A visual coding detection method, system and mobile tool

Abstract

This invention relates to a visual encoding detection method applicable to a carrier equipped with a visual sensor. The method includes pre-setting multiple sets of exposure parameter combinations and includes: polling the pre-set multiple sets of exposure parameter combinations; each time an exposure parameter combination is polled, the following steps are performed: controlling the visual sensor to acquire visual image information according to the currently polled exposure parameter combination; detecting the visual image information acquired by the visual sensor according to the currently polled exposure parameter combination; if visual encoding information of a target object is detected, transmitting the visual encoding information; if visual encoding information of the target object is not detected, polling the next exposure parameter combination; if visual encoding information of the target object is not detected after polling all exposure parameter combinations, adjusting the pose of the carrier and re-executing the aforementioned visual encoding detection method.

Description

Technical Field

[0001] This invention relates to the field of visual coding detection technology, and in particular to a visual coding detection method, system and mobile tool. Background Technology

[0002] With the rapid development of robotics technology and societal needs, various types of service robot products have emerged, such as cleaning robots and food delivery robots. These robots aim to improve operational efficiency and reduce the burden on human labor. However, in addition to assisting humans in labor, robots also need to have functions such as automatically navigating to designated locations for charging, adding or discharging water, and even emptying trash. These functions have become standard features of service robots.

[0003] Taking autonomous charging of robots as an example, common charging pile detection technologies currently include radio frequency identification (RFID), lidar detection, and image QR code detection.

[0004] Radio Frequency Identification (RFID) technology involves laying RFID tags under the charging station as ground guide lines. The robot is equipped with an RFID reader and a ground guide line detector, allowing it to obtain the charging station's guide line when it approaches. A similar technology is infrared signal detection. The charging station broadcasts a set of infrared signals, and the robot's automatic charging module is equipped with multiple infrared receivers. By analyzing the infrared signals received by these receivers, the robot can determine its position relative to the charging station and, after adjusting left and right, achieve accurate orientation and docking. RFID technology is simple and reliable in principle, requiring minimal post-installation algorithm processing. However, it is difficult to install and unsuitable for scenarios where it's undesirable to disrupt the surrounding environment. Furthermore, relocating the charging station necessitates re-laying the ground guide lines, making installation cumbersome. Infrared signal detection technology requires sensors to be installed on both the charging station and the robot, which is a significant cost for service robots. Additionally, the sensor is primarily used for charging station detection, limiting its practicality.

[0005] LiDAR detection technology primarily relies on designing reflective materials such as reflective stickers on charging piles to increase the reflection intensity of the LiDAR point cloud hitting the charging pile, thus clearly distinguishing it from the surrounding environment. Alternatively, it may involve designing special shapes such as angled corners to differentiate the LiDAR point cloud features of the charging pile from its surroundings. Currently, the price of LiDAR remains relatively high, resulting in significant installation costs.

[0006] Image-based QR code detection technology primarily relies on images to detect QR codes on charging stations and thus determine the station's position and orientation. This technology is significantly affected by ambient light; for example, it cannot reliably detect QR codes when the lighting conditions are strong, weak, or dark, or when the background is black. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of existing technologies by providing a visual coding detection method that can stably detect visual coding information regardless of ambient light.

[0008] To achieve the above objectives, in a first aspect, the present invention provides a visual coding detection method applicable to a carrier equipped with a visual sensor, wherein multiple sets of exposure parameter combinations are preset, and the visual coding detection method includes:

[0009] The system polls multiple preset combinations of exposure parameters. Each time a combination of exposure parameters is polled, the following steps are performed: The vision sensor is controlled to acquire visual image information according to the currently polled combination of exposure parameters; the visual image information acquired by the vision sensor according to the currently polled combination of exposure parameters is detected; if visual encoding information of the target object is detected, the visual encoding information is transmitted; if visual encoding information of the target object is not detected, the next combination of exposure parameters is polled; each combination of exposure parameters includes exposure gain and exposure time.

[0010] If no visual encoding information of the target object is detected after polling all exposure parameter combinations, the pose of the carrier is adjusted and the aforementioned visual encoding detection method is re-executed.

[0011] In a second aspect, the present invention provides a visual coding detection system suitable for a carrier equipped with a visual sensor, having multiple preset combinations of exposure parameters, the visual coding detection system comprising:

[0012] The exposure parameter combination polling main control module is used to poll multiple preset exposure parameter combinations. When polling an exposure parameter combination, the following sub-modules execute the corresponding steps:

[0013] The visual image information acquisition and control submodule is used to control the visual sensor to acquire visual image information according to the currently polled combination of exposure parameters;

[0014] The visual image information detection submodule is used to detect the visual image information collected by the visual sensor based on the current polled combination of exposure parameters.

[0015] The visual encoding information transmission submodule is used to transmit visual encoding information if visual encoding information of the target object is detected.

[0016] The exposure parameter combination polling main control module is also used to control each sub-module to poll the next exposure parameter combination if no visual encoding information of the target object is detected.

[0017] The carrier pose adjustment submodule is used to adjust the pose of the carrier if no visual encoding information of the target object is detected after polling all combinations of exposure parameters.

[0018] The exposure parameter combination polling main control module is also used to control each sub-module to re-polulate multiple preset exposure parameter combinations.

[0019] In a third aspect, the present invention provides a chip system including a processor coupled to a memory storing program instructions, wherein when the program instructions stored in the memory are executed by the processor, the visual coding detection method described in any of the first aspects is implemented.

[0020] In a fourth aspect, the present invention provides a computer server, comprising: a memory, a processor, and a transceiver;

[0021] The processor is used to couple with the memory, read and execute instructions in the memory to implement the visual coding detection method described in any of the first aspects above;

[0022] The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

[0023] In a fifth aspect, the present invention provides a computer-readable storage medium, characterized in that it includes a program or instructions which, when run on a computer, implement the visual coding detection method described in any one of the first aspects.

[0024] In a sixth aspect, the present invention provides a computer program product containing instructions, characterized in that, when the computer program product is run on a computer, the computer performs the visual coding detection method according to any one of the first aspects.

[0025] In a seventh aspect, the present invention provides a mobile tool comprising the computer server described in the fourth aspect above.

[0026] The present invention provides a visual encoding detection method that collects and detects visual image information by polling multiple preset exposure parameter combinations. If the visual encoding information of the target object is detected, it is transmitted. If it is not detected, the carrier pose is adjusted and the preset multiple exposure parameter combinations are polled again. In this way, it can be unaffected by the external ambient light conditions. For example, in some extreme environments, the visual encoding information of the target object can be detected stably. Attached Figure Description

[0027] Figure 1 This is one of the flowcharts of the visual coding detection method provided in Embodiment 1 of the present invention;

[0028] Figure 2 This is the second flowchart of the visual coding detection method provided in Embodiment 1 of the present invention;

[0029] Figure 3 Flowchart 3 of the visual coding detection method provided in Embodiment 1 of the present invention

[0030] Figure 4 This is the fourth flowchart of the visual coding detection method provided in Embodiment 1 of the present invention;

[0031] Figure 5 This is the fifth flowchart of the visual coding detection method provided in Embodiment 1 of the present invention;

[0032] Figure 6 This is the sixth flowchart of the visual coding detection method provided in Embodiment 1 of the present invention;

[0033] Figure 7 This is a block diagram of the robot detecting the QR code on the charging pile according to Embodiment 1 of the present invention;

[0034] Figure 8 This is one of the module structure diagrams of the visual coding detection system provided in Embodiment 2 of the present invention;

[0035] Figure 9 This is one of the module structure diagrams of the visual coding detection system provided in Embodiment 2 of the present invention. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0037] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0038] The visual encoding detection method provided in Embodiment 1 of this invention is applicable to carriers equipped with visual sensors, enabling the carrier to stably detect the visual encoding information of the target device regardless of the influence of ambient light. In this embodiment, the carrier can be a mobile tool, such as a vehicle (e.g., passenger car, bus, minibus, truck, sanitation vehicle, garbage truck, sweeper, floor scrubber, delivery vehicle, etc.), a robot (e.g., sweeping robot, food delivery robot, welcoming robot, delivery robot, etc.), or an aircraft (e.g., drone).

[0039] Figure 1 This is one of the flowcharts of the visual coding detection method provided in Embodiment 1 of the present invention. The following is in conjunction with... Figure 1 The technical solution of the present invention will be described with reference to specific embodiments.

[0040] Example 1

[0041] The visual coding detection method provided in Embodiment 1 of the present invention mainly includes the following steps:

[0042] Step 110: Poll the preset multiple sets of exposure parameter combinations.

[0043] Specifically, the subject executing this method can be a carrier equipped with a visual sensor, such as a mobile device with data processing capabilities, including but not limited to robots, cars, and aircraft. The carrier has multiple preset combinations of exposure parameters. Each combination of exposure parameters includes exposure gain and exposure time.

[0044] Before performing step 110, the carrier can specifically obtain the target object in the following ways.

[0045] The control carrier establishes a communication connection with the target device carrying the target object, and displays the target object when the communication connection is successful.

[0046] The target device can be understood as a fixed device that provides services to the carrier. Examples include charging piles, automatic gas stations, air filling devices, automatic water filling devices, automatic drainage devices, and automatic maintenance devices. The target object can be understood as a visual code affixed to a fixed location on the target device. This visual code is pre-written with visual encoding information and can be used by the carrier to locate the target device. Communication connections are not limited to Bluetooth connections, wireless connections, or mobile network connections.

[0047] Furthermore, before performing step 110, to reduce computational load and save time for visual coding detection, the method also includes:

[0048] First, the vision sensor is controlled to acquire visual image information based on the combination of automatic exposure parameters, and the visual image information is then detected.

[0049] Here, visual image information may include, but is not limited to, barcode image information, QR code image information, and visual QR code image information.

[0050] Secondly, if visual encoding information of the target object is detected, the visual encoding information is transmitted; if visual encoding information of the target object is not detected, step 110 is executed.

[0051] In other words, the vision sensor first acquires visual image information in automatic exposure mode, that is, according to the combination of automatic exposure parameters. When no visual coding information is detected, step 110 is then executed, that is, the vision sensor acquires and detects visual image information in passive exposure mode. This can avoid the phenomenon of unstable detection caused by simply using automatic exposure mode when the ambient light is strong, weak or no light.

[0052] In this example, the following process is repeated each time a combination of exposure parameters is polled: Figure 2 The steps shown are as follows:

[0053] Step 111: Control the vision sensor to acquire visual image information according to the currently polled combination of exposure parameters.

[0054] Step 112: Detect the visual image information acquired by the vision sensor based on the currently polled combination of exposure parameters. If visual encoding information of the target object is detected, proceed to step 113; otherwise, proceed to step 114.

[0055] Specifically, the process of detecting visual image information is as follows:

[0056] First, the visual image information is preprocessed to generate preprocessed visual image information.

[0057] Specifically, the visual image information acquired by the vision sensor includes, but is not limited to, color images. Preprocessing may include converting the color image to a grayscale image; and performing image denoising and image enhancement on the target area. For example, image denoising may employ median filtering with a 3x3 sliding window. Image enhancement may involve first statistically analyzing the pixel values ​​of the target area to obtain a grayscale statistical map, and then stretching the grayscale values ​​of the entire visual image to obtain the enhanced visual image information. The specific process will not be elaborated further.

[0058] Secondly, the visual image information detection submodule is invoked to detect the preprocessed visual image information.

[0059] The carrier includes a visual image information detection submodule, which can detect visual image information.

[0060] Step 113: Transmit visual encoding information.

[0061] The visual encoding information can be understood as the location information of the target device. By outputting the visual encoding information, the carrier can obtain the location information of the target device, thereby accurately approaching the target device and facilitating the target device to provide corresponding services to the carrier.

[0062] Step 114: Poll for the next combination of exposure parameters.

[0063] In a preferred embodiment, if no visual encoding information of the target object is detected, the method will also perform the following: Figure 3 The steps in:

[0064] Step S1: Estimate the position of the target object in the visual image information and extract the target area where the target object is located.

[0065] Specifically, the target region can be understood as the area in the visual image information that may contain the target object.

[0066] More specifically, such as Figure 4 As shown,

[0067] Step S11: Obtain parameter information from the vision sensor.

[0068] The visual sensor's parameter information includes intrinsic parameters and calibration extrinsic parameters. This information can be obtained via a cloud server or from the storage module of the carrier.

[0069] Step S12: Estimate the position of the target object in the visual image information based on the parameter information.

[0070] Specifically, the coordinates of the target object in the carrier coordinate system are calculated based on the height difference between the target object and the carrier and the distance between the target object and the mobile device. The coordinates of the target object in the visual sensor coordinate system can be obtained by calibrating the extrinsic parameters. The position information of the target object in the visual image information can be calculated based on the intrinsic parameters of the visual sensor.

[0071] Step S2: Calculate the average brightness of the target area;

[0072] Specifically, the average brightness includes the maximum average brightness and the minimum average brightness.

[0073] More specifically, such as Figure 5 As shown,

[0074] Step S21: Obtain the pixel value of each pixel within the target area;

[0075] Specifically, each pixel value has multiple channels, and each channel corresponds to a grayscale value.

[0076] Taking an RGB vision sensor as an example, where r represents the r-channel, g represents the g-channel, and b represents the b-channel, then each pixel value has three channels. The pixel value of the i-th pixel in the target area can be represented by (p... i (r),p i (g),p i (b)).

[0077] Step S22: Extract the maximum and minimum grayscale values ​​from the pixel values ​​of each pixel.

[0078] Step S23: Calculate the maximum average brightness of the target area based on the maximum value of all pixels, and calculate the minimum average brightness of the target area based on the minimum value of all pixels.

[0079] Specifically, the formulas for calculating the average maximum and minimum brightness are as follows:

[0080]

[0081]

[0082] Where n represents the number of pixels in the target area, LM max The average maximum brightness is represented by LM. min This represents the minimum average brightness; max(p) i (r),p i (g),p i (b) indicates taking p i (r),p i (g),p i The maximum value in (b), min(p) i (r),p i (g),p i (b) indicates taking p i (r),p i (g),p i The minimum value in (b).

[0083] Because the target area has a large number of pixels, it is impossible to exhaustively list the pixel values ​​of each pixel. To facilitate the understanding of this calculation method by those skilled in the art, only three pixels are used as an example for explanation.

[0084] If i = 1, the pixel value of the first pixel is (30, 40, 50).

[0085] When i = 2, the pixel value of the second pixel is (60, 20, 40).

[0086] If i = 3, the pixel value of the 3rd pixel is (10, 50, 30).

[0087] So, extract the maximum value from the pixel value of the first pixel, which is the gray value of the b channel, which is 50; and the minimum value, which is the gray value of the r channel, which is 30. Extract the maximum value from the pixel value of the second pixel, which is the gray value of the r channel, which is 60; and the minimum value, which is the gray value of the g channel, which is 20. Extract the maximum value from the pixel value of the third pixel, which is the gray value of the g channel, which is 50; and the minimum value, which is the gray value of the r channel, which is 10.

[0088] Therefore, the average maximum brightness of the target area is LM. max = 1 / 3(60+50+50); the minimum average brightness of the target area is LM. min = 1 / 3(10+20+30).

[0089] Step S3: Adjust the current polling combination of exposure parameters based on the average maximum and minimum brightness values.

[0090] In addition to the average maximum and minimum brightness values, the adjustment of the exposure parameters for the current polling also needs to be combined with the preset exposure combination.

[0091] For specific adjustment procedures, please refer to Figure 6 As shown:

[0092] Step S31: Compare the average maximum brightness value with a first predetermined reference threshold, and compare the average minimum brightness value with a second predetermined reference threshold.

[0093] Wherein, the first predetermined reference threshold is less than the second predetermined reference threshold. In this example, the first predetermined reference threshold refers to the minimum brightness reference threshold, and the second predetermined reference threshold refers to the maximum brightness reference threshold.

[0094] Step S32: Adjust the current polling exposure parameter combination based on the comparison results and initial exposure conditions.

[0095] Specifically, when the average maximum brightness is less than a first predetermined reference threshold or when the average minimum brightness is greater than a second predetermined reference threshold, the currently polled exposure parameter combination is adjusted according to the initial exposure conditions, which include the initial exposure time and the initial exposure gain. It should be noted that if the initial exposure conditions can be understood as one of a set of preset exposure combinations, the reason it is called the initial exposure condition is because it allows adjustment of the currently polled exposure parameter combination. The initial exposure condition can be understood as an exposure parameter combination preceding the currently polled exposure parameter combination.

[0096] Furthermore, adjusting the current polling exposure parameter combination can be handled in the following two ways:

[0097] When the average maximum brightness is less than the first predetermined reference threshold, the initial exposure time is adjusted to the maximum preset exposure time, and the exposure time in the currently polled exposure parameter combination is replaced with the adjusted initial exposure time; the exposure gain in the currently polled exposure parameter combination is adjusted according to the preset exposure gain.

[0098] In other words, when the average maximum brightness is less than the minimum brightness reference threshold, it indicates that the image is underexposed, the ambient light is too dark, and the exposure time and / or exposure gain need to be increased.

[0099] When the minimum average brightness value is greater than the second predetermined reference threshold, the initial exposure time is adjusted to the minimum preset exposure time, and the exposure time in the currently polled exposure parameter combination is replaced with the adjusted initial exposure time; the initial exposure gain is adjusted to the minimum preset exposure gain, and the exposure gain in the currently polled exposure parameter combination is replaced with the adjusted initial exposure gain.

[0100] In other words, when the minimum average brightness is greater than the maximum reference threshold for brightness, it indicates that the image is overexposed, the ambient light is too strong, and the exposure time and exposure gain need to be reduced.

[0101] Step S4: Control the vision sensor to acquire visual image information based on the adjusted combination of exposure parameters in the current polling, and detect the visual image information.

[0102] Specifically, if visual encoding information of the target object is detected, step 113 is executed; if visual encoding information of the target object is not detected, step 114 is executed.

[0103] Step 120: If no visual encoding information of the target object is detected after polling all exposure parameter combinations, adjust the pose of the carrier and re-polle the preset multiple exposure parameter combinations.

[0104] Specifically, after adjusting the carrier's pose, when the carrier receives visual image information sent by the visual sensor, it can directly perform detection. If no visual encoding information of the target object is detected, steps 111 to 114 are repeated.

[0105] The present invention provides a visual encoding detection method that collects and detects visual image information by polling multiple preset exposure parameter combinations. If the visual encoding information of the target object is detected, it is transmitted; if not detected, the pose of the carrier is adjusted and the multiple preset exposure parameter combinations are polled again. This method is not affected by external ambient light conditions. For example, it can stably detect the visual encoding information of the target object even in some extreme environments, thereby enabling the mobile device to autonomously perform some functions.

[0106] The following example illustrates the process of a robot performing automatic charging, where the target device is a charging pile, the carrier is a robot, and the target object is the QR code on the charging pile.

[0107] The QR code used in this application can be the AprilTag visual reference code. The QR code can be affixed to a fixed location on the charging station. The specific detection process is as follows: Figure 7 As shown.

[0108] The core algorithm is the detection of QR codes, and the main steps are as follows:

[0109] 1) Use automatic exposure mode to detect QR codes;

[0110] 2) Set the passive exposure mode for QR code detection;

[0111] 3) Estimate the location of the target area based on the calibration parameters, capture the target image, and calculate the average brightness value;

[0112] 4) Set the passive exposure time and exposure gain based on the average image brightness;

[0113] 5) Preprocess the image to obtain a preprocessed image;

[0114] 6) Perform QR code detection on the preprocessed image.

[0115] 7) Iterate through all passive exposure times and exposure gain combinations to detect QR codes.

[0116] Example 2

[0117] Figure 8 This is a module structure diagram of a visual coding detection system provided in Embodiment 2 of the present invention, as shown below. Figure 8 As shown, the system includes:

[0118] The main control module 1 for polling exposure parameter combinations is used to poll multiple preset exposure parameter combinations. When polling an exposure parameter combination, the following sub-modules execute the corresponding steps:

[0119] The visual image information acquisition and control submodule 10 is used to control the visual sensor to acquire visual image information according to the currently polled combination of exposure parameters;

[0120] The visual image information detection submodule 20 is used to detect the visual image information collected by the visual sensor according to the current polled combination of exposure parameters.

[0121] The visual encoding information transmission submodule 30 is used to transmit visual encoding information if visual encoding information of the target object is detected.

[0122] The exposure parameter combination polling main control module 1 is also used to control each sub-module to poll the next exposure parameter combination if no visual encoding information of the target object is detected.

[0123] The carrier pose adjustment submodule 40 is used to adjust the carrier pose if no visual encoding information of the target object is detected after polling all exposure parameter combinations.

[0124] The exposure parameter combination polling main control module 1 is also used to control each sub-module to re-polulate multiple preset exposure parameter combinations.

[0125] like Figure 9 As shown, the visual coding detection system also includes:

[0126] The target object location determination module 2 is used to estimate the location of the target object in the visual image information and to extract the target area where the target object is located;

[0127] The target area average brightness calculation module 3 is used to calculate the average brightness of the target area; the average brightness includes the maximum average brightness and the minimum average brightness.

[0128] The exposure parameter combination adjustment module 4 is used to adjust the currently polled exposure parameter combination based on the average maximum brightness and the average minimum brightness.

[0129] The visual coding detection system provided in Embodiment 2 of the present invention can execute the method steps in the above-described method embodiments. The exposure parameter combination polling main control module 1 implements steps 110, 114, and 120; the visual image information acquisition control submodule 10 implements step 111; the visual image information detection submodule 20 implements steps 112 and S4; the visual coding information transmission submodule 30 implements step 113; the carrier pose adjustment submodule 40 implements step 120; the target object position determination module 2 implements step S1; the target area brightness average calculation module 3 implements step S2; and the exposure parameter combination adjustment module 4 implements step S3.

[0130] The specific implementation principles and technical effects are similar, and will not be elaborated here.

[0131] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented by processing element calls to software, while others are implemented in hardware. For example, a determination module can be a separate processing element, or it can be integrated into a chip within the above device. Alternatively, it can be stored as program code in the memory of the above device, and its function can be called and executed by a processing element of the device. The implementation of other modules is similar. Moreover, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.

[0132] For example, these modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs). As another example, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a System-on-a-Chip (SOC).

[0133] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. This computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The aforementioned computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The aforementioned computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the aforementioned computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, Bluetooth, microwave, etc.) means. The aforementioned computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that integrates one or more available media. The aforementioned available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state disks (SSDs)).

[0134] Example 3

[0135] According to Embodiment 3 of the present invention, a chip system is provided, including a processor coupled to a memory. The memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the visual encoding detection method of any one of Embodiment 1 above is implemented.

[0136] Example 4

[0137] Embodiment 4 of the present invention provides a computer server, comprising: a memory, a processor, and a transceiver;

[0138] The processor is used to couple with the memory, read and execute instructions in the memory to implement the visual coding detection method of any one of the above embodiments;

[0139] The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

[0140] Example 5

[0141] Embodiment 5 of the present invention provides a computer-readable storage medium including a program or instructions, which, when run on a computer, implements the visual coding detection method as described in any one of Embodiment 1.

[0142] Example 6

[0143] According to Embodiment Six of the present invention, a computer program product containing instructions is provided, characterized in that when the computer program product is run on a computer, the computer executes the visual coding detection method as described in any one of Embodiment One.

[0144] Example 7

[0145] A mobile tool is provided, including the computer server described in Embodiment 4 above.

[0146] The mobile vehicle can be any movable tool, such as floor scrubber, vacuum cleaner, sweeper, logistics vehicle, passenger car, bus, coach, van, truck, heavy-duty vehicle, trailer, trailer-swain, crane, excavator, bulldozer, road train, sweeper, water truck, garbage truck, engineering vehicle, rescue vehicle, logistics cart, motorcycle, bicycle, tricycle, handcart, robot, sweeper, balance scooter, etc. This application does not strictly limit the types of mobile vehicles, and will not list them all here.

[0147] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0148] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, software modules executed by a processor, or a combination of both. The software modules can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROM power system control methods, or any other form of storage medium known in the art.

[0149] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A visual coding detection method, applicable to a carrier equipped with a visual sensor, characterized in that, The visual coding detection method includes multiple preset combinations of exposure parameters: The system polls multiple preset exposure parameter combinations. Each time an exposure parameter combination is polled, the following steps are performed: The vision sensor is controlled to acquire visual image information according to the currently polled exposure parameter combination; the visual image information acquired by the vision sensor according to the currently polled exposure parameter combination is detected; if visual encoding information of the target object is detected, the visual encoding information is transmitted; if visual encoding information of the target object is not detected, the next exposure parameter combination is polled; each exposure parameter combination includes exposure gain and exposure time. If no visual encoding information of the target object is detected after polling all exposure parameter combinations, the pose of the carrier is adjusted and the aforementioned visual encoding detection method is re-executed. If no visual encoding information of the target object is detected, it also includes: Estimate the position of the target object in the visual image information, and extract the target area where the target object is located; Calculate the average brightness of the target area; the average brightness includes the maximum average brightness and the minimum average brightness. Adjust the current polled combination of exposure parameters based on the average maximum and minimum brightness values; The vision sensor is controlled to acquire visual image information based on the adjusted current polling exposure parameter combination, and the visual image information is detected. If the visual encoding information of the target object is detected, the visual encoding information is transmitted. If the visual encoding information of the target object is not detected, the step of polling the next exposure parameter combination is executed.

2. The visual coding detection method according to claim 1, characterized in that, Before polling multiple preset combinations of exposure parameters, the process also includes: The vision sensor is controlled to acquire visual image information according to the combination of automatic exposure parameters, and the visual image information is detected. If visual encoding information of the target object is detected, the visual encoding information is transmitted; if visual encoding information of the target object is not detected, the step of polling the preset combination of multiple exposure parameters is executed.

3. The visual coding detection method according to claim 1, characterized in that, The step of adjusting the currently polled combination of exposure parameters based on the average maximum brightness and the average minimum brightness specifically includes: The average maximum brightness is compared with a first predetermined reference threshold, and the average minimum brightness is compared with a second predetermined reference threshold; the first predetermined reference threshold is less than the second predetermined reference threshold. The exposure parameter combination of the current polling is adjusted according to the comparison results and the initial exposure conditions. When the average maximum brightness is less than the first predetermined reference threshold or when the average minimum brightness is greater than the second predetermined reference threshold, the exposure parameter combination of the current polling is adjusted according to the initial exposure conditions, which include the initial exposure time and the initial exposure gain.

4. The visual coding detection method according to claim 3, characterized in that, Adjusting the current polling exposure parameter combination based on the comparison results and initial exposure conditions, specifically including: When the average maximum brightness is less than the first predetermined reference threshold, the initial exposure time is adjusted to the maximum preset exposure time, and the exposure time in the currently polled exposure parameter combination is replaced with the adjusted initial exposure time. The exposure gain in the currently polled combination of exposure parameters is adjusted according to the preset exposure gain.

5. The visual coding detection method according to claim 3, characterized in that, Adjusting the current polling exposure parameter combination based on the comparison results and initial exposure conditions, specifically including: When the minimum average brightness value is greater than the second predetermined reference threshold, the initial exposure time is adjusted to the minimum preset exposure time, and the exposure time in the currently polled exposure parameter combination is replaced with the adjusted initial exposure time; the initial exposure gain is adjusted to the minimum preset exposure gain, and the exposure gain in the currently polled exposure parameter combination is replaced with the adjusted initial exposure gain.

6. The visual coding detection method according to claim 1, characterized in that, The estimation of the target object's position in the visual image information specifically includes: Obtain the parameter information of the vision sensor; Based on the parameter information, the position of the target object in the visual image information is estimated.

7. The visual coding detection method according to claim 6, characterized in that, The calculation of the average brightness of the target area specifically includes: Obtain the pixel value of each pixel within the target area; each pixel value has multiple channels, and each channel corresponds to a grayscale value; Extract the maximum and minimum grayscale values ​​from the pixel values ​​of each pixel. Calculate the maximum average brightness of the target area based on the maximum value of all pixels, and calculate the minimum average brightness of the target area based on the minimum value of all pixels.

8. The visual coding detection method according to any one of claims 1 to 7, characterized in that, Also includes: The carrier is controlled to establish a communication connection with the target device carrying the target object, and the target object is displayed when the communication connection is successful.

9. A visual coding detection system, suitable for a carrier equipped with a visual sensor, characterized in that, The visual coding detection system includes multiple preset combinations of exposure parameters. The exposure parameter combination polling main control module is used to poll multiple preset exposure parameter combinations. When polling an exposure parameter combination, the following sub-modules execute the corresponding steps: The visual image information acquisition and control submodule is used to control the visual sensor to acquire visual image information according to the currently polled combination of exposure parameters; The visual image information detection submodule is used to detect the visual image information collected by the visual sensor based on the current polled combination of exposure parameters. The visual encoding information transmission submodule is used to transmit visual encoding information if visual encoding information of the target object is detected. The exposure parameter combination polling main control module is also used to control each sub-module to poll the next exposure parameter combination if no visual encoding information of the target object is detected. The carrier pose adjustment submodule is used to adjust the pose of the carrier if no visual encoding information of the target object is detected after polling all combinations of exposure parameters. The exposure parameter combination polling main control module is also used to control each sub-module to re-polulate multiple preset exposure parameter combinations.

10. A chip system, characterized in that, The method includes a processor coupled to a memory storing program instructions, which, when executed by the processor, implement the visual coding detection method according to any one of claims 1 to 8.

11. A computer server, characterized in that, include: Memory, processor, and transceiver; The processor is used to couple with the memory, read and execute instructions in the memory to implement the visual coding detection method according to any one of claims 1 to 8; The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

12. A computer-readable storage medium, characterized in that, Includes a program or instructions that, when run on a computer, implement the visual coding detection method as described in any one of claims 1 to 8.

13. A computer program product containing instructions, characterized in that, When the computer program product is run on a computer, the computer performs the visual coding detection method as described in any one of claims 1 to 8.

14. A mobile tool, characterized in that, Includes the computer server described in claim 11 above.

Images