A vision-based robotics language for Industry 4.0 applications

Abstract

The present invention relates to a robot language for communicating visual data and commands to a robot, and in particular to a method for generating and reading visual codes. Several visual codes obtained by this method are also described. The method developed by the present invention allows for high data density and highly readable encoding by using code lines generated on a pattern with a "U" shape that is recognizable by the robot.

Description

[Technical Field]

[0001] The present invention relates to a robot language for communicating visual data and commands to a robot, and in particular to a method for generating and reading visual codes, and also describes some visual code objects that can be obtained by this method. [Background technology]

[0002] Within the framework of Industry 4.0 applications, barcodes (Non-Patent Document 1) and signs generated using QR codes (Non-Patent Document 2) can be used to provide visual commands to robots in any factory or production facility where robots are used, logistics service centers, storage areas, other service industry activities, defense-related maritime, air, and land platforms, and other areas. Similarly, these codes can also be used to transmit information and warnings to users via personal mobile devices such as smartphones and smartwatches. In addition to visible wavelengths, these codes can also reflect or emit radiation in wavelengths such as near-infrared and near-ultraviolet, which can be used in a similar manner. As the data size that can be transmitted by barcodes and QR codes increases, these codes become more complex and difficult to read accurately. This reduces readability, especially for robots operating in large spaces.

[0003] Patent Document 1 describes an encoding method that allows encoding on both sides of a centerline, where encoding is performed by arranging multiple intervals of different sizes in succession.

[0004] Patent document 2 describes a barcode based on a combination of one-dimensional codes arranged as multiple lines. It also mentions that the height of different lines may be different, but the height of each line is merely related to the resolution of the reader and the amount of data that can fit in that space. According to this document, two-dimensional barcodes can be generated.

[0005] Patent document 3 describes a method for generating two-dimensional codes for navigation applications. Particular emphasis is placed on the accurate reading of the code. For this purpose, two frames with a high contrast difference are generated, nested around the code. As an example, a code with dimensions of 5x5 and a total of 25 bits of data is presented. A 4-bit portion is used for CRC control.

[0006] Cited document 4 describes a method for providing a two-dimensional coding area by arranging gaps on each line of a barcode, thereby enabling two-dimensional coding to be performed on the barcode pattern. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] US Patent Application Publication No. 2018 / 060629 [Patent Document 2] U.S. Patent No. 5,399,846 [Patent Document 3] Chinese Patent Application Publication No. 105894069 [Patent Document 4] Chinese Patent Application Publication No. 106951945 [Non-patent literature]

[0008] [Non-Patent Document 1] D. Arslan, V. Atasever, E. Guvenoglu, SZ Erdogan, "Comparison of Line Barcode Systems and HCCB Barcode System," Akademik Bilisim'10 - XII. Proceedings of Academic Informatics Conference, February 10-12, 2010, Mugla University [Non-patent document 2] Sanal, A., & Ozturkoglu, Y. (2018), "Evaluation of Usage and Application Areas of QR Codes in Service Industry." Business & Management Studies: An International Journal, 5(4), 172-189. https: / / doi.org / 10.15295 / bmij.v5i4.180 Summary of the Invention [Problem to be solved by the invention]

[0009] In light of current technology, it appears necessary to develop a visual code that allows for the encoding of highly complex commands while still providing a high level of readability. [Means for solving the problem]

[0010] The object of the present invention is to develop a robot language, and in particular a method for generating and reading visual codes for transmitting visual data and commands to a robot, and the visual code objects obtained by said method.

[0011] Another object of the present invention is to develop a method for generating and reading visual codes, which allows for the generation of highly readable visual code objects.

[0012] A further object of the present invention is to develop a method for generating and reading visual codes, which allows the generation of visual code objects with high coding density. [Effects of the Invention]

[0013] According to the present invention, a method for encoding using code lines formed on a pattern having a "U" shape that can be recognized by a robot, and a visual code object suitable for this method have been developed. The encoding form using code lines can be encoded using the ratio of an auxiliary line located at one corner of the "U" shape to each side of the "U" shape. Therefore, according to the same principle, data of various sizes can be encoded on this "U" shape. [Brief explanation of the drawings]

[0014] A visual code object developed within the scope of the present invention is illustrated in the accompanying drawings.

[0015] [Figure 1] 1 is an example of a visual code object obtained by the present invention. [Figure 2] 1 is an example of a visual code object obtained by the present invention. [Figure 3] 2. A visual code object obtained by the present invention, which holds the same data as in FIG. [Figure 4] 2. A visual code object obtained by the present invention, which holds the same data as in FIG. [Figure 5] 2. A visual code object obtained by the present invention, which holds the same data as in FIG. [Figure 6] 2. A framed visual code object obtained by the present invention, which holds the same data as in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0016] Each part in the figure is numbered, and these numbers indicate the following: 1. Center line 2. Boundary Line 3. Auxiliary lines 4. Codelines 5. Frame

[0017] The method for generating and reading a visual code according to the present invention is essentially used to visually encode data using a two-dimensional visual code object, which comprises: -Center line (1), - Two boundary lines (2) of equal length at either end of the center line (1), forming a "U" shape with the center line (1); - auxiliary lines (3) at one or both ends of the center line (1), and - The golf club has a chord line (4) located between the boundary line (2) and the center line (1).

[0018] The length of the boundary line (2) (L max ) and the length of the auxiliary line (3) (L unit The ratio (n) of n to n defines the encoding method in codeline (4). In particular, the value of n defines the radix of the data encoding in codeline (4).

[0019] During the generation of a visual code object according to the method of the present invention, the following steps are performed: - selecting a value of nx2 equal to the base in which the data will be encoded, -Length is L units and L max = n × L units generating an auxiliary line (3) which is - For each code line (4), generating code lines (4) of length m×L units, each corresponding to an element of data, where n≧|m| and m is an integer, generating code lines (4) such that the value of m matches the value of the corresponding element in base n×2.

[0020] Here, whether m is a positive or negative value determines which side of the center line (1) each chord line (4) is on.

[0021] Similarly, the method of the present invention, during the reading of a visual code object, includes the following steps: - measuring the value of n and calculating the value of n x 2; - measuring the length of each cord line (4) in m x L units, where n >= |m| and m is an integer; - For each code line (4), a determination is made of the value of the corresponding element in the nx2 base that corresponds to the value of m.

[0022] Data visually encoded using visual code objects can be a single digit number (a single digit number based on a base number, for example, the number E in hexadecimal) or a string of multiple digits.

[0023] To generate a visual code object according to the present invention, a code line (4) is generated corresponding to each element of the data, with the auxiliary line (3) having a length m times the length of the element in base n. The code lines (4) are ordered between the boundary lines (2) according to the order of the corresponding elements in the data.

[0024] To generate a visual code object, the method for generating and reading a visual code of the present invention is executed on a computer to identify visual code object components that correspond to the data to be encoded. Again, the identified visual code object components are generated in a displayable form, for example, via an image forming device such as a display screen, a panel including a two-dimensional LED array, or an image forming device such as a printer operated by the computer, to generate the visual code object. While visual code objects generated by image forming devices such as printers are immutable, visual code objects generated by image forming devices such as display devices or panels including an LED array can be changed over time, allowing the data they transmit to be modified.

[0025] To improve readability, the center line (1), boundary lines (2) and auxiliary lines (3) may be thicker than the code lines (4), producing a visual code object that is resistant to blurring and distortion that can occur when the visual code object is read by a moving robot or viewed from an angle.

[0026] To read the visual code object according to the present invention, the value n is calculated, which is the ratio of the length of the boundary line (2) to the length of the auxiliary line (3), and each value m is calculated, which indicates the ratio of the length of all code lines (4) to the length of the auxiliary line. By sorting each value m in the same order as the associated code lines (4), the visual code object encoded in the visual code object can be obtained in numerical form.

[0027] The method of generating and reading a visual code for reading a visual code object of the present invention is executed on a computer, in particular on a computer built into the robot to be controlled or on an external computer connected to such a robot. Data corresponding to the visual code object components are determined by reading the visual code object components with a camera. To read each component of the visual code object, the actual dimensions of each component can be measured with the help of a reference value, or the apparent dimensions of each component can be measured to calculate the ratios. Alternatively, the ratio between each component can be measured directly using one of the components as a reference.

[0028] Visual code objects can be generated and read primarily in visible, near-infrared, or near-ultraviolet wavelengths. For this purpose, imaging devices operating at the relevant wavelengths or cameras operating at the relevant wavelengths and having materials that reflect the relevant wavelengths can be used. The use of visible wavelengths allows visual code objects to be detected by humans and guided human-controlled robots. The near-infrared wavelengths allow visual communication without causing visual contamination to humans. While a single-band system is sufficient for the application of the present invention, the present invention is also suitable for use in multi-band systems.

[0029] Figure 1 shows an example of a visual code object obtained according to the present invention. In this example, the n value is set to 4. Choosing a low n value increases the tolerance for errors that occur in imaging and improves readability. Choosing a high n value increases the size of data that can be encoded. The choice of n value depends on the readability and data density requirements in the field of use of the present invention.

[0030] In a preferred embodiment of the invention, the number of code lines (4) located between the boundary lines (2) is also fixed, and the code lines (4) are equally spaced on the center line (1), thus increasing the number of encoded data elements and making it more tolerant to errors that may occur during reading.

[0031] Figure 2 shows another example of a visual code object according to the present invention. In this example, the n value is 4, and 5 is selected as the number of code lines (4) between boundary lines (2). In this visual code object, the m values ​​measured for the code lines (4) are 1, 4, 3, -2, and 4, respectively. Thus, on the center line (1), the values ​​4, 0, 6, 2, and 7 are encoded in base 8, respectively. The value (40627)8 can be used directly or converted to another base, for example, the value 16791 in base 10, and used by the robot. The resulting data can then be used to retrieve information or commands stored on the robot or in an external location. In this example, (77777)8 + (1) 10 =(32768) 10 It is possible to generate different codes.

[0032] Another example of a visual code object according to the present invention is a visual code object with a value of 2 and a number of code lines (4) between boundary lines (2) of 3, which can be expressed as (333)4+(1) 10 =(64) 10 According to this example, the number of codes to be generated is reduced, but a high tolerance for errors can be achieved.

[0033] In the robot language, the position and number of auxiliary lines (3) relative to the "U" shape can also be used to increase the code capacity of the present invention. In the example shown in Figures 1 and 2, the auxiliary lines (3) are only located at the bottom right of the "U". The present invention also provides two other encoding formats.

[0034] The auxiliary line (3) can be positioned only on the left side of the "U" shape, or on both the left and right sides. These three different cases correspond to different codes with the same values ​​of n and m, and the generated code capacity triples depending on the selected values ​​of n and m. Thus, by using the auxiliary line (3) in three different ways, the code capacity in the example shown in Figure 2 can be increased from 32,768 to 98,304. If code count requirements are high, higher capacity can be achieved by using these three different cases for the auxiliary line (3). If code capacity is not necessary but reliability is more important, using only one state for the auxiliary line (3) can make the "U" shape more easily detected automatically, facilitating computer reading of the code. In such cases, using the auxiliary line (3) on both the left and right sides of the "U" shape would be more beneficial in terms of readability and accuracy.

[0035] In one embodiment of the present invention, a frame (5) surrounding the visual code object can be used to facilitate detection and reading of the visual code object by a robot. The frame (5) provides contrast with the background, making it easier to perceive. Alternatively, by using frames (5) with different wavelengths, multiple independent coding applications can be utilized in the same environment.

[0036] In one embodiment of the present invention, one or more code lines (4) are used to encode the control steps. In such an embodiment, error correction codes can be used to increase reliability at the expense of overall capacity.

[0037] Additionally, the boundary lines (2) on the visual code object define the order of the code lines (4), and therefore the encoding process. The "U" shape formed by the center line (1) and boundary lines (2) can be recognized by a robot using artificial intelligence techniques, and the sequence can be accurately determined. Therefore, the visual code object can be read even when viewed from different angles; for example, a visual code object with a random orientation relative to the robot can be accurately read by a flying robot.

[0038] The programs used in both the code generation and code reading stages of the method of the present invention can be developed to be suitable for use with different coding standards and to be highly reusable.

[0039] The use of a robot language that provides visual data transmission to robots via the visual code object of the present invention, as described above, can solve communication problems, particularly when multiple robots are working in a limited area, and in the field of defense, can ensure the control of swarms of UAVs within a chain of command.

[0040] Although the present invention has been described specifically with robots, it can also be used with any device that allows for the automation of any process. For example, micro-robots in the form of wrist-worn accessories for guests in hotels and the like can be used to provide guidance and warning information to guests. Portable personal electronic devices such as smartphones and smartwatches can also be used in a similar manner.

Claims

1. 1. A method for generating and reading visual codes, implemented on at least one computer, for visually encoding data using two-dimensional visual code objects generated by at least one image generating device and read by at least one camera, comprising: The length of the boundary line (2) (L ｍａｘ ) and the length of the auxiliary line (3) (L ｕｎｉｔ ) defines how to encode the data in code lines (4), and the method for generating and reading a visual code includes a center line (1), two boundary lines (2) of the same length at either end of the center line (1), the boundary lines (2) forming a "U" shape with the center line (1), auxiliary lines (3) at one or both ends of the center line (1), and a code line (4) located between the boundary lines (2) and on the center line (1).

2. 2. The method of generating and reading visual codes according to claim 1, wherein the value of n defines the base for encoding said data in said code lines (4).

3. 2. A method for generating and reading visual codes according to claim 1, wherein the auxiliary lines (3) located at different ends of the central line (1) and at both ends correspond to different codes.

4. 2. The method of generating and reading visual codes of claim 1, wherein at least one of said code lines is used to encode a control step.

5. During the generation of the visual code object, the following steps are performed: - selecting a value of nx2 equal to the base in which said data will be encoded; -Length is L ｍａｘ and L ｍａｘ = n × L ｕｎｉｔｓ generating the auxiliary line (3) as - generating, for each code line (4), code lines (4) of length m×L units, each corresponding to an element of said data, where n≧|m| and m is an integer, generating code lines (4) such that the value of m corresponds to the value of the corresponding element in base n×2; 3. The method of generating and reading a visual code according to claim 2, further comprising:

6. During the reading of a visual code object, the following steps are performed: - measuring the value of n and calculating the value of n x 2; - measuring the length of each cord line (4) in m x L, where n >= |m| and m is an integer; - for each code line (4), determining the value of the corresponding element in said nx2 base that corresponds to the value of m; 3. The method of generating and reading a visual code according to claim 2, further comprising:

7. A method for generating and reading visual codes according to claim 3 or claim 4, wherein the visual code object is surrounded by a frame (5).

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