CN113283030A - Design method for assisting high-precision positioning grid two-dimensional code - Google Patents
Design method for assisting high-precision positioning grid two-dimensional code Download PDFInfo
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- G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
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Abstract
The invention provides a design method of an auxiliary high-precision positioning grid two-dimensional code, which comprises the following specific steps of: step one, determining the size of a minimum two-dimensional code image block according to requirements; step two, dividing grids; and step three, drawing two-dimensional code image blocks with different sizes at different positions in the divided grids. In the second step, when the grid is divided, the best two-dimensional code pattern block determined in the first step is used as the minimum unit for dividing the grid; then the whole grid is formed into a rectangular grid by M x N small blocks, and a minimum two-dimensional code pattern block is arranged in each small block. The grid two-dimensional code is simple in division method, the grid two-dimensional code is composed of a plurality of two-dimensional code blocks with different sizes, different quantities and different positions, the grid two-dimensional code can be recognized in a large range only by changing the composition mode of the grid, and the direction can be recognized conveniently at different heights.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle identification, and particularly relates to a design method of an auxiliary high-precision positioning grid two-dimensional code.
Background
Unmanned aerial vehicle generally relies on ordinary GPS when automatic landing, and ordinary GPS positioning accuracy is 5 meters, and to the landing that has the required precision, this is far from not enough. The positioning accuracy of the RTK is better than +/-0.1 meter, the accuracy is greatly improved, but the RTK has high cost and low output frequency. And the auxiliary identification frequency and precision based on visual positioning can reach 100Hz +/-0.05 m, so that the landing precision is greatly improved, and under a complex environment, a plurality of positioning modes are combined, so that higher anti-interference capability can be realized, and safe landing can be realized.
The unmanned aerial vehicle accurate landing method based on the machine vision with the publication number of CN110231835A cannot realize high-precision positioning during landing and cannot realize the wide-range visual positioning of 10 meters to 0.1 meter.
An unmanned aerial vehicle landing method based on embedded two-dimensional codes, which is disclosed as CN111221343A, is too rough, and when 10 meters descend to 0.1 meter, a certain height can not be positioned.
The method mentioned in the unmanned aerial vehicle vision-assisted positioning and flight control system and method based on two-dimensional code landmark identification with publication number CN106647814A can only be used for roughly estimating the position on the path, but not for precisely positioning.
The landmark design method of the large and small two-dimensional code mixed image with the publication number of CN110703807A and the landmark identification method of the unmanned aerial vehicle have the same problem that accurate positioning cannot be achieved.
Under many scenes, it is very accurate to need the unmanned aerial vehicle landing site, and conventional daily two-dimensional code is very complicated, can't realize the real-time on unmanned aerial vehicle, and the independent design two-dimensional code can't be from 10 meters to 0.1 meter on a large scale can both be discerned completely again.
Disclosure of Invention
In order to solve the problems that the existing two-dimensional code is very complex and cannot realize real-time performance on an unmanned aerial vehicle, and the two-dimensional code cannot be completely recognized in a large range from 10 meters to 0.1 meter by independently designing the two-dimensional code, the invention provides a design method for assisting in positioning the grid two-dimensional code with high precision.
The technical scheme adopted by the invention is as follows:
a design method for assisting in positioning a grid two-dimensional code with high precision comprises the following specific steps:
step one, determining the size of a minimum two-dimensional code image block according to requirements;
step two, dividing grids;
and step three, drawing two-dimensional code image blocks with different sizes at different positions in the divided grids.
In the second step, when the grid is divided, the best two-dimensional code pattern block determined in the first step is used as the minimum unit for dividing the grid; then the whole grid is formed into a rectangular grid by M x N small blocks, and a minimum two-dimensional code pattern block is arranged in each small block.
M and N are the number of small squares on the length and width of the rectangular grid respectively; the values of M and N are both natural numbers larger than 4, and the values of M and N can be the same.
The grid lines for dividing the grid are white.
The number of the two-dimensional code image blocks with different sizes is at least four.
In the third step, the two-dimension code blocks with different sizes include one two-dimension code block with unit size, two-dimension code blocks with unit size, three two-dimension code blocks with unit size, four two-dimension code blocks with unit size and five two-dimension code blocks with unit size.
The outer frame of the two-dimensional code image block with the same size is a black edge, the inner part of the two-dimensional code image block is composed of a-a square small blocks, and a is a natural number which is more than or equal to 2.
The width of the black edge is (
～
) La and La are the side lengths of the a-a square small blocks.
Three corners in four corners in the a-a square small block are in the same color, and the fourth corner is in different colors.
The color of the small blocks is two, black and white.
The invention has the beneficial effects that:
the grid two-dimensional code is simple in division method, the grid two-dimensional code is composed of a plurality of two-dimensional code blocks with different sizes, different quantities and different positions, the grid two-dimensional code can be recognized in a large range only by changing the composition mode of the grid, and the direction can be recognized conveniently at different heights.
The following will be further described with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic diagram of a grid two-dimensional code according to the present invention.
Fig. 2 is a diagram illustrating that the value of the two-dimensional code is 11111.
Fig. 3 is a diagram illustrating that the two-dimensional code has a value of 11011.
In the figures, the reference numbers are: 1. a unit size two-dimensional code pattern block; 2. two-dimensional code blocks of unit size; 3. three units of two-dimensional code blocks; 4. four units of two-dimensional code blocks; 5. five units of two-dimensional code blocks; 6. and (4) grid lines.
Detailed Description
Example 1:
in order to solve the problems that the existing two-dimensional code is very complex and cannot realize real-time performance on an unmanned aerial vehicle, and the two-dimensional code cannot be completely recognized in a large range from 10 meters to 0.1 meter by independently designing, the invention provides a design method of an auxiliary high-precision positioning grid two-dimensional code as shown in figures 1-3, wherein the grid two-dimensional code provided by the invention consists of a plurality of two-dimensional code image blocks with different sizes, different quantities and non-fixed positions, and the invention can accurately position the unmanned aerial vehicle and can recognize in a large range from 10 meters to 0.1 meter.
A design method for assisting in positioning a grid two-dimensional code with high precision comprises the following specific steps:
step one, determining the size of a minimum two-dimensional code image block according to requirements;
step two, dividing grids;
and step three, drawing two-dimensional code image blocks with different sizes at different positions in the divided grids.
According to the identification range of the unmanned aerial vehicle and the minimum and maximum time of the unmanned aerial vehicle, the two-dimensional code blocks on the grid need to be identified. And determining the size of the minimum two-dimensional code pattern block on the grid and the required two-dimensional code pattern blocks of which the sizes are required according to the limit range values, so that two-dimensional code pattern blocks at different positions, different quantities and different sizes are drawn on the grid. In the process that the unmanned aerial vehicle flies downwards, the two-dimension code pattern blocks on the grid are gradually enlarged, and a blind area is gradually formed, so that the minimum two-dimension code pattern block is required to be identified.
The invention effectively determines the range through the grid division, and determines the minimum two-dimensional code image block as the minimum unit of the grid division. The two-dimensional code blocks with different sizes exist in the grid two-dimensional code at the same time, so that the two-dimensional code can be recognized on a large scale, the information of the two-dimensional code can be recognized conveniently under different heights, the positions of the two-dimensional code blocks with different sizes can be accurately positioned through the grid, and the efficiency and the accuracy are improved.
Example 2:
based on embodiment 1, in this embodiment, preferably, in the second step, when the grid is divided, the smallest two-dimensional code tile determined in the first step is used as the smallest unit for dividing the grid; then the whole grid is formed into a rectangular grid by M x N small blocks, and a minimum two-dimensional code pattern block is arranged in each small block.
Preferably, the M and the N are the number of small squares on the length and the width of the rectangular grid respectively; the values of M and N are both natural numbers larger than 4, and the values of M and N can be the same.
In the invention, M and N select values according to requirements, and the values cannot be too small, too small can not meet the requirement of range identification, and too large is not needed, so that resource waste and labor consumption can be caused. Preferably, M is 10, 11, 12, 15, 18, 20, and preferably, N is 9, 10, 11, 13, 14, 17, 18.
Preferably, the grid lines 6 of the divided grid are white.
Preferably, the number of the two-dimensional code blocks with different sizes is at least four.
Preferably, in the third step, the two-dimensional code blocks with different sizes include one two-dimensional code block 1 with a unit size, two-dimensional code blocks 2 with a unit size, three two-dimensional code blocks 3 with a unit size, four two-dimensional code blocks 4 with a unit size, and five two-dimensional code blocks 5 with a unit size.
In the invention, two-dimension code blocks 2 with unit sizes are square blocks with two unit sizes in length and width, and similarly, three two-dimension code blocks with unit sizes are square blocks with three unit sizes in length and width.
Preferably, the two-dimensional code image blocks with the same size have black edges as outer frames and are internally composed of a-a square small blocks, and a is a natural number greater than or equal to 2.
Preferably, the width of the black edge is (A)
～
) La and La are the side lengths of the a-a square small blocks.
Preferably, three corners of the four corners of the a × a square small block are in the same color, and the fourth corner is in a different color.
Preferably, the small blocks are two colors, black and white.
The two-dimensional code image blocks of each size are framed by the black border, and the two-dimensional code image blocks of different colors are directionally positioned by the small blocks.
As shown in fig. 2, a is 3, the two-dimensional code blocks of the same size have a black border, the two-dimensional code bits are 3 × 3, that is, a total of 9 bits are valid, and the codes with 4 unchanged four corners are removed, which can represent 5 bits, that is, at most 32 different two-dimensional code blocks.
The three corners and the fourth corner have different colors, so as to determine the direction of the two-dimensional code image block, wherein the three corners can be three black, one white, or three white, and one black. If the upper left corner is used as the start bit, black is 0 and white is 1 (or black is 1 and white is 0), the two-dimensional code has a value of 11111 (decimal is 31) as shown in fig. 2; as shown in fig. 3, the value of the two-dimensional code is 11011 (decimal is 27).
Detailed description of grid two-dimensional code: the whole grid consists of M-N small squares (M can be equal to N), each square can be used for placing a minimum two-dimensional code picture block, and a square formed by a plurality of squares can be used for amplifying a two-dimensional code.
The size and dimension determining method of the two-dimensional code comprises the following steps:
according to the visual positioning principle, at least, 4 two-dimensional code blocks need to be identified to determine the position and the height of the unmanned aerial vehicle, and the four two-dimensional code blocks are not on the same straight line. Meanwhile, the visual field is limited, so that the maximum pixel number of a two-dimensional code in the unmanned aerial vehicle image is half of the smaller value of the width, the height and the middle, and for the sake of insurance, 1/3 visual fields are taken, and the minimum pixel number is preferably the limit of recognition, which is generally 30 pixels.
The design pattern for replacing the two-dimensional code is not limited to the pattern of the two-dimensional code as long as the unique ID of the two-dimensional code can be identified, and may be 3 × 3, 4 × 4,5 × 5, or others as shown in the drawing.
Meanwhile, two-dimensional code pattern blocks with different sizes are selected according to requirements, as shown in fig. 1, on the basis of fig. 1, if the two-dimensional code pattern block 3 with three unit sizes is not needed, the two-dimensional code pattern block can be divided into three units without dividing the two-dimensional code pattern block with all the units.
Sometimes, the composition mode of the replacement grid may not be the arrangement mode in fig. 1, but two-dimensional codes with different sizes are necessarily simultaneously present, so that the two-dimensional codes can be conveniently identified at different heights.
The above examples are merely illustrative of the present invention and should not be construed as limiting the scope of the present invention, and all designs identical or similar to the present invention are within the scope of the present invention. The apparatus structure and the method steps thereof, which are not described in detail in the present invention, are prior art and will not be further described in the present invention.
Claims (10)
1. A design method for assisting a high-precision positioning grid two-dimensional code is characterized by comprising the following steps: the method comprises the following specific steps:
step one, determining the size of a minimum two-dimensional code image block according to requirements;
step two, dividing grids;
and step three, drawing two-dimensional code image blocks with different sizes at different positions in the divided grids.
2. The design method of the auxiliary high-precision positioning grid two-dimensional code according to claim 1, characterized in that: in the second step, when the grid is divided, the best two-dimensional code pattern block determined in the first step is used as the minimum unit for dividing the grid; then the whole grid is formed into a rectangular grid by M x N small blocks, and a minimum two-dimensional code pattern block is arranged in each small block.
3. The design method of the auxiliary high-precision positioning grid two-dimensional code according to claim 2, characterized in that: m and N are the number of small squares on the length and width of the rectangular grid respectively; the values of M and N are both natural numbers larger than 4, and the values of M and N can be the same.
4. The design method of the auxiliary high-precision positioning grid two-dimensional code according to claim 1, characterized in that: the grid lines (6) for dividing the grid are white.
5. The design method of the auxiliary high-precision positioning grid two-dimensional code according to claim 1, characterized in that: the number of the two-dimensional code image blocks with different sizes is at least four.
6. The design method of the auxiliary high-precision positioning grid two-dimensional code according to claim 1, characterized in that: in the third step, the two-dimension code blocks with different sizes comprise a two-dimension code block (1) with a unit size, two-dimension code blocks (2) with a unit size, three two-dimension code blocks (3) with a unit size, four two-dimension code blocks (4) with a unit size and five two-dimension code blocks (5) with a unit size.
7. The design method of the auxiliary high-precision positioning grid two-dimensional code according to claim 1, characterized in that: the outer frame of the two-dimensional code image block with the same size is a black edge, the inner part of the two-dimensional code image block is composed of a-a square small blocks, and a is a natural number which is more than or equal to 2.
8. The design method of the auxiliary high-precision positioning grid two-dimensional code according to claim 7, characterized in that: the width of the black edge is (
～
) La and La are the side lengths of the a-a square small blocks.
9. The design method of the auxiliary high-precision positioning grid two-dimensional code according to claim 7, characterized in that: three corners in four corners in the a-a square small block are in the same color, and the fourth corner is in different colors.
10. The design method of the auxiliary high-precision positioning grid two-dimensional code according to claim 7, characterized in that: the color of the small blocks is two, black and white.
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