Computer vision positioning system and method for the same

• US 9,857,799 B2
• Filed: 06/24/2016
• Issued: 01/02/2018
• Est. Priority Date: 01/27/2016
• Status: Expired due to Fees

• Current Assignee: Hon Hai Precision Industry Co., Ltd.
• Original Assignee: Hon Hai Precision Industry Co., Ltd.
• Inventors: Liu, Tien-Ping, Lee, Horng-Juing, Chung, I-Hao
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US15/191,959
• Publication Number:
  US 20170212520A1
• Time in Patent Office: 557 Days
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G06K 7/10722 Photodetector array or CCD scanning
• CPC Class Codes: G06K 7/1417 2D bar codes

Abstract

A computer vision positioning system for a computer-controlled autonomous mobile transportation device in a warehouse for example comprises an image collection module, an artificial marker identification module, a two-dimensional code identification module, a data storage module, and a control module. The image collection module collects images, and transmits the images to the artificial marker identification module and the two-dimensional code identification module. The artificial marker identification module reads an ID of the artificial marker. The two-dimensional code identification module reads a URL of the artificial marker. The data storage module stores a map, a map description file, and location and object-disposal information. The control module controls a autonomous mobile device to move and make a disposal.

Claims

1. A computer vision positioning system for an autonomous mobile device comprising:

an image collection module comprising a camera;

an artificial marker identification module;

a two-dimensional code identification module;

a data storage module; and

a control module;

wherein the image collection module is configured to collect images using the camera, and transmit the images to the artificial marker identification module and the two-dimensional code identification module;

the artificial marker identification module is configured to identify an artificial marker, read an ID of the artificial marker, and transmit the ID to the data storage module, wherein the artificial marker is selected from the group consisting of Tag36h11, Tag36h10, Tag25h9, and Tag16h5;

the two-dimensional code identification module is configured to identify a two-dimensional code, read a URL of the artificial marker, and transmit the URL to the data storage module;

the data storage module is configured to store a map and a map description file marked with the artificial marker, a location information corresponding to the ID of the artificial marker, and a processing information obtained according to the URL of the two-dimensional code; and

the control module is configured to control the autonomous mobile device to move and make a disposal, wherein the autonomous mobile device has the computer vision positioning system.

2. The computer vision positioning system of claim 1, wherein the camera is a charge-coupled device or a complementary metal oxide semiconductor.

3. The computer vision positioning system of claim 1, wherein the camera comprises a calibrated camera lens.

4. The computer vision positioning system of claim 1, wherein a common code of the two-dimensional code is selected from the group consisting of Data Matrix, Maxi Code, Aztec, QR Code, Veri Code, PDF417, Ultra Code, Code 49, and Code 16K.

5. The computer vision positioning system of claim 1, wherein the two-dimensional code is a stack-style two-dimensional bar code.

6. The computer vision positioning system of claim 1, wherein the two-dimensional code is a matrix two-dimensional bar code.

7. A method for a computer vision positioning system for an autonomous mobile device comprising:

step (S1);

applying an artificial marker and a two-dimensional code within a region which needs to be marked, wherein the artificial marker comprises a location information and the two-dimensional code comprises a processing information, wherein a distance and an angle between the autonomous mobile device and the artificial marker are calculated by an artificial marker identification module; and

the location information of the autonomous mobile device is anti calculated;

step (S2);

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

wherein an image collection module comprising a camera collects artificial marker images and two-dimensional code images, and transmits the artificial marker images and the two-dimensional code images to the artificial marker identification module and a two-dimensional code identification module;

the artificial marker identification module identifies the artificial marker images, and transmits an ID of the artificial marker to a data storage module;

the two-dimensional code identification module identifies the two-dimensional code images, and transmits a URL of the two-dimensional code to the data storage module;

the data storage module determines the location information according to the ID, and obtains the processing information according to the URL; and

a control module controls the autonomous mobile device to move and make a disposal according to data in the data storage module.

8. The method of claim 7, wherein the artificial marker identification module is configured to judge which the artificial marker images are similar to the artificial marker;

when the artificial marker images are similar to the artificial marker, the artificial marker images are marked and identified whether the artificial marker images are the artificial marker.

9. The method of claim 7, wherein the autonomous mobile device has not reached the artificial marker;

and the control module make fine adjustments to the autonomous mobile device, to move it into the artificial marker.

10. The method of claim 7, wherein the artificial marker is selected from the group consisting of Tag36h11, Tag36h10, Tag25h9, and Tag16h5.

11. The method of claim 7, wherein a common code of the two-dimensional code is selected from the group consisting of Data Matrix, Maxi Code, Aztec, QR Code, Veri Code, PDF417, Ultra Code, Code 49 and, Code 16K.

12. The method of claim 7, wherein the two-dimensional code is a stack-style two-dimensional bar code.

13. The method of claim 7, wherein the two-dimensional code is a matrix two-dimensional bar code.