, and the midpoint of the line connecting the two positioning markers is the center of the two-dimensional code.

[0074] like Figure 3 As shown, the positioning marker 31 and the positioning marker 32 are located at two ends of the center line of the two-dimensional code, and the midpoint of the line connecting the two positioning markers is the center of the two-dimensional code.

[0075] like Figure 4 As shown, positioning markers 41 and 42 are located at two ends of one side of the two-dimensional code, and positioning marker 43 is located on the other side of the two-dimensional code and on the perpendicular midline of the line connecting the two positioning markers at two ends of the same side of the two-dimensional code.

[0076] When determining the rotation angle of the two-dimensional code in the target image, it can be determined based on the angle of the line connecting the positioning markers and the preset position of the positioning markers relative to the two-dimensional code.

[0077] like Figure 5 As shown, an embodiment of the present application also provides a robot for identifying positioning marks, including: a camera 51 and a processor 52.

[0078] The camera 51 is configured to capture a target image including a positioning mark; wherein the positioning mark includes a QR code and at least two positioning markers arranged around the QR code; the at least two positioning markers have different representation forms and different preset positions relative to the QR code.

[0079] The processor 52 is configured to determine a center position and a rotation angle of the two-dimensional code in the target image based on the at least two positioning markers.

[0080] As mentioned above, the target image includes a QR code and at least two positioning markers located around the QR code. These positioning markers have a preset position relationship with the QR code. In specific implementation, the color of the positioning markers or other representation forms can be used to represent or determine the specific preset position relationship between the corresponding positioning markers and the QR code. For example, Figure 2 As shown, a red positioning marker 21 is pre-set at the upper left corner of the QR code 23, and a yellow positioning marker 22 is pre-set at the lower right corner of the QR code 23. In this way, the preset position relationship between the corresponding positioning marker and the QR code can be determined by the color of the positioning marker. Specifically, if the positioning marker is detected to be red, it can be determined that the positioning marker is located in the upper left corner of the QR code. If the positioning marker is detected to be yellow, it can be determined that the positioning marker is located in the lower right corner of the QR code.

[0081] The processor 52 realizes the positioning of the two-dimensional code based on the positioning marker in the positioning mark, that is, determines the center position and rotation angle of the two-dimensional code in the target image.

[0082] In some embodiments, the processor 52 includes a landmark positioning module 521 , a first positioning module 522 , and a second positioning module 523 .

[0083] The marker positioning module 521 is configured to determine multiple positioning markers in the target image and determine the position of each positioning marker in the target image.

[0084] The first positioning module 522 is configured to determine the center position of the two-dimensional code in the target image based on the position of each positioning marker in the target image.

[0085] The second positioning module 523 is configured to determine a rotation angle of the two-dimensional code in the target image based on a position of each of the positioning markers in the target image and a preset position of each of the positioning markers relative to the two-dimensional code.

[0086] As mentioned above, the positioning marker can be a marker with a predetermined color and a predetermined shape. When setting the color of the marker, it needs to be set based on the specific application scenario. Specifically, the positioning marker set needs to be distinguished from other interfering objects that are not used to locate the QR code in the specific application scenario. For example, the positioning marker can be set to a round shape and a red color, which can effectively avoid interference from other objects such as oil stains. Of course, the positioning marker can also be set to other colors and shapes, for example, to a triangle, etc. This application does not limit the color and shape of the positioning marker.

[0087] After acquiring the target image, it is first necessary to screen the positioning markers used to locate the QR code from the target image. In the specific implementation, the marker positioning module 521 can use the following steps to screen or determine the positioning markers: determine the target object with a preset color in the target image; whether the target object has a preset shape, and use the target object with a preset shape as the positioning marker.

[0088] Positioning markers can be accurately screened out by color and shape, which is helpful to improve the accuracy of QR code positioning.

[0089] It should be noted that when selecting positioning markers from a target image, the selection may be based only on color or shape, and does not necessarily have to be based on both color and shape.

[0090] The above-mentioned colors and shapes are the representation forms of the positioning markers. The representation forms of different positioning markers are different. Based on the representation form, not only can the positioning markers be screened from the target image, but also the preset position relationship between the corresponding positioning markers and the QR code can be determined, that is, the representation form has a corresponding relationship with the preset position.

[0091] Based on the representation form, positioning markers used to locate the QR code can be screened, which effectively avoids the interference of non-positioning markers and is conducive to improving the accuracy of the position information of the determined QR code in the target image.

[0092] After the positioning markers are screened, the position of each positioning marker in the target image can be determined by using image recognition and positioning technology. The position here can specifically be the coordinates of the positioning marker in the target image.

[0093] Since the positioning marker has a certain area, after the positioning marker is determined, the coordinates of the center point of each positioning marker can be calculated, and the calculated center point coordinates are used as the position of the corresponding positioning marker.

[0094] As described above, based on the position of each positioning marker in the target image, the rotation angle of the QR code in the target image can be determined. It should be noted that the rotation angle is not directional, but is only an angle value.

[0095] Since the relative position of each positioning marker and the QR code is pre-set, the directional characteristics of the above-mentioned rotation angle can be determined based on the preset position of each positioning marker relative to the QR code, and the final rotation angle can be determined by combining the angle value and directional characteristics of the rotation angle.

[0096] The above embodiment determines the center position and rotation angle of the two-dimensional code in the target image based on the position information of the positioning marker in the target image and the preset position of each positioning marker relative to the two-dimensional code, that is, determines the position information of the two-dimensional code in the target image, which can effectively improve the positioning accuracy of the two-dimensional code. In addition, the positioning markers used to locate the two-dimensional code can be screened based on the representation form, which effectively avoids the interference of non-positioning markers, which is conducive to improving the accuracy of the determined position information of the two-dimensional code in the target image.

[0097] Since each positioning marker has different representation forms such as color, the representation form can also represent the preset position relationship between the positioning marker and the QR code. Therefore, when the representation form is color, the preset position of the positioning marker relative to the QR code can be determined by the following steps: obtain the color of the positioning marker; determine the position that matches the obtained color, and use the determined position as the preset position of the positioning marker relative to the QR code.

[0098] In some embodiments, when the line connecting at least two positioning markers passes through the center of the two-dimensional code, and the distances between the two positioning markers and the center of the two-dimensional code are equal, the first positioning module 522 is specifically configured as follows:

[0099] Based on the position of each positioning marker in the target image, determine the position of the line connecting the two positioning markers in the target image, and based on the position of the line connecting the two positioning markers in the target image, determine the position of the midpoint of the line connecting the two positioning markers, and use the position of the midpoint as the center position of the QR code;

[0100] The two positioning markers mentioned above can be set at both ends of the center line or the two ends of the diagonal line of the two-dimensional code, and the midpoint of the center line or the diagonal line is the midpoint of the two-dimensional code.

[0101] Specifically, Figure 3 As shown, the positioning marker 31 is arranged on the upper side of the two-dimensional code and is located at one end of the midline of the two-dimensional code, and the positioning marker 32 is arranged on the lower side of the two-dimensional code and is located at the other end of the midline of the two-dimensional code. When determining the center position of the two-dimensional code in the target image, the positioning marker 31 is connected to the positioning marker 32, and the midpoint of the obtained connection line is the center of the two-dimensional code in the target image.

[0102] At this time, the second positioning module 523 can be specifically configured as follows:

[0103] Based on the positions of the two positioning markers in the target image, determine the position of the line connecting the two positioning markers in the target image, and based on the position of the line connecting the two positioning markers in the target image, determine the angle of the line connecting the two positioning markers in the target image;

[0104] Determining the directional characteristics of the connection line based on the preset positions of the two positioning markers relative to the QR code;

[0105] Based on the angle of the connecting line in the target image and the directional characteristics of the connecting line, the rotation angle of the two-dimensional code in the target image is determined.

[0106] Here, the directional characteristics of the above-mentioned connecting line are determined based on the preset position of the positioning marker relative to the two-dimensional code, that is, the directional characteristics of the above-mentioned angle are determined.

[0107] Specifically, Figure 3As shown, the positioning marker 31 is set on the upper side of the two-dimensional code, and the positioning marker 32 is set on the lower side of the two-dimensional code. If the two-dimensional code in the target image is placed forward, the determined angle is a positive value, that is, the angle represented by the directional characteristics of the determined angle or the connecting line is a positive value. If the two-dimensional code in the target image is placed backward, the determined angle is a negative value. That is, the angle represented by the directional characteristics of the determined angle or the connecting line is a negative value.

[0108] The final rotation angle can be determined based on the angle value and the directional characteristics of the angle.

[0109] In some embodiments, when at least two of the positioning markers are located at two ends of one side of the two-dimensional code, and at least one of the positioning markers is located on the other side of the two-dimensional code and is located on the perpendicular midline of the line connecting the two positioning markers at two ends of the same side of the two-dimensional code, the first positioning module 522 is specifically configured as follows:

[0110] Based on the position of each positioning marker in the target image, the position of the positioning marker located on the other side of the QR code on the perpendicular bisector is determined, and based on the position of the positioning marker located on the other side of the QR code on the perpendicular bisector, the center position of the QR code is determined.

[0111] In specific implementation, the perpendicular bisector segment from the positioning marker on the other side of the QR code to the line connecting the two positioning markers on the same side of the positioning marker can be drawn first, and the midpoint of the perpendicular bisector segment is the midpoint of the QR code.

[0112] Specifically, Figure 4 As shown, positioning markers 41 and 42 are arranged at both ends of the lower side of the two-dimensional code, and positioning marker 43 is located at the upper side of the two-dimensional code and on the perpendicular midline of the line connecting positioning marker 41 and positioning marker 42. The midpoint of the perpendicular midline segment from positioning marker 43 to the line connecting positioning marker 41 and positioning marker 42 is the center of the two-dimensional code in the target image.

[0113] At this time, the second positioning module 523 can be specifically configured as follows:

[0114] Based on the position of each positioning marker in the target image, determine the position of the perpendicular bisector in the target image, and based on the position of the perpendicular bisector in the target image, determine the angle of the perpendicular bisector in the target image;

[0115] Determine the directional characteristics of the perpendicular midline based on the preset position of each positioning marker relative to the QR code;

[0116] Based on the angle of the perpendicular bisector in the target image and the directional characteristics of the perpendicular bisector, the rotation angle of the two-dimensional code in the target image is determined.

[0117] In some embodiments, Figure 6 As shown, there are four positioning markers in the target image, and each positioning marker is located at a corner of the two-dimensional code. When determining the center position of the two-dimensional code, it is only necessary to select positioning markers 61 and 62, or positioning markers 63 and 64, located at both ends of the diagonal line of the two-dimensional code. Among them, the representation forms of colors of 61 and positioning marker 62 need to be different, and the representation forms of colors of positioning markers 63 and positioning markers 64 need to be different.

[0118] In some embodiments, Figure 7 As shown, there are five positioning markers in the target image, of which three positioning markers are located at the bottom of the QR code and two positioning markers are located at the top of the QR code. When determining the center position of the QR code, it is only necessary to select positioning markers 71 and 72, or positioning markers 73 and 74, located at both ends of the diagonal of the QR code. Among them, the representation forms of the colors of 71 and positioning marker 72 need to be different, and the representation forms of the colors of positioning marker 73 and positioning marker 74 need to be different.

[0119] After two positioning markers are screened, the first positioning module 522 uses the midpoint of the line connecting the two screened positioning markers as the center of the two-dimensional code.

[0120] After two positioning markers for positioning the two-dimensional code are screened from multiple positioning markers, the second positioning module 523 can determine the rotation angle of the two-dimensional code in the target image by using the following steps:

[0121] Step 1: Based on the positions of the two positioning markers obtained by screening in the target image, determine the position of the line connecting the two positioning markers obtained by screening in the target image, and determine the angle of the line in the target image based on the position of the line in the target image.

[0122] Step 2: Determine the directional characteristics of the connection line based on the preset positions of the two positioning markers obtained through screening relative to the QR code.

[0123] Step three: determine the rotation angle of the two-dimensional code in the target image based on the angle of the connecting line in the target image and the directional characteristics of the connecting line.

[0124] When there are more than four positioning markers, the center position and rotation angle calculated above can be corrected by the following steps:

[0125] Step 1, the marker positioning module 521 selects multiple positioning markers that meet the preset distribution conditions from the remaining positioning markers; wherein the multiple positioning markers that meet the preset distribution conditions are two positioning markers respectively located at the two ends of the midline of the two-dimensional code or respectively located at the two ends of the diagonal of the two-dimensional code, or three positioning markers, two of which are located at the two ends of one side of the two-dimensional code and the other is located on the other side of the two-dimensional code, and the other positioning marker located on the other side of the two-dimensional code is located on the perpendicular median of the line connecting the two positioning markers on the same side of the positioning marker.

[0126] Step 2: The first positioning module 522 uses the positions of the multiple positioning markers currently screened in the target image to determine the correction center position of the QR code in the target image, and determines the final center position of the QR code in the target image based on the correction center position and the center position.

[0127] Step three, the second positioning module 523 uses the position of each of the positioning markers currently screened in the target image and the preset position of each of the positioning markers currently screened relative to the QR code to determine the correction rotation angle of the QR code in the target image, and based on the correction rotation angle and the rotation angle, determines the final rotation angle of the QR code in the target image.

[0128] When using the latest screened positioning markers to calculate the correction center position and the correction rotation angle, the method used is the same as in the above embodiment and will not be repeated here.

[0129] After locating the QR code, the robot can parse the QR code based on the center position and rotation angle of the QR code in the target image to obtain the coordinate position of the QR code in the geographic coordinate system.

[0130] Corresponding to the above-mentioned robot for identifying and positioning marks, an embodiment of the present application also provides a positioning method executed by the robot. This method is applied to the above-mentioned robot and can achieve the same or similar beneficial effects. Therefore, the repeated parts will not be repeated here.

[0131] Specifically, Figure 8 As shown, the positioning method performed by the robot in the embodiment of the present application may include the following steps:

[0132] S810. Acquire a target image including a positioning mark; wherein the positioning mark includes a QR code and at least two positioning markers arranged around the QR code; the multiple positioning markers have different representation forms and different preset positions relative to the QR code.

[0133] S820. Determine the center position and rotation angle of the two-dimensional code in the target image based on the at least two positioning markers.

[0134] In some embodiments, the determining of the center position and the rotation angle of the two-dimensional code in the target image based on the at least two positioning markers includes:

[0135] Determine a plurality of positioning markers in a target image, and determine a position of each positioning marker in the target image;

[0136] Based on the position of each positioning marker in the target image, determine the center position of the two-dimensional code in the target image;

[0137] Based on the position of each positioning marker in the target image and the preset position of each positioning marker relative to the two-dimensional code, the rotation angle of the two-dimensional code in the target image is determined.

[0138] In some embodiments, the above-mentioned determining a plurality of positioning markers in the target image includes:

[0139] Determining a target object having a preset color in the target image;

[0140] Detect whether the target object has a preset shape, and use the target object with the preset shape as the positioning marker.

[0141] In some embodiments, determining the position of each positioning marker in the target image includes:

[0142] The coordinates of the center point of each positioning marker are determined, and the determined center point coordinates are used as the position of the corresponding positioning marker.

[0143] In some embodiments, the method of determining the center position of the two-dimensional code in the target image based on the position of each positioning marker in the target image includes:

[0144] When a line connecting at least two positioning markers passes through the center of the two-dimensional code, and the distances between the two positioning markers and the center of the two-dimensional code are equal, based on the position of each positioning marker in the target image, the position of the line connecting the two positioning markers in the target image is determined, and based on the position of the line connecting the two positioning markers in the target image, the position of the midpoint of the line is determined, and the position of the midpoint is used as the center position of the two-dimensional code;

[0145] The determining the rotation angle of the two-dimensional code in the target image based on the position of each of the positioning markers in the target image and the preset position of each of the positioning markers relative to the two-dimensional code comprises:

[0146] Based on the positions of the two positioning markers in the target image, determine the position of the line connecting the two positioning markers in the target image, and based on the position of the line connecting the two positioning markers in the target image, determine the angle of the line connecting the two positioning markers in the target image;

[0147] Determining the directional characteristics of the connection line based on the preset positions of the two positioning markers relative to the QR code;

[0148] Based on the angle of the connecting line in the target image and the directional characteristics of the connecting line, the rotation angle of the two-dimensional code in the target image is determined.

[0149] In some embodiments, the method of determining the center position of the two-dimensional code in the target image based on the position of each positioning marker in the target image includes:

[0150] When at least two of the positioning markers are located at the two ends of one side of the two-dimensional code, and at least one of the positioning markers is located at the other side of the two-dimensional code, and is located on the perpendicular bisector of the line connecting the two positioning markers at the two ends of the same side of the two-dimensional code, based on the position of each of the positioning markers in the target image, the position of the positioning marker located on the other side of the two-dimensional code on the perpendicular bisector is determined, and the center position of the two-dimensional code is determined based on the position of the positioning marker located on the other side of the two-dimensional code on the perpendicular bisector;

[0151] The determining the rotation angle of the two-dimensional code in the target image based on the position of each of the positioning markers in the target image and the preset position of each of the positioning markers relative to the two-dimensional code comprises:

[0152] Based on the position of each positioning marker in the target image, determine the position of the perpendicular bisector in the target image, and based on the position of the perpendicular bisector in the target image, determine the angle of the perpendicular bisector in the target image;

[0153] Determine the directional characteristics of the perpendicular midline based on the preset position of each positioning marker relative to the QR code;

[0154] Based on the angle of the perpendicular bisector in the target image and the directional characteristics of the perpendicular bisector, the rotation angle of the two-dimensional code in the target image is determined.

[0155] The embodiment of the present application also provides a computer program product corresponding to the above method, including a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the method in the previous method embodiment. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0156] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0157] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0158] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0159] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0160] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0161] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A positioning marker, characterized in that: include: A two-dimensional code and at least two positioning markers arranged on the periphery of the two-dimensional code, wherein the at least two positioning markers are used to determine the center position and rotation angle of the two-dimensional code; wherein each of the positioning markers has a different representation form and a different preset position relative to the two-dimensional code; the representation form is color, or the representation form is color and shape; the color of the positioning marker is different from the color of other interfering objects in the application scenario of the two-dimensional code.

2. The positioning marker according to claim 1, characterized in that: The representation form of the positioning marker and the preset position of the positioning marker relative to the QR code have a mapping relationship.

3. The positioning marker according to claim 1, characterized in that: Among the positioning markers, a line connecting at least two positioning markers passes through the center of the two-dimensional code, and the distances between the two positioning markers and the center of the two-dimensional code are equal.

4. The positioning marker according to claim 1, characterized in that: Among the positioning markers, at least two of the positioning markers are located at both ends of one side of the QR code, and at least one of the positioning markers is located on the other side of the QR code and is located on the perpendicular bisector of the line connecting the two positioning markers at both ends of the same side of the QR code.

5. A robot for identifying positioning marks, characterized in that: include: Camera, action mechanism and processor; The camera is configured to capture a target image including a positioning mark; wherein the positioning mark includes a two-dimensional code and at least two positioning markers arranged on the periphery of the two-dimensional code; the at least two positioning markers have different representation forms and different preset positions relative to the two-dimensional code; the representation form is color, or the representation form is color and shape; the color of the positioning marker is different from the color of other interfering objects in the application scene of the two-dimensional code; The processor is configured to determine a center position and a rotation angle of the two-dimensional code in the target image based on the at least two positioning markers.

6. The robot according to claim 5, characterized in that: The processor includes a marker positioning module, a first positioning module, and a second positioning module; The marker positioning module is configured to determine a plurality of positioning markers in a target image, and determine a position of each positioning marker in the target image; The first positioning module is configured to determine the center position of the two-dimensional code in the target image based on the position of each positioning marker in the target image; The second positioning module is configured to determine a rotation angle of the two-dimensional code in the target image based on a position of each of the positioning markers in the target image and a preset position of each of the positioning markers relative to the two-dimensional code.

7. The robot according to claim 6, characterized in that: When determining a plurality of positioning markers in a target image, the marker positioning module is specifically configured as follows: Determining a target object having a preset color in the target image; Whether the target object has a preset shape, and the target object with the preset shape is used as the positioning marker.

8. The robot according to claim 6, characterized in that: When a line connecting at least two positioning markers passes through the center of the two-dimensional code, and the distances between the two positioning markers and the center of the two-dimensional code are equal, the first positioning module is specifically configured as follows: Based on the position of each positioning marker in the target image, determine the position of the line connecting the two positioning markers in the target image, and based on the position of the line connecting the two positioning markers in the target image, determine the position of the midpoint of the line connecting the two positioning markers, and use the position of the midpoint as the center position of the QR code; The second positioning module is specifically configured as: Based on the positions of the two positioning markers in the target image, determine the position of the line connecting the two positioning markers in the target image, and based on the position of the line connecting the two positioning markers in the target image, determine the angle of the line connecting the two positioning markers in the target image; Determining the directional characteristics of the connection line based on the preset positions of the two positioning markers relative to the QR code; Based on the angle of the connecting line in the target image and the directional characteristics of the connecting line, the rotation angle of the two-dimensional code in the target image is determined.

9. The robot according to claim 6, characterized in that: When at least two of the positioning markers are located at two ends of one side of the two-dimensional code, and at least one of the positioning markers is located on the other side of the two-dimensional code, and is located on the perpendicular midline of the line connecting the two positioning markers at two ends of the same side of the two-dimensional code, the first positioning module is specifically configured as: Based on the position of each positioning marker in the target image, determine the position of the positioning marker located on the other side of the two-dimensional code on the perpendicular midline, and determine the center position of the two-dimensional code based on the position of the positioning marker located on the other side of the two-dimensional code on the perpendicular midline; The second positioning module is specifically configured as: Based on the position of each positioning marker in the target image, determine the position of the perpendicular bisector in the target image, and based on the position of the perpendicular bisector in the target image, determine the angle of the perpendicular bisector in the target image; Determine the directional characteristics of the perpendicular midline based on the preset position of each positioning marker relative to the QR code; Based on the angle of the perpendicular bisector in the target image and the directional characteristics of the perpendicular bisector, the rotation angle of the two-dimensional code in the target image is determined.

10. A positioning method performed by a robot, characterized in that: include: Acquire a target image including a positioning mark; wherein the positioning mark includes a two-dimensional code and at least two positioning markers arranged on the periphery of the two-dimensional code; the at least two positioning markers have different representation forms and different preset positions relative to the two-dimensional code; the representation form is color, or the representation form is color and shape; the color of the positioning marker is different from the color of other interfering objects in the application scene of the two-dimensional code; Based on the at least two positioning markers, the center position and rotation angle of the two-dimensional code in the target image are determined.

11. The positioning method according to claim 10, characterized in that: The determining, based on the at least two positioning markers, a center position and a rotation angle of the two-dimensional code in the target image includes: Determine a plurality of positioning markers in a target image, and determine a position of each positioning marker in the target image; Based on the position of each positioning marker in the target image, determine the center position of the two-dimensional code in the target image; Based on the position of each positioning marker in the target image and the preset position of each positioning marker relative to the two-dimensional code, the rotation angle of the two-dimensional code in the target image is determined.

12. The positioning method according to claim 11, characterized in that: The step of determining a plurality of positioning markers in a target image comprises: Determining a target object having a preset color in the target image; Detect whether the target object has a preset shape, and use the target object with the preset shape as the positioning marker.

13. The positioning method according to claim 11, characterized in that: Determining the position of each positioning marker in the target image includes: The coordinates of the center point of each positioning marker are determined, and the determined center point coordinates are used as the position of the corresponding positioning marker.

14. The positioning method according to claim 13, characterized in that: The determining the center position of the two-dimensional code in the target image based on the position of each positioning marker in the target image includes: When a line connecting at least two positioning markers passes through the center of the two-dimensional code, and the distances between the two positioning markers and the center of the two-dimensional code are equal, based on the position of each positioning marker in the target image, the position of the line connecting the two positioning markers in the target image is determined, and based on the position of the line connecting the two positioning markers in the target image, the position of the midpoint of the line is determined, and the position of the midpoint is used as the center position of the two-dimensional code; The determining the rotation angle of the two-dimensional code in the target image based on the position of each of the positioning markers in the target image and the preset position of each of the positioning markers relative to the two-dimensional code comprises: Based on the positions of the two positioning markers in the target image, determine the position of the line connecting the two positioning markers in the target image, and based on the position of the line connecting the two positioning markers in the target image, determine the angle of the line connecting the two positioning markers in the target image; Determining the directional characteristics of the connection line based on the preset positions of the two positioning markers relative to the QR code; Based on the angle of the connecting line in the target image and the directional characteristics of the connecting line, the rotation angle of the two-dimensional code in the target image is determined.

15. The positioning method according to claim 13, characterized in that: The determining the center position of the two-dimensional code in the target image based on the position of each positioning marker in the target image includes: When at least two of the positioning markers are located at the two ends of one side of the two-dimensional code, and at least one of the positioning markers is located on the other side of the two-dimensional code, and is located on the perpendicular bisector of the line connecting the two positioning markers at the two ends of the same side of the two-dimensional code, based on the position of each of the positioning markers in the target image, the position of the positioning marker located on the other side of the two-dimensional code on the perpendicular bisector is determined, and the center position of the two-dimensional code is determined based on the position of the positioning marker located on the other side of the two-dimensional code on the perpendicular bisector; The determining the rotation angle of the two-dimensional code in the target image based on the position of each of the positioning markers in the target image and the preset position of each of the positioning markers relative to the two-dimensional code comprises: Based on the position of each positioning marker in the target image, determine the position of the perpendicular bisector in the target image, and based on the position of the perpendicular bisector in the target image, determine the angle of the perpendicular bisector in the target image; Determine the directional characteristics of the perpendicular midline based on the preset position of each positioning marker relative to the QR code; Based on the angle of the perpendicular bisector in the target image and the directional characteristics of the perpendicular bisector, the rotation angle of the two-dimensional code in the target image is determined.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the positioning method according to any one of claims 10 to 15 is executed.

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