Positioning method and positioning device using two-dimensional code

Abstract

To provide a positioning method and a positioning device capable of performing positioning highly accurately using a two-dimensional code which provides information.SOLUTION: A positioning method using a positioning device 1 according to an embodiment includes steps of: detecting, when performing positioning using a two-dimensional code 5, a center position of the two-dimensional code 5 imaged with a camera 4; aligning a center position of a visual field of the camera 4 to a center position of the detected two-dimensional code 5; detecting an image for positioning included in the two-dimensional code 5; and detecting a deviation amount between the center position of the visual field of the camera 4 and the position of the image.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a positioning method and a positioning device that utilize a two-dimensional code. [Background technology]

[0002] In recent years, automated guided vehicles and autonomous mobile robots are being used to transport items to designated locations, and robots capable of general-purpose operations are being mounted on mobile carts to enable movement, allowing the robots to perform tasks in different locations.

[0003] In this case, the use of a two-dimensional code such as a QR code (registered trademark) is considered to be highly convenient because the two-dimensional code can be used as a marker for positioning and it is possible to read the information provided by the two-dimensional code to determine the stopping position, switch the robot's operation, etc. For example, Patent Document 1 discloses the use of a QR code for positioning. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-30371 Summary of the Invention [Problem to be solved by the invention]

[0005] Now, in the case of a moving body that can move its position such as an automated guided vehicle, a movable body that can change its posture such as a robot, or a complex that combines a moving body and a movable body, it is sometimes necessary to position the body with high precision. For example, in the case of an operation of assembling parts using a robot, it is necessary to position the parts with high precision in order to prevent them from colliding with each other.

[0006] However, in conventional positioning methods using two-dimensional codes, positioning was based on the positional relationship with the two-dimensional code, and there was a risk that the accuracy would be insufficient for tasks that required high precision.

[0007] The present disclosure has been made in consideration of the above-mentioned circumstances, and its purpose is to provide a positioning method and a positioning device capable of positioning with high accuracy by utilizing a two-dimensional code that provides information. [Means for solving the problem]

[0008] In the positioning method using a two-dimensional code, the two-dimensional code is arranged in a two-dimensional matrix, and light or dark areas are assigned according to the information to be provided to each cell. The method includes the steps of detecting the center position of the two-dimensional code captured by a camera, aligning the center position of the camera's field of view with the center position of the detected two-dimensional code, detecting the position of an image contained in the two-dimensional code, and detecting the amount of deviation between the center position of the camera's field of view and the position of the image. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a positioning device according to an embodiment; [Diagram 2] FIG. 1 is a diagram showing a typical example of a use of a positioning device; [Diagram 3] FIG. 2 is a diagram showing a schematic example of a configuration of a two-dimensional code; [Figure 4] A diagram showing the flow of positioning processing [Diagram 5] FIG. 1 is a diagram illustrating a mode of alignment; [Figure 6] FIG. 1 is a diagram for explaining an aspect of correcting a position; [Figure 7] Diagram 1 showing another example of a 2D code [Figure 8] Schematic diagram of another example of cell image No. 1 [Figure 9] Diagram 2 showing another example of a 2D code [Figure 10] A diagram explaining the arrangement pattern of a two-dimensional code [Figure 11] A method for detecting and correcting the amount of rotation will be described. [Figure 12] A method for detecting and correcting the tilt angle will be described. [Figure 13] FIG. 13 is a schematic diagram showing another example of a use of the positioning device; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] As shown in Fig. 1, the positioning device 1 according to this embodiment includes a robot 2, a control device 3 that controls the robot 2, and a camera 4. In this embodiment, the robot 2 is a so-called six-axis robot of a vertical articulated type. As is well known, the robot 2 has six rotation axes from the first axis to the sixth axis (J6), and can change its posture by rotating the arms about each rotation axis based on a command from the control device 3, thereby enabling it to handle various tasks. The robot 2 may be a so-called seven-axis robot, or a so-called four-axis robot of a vertical articulated type.

[0011] The camera 4 captures an image of a two-dimensional code or a work target, which will be described later, and in this embodiment, the camera 4 is attached to the robot 2 with a central axis (JC) indicating the center of the field of view oriented in the same direction as a sixth axis (J6) indicating the direction of the hand of the robot 2. Therefore, the relative positional relationship between the camera 4 and the robot 2 is fixed, and once the center position of the field of view of the camera 4 is positioned as described later, it becomes possible to control the robot 2 by reflecting the image in the control coordinate system. The camera 4 is connected so as to be able to output the captured image to the control device 3, and the control device 3 reads information provided by the two-dimensional code 5 and performs positioning using the two-dimensional code 5, as described later, based on the image captured by the camera 4.

[0012] The robot 2 is mounted on a mobile carriage 6 configured as an unmanned transport vehicle. The mobile carriage 6 is equipped with a control unit 7, a drive unit 8, a sensor 9, etc., and is capable of moving to a predetermined position by itself while being guided by a guide member such as a magnetic tape (not shown). That is, in the case of this embodiment, the positioning device 1 is configured as a complex in which the mobile carriage 6, which is a moving body, is combined with the robot 2, which is a movable body. Note that the configuration of the positioning device 1 shown in FIG. 1 is one example, and is not limited thereto. For example, the mobile carriage 6 may be controlled by the control device 3.

[0013] Now, as shown in Fig. 2, for example, the positioning device 1 performs an operation of assembling parts 13 supplied from a supply tray 12 to a workpiece 11 placed on a workbench 10 at the destination work site after moving from a standby position or another work site. Note that the usage form shown in Fig. 2 is an example, and is not limited to this.

[0014] Two-dimensional code 5A is provided at a predetermined position on workbench 10 to provide information such as the work content, the type of workpiece 11 to be worked on, and the types of parts 13 to be assembled to workpiece 11. Also, two-dimensional code 5B is provided on supply tray 12 to provide information such as the type and number of parts 13 to be supplied. In the following, when a description common to all two-dimensional codes 5 is given, it will be simply referred to as two-dimensional code 5.

[0015] As shown in FIG. 3, the two-dimensional code 5 in this embodiment uses a QR code. The QR code itself is well known and will be described briefly here. The cells (C) arranged in a matrix are assigned light or dark areas according to the information to be provided, and a finder pattern (FP) for position detection is arranged at three corners. The dark areas can be distinguished from the light areas by the cell images (G) arranged therein. Here, as shown in an enlarged view of a portion in FIG. 3, a dot image smaller than the cell is arranged within the cell area as the cell image. The dot images are of the same size so that they can be recognized as dark areas. However, the cell images are not limited to dot images, as will be described in detail later.

[0016] For the sake of explanation, the imaginary line passing through the center of the two-dimensional code 5 and extending in the left-right direction in the figure is referred to as the horizontal line (LH), the imaginary line passing through the center of the two-dimensional code 5 and extending in the up-down direction in the figure is referred to as the vertical line (LV), the intersection point of the horizontal line (LH) and the vertical line (LV), i.e., the center of the two-dimensional code 5, is referred to as the central position (PQ), and the range in the vicinity of the central position (PQ) is referred to as the central region (R). These horizontal line (LH) and vertical line (LV) can be obtained based on the positions of dot images arranged in a predetermined array pattern. Note that, in the case of FIG. 3, an example in which a dot image is arranged at the central position (PQ) is shown, but there may be cases in which a dot image is not arranged at the central position (PQ).

[0017] 2, positioning is required when the mobile cart 6 stops at a predetermined destination position, when the robot 2 picks up the part 13 from the supply device, or when the robot 2 assembles the part 13 on the workpiece 11. In this embodiment, the two-dimensional code 5 for acquiring the work content and the like is also used for positioning.

[0018] However, for example, when the robot 2 assembles the part 13 to the workpiece 11, positioning with particularly high accuracy is required. Therefore, the positioning device 1 enables positioning with high accuracy by executing the positioning process shown in Fig. 4. Note that although the positioning process shown in Fig. 4 is executed by the control device 3, the following description will be centered on the positioning device 1.

[0019] The positioning device 1 captures an image of a two-dimensional code 5 with a camera 4 (S1), and detects the center position (PQ) from the entire image of the captured two-dimensional code 5 (S2). Based on the positional relationship of the finder pattern included in the captured image, it is possible to detect the orientation of the QR code when information is read, that is, the positional relationship between the camera 4 and the two-dimensional code 5.

[0020] 5, when a two-dimensional code 5 is present in the field of view (M) of the camera 4, its center position (PQ) can be detected. Furthermore, if the center position (PQ) of the two-dimensional code 5 can be detected, the amount of change in posture of the robot 2 required to align the center position (PC) of the field of view of the camera 4 with the center position (PQ) of the two-dimensional code 5 can be obtained. The center position (PC) of the field of view of the camera 4 is defined as the intersection of an imaginary horizontal line (LHc) in the field of view that passes through the field of view, i.e., the center of the captured image, and extends in the left-right direction in the figure, and an imaginary vertical line (LVc) in the field of view that passes through the center and extends in the up-down direction in the figure.

[0021] When the center position (PQ) of the two-dimensional code 5 is detected, the positioning device 1 aligns (S3) the center position (PC) of the field of view of the camera 4 to the detected center position (PQ) of the two-dimensional code 5. As a result, as shown in Fig. 5 as after alignment, the position and orientation of the camera 4 are controlled, and the two-dimensional code 5 with the aligned position and orientation is displayed in the center of the field of view of the camera 4.

[0022] At this time, the camera 4 is positioned approximately in front of the two-dimensional code 5, and the two-dimensional code 5 is displayed approximately in the center of the field of view. The word "approximately" is used here because there is a possibility that the center position (PQ) of the two-dimensional code 5 detected in step S2 may be shifted from the actual center position (PQ).

[0023] That is, in step S2, the center position (PQ) is detected from the entire image of the two-dimensional code 5 based on the finder pattern, but the detection accuracy of the center position (PQ) in this case is based on the size and interval of the finder pattern. Therefore, the detection accuracy may vary depending on the size of the two-dimensional code 5, and the position of the two-dimensional code 5 in the field of view of the camera 4 may cause errors in the detection accuracy due to lens distortion.

[0024] As a result, in the central region (R), the center position (PC) of the field of view aligned with the center position (PQ) detected in step S2 may be slightly shifted from the actual center position (PQ) as shown in Fig. 6 during alignment. Note that Fig. 6 is an example, and the degree of deviation may vary depending on the size of the two-dimensional code 5, etc.

[0025] Then, the positioning device 1 detects the position of the image for positioning (S4). In this embodiment, the positioning device 1 selects, or specifies, a dot image located in a central cell (CS) at the center of the two-dimensional code 5 as an image for positioning, and detects the center of the dot image by image processing. Specifically, the dot image closest to the center position (PC) of the field of view is selected, and the position of the central dot image is detected based on the positions of multiple dot images located on a horizontal line (LH) including that image and the positions of multiple dot images located on a vertical line (LV).

[0026] In this way, by using multiple spaced-apart dot images as feature points to determine the central position (PQ), the influence of detection errors when detecting the positions of individual dot images can be reduced, and the positional accuracy of the finally determined central position (PQ) can be improved.

[0027] In this case, the method of detecting the image for positioning is not limited to this, and for example, the image for positioning can be configured to capture the two-dimensional code 5 displayed approximately in the center of the field of view, determine the center in the horizontal and vertical directions of the two-dimensional code 5 in the field of view by image processing, and select the dot image present at the center. Also, the image for positioning can be configured to select, for example, the Xth dot image from the left end and the Yth dot image from the top end of the two-dimensional code 5 by utilizing the fact that the cell images are arranged in a predetermined array pattern. In this case, too, the positioning accuracy can be improved by using other dot images around the selected dot image.

[0028] Also, if the center of the two-dimensional code 5 is a bright area and it is difficult to directly detect the center in a cell image, it is possible to image the two-dimensional code 5 displayed approximately in the center of the field of view, determine the center in the horizontal and vertical directions of the two-dimensional code 5 within the field of view by image processing, and treat the determined position as the center position (PQ).Alternatively, it is also possible to configure the bright area in the center of the two-dimensional code 5 as a white image, which is used as an image for positioning, and determine the center position (PQ) based on the positions of the dot images existing around it.

[0029] Then, the positioning device 1 detects the amount of deviation from the center position (PC) of the field of view based on the position of the detected image (S5). This makes it possible to obtain the positional relationship between the center position (PQ) of the two-dimensional code 5 and the center position (PC) of the field of view, that is, position information such as the current direction and posture of the camera 4 with high accuracy, and subsequent work can be carried out precisely based on this highly accurate position information. In other words, the amount of deviation obtained in step S5 can be treated as a correction value for correcting the command value when controlling the robot 2.

[0030] However, in this embodiment, the positioning device 1 further corrects the center position (PC) of the field of view so that it coincides with the center of the dot image (S6). As a result, as shown after correction in FIG. 6, the horizontal line (LHc) in the field of view and the vertical line (LVc) in the field of view coincide with the horizontal line (LH) and the vertical line (LV), respectively, that is, the center position (PC) of the field of view coincides with the center position (PQ) of the two-dimensional code 5, which is the center of the dot image. Therefore, it is possible to perform positioning with higher accuracy while suppressing the influence of lens distortion. In addition, lens distortion may affect calculations when converting the position of the object on the image (i.e., the position in the real space) to the position in the control coordinate system of the robot 2. Therefore, by making the centers coincident, in addition to the influence of lens distortion, it is also possible to suppress the influence on calculations when converting the position in the real space to the position in the control coordinate system of the robot 2, that is, on calibration. Note that after correcting the center position of the field of view, the amount of deviation from the dot image may be detected again or further corrected.

[0031] According to the embodiment described above, the following effects can be obtained. When positioning is performed using a two-dimensional code 5, the positioning method using the positioning device 1 includes the steps of detecting the center position of the two-dimensional code 5 captured by the camera 4, aligning the center position of the field of view of the camera 4 to the center position of the detected two-dimensional code 5, detecting an image for positioning contained in the two-dimensional code 5, and detecting the amount of deviation between the center position of the field of view of the camera 4 and the position of the image.

[0032] This allows the positional accuracy when detecting the center position of the field of view to be significantly improved compared to when the entire image of the two-dimensional code 5 is used as a reference, while maintaining the function of the two-dimensional code 5 to provide information. Also, it becomes possible to control the posture of the robot 2 based on the position information detected with high accuracy, and the accuracy of the operation of assembling the workpiece 11 and the operation of picking up the part 13 can be improved. Also, since the position is detected based on the cell image, it is not necessary to take images multiple times as in the case of improving accuracy by so-called shape matching, and rapid processing is possible. Therefore, high accuracy can be obtained when positioning is performed using the two-dimensional code 5 that provides information.

[0033] Moreover, the positioning method using the positioning device 1 further includes a step of correcting the center position of the field of view of the camera 4 to the center of the image based on the detected amount of deviation. This makes it possible to position the center position (PC) of the field of view with even higher accuracy while suppressing the influence of lens distortion.

[0034] In the positioning method using the positioning device 1, the image is a dot image smaller than a cell, and in the step of detecting the amount of deviation, the amount of deviation between the center position of the field of view of the camera 4 and the center position of the dot image is detected. In this case, since the center position is set to the center of the dot image smaller than a cell, the accuracy can be further improved. Since the dot images are spaced apart from each other, multiple dots can be used as feature points for position detection, making it possible to reduce the influence of detection errors when the position of each dot image is detected individually, and the position accuracy of the center position (PQ) finally obtained can be improved. Furthermore, since each dot image is the same size, the risk of misrecognizing multiple small dot images as one large dot image can be reduced.

[0035] In the positioning method using the positioning device 1, the camera 4 is attached to the moving body or the robot 2, and in the positioning process, the camera 4 is moved to perform positioning. This makes it possible to accurately position the robot 2, which has a movable installation position as shown in Fig. 1, and also to deal with a situation in which, for example, the position of the supply tray 12 shifts slightly each time the robot 2 is installed in a fixed position.

[0036] The positioning device 1 also includes a camera 4 that captures an image of the two-dimensional code 5, and a control unit 7 that controls the positional relationship between the camera 4 and the two-dimensional code 5. The control unit 7 executes a process of detecting the center position of the two-dimensional code 5 captured by the camera 4, a step of aligning the center position of the field of view of the camera 4 to the center position of the detected two-dimensional code 5, a step of detecting the position of an image for positioning included in the two-dimensional code 5, and a process of detecting the amount of deviation between the center position of the field of view of the camera 4 and the position of the image.

[0037] Such a positioning device 1 can also provide various effects similar to those of the positioning method described above, such as significantly improving positioning accuracy compared to when the entire image of the two-dimensional code 5 is used as a reference, while maintaining the function of the two-dimensional code 5 to provide information. Other effects described below can also be similarly obtained. Furthermore, by executing a process of correcting the center position of the field of view of the camera 4 based on the position of the detected image, positioning can be performed with higher accuracy.

[0038] So far, we have explained an example of using a dot image as an image for positioning, but as an image for positioning, it is possible to use a general QR code cell image in which the entire cell is a light or dark area, as shown in Figure 7. In addition, in the enlarged view of the central region (R), the dark areas are shown diagrammatically with hatching to make the leader lines easier to understand.

[0039] In this case, as described above, first the center is aligned with respect to the entire two-dimensional code 5 (steps S1 to S3), and then the center is detected as the center position (PQ) based on the upper boundary (LHa) in the figure, the lower boundary (LHb) in the figure, the left boundary (LVa) in the figure, and the right boundary (LVb) in the figure of the central cell (CS). Note that, as described above, the center position (PQ) can be detected based on the arrangement pattern of the cell images, or when the center is a bright part, the center in the left-right and up-down directions of the two-dimensional code 5 can be detected as the center position (PQ), or the center position (PQ) can be detected based on the positions of the cell images present around the bright part in the center.

[0040] With such a two-dimensional code 5, various advantages similar to those of the positioning method described above can be obtained, such as significantly improved positioning accuracy compared to when the entire image of the two-dimensional code 5 is used as the reference, while maintaining the function of the two-dimensional code 5 of providing information. Furthermore, as shown in Figure 8 as another example of a cell image, it is possible to adopt a polygonal image such as a square or hexagon, a star-shaped image, or a shape that allows the center of the image to be easily identified, such as a cross shape or a sector shape that is a quarter of a circle, which is a size that can be recognized as a dark area.

[0041] 9 as other configuration examples 1 and 2, the positioning image may be configured to have a center image (SG) positioned at the center of the two-dimensional code 5, the center image (SG) indicating the center position (PQ) in a state in which the center position can be visually and directly specified. That is, in the positioning method using the positioning device 1, the image is a center image that is positioned in advance at the center of the two-dimensional code 5, and the step of detecting the amount of deviation may be configured to detect the amount of deviation between the center position (PC) of the field of view of the camera 4 and the center position of the center image.

[0042] As a result, by aligning the center with respect to the entire two-dimensional code 5 (steps S1 to S3), the center image is displayed within the field of view, making it easy to detect the center position (PQ) of the two-dimensional code 5. Of course, a step can also be performed to correct the center position (PC) of the field of view to the center position of the center image.

[0043] Incidentally, when the center position (PQ) of the two-dimensional court coincides with the center position (PC) of the field of view, and the direction of the field of view of the camera 4 coincides with the direction of the two-dimensional code 5, the horizontal line (LH) of the two-dimensional court shown in Fig. 10 should coincide with the horizontal line (LHc) in the field of view, and the vertical line (LV) should coincide with the vertical line (LVc) in the field of view. Note that for other cell images, the virtual lines in the left-right direction (LH1, LH2, ..., LHy-1, LHy) and the virtual lines in the up-down direction (LV1, Lv2, ..., LVx-1, LVx) in the figure also coincide with the horizontal line (LHc) and the vertical line (LVc) in the field of view, if lens distortion is not taken into consideration.

[0044] 11 as a state before correction, when the horizontal line (LH) is misaligned with the horizontal line in the field of view (LHc), and when the vertical line (LV) is misaligned with the vertical line in the field of view (LVc), the orientation of the field of view of the camera 4 does not match the orientation of the two-dimensional code 5. Therefore, the positioning method using the positioning device 1 may be configured to further include a step of detecting the amount of rotation (θ1) of the field of view relative to the orientation of the two-dimensional code 5, based on the arrangement of images in at least one of the horizontal and vertical directions of the field of view of the camera 4.

[0045] In this case, since the horizontal line (LH) and vertical line (LV) are obtained from the arrangement pattern of the cell images, the amount of rotation of the field of view relative to the orientation of the two-dimensional code 5 detected based on them is considered to be more accurate than the positional relationship obtained when the two-dimensional code 5 is read. Therefore, the orientation of the camera 4 can be grasped more accurately, and the amount of rotation can be used for subsequent attitude control. The process of detecting the amount of rotation may be performed, for example, at a timing after step S4 shown in FIG. 3.

[0046] In addition, when detecting the amount of rotation, the orientation or posture of camera 4 can be corrected so that the horizontal line (LH) and the horizontal line in the field of view (LHc) coincide with each other, or so that the vertical line (LV) and the vertical line in the field of view (LVc) coincide with each other, as shown after correction in Figure 11.

[0047] In addition, the positioning method using the positioning device 1 can be configured to further include a step of detecting the inclination angle of the field of view of the camera 4 relative to the two-dimensional code 5 based on the arrangement of images in at least one of the horizontal and vertical directions of the field of view of the camera 4.

[0048] When the camera 4 faces the two-dimensional code 5, the distance (ΔW1) between the virtual line (LV1) at the left end in FIG. 10 and the adjacent virtual line (LV2) is considered to match with the distance (ΔW2) between the virtual line (LVm) at the right end in FIG. 10 and the adjacent virtual line (LVm-1). Also, the distance (ΔD1) between the virtual line (LH1) at the top end in FIG. 10 and the adjacent virtual line (LH2) is considered to match with the distance (ΔD2) between the virtual line (LHn) at the right end in FIG. 10 and the adjacent virtual line (LVn-1). Note that the distances between the other virtual lines are also considered to match if they are symmetrical with respect to the center.

[0049] In other words, for example, when the distance (ΔW1) and the distance (ΔW2) do not match, it is considered that the camera 4 is not facing the two-dimensional code 5 and the central axis (JC) of the field of view of the camera 4 is tilted at an inclination angle (θ2) with respect to the imaginary line (V) perpendicular to the two-dimensional code 5, as shown in Fig. 12 before correction. Therefore, by detecting the inclination angle (θ2) based on the ratio of the distance (ΔW1) to the distance (ΔW2) and based on the ratio of the distance (ΔD1) to the distance (ΔD2), the orientation of the camera 4 can be grasped more accurately. Also, the distance between the camera 4 and the two-dimensional code 5 can be detected with high accuracy based on each distance.

[0050] In this case, the process of detecting the tilt angle may be performed, for example, at a timing after step S4 shown in Fig. 3. Also, as shown as after correction in Fig. 12, the position and attitude of the camera 4 may be further corrected so that it faces the two-dimensional code 5 directly. Note that when the process of determining the amount of rotation (θ1) and the process of determining the tilt angle (θ2) are performed, the center position (PC) of the field of view may be corrected to the center position (PQ) of the two-dimensional code 5 at the same time.

[0051] In the embodiment, a configuration has been exemplified in which the center position (PC) of the field of view is determined by mainly moving the position of the camera 4, but the camera 4 can be controlled so that the center position (PQ) of the two-dimensional code 5 becomes the center position (PC) of the field of view while the position of the camera 4 is fixed. For example, as shown in Fig. 13, when a supply tray 12 is transported by a transport device 20 such as a conveyor, the operation of the transport device 20 can be controlled so that the two-dimensional code 5B of the supply tray 12, which is the transported item, is located at the center of the field of view of the camera 4 provided on the robot 2 side.

[0052] That is, in the positioning method using the positioning device 1, the two-dimensional code 5 is provided on an object to be transported by the transport device 20, and in the positioning step, the positioning can be performed by controlling the transport device 20. Even with such a configuration, it is possible to obtain various effects similar to those of the positioning method described above, such as a significant improvement in position accuracy compared to a case where the entire image of the two-dimensional code 5 is used as a reference, while maintaining the function of the two-dimensional code 5 to provide information.

[0053] In the embodiment, the positioning is mainly performed by changing the posture of the robot 2, but for example, the above-mentioned positioning method can be applied to the positioning of the stop position of an automatic guided vehicle or an autonomous transport robot by providing a two-dimensional code 5C on the workbench 10. In this case, a camera can also be provided separately on the moving body side to capture an image of the two-dimensional code 5 and perform positioning.

[0054] Furthermore, the positioning using the cell image described in the embodiment may be performed for work that requires high-precision positioning. In other words, it is possible to configure the system so that whether or not to perform high-precision positioning using the cell image can be selected depending on the work content, for example. For example, in the case of the positioning device 1, the positioning (processing of steps S1 to S3) of the entire two-dimensional code 5 is performed at the stop position of the moving cart 6 to enable quick movement, and the robot 2 can be positioned with high precision to enable high-precision work.

[0055] Although the present disclosure has been described based on the embodiment, it is understood that the present disclosure is not limited to the embodiment or structure. The present disclosure also includes various modifications and modifications within the equivalent range. In addition, various combinations and forms, and other combinations and forms including only one element, more than one element, or less than one element, are also within the scope and concept of the present disclosure. [Explanation of symbols]

[0056] In the drawings, 1 indicates a positioning device, 2 indicates a robot, 3 indicates a control device, 4 indicates a camera, 5 indicates a two-dimensional code, 6 indicates a moving cart (moving body), 12 indicates a supply tray (transported object), and 20 indicates a transport device.

Claims

1. A positioning method using a two-dimensional code, comprising: The two-dimensional code is a code in which light or dark areas are assigned to cells arranged in a two-dimensional matrix according to the information to be provided, detecting a center position of the two-dimensional code captured by a camera; aligning a center position of the field of view of the camera with a center position of the detected two-dimensional code; detecting the position of an image contained in the two-dimensional code; detecting an amount of deviation between a center position of the field of view of the camera and a position of the image; A positioning method using a two-dimensional code, comprising:

2. 2. The positioning method using a two-dimensional code according to claim 1, further comprising the step of correcting the center position of the field of view of the camera to the center of the image based on the detected amount of deviation.

3. The image is a dot image smaller than the cell, 2. The method for positioning using a two-dimensional code according to claim 1, wherein the step of detecting the amount of deviation detects the amount of deviation between the center position of the field of view of the camera and the center position of the dot image.

4. the image is a center image that is pre-arranged at the center of the two-dimensional code, 2. The method for positioning using a two-dimensional code according to claim 1, wherein the step of detecting the amount of deviation comprises detecting the amount of deviation between the center position of the field of view of the camera and the center position of the center image.

5. The camera is provided in a state where it is attached to a moving body or a robot, 2. The method for positioning using a two-dimensional code according to claim 1, wherein in the step of positioning, positioning is performed by moving the camera.

6. the two-dimensional code is provided on an object to be conveyed by a conveying device, 2. The method for positioning using a two-dimensional code according to claim 1, wherein in the step of positioning, positioning is performed by controlling the transport device.

7. 2. The positioning method using a two-dimensional code according to claim 1, further comprising a step of detecting an amount of rotation of the field of view relative to the orientation of the two-dimensional code based on the arrangement of the images in at least one of the horizontal and vertical directions of the field of view of the camera.

8. 2. The method for positioning using a two-dimensional code according to claim 1, further comprising the step of detecting an inclination angle of the field of view of the camera relative to the two-dimensional code based on the arrangement of the images in at least one of the horizontal and vertical directions of the field of view of the camera.

9. A position correction device that corrects a position by using a two-dimensional code, The two-dimensional code is a code in which a light or dark image corresponding to information to be provided is assigned to cells arranged in a two-dimensional matrix, A camera for capturing an image of the two-dimensional code; a control unit that controls a positional relationship between the camera and the two-dimensional code, The control unit is A process of detecting a center position of the two-dimensional code captured by a camera; A process of aligning a center position of the field of view of the camera to a center position of the detected two-dimensional code; A process of detecting the position of an image included in the two-dimensional code; A process of detecting an amount of deviation between a center position of the field of view of the camera and a position of the image; A positioning device using a two-dimensional code to perform the above.

Images