A three-dimensional perspective structural sign

Abstract

This invention provides a three-dimensional perspective structure for a marker, relating to the field of three-dimensional marker technology. It includes a cube-shaped marker carrier with a cube-shaped cavity on its front. A first positioning strip is positioned from the front edge of the cavity to the nearest front edge of the marker carrier. A strip-shaped nine-square grid frame is positioned at the center of the rear wall of the cavity. A second positioning strip is positioned from the outer edge of the nine-square grid frame to the nearest edge of the rear wall of the cavity. The nine-square grid frame contains a nine-square grid. Three positioning symbols are positioned on each of the left, right, top, and bottom surfaces of the marker carrier. This invention uses a cube-shaped three-dimensional structure as a marker, allowing a camera to observe different faces of the three-dimensional structure from different angles, expanding the visual recognition range and improving recognition speed. Furthermore, since it consists of multiple planes, multiple planes can be observed simultaneously, increasing the number of feature points and improving recognition accuracy.

Description

Technical Field

[0001] This invention relates to the field of three-dimensional signage technology, and more particularly to a three-dimensional perspective structure sign. Background Technology

[0002] In current visual recognition technology, visual control modules are typically used to identify devices in order to achieve successful docking and recognition. This requires, first and foremost, the successful recognition of graphics to control the device, which necessitates dedicated, easily identifiable new graphic identifiers.

[0003] Current image recognition methods involve arbitrarily selecting a planar graphic or a marker graphic of different colors, and identifying feature points as the identification marker. However, as recognition requirements increase, the graphics being recognized remain simple, leading to difficulties in recognizing markers at close range. Furthermore, they are significantly affected by lighting conditions and cannot provide location, distance, or other information, nor can they be used for clear differentiation. Such marker graphics fail to meet recognition requirements. In addition, the surrounding environment is complex during device docking, making successful recognition of simple planar graphics difficult. Image recognition errors can prevent correct docking with the device, hindering subsequent visual control, interrupting the control process, reducing automation, and lowering efficiency. Summary of the Invention

[0004] To address the technical problem of existing graphic recognition methods that use two-dimensional images, which makes successful recognition difficult, a three-dimensional perspective structure marker is provided. Placing the marker on the device being recognized for graphic recognition can significantly reduce graphic recognition errors and improve the level of automation.

[0005] The technical means employed in this invention are as follows:

[0006] A three-dimensional perspective structure sign includes a cube-shaped sign carrier. The front of the sign carrier has a cube-shaped cavity. A first positioning strip is provided from the front edge of the cavity to the nearest front edge of the sign carrier. A strip-shaped square nine-square grid frame is provided at the center of the rear wall of the cavity. A second positioning strip is provided from the outer edge of the nine-square grid frame to the nearest edge of the rear wall of the cavity. The nine-square grid frame is provided with a nine-square grid. Three positioning symbols are provided on the left side, right side, top plane, and bottom plane of the sign carrier.

[0007] Furthermore, the length of the cavity is three-quarters of the length of the marking carrier.

[0008] Furthermore, the first positioning strip is located at the center of the front edge of the identification carrier, and the second positioning strip is located at the center of the outer edge of the nine-square grid frame.

[0009] Further, the first positioning strip and the second positioning strip in the horizontal direction are in the same horizontal line, and the first positioning strip and the second positioning strip in the vertical direction are in the same vertical line.

[0010] Further, the length of the first positioning strip is one eighth of the edge length of the identification carrier, and the length of the second positioning strip is one eighth of the edge length of the identification carrier.

[0011] Further, the outer side length of the nine-square frame is one half of the edge length of the identification carrier.

[0012] Further, the width of the nine-square frame is three eighths of the edge length of the identification carrier.

[0013] Further, the squares in the second row and the second column of the nine-square frame are black, and the remaining squares of the nine-square frame are white.

[0014] Further, on the left side, the three positioning symbols are arranged at the upper left, the lower left and the middle right positions; on the right side, the three positioning symbols are arranged at the upper right, the lower right and the middle left positions; on the upper plane, the three positioning symbols are arranged at the upper left, the upper right and the middle lower positions; and on the lower plane, the three positioning symbols are arranged at the lower left, the lower right and the middle upper positions.

[0015] Further, the positioning symbol is a meandering positioning symbol.

[0016] Compared with the prior art, the present application has the following advantages:

[0017] The present application uses a cubic three-dimensional structure as an identification object, a camera can observe different surfaces in the three-dimensional structure from different angles, expands the visual recognition range, improves the recognition speed, and it is composed of multiple planes, multiple planes can be observed at the same time, increases the number of feature points, and improves the recognition accuracy.

[0018] The present application uses the positioning symbols on the left surface, the right surface, the upper surface and the lower surface of the cube to provide position direction information, and facilitates accurate movement to the target.

[0019] The identification object of the present application adopts a perspective structure, and uses a line segment misplacement method, when the camera is not perpendicular to the front surface of the cube, the line segment of the front surface of the cube and the line segment behind the inner wall of the cube are not connected in the picture, and the information of the deviation of the camera is transmitted.

[0020] The identification object of the present application uses a three-dimensional perspective structure, compared with an ordinary plane identification picture, the pattern behind the inner wall of the cube can be continuously identified through the front surface of the cube, the identifiable feature points are expanded, and the identification can still be continued in the case of close distance.

[0021] This invention uses a nine-square grid of different colors. When there are foreign objects on the camera, they will partially obscure the recognition pattern, affecting recognition. However, the nine-square grid recognition pattern has a certain margin of error. No matter which direction there is obstruction, there are still remaining black rectangles and black squares, allowing recognition to continue. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0024] Figure 2 This is the front view of the present invention.

[0025] Figure 3 This is the left view of the present invention.

[0026] Figure 4 This is the right view of the present invention.

[0027] Figure 5 This is a top view of the present invention.

[0028] Figure 6 This is a bottom view of the present invention.

[0029] In the diagram: 1. Identifier carrier; 2. First positioning bar; 3. Nine-square grid frame; 4. Second positioning bar; 5. Nine-square grid; 6. Positioning symbol. Detailed Implementation

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components and / or combinations thereof.

[0033] The relative arrangement of components and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the application unless otherwise specifically stated. It is also to be understood that the dimensions of the various parts shown in the drawings are not necessarily to scale, and that for purposes of convenience and clarity in understanding the present application, common terms have been used for like components throughout. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail but are intended to be part of the specification when appropriate. In all examples shown and discussed herein, any specific numerical value, is to be interpreted as merely an example, and not a limitation. As a result, other examples of the example embodiments can have different values. It is to be noted that like reference numerals and letters refer to like items in the drawings, and, as a result, once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0034] In the description of the present application, it is to be understood that the orientation or positional relationships indicated by orientation words such as "front, back, upper, lower, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Without the opposite indication, these orientation words do not indicate and imply that the indicated device or element must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application: the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component itself.

[0035] For purposes of the description hereinafter, spatial relative terms, such as "above", "below", "upper", "lower", and the like, can be used to describe the relative position of one element or feature to another as illustrated in the figures. It will be understood that the spatial relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if a device in the figures is inverted, then a dependent "above" or "up" can be oriented "below" or "down" in the inverted configuration. Thus, the exemplary term "above" can encompass both an orientation of above and below. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatial relative terms used herein interpreted accordingly.

[0036] In addition, it should be noted that the use of "first", "second", and the like, herein does not imply that there are only two of these items, but rather these designations are used as a shorthand, for the ease of description and reference only. Thus, the use of "first" and "second" does not limit the scope of the present application to only two items, but rather "first" and "second" are used to distinguish between items having some relation or difference.

[0037] As Figures 1-6As shown, the present application provides a three-dimensional perspective structural sign, which comprises a cuboid sign carrier 1, a cuboid cavity is formed on the front face of the sign carrier 1, and the edge length of the cavity is three fourths of the edge length of the sign carrier 1. A first positioning strip 2 is arranged from the front edge of the cavity to the nearest front edge of the sign carrier 1, a strip-shaped square nine-square frame 3 is arranged at the center of the back wall of the cavity, a second positioning strip 4 is arranged from the outer edge of the nine-square frame 3 to the nearest back wall of the cavity, the first positioning strip 2 is arranged at the center of the front edge of the sign carrier 1, the second positioning strip 4 is arranged at the center of the outer edge of the nine-square frame 3, the horizontal first positioning strip 2 and the second positioning strip 4 are on the same horizontal line, and the vertical first positioning strip 2 and the second positioning strip 4 are on the same vertical line. The length of the first positioning strip 2 is one eighth of the edge length of the sign carrier 1, and the length of the second positioning strip 4 is one eighth of the edge length of the sign carrier 1. The nine-square frame 3 is provided with a nine-square 5, the outer edge length of the nine-square frame 3 is half of the edge length of the sign carrier 1, and the width of the nine-square frame 3 is three eighths of the edge length of the sign carrier 1. The second row and the second column of the nine-square 5 are black, and the remaining squares of the nine-square 5 are white. Three positioning symbols 6 are arranged on the left side, the right side, the upper plane and the lower plane of the sign carrier 1. On the left side, the three positioning symbols 6 are arranged at the upper left, the lower left and the right middle positions, respectively; on the right side, the three positioning symbols 6 are arranged at the upper right, the lower right and the left middle positions, respectively; on the upper plane, the three positioning symbols 6 are arranged at the upper left, the upper right and the lower positions, respectively; and on the lower plane, the three positioning symbols 6 are arranged at the lower left, the lower right and the upper positions, respectively. The positioning symbol 6 is a back-shaped positioning symbol.

[0038] The working process of the present application is as follows: the sign carrier 1 is arranged on the identified equipment, when the camera visually identifies the pattern, the following can be observed when the camera is located on the right side of the sign carrier 1 Figure 4 , by identifying Figure 4The three locators on the device are used to determine their centroid coordinates. Connecting these three centroid coordinates forms an isosceles triangle, with its smallest angle pointing towards the front of the marker carrier 1. The direction of the smallest angle within the triangle is then determined, providing positional information. When the camera can see the front of the marker carrier 1, the alignment of the first locator strip 2 and the second locator strip 4 is observed to determine if the camera is offset from the target object. When the camera view shows the complete front of the marker carrier 1, the first locator strip 2 is identified from a distance. As the camera approaches the target object, it identifies the second locator strip 4 through the cavity. Further approaching, the black vertical columns and horizontal rows of the 3x3 grid are identified, and the center square of the 3x3 grid is identified. This design ensures that even when the camera is partially obscured by foreign objects, the remaining black rectangles and squares remain, allowing for continued identification.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-dimensional perspective structured sign, characterized in that: The label carrier (1) includes a cube-shaped identification carrier (1). The front of the identification carrier (1) has a cube-shaped cavity. A first positioning strip (2) is provided from the front edge of the cavity to the nearest front edge of the identification carrier (1). A strip-shaped square nine-square grid frame (3) is provided at the center of the rear wall of the cavity. A second positioning strip (4) is provided from the outer edge of the nine-square grid frame (3) to the nearest edge of the rear wall of the cavity. The nine-square grid frame (3) is provided with a nine-square grid (5). Three positioning symbols (6) are provided on the left side, right side, top surface and bottom surface of the identification carrier (1).

2. The three-dimensional perspective structure of the signage according to claim 1, characterized in that, The length of the cavity is three-quarters of the length of the marking carrier (1).

3. The three-dimensional perspective structure of the signage according to claim 1, characterized in that, The first positioning strip (2) is located at the center of the front edge of the identification carrier (1), and the second positioning strip (4) is located at the center of the outer edge of the nine-square grid frame (3).

4. The three-dimensional perspective structure of the signage according to claim 3, characterized in that, The first positioning bar (2) and the second positioning bar (4) in the horizontal direction are on the same horizontal line, and the first positioning bar (2) and the second positioning bar (4) in the vertical direction are on the same vertical line.

5. The three-dimensional perspective structure of the signage according to claim 1, characterized in that, The length of the first positioning strip (2) is one-eighth of the edge length of the marking carrier (1).

6. The three-dimensional perspective structure of the signage according to claim 1, characterized in that, The length of the second positioning strip (4) is one-eighth of the edge length of the marking carrier (1).

7. The three-dimensional perspective structure of the signage according to claim 1, characterized in that, The outer side length of the nine-square grid frame (3) is one-half the edge length of the marker carrier (1), and the width of the nine-square grid frame (3) is three-eighths the edge length of the marker carrier (1).

8. The three-dimensional perspective structure of the signage according to claim 1, characterized in that, The cells in the second row and second column of the 3x3 grid (5) are black, and the remaining cells of the 3x3 grid (5) are white.

9. The three-dimensional perspective structure of the signage according to claim 1, characterized in that, On the left side, three locators (6) are positioned at the upper left, lower left, and middle right respectively; on the right side, three locators (6) are positioned at the upper right, lower right, and middle left respectively; on the upper plane, three locators (6) are positioned at the upper left, upper right, and middle bottom respectively; on the lower plane, three locators (6) are positioned at the lower left, lower right, and middle top respectively.

10. The three-dimensional perspective structure of the signage according to claim 1, characterized in that, The locator (6) is a loop locator.

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