Computer vision positioning system and method for the same

• US 10,296,006 B2
• Filed: 09/29/2016
• Issued: 05/21/2019
• Est. Priority Date: 01/27/2016
• Status: Active Grant

• Current Assignee: Scienbizip Consulting (Shenzhen) Co., Ltd.
• Original Assignee: Scienbizip Consulting (Shenzhen) Co., Ltd.
• Inventors: Lee, Horng-Juing, Liu, Tien-Ping, Chen, Shu-Fen, Hsiao, Yu-Chien
• Primary Examiner(s): Worden, Thomas E
• Application Number:
  US15/279,961
• Publication Number:
  US 20170212521A1
• Time in Patent Office: 964 Days
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G06K 19/06037 multi-dimensional coding

Abstract

An artificial marker combination to be read by an autonomous mobile device comprises at least two artificial markers arranged in order. Each artificial marker is different and the artificial marker combination is used as a group of artificial markers. A computer vision positioning system used in connection with the artificial marker combination utilizes the individual meanings in the multiple markers as instructions for the mobile device markers along its route. A method for the computer vision positioning system is also provided.

Claims

1. A positioning method of a computer vision positioning system (CVPS), comprising:

providing an artificial marker combination, the artificial marker combination comprises a plurality of artificial markers, applying the artificial marker combination within a region which needs to be marked, wherein a first artificial marker of the plurality of artificial markers comprises a location information, and the location information corresponds to a first Identity (ID) of the first artificial marker; and

second artificial markers of the plurality of artificial markers comprise disposal information, and each disposal information corresponds to a second ID of each second artificial markers;

providing and releasing an autonomous mobile device having the computer vision positioning system;

wherein the CVPS comprises an image collection module, an artificial marker identification module, a data storage module, and a control module, each of the artificial marker identification module, the data storage module, and the control module is a processor;

collecting images and transmitting the images of an unknown artificial marker combination to the artificial marker identification module;

identifying the images of the artificial marker combination, reading a third ID of each of a plurality of unknown artificial markers of the unknown artificial marker combination and transmitting the third ID to the data storage module directly by the artificial marker identification module, wherein a map and a map description file marked with artificial markers, the location information, and the disposal information are stored in the data storage module; and

selecting the location information by comparing the third ID to the first ID and selecting the disposal information from the data storage module by comparing the third ID to the second ID; and

controlling the autonomous mobile device to move to the first artificial marker by the control module according to the location information to make a distance and an angle between the autonomous mobile device and the first artificial marker equal to zero, and controlling the autonomous mobile device to make a disposal according to the disposal information by the control module.