CN105403235A - Two-dimensional positioning system and method - Google Patents
Two-dimensional positioning system and method Download PDFInfo
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- CN105403235A CN105403235A CN201410467001.7A CN201410467001A CN105403235A CN 105403235 A CN105403235 A CN 105403235A CN 201410467001 A CN201410467001 A CN 201410467001A CN 105403235 A CN105403235 A CN 105403235A
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Abstract
The invention provides a positioning system and method to determine the location of a terminal by a stealth code. A two-dimensional coordinate is encoded using a stealth code and is printed onto a planar or curved medium, a subject to be positioned identifies an optical stealth code corresponding to an optical image in a positioning medium layer at a current position of the subject through a positioning device, and the stealth code is decoded to obtain position information of the current position. The invention can quickly achieve the positioning of the terminal with the positioning accuracy up to a millimeter, are low in cost for construction and maintenance, and can provide a high accuracy and low cost solution for applications such as chess, board games, toys, education, robots and the like.
Description
Technical field
The present invention relates to location technology, particularly relate to localization method and the system of two-dimensional space.
Background technology
The consecutive tracking carrying out two-dimensional space is needed in a lot of application such as such as industrial flow-line, desktop game, robot toy etc.The location technologies such as existing GPS, WiFi, wireless base station, iBeacon, the wireless location of three bit spaces can be realized, but positioning precision is general lower, and needs installation position reference point and signal launching site in advance, be suitable for locating the application scenario that yardstick is comparatively large, accuracy requirement is not too high.Existing RFID technique, also can be used for realizing positioning function, but because of cost and size reason, RFID technique is only suitable for the location recognition application of sparse discrete point.Existing infrared, the active scanning techniques such as ultrasound wave, laser, stereo camera shooting, the three-dimensional spatial information of environment can be obtained, positioning precision is higher, and do not need arranging signal launching site in advance, but this technology needs stronger CPU processing power, obtain and process three-dimensional geometry data, calculation of complex and cost is high.The technology such as existing plotting apparatus, handwriting pad, touch-screen, also can be used as two-dimensional localization technology and use, but this technology generally all needs a special circuit board for perception two-dimensional coordinate information, and cost is usually all very high.Existing mouse, accelerograph technology, can obtain the relative position of terminal, but need to specify initial position just to may be used for location, and if the accumulation of error can not get timely correction, positioning precision is just difficult to ensure.
Summary of the invention
Therefore, the object of the invention is to the defect overcoming above-mentioned prior art, a kind of two-dimensional positioning system and method are provided.
The object of the invention is to be achieved through the following technical solutions:
On the one hand, the invention provides a kind of positioning system for two-dimensional space, comprising:
Cover the tacldng medium layer on the surface of described two-dimensional space, described tacldng medium layer is divided into multiple locating area, and the optical invisible code that same locating area comprises is identical; The optical invisible code of each locating area corresponds to a positional information of described two-dimensional space;
Locating device, for being identified in the optical invisible code in described tacldng medium layer, and obtains the positional information of the locating area corresponding with this optical invisible code.
In above-mentioned positioning system, the surface of described two-dimensional space can be plane or curved surface.
In above-mentioned positioning system, the minimum size being equivalent to the optical imagery of single optical invisible code correspondence of the size of each locating area.
In above-mentioned positioning system, described tacldng medium layer can for comprising the coating of the optical imagery corresponding with described optical invisible code.
In above-mentioned positioning system, described locating area can be the coordinate of central point in described two-dimensional space of this locating area in the positional information of described two-dimensional space.
In above-mentioned positioning system, described locating area can for the coordinate of reference point in described two-dimensional space set in this locating area in the positional information of described two-dimensional space.
In above-mentioned positioning system, described locating area can be the coordinate of any point in described two-dimensional space in this locating area in the positional information of described two-dimensional space.
In above-mentioned positioning system, described locating device can comprise optical invisible code recognizer and demoder; Wherein:
Described optical invisible code recognizer for obtaining the optical imagery in tacldng medium layer, and identifies the optical invisible code that this optical imagery is corresponding;
Described demoder is used for according to the corresponding relation between the positional information in described optical invisible code and two-dimensional space, the optical invisible code of described optical invisible code recognizer identification is converted to the positional information of the locating area corresponding with this optical invisible code;
In above-mentioned positioning system, described locating device also can comprise the storage unit of the positional information for storing optical invisible code and correspondence thereof.
In above-mentioned positioning system, described system also can comprise location-server, and described locating device comprises optical invisible code recognizer and the communication unit for communicating with described location-server; Wherein,
Described optical invisible code recognizer for obtaining the optical imagery in described tacldng medium layer, and identifies the optical invisible code that this optical imagery is corresponding;
The optical invisible code of described optical invisible code recognizer identification is sent to described location-server by described communication unit by described locating device;
Received optical invisible code, based on the corresponding relation between the positional information in optical invisible code and described two-dimensional space, is converted to the positional information of the locating area corresponding with this optical invisible code by described location-server.
Another aspect, the invention provides a kind of localization method based on above-mentioned positioning system, and described method comprises:
Step 1) optical invisible code by comprising in locating device identification tacldng medium layer;
Step 2) positional information of the locating area of its correspondence is obtained according to this optical invisible code.
In above-mentioned localization method, described step 1) can comprise:
Step 11) obtain optical imagery in tacldng medium layer;
Step 12), obtained optical imagery is identified, judges whether the optical invisible code corresponding with this optical imagery, if do not had, then return step 11) again obtain optical imagery, until identify optical invisible code.
In above-mentioned localization method, in described step 2) in by described locating device according to the corresponding relation between the positional information in optical invisible code and this two-dimensional space, identified optical invisible code can be converted to the positional information of the locating area corresponding with this optical invisible code.
In above-mentioned localization method, described step 2) can comprise:
By locating device, identified optical invisible code is sent to location-server;
By described location-server according to the corresponding relation between the positional information in optical invisible code and this two-dimensional space, identified optical invisible code is converted to the positional information of the locating area corresponding with this optical invisible code.
Another aspect, the invention provides a kind of games system, and described games system comprises:
The main control terminal of carrying out ludic activity in two-dimensional space and the multiple role's terminals communicated with described main control terminal, and
Cover the tacldng medium layer on the surface of described two-dimensional space, described tacldng medium layer is divided into multiple locating area, and the optical invisible code that same locating area comprises is identical; The optical invisible code of each locating area corresponds to a positional information of described two-dimensional space;
Wherein, described role's terminal comprises locating device, and described locating device for being identified in the optical invisible code in tacldng medium layer, and obtains the positional information of the locating area corresponding with this optical invisible code.
In above-mentioned games system, the surface of described two-dimensional space can be plane or curved surface.
In above-mentioned games system, the minimum size that can be equivalent to the optical imagery of single optical invisible code correspondence of the size of each locating area.
In above-mentioned games system, described tacldng medium layer can for comprising the coating of the optical imagery corresponding with described optical invisible code.
In above-mentioned games system, described locating area can be the coordinate of central point in described two-dimensional space of this locating area in the positional information of described two-dimensional space.
In above-mentioned games system, described locating area can for the coordinate of reference point in described two-dimensional space set in this locating area in the positional information of described two-dimensional space.
In above-mentioned games system, described locating area can be the coordinate of any point in described two-dimensional space in this locating area in the positional information of described two-dimensional space.
In above-mentioned games system, described locating device can comprise optical invisible code recognizer and demoder; Wherein:
Described optical invisible code recognizer for obtaining the optical imagery on tacldng medium layer, and identifies the optical invisible code that this optical imagery is corresponding;
Described demoder is used for according to the corresponding relation between the positional information in optical invisible code and described two-dimensional space, the optical invisible code of described optical invisible code recognizer identification is converted to corresponding positional information.
In above-mentioned games system, described location information report can be given described main control terminal and/or other role's terminals by described role's terminal, and described main control terminal controls this role's terminal based on described positional information and/or other role's terminals perform corresponding action.
In above-mentioned games system, described role's terminal based on the positional information from other role's terminal report, can also perform corresponding action
In above-mentioned games system, described locating device can comprise optical invisible code recognizer, and described optical invisible code recognizer, for obtaining the optical imagery on tacldng medium layer, identifies the optical invisible code that this optical imagery is corresponding;
Identified optical invisible code is sent to described main control terminal by described role's terminal;
Received optical invisible code, based on the corresponding relation between the positional information in optical invisible code and described two-dimensional space, is converted to the positional information of the locating area corresponding with this optical invisible code by described main control terminal.
In above-mentioned games system, described main control terminal can control this role's terminal based on obtained positional information and/or other role's terminals perform corresponding action.
In above-mentioned games system, described role's terminal or main control terminal can also comprise storage unit, for storing the positional information of optical invisible code and correspondence thereof.
In above-mentioned games system, described storage unit can also be used for the positional information storing each role's terminal obtained.
In above-mentioned games system, also can be included in the paster that tacldng medium layer adheres to, with concealed code on described paster; Described role's terminal or main control terminal, by obtaining the concealed code on paster, perform corresponding action.
Compared with prior art, the invention has the advantages that:
Two-dimensional coordinate information concealed code corresponding for the position of two-dimensional space is encoded, be printed on plane or curved surface medium, terminal is made to achieve two-dimensional space quick position in plane or curved surface, the precision of location can reach grade, and there are very low structure and maintenance cost, thus provide the two-dimensional space consecutive tracking of high precision, low cost to the application scenarios such as chess, table trip, toy, education, robot.
Accompanying drawing explanation
Referring to accompanying drawing, embodiments of the present invention is further illustrated, wherein:
Fig. 1 is the configuration diagram of the positioning system for two-dimensional space according to the embodiment of the present invention;
Fig. 2 is the structural representation of the locating device according to the embodiment of the present invention;
Fig. 3 is the schematic flow sheet of the localization method for two-dimensional space according to the embodiment of the present invention;
Fig. 4 is the planar structure schematic diagram of the games system according to the embodiment of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage are clearly understood, below in conjunction with accompanying drawing, by specific embodiment, the present invention is described in more detail.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Optical invisible code (hereafter also referred to as concealed code), such as OID coding, can be hidden in general printed matter by the ink of the print routine of standard and standard.The coded graphics corresponding by optical invisible code recognizer scanning optical concealed code just can take out the code value be hidden in advance in printed matter.The coded graphics (also can be called optical imagery or concealed code ins and outs) that each concealed code is corresponding is by many trickle and figures that human eye point inconspicuous forms, among the colored picture and text that can be hidden in various printed matter, so optical invisible code of gaining the name.The optical imagery that concealed code is corresponding has good distribution consistency degree, effectively reduces the interference to vision, can not cause impact attractive in appearance to printed matter, also reduces the requirement to printing papery, can be attached in any plane.Such as, optical imagery printing corresponding to a concealed code can be added the colored printing of traditional three editions, among the colored picture and text that just concealed code can be hidden in various printed matter.
Fig. 1 gives the two-dimensional space positioning system based on concealed code according to an embodiment of the invention.This system 100 comprises tacldng medium layer 101 and locating device 102.Tacldng medium layer 102 carries locating device 101, and locating device 101 can move on tacldng medium layer 102.Wherein, described tacldng medium layer 101 covers on the surface of the two-dimensional space of subject activity to be positioned, and it includes optical invisible code.The surface of this two-dimensional space can be plane or curved surface.Tacldng medium layer 101 can be adopt the mode of printing of such as printing or the existing various concealed code such as air brushing to be attached to the coating comprising the optical imagery of optical invisible code correspondence on the surface of two-dimensional space.The ink of every carbon containing can be used for the optical imagery of on the surface of two-dimensional space printing or air brushing optical invisible code correspondence.Certainly, on the surface of this two-dimensional space except described tacldng medium layer, can also air brushing other figure or word.
Tacldng medium layer 101 is divided into multiple locating area, the optical invisible code that different locating areas is corresponding different, and the optical invisible code that same locating area comprises is all identical, namely each locating area usually cover by multiple optical imagerys of same optical invisible code.The positional information of each locating area in this two-dimensional space is corresponding with the optical invisible code that this locating area comprises.In one embodiment, the positional information of each locating area in this two-dimensional space is represented by the coordinate information of central point in this two-dimensional space of this locating area.Described coordinate information can adopt any coordinate being applicable to two dimensional surface to represent, such as Cartesian plane rectangular coordinate, Gaussian parabolic line etc.In yet another embodiment, the positional information of each locating area in this two-dimensional space is represented by the coordinate information of the location reference point set in this locating area in this two-dimensional space.In yet another embodiment, the positional information of each locating area in this two-dimensional space can be represented by the coordinate information of any point in this two-dimensional space in this locating area.In one embodiment, locating area can be divided according to the positioning precision demand of reality.The size of each locating area is minimum is the size of the optical imagery of single optical invisible code correspondence, such as several millimeters.If namely each locating area is only covered by the optical imagery of single optical invisible code, its positioning precision can reach grade.Wherein, the corresponding relation between optical invisible code and the positional information of locating area can be preserved by the such as plurality of data structures such as form, array.In one embodiment, the corresponding relation between optical invisible code and the positional information of locating area is stored in locating device 102.In yet another embodiment, the corresponding relation between optical invisible code and the positional information of locating area is stored in and can carries out in other devices communicated with locating device 102, location-server 103 (not shown) of such as this two-dimensional space.
For each main body to be positioned in two-dimensional space activity, for it is equipped with locating device 102.Locating device 102 for being identified in the optical invisible code of main body current position to be positioned movable in two-dimensional space, and obtains the positional information corresponding with this optical invisible code.Locating device 102 is carried or be equipped with to main body movable in two-dimensional space, the optical invisible code comprised in its current position tacldng medium layer is identified by locating device 102, and using the positional information corresponding with this optical invisible code that obtained by locating device 102 current location as this main body.
Fig. 2 gives the structural representation of locating device according to an embodiment of the invention.This locating device 200 comprises optical invisible code recognizer 201 and demoder 202.Described locating device 200 also can comprise storer 203, for storing the corresponding relation between the positional information of locating area in two-dimensional space and optical invisible code.Optical invisible code recognizer 201 for obtaining the optical imagery of main body current position to be positioned movable in two-dimensional space, and and then identifies the optical invisible code corresponding with this optical imagery.For the person of ordinary skill of the art, the existing various parts for identifying optical invisible code can be adopted.According to one embodiment of present invention, optical invisible code recognizer 201 comprises scanning element and identification chip.Described scanning element is optical camera or special optical sensor chip, the image sensing chip SN9S102CE that such as Song Han company produces, and is used for obtaining the optical imagery of current position.Described identification chip is computer system or the special digital processing chips such as ARM, the image identification chip SN9P701FG that such as Song Han company produces, and is used for identifying the optical invisible code corresponding with obtained optical imagery.Identified optical invisible code is supplied to demoder 202 by optical invisible code recognizer 201.Demoder 202 receives the optical invisible code identified via optical invisible code recognizer 201, based on the corresponding relation between the positional information of locating area in two-dimensional space and optical invisible code, received optical invisible code is converted to the positional information of the locating area of this optical invisible code correspondence.Demoder 202 can be the hardware logic that such as integrated circuit (IC) chip, field programmable gate array (FPGA), special IC (ASIC) etc. realize; Or demoder also can realize with the form of the software performed by processor on the hardware such as embedded system, single-chip microcomputer (MCU) or programmable code, it can be realized by any programming language known at present, as LISP, PERL, C, C++, C#, PROLOG, or any bytecode language of such as JAVA.
According to still another embodiment of the invention, described two-dimensional space positioning system 100 also comprises location-server, the communication unit that described locating device 102 comprises optical invisible code recognizer as discussed above and communicates with described location-server.The optical invisible code identified via optical invisible code recognizer is sent to location-server by described communication unit by locating device 102.The received optical invisible code carrying out self locating device 102, according to the corresponding relation between the positional information of locating area in described two-dimensional space and optical invisible code, is converted to the positional information of the locating area of this optical invisible code correspondence by described location-server.In one embodiment, described location-server can comprise storage unit, for storing the corresponding relation between the positional information of locating area in described two-dimensional space and optical invisible code.Obtained positional information can be turned back to locating device 102 by location-server.Or obtained positional information can be supplied to the main body to be positioned of carrying or assembling this locating device 102 by location-server.Location-server can be communicated by any wired or wireless mode with locating device 102.Described location-server can be the hardware logic that such as integrated circuit (IC) chip, field programmable gate array (FPGA), special IC (ASIC) etc. realize; Or this location-server also can realize with the form of the software performed by processor on the hardware such as embedded system, single-chip microcomputer (MCU), PC or server or programmable code, it can be realized by any programming language that can be known at present, as LISP, PERL, C, C++, C#, PROLOG, or any bytecode language of such as JAVA.
Fig. 3 provides the schematic flow sheet of the localization method adopting two-dimensional space positioning system according to an embodiment of the invention.As shown in Figure 3, described localization method mainly comprises the following steps:
Step 301), obtain the optical imagery on the current position tacldng medium layer of main body to be positioned.As discussed above, each main body is equipped with locating device, optical invisible code recognizer in locating device utilizes its scanning element (optical sensor or optical camera) the tacldng medium layer to main body current position to be positioned in this two-dimensional space to scan, and just can obtain the optical imagery on this main body current position tacldng medium layer.
Step 302), obtained optical imagery is identified, judges whether the concealed code corresponding with this optical imagery, if do not had, then return step 301) continue again to obtain optical imagery; If there be the optical invisible code corresponding with obtained optical imagery, then go to step 303) continue to perform.This is because in step 301) optical imagery that obtained by Scan orientation dielectric layer may and the coded graphics of incomplete concealed code.If the optical imagery obtained is not the coded graphics of concealed code, then suitably can adjusts locating device in the current position of main body to be positioned, rescan the optical imagery of current position, until identify optical invisible code.
Step 303), obtain the positional information corresponding with identified optical invisible code, to indicate this main body current location.With as discussed above, the optical invisible code that each locating area of tacldng medium layer is corresponding different, the positional information of each locating area in this two-dimensional space is corresponding with the optical invisible code that this locating area comprises.Based on the corresponding relation between the positional information of locating area in two-dimensional space and optical invisible code, identified optical invisible code is decoded, obtain the positional information of the locating area of its correspondence, as the current location of this main body.Corresponding relation between described optical invisible code and the positional information of locating area can be stored in locating device, also can be stored in the location-server 103 of this two-dimensional space specialty.
Fig. 4 gives the floor map of games system according to an embodiment of the invention.This games system comprises multiple role terminal 401A, 401B ... 401N (total represents with label 401), a main control terminal 402 and tacldng medium layer 403.Role's terminal 401 and main control terminal 402 are all positioned at the top of tacldng medium layer 403.Role's terminal 401 can be communicated with main control terminal 402 by any wired or wireless mode.Role's terminal 401 is carrying out subject role movable in the two-dimensional space of playing, such as chess piece, dolly etc.Main control terminal 402 maintains static in this two-dimensional space or activity, main body for controlling the behavior of each role's terminal 401, such as machine judge, preside over robot etc.On the plane that tacldng medium layer 403 covers the two-dimensional space of role's terminal 401 and main control terminal 402 activity or curved surface (such as chessboard, cribbage-board, terrestrial globe etc.), it includes optical invisible code.Tacldng medium layer 403 carries main control terminal 402 and role's terminal 401.Tacldng medium layer 403 can be adopt the mode of printing of such as printing or the existing various concealed code such as air brushing to be attached to the coating comprising the optical imagery of optical invisible code correspondence on the surface of two-dimensional space.In addition, tacldng medium layer 203 also can print or figure that air brushing is relevant with game, such as chessboard, map, game pattern etc.
As discussed above, tacldng medium layer 403 is divided into multiple locating area, the optical invisible code that different locating areas is corresponding different, and the optical invisible code that same locating area comprises is all identical.The positional information of each locating area in this two-dimensional space is corresponding with the optical invisible code that this locating area comprises.The positional information of locating area in this two-dimensional space can be represented by the coordinate information of any point in this two-dimensional space in the location reference point set in the central point of this locating area, this locating area or this locating area.Described coordinate information can adopt any coordinate being applicable to two dimensional surface to represent, such as Cartesian plane rectangular coordinate, Gaussian parabolic line etc.The size of locating area can divide according to the positioning precision demand of reality, but the size of each locating area minimum be the size of the optical imagery of single optical invisible code correspondence, such as several millimeters.If namely each locating area is only covered by the optical imagery of single optical invisible code, then for role's terminal 401, its positioning precision can reach grade.
Continue with reference to figure 4, in one embodiment, each role's terminal 401 comprises locating device as discussed above.In one embodiment, the locating device of each role's terminal 401 comprises optical invisible code recognizer as described above and demoder.Role's terminal 401 obtains the optical imagery on its current position tacldng medium layer by the optical invisible code recognizer in locating device, and and then identify the optical invisible code corresponding with this optical imagery; Then based on the corresponding relation between the positional information of the locating area of two-dimensional space and optical invisible code, by demoder, identified optical invisible code is converted to the positional information of the locating area of this optical invisible code correspondence.An embodiment, obtained current location information can be sent to described main control terminal and/or other role's terminals by wired or wireless mode by role's terminal 401.Main control terminal 402 can indicate this role's terminal 401 and/or other role's terminals to perform corresponding action based on the positional information from each role's terminal 401.Other role's terminals receiving positional information also can according to the corresponding action of this information and executing.In one embodiment, described role's terminal 401 also comprises storage unit, for storing the corresponding relation between the positional information of locating area in described two-dimensional space and optical invisible code.
In yet another embodiment, main control terminal 401 also comprises storage unit, for storing the corresponding relation between the positional information of locating area in described two-dimensional space and optical invisible code.In yet another embodiment, main control terminal 402 can also serve as location-server as discussed above, and the locating device of role's terminal 401 comprises optical invisible code recognizer mentioned above.Role's terminal 401, by the optical imagery on its current position tacldng medium layer 403 of optical invisible code recognizer identification, identifies and then identified optical invisible code is sent to main control terminal 402 by the optical invisible code that this optical imagery is corresponding.Main control terminal 402 is according to the corresponding relation between the positional information of locating area in two-dimensional space and optical invisible code, the received optical invisible code from role's terminal 401 is converted to the positional information of the locating area of this optical invisible code correspondence, thus obtain the current location of role's terminal 401.Main control terminal 402 can indicate this role's terminal 401 or other role's terminals to perform corresponding action based on the positional information of obtained role's terminal 401.The positional information of obtained role's terminal 401 can be sent to this role's terminal or other role's terminals by main control terminal 402.Other role's terminals receiving positional information also can according to the corresponding action of this information and executing.
In one embodiment, main control terminal 402 is also with audio or video input/output interface and there are other parts about action, expression etc., such as with motor-driven ear, for showing the display screen etc. of facial expression so that with game player's exchange of information.In another embodiment, main control terminal 402 also with autonomous parts, such as, with by motor-driven wheel or crawler belt, autonomous or controlled movement on tacldng medium layer 403.In another embodiment, between main control terminal 402 and internet, set up communication link by wireless or wired mode.Like this, described main control terminal 402 can obtain the renewal of program, data, game content from internet.In other embodiments, user uses the equipment of such as mobile phone, telechiric device etc. to be connected by wireless network and described main control terminal 402, to its sending controling instruction, to control its behavior or to be carried out the behavior of control role terminal by main control terminal.
In one embodiment, described role's terminal 401 with autonomous parts, such as, with by motor-driven wheel or crawler belt, can autonomous or controlled movement on tacldng medium layer 403.Communication link can be set up by wireless or wired mode between role's terminal and between role's terminal and main control terminal.Role's terminal 401 can by the current location of communication link to main control terminal or other role's terminal report oneself.Main control terminal 402 can send control command by communication link to role's terminal 401 or send and relevant data or the refresh routine etc. of playing.Main control terminal comprises to the control command that role's terminal sends offset distance that instruction role fast mobile terminal specifies or moves to assigned address, plays sound, expresses one's feelings or video, the instructions such as vibrations or rotation.Role's terminal 401 performs corresponding action according to the control command from main control terminal 402.Role's terminal can also receive the position data of other role's terminal report, and according to current concrete condition, performs corresponding action.
In yet another embodiment, described role's terminal 401 or main control terminal 402 also comprising storage unit, for storing the positional information of each role's terminal obtained, thus the mobile route of each role's terminal in certain hour section can be provided.
In yet another embodiment, this games system also comprises paster 404, with concealed code on it, and can be printed with various mark, pattern or image.Such as, described paster can be a little card with concealed code.According to game needs, paster can be attached on tacldng medium layer 403.Described role's terminal 401 or main control terminal 402, by obtaining the concealed code on paster 404, perform corresponding action.
Games system according to above-described embodiment can be applied to the application scenario such as desktop game, robot toy.Such games system provides the solution of high precision, low cost to application such as chess, table trip, toy, education, robots.
Although the present invention is described by preferred embodiment, but the present invention is not limited to embodiment as described herein, also comprises done various change and change without departing from the present invention.
Claims (10)
1., for a positioning system for two-dimensional space, described system comprises:
Cover the tacldng medium layer on the surface of described two-dimensional space, described tacldng medium layer is divided into multiple locating area, and the optical invisible code that same locating area comprises is identical; The optical invisible code of each locating area corresponds to a positional information of described two-dimensional space;
Locating device, for being identified in the optical invisible code in described tacldng medium layer, and obtains the positional information of the locating area corresponding with this optical invisible code.
2. positioning system according to claim 1, the surface of wherein said two-dimensional space is plane or curved surface.
3. positioning system according to claim 1, the wherein minimum size being equivalent to the optical imagery of single optical invisible code correspondence of the size of each locating area.
4. positioning system according to claim 1, wherein said tacldng medium layer is for comprising the coating of the optical imagery corresponding with described optical invisible code.
5. positioning system according to claim 1, wherein said locating area is the coordinate of central point in described two-dimensional space of this locating area in the positional information of described two-dimensional space.
6. positioning system according to claim 1, wherein said locating area is the coordinate of reference point in described two-dimensional space set in this locating area in the positional information of described two-dimensional space.
7. positioning system according to claim 1, described locating device comprises optical invisible code recognizer and demoder; Wherein:
Described optical invisible code recognizer for obtaining the optical imagery in tacldng medium layer, and identifies the optical invisible code that this optical imagery is corresponding;
Described demoder is used for according to the corresponding relation between the positional information in described optical invisible code and two-dimensional space, the optical invisible code of described optical invisible code recognizer identification is converted to the positional information of the locating area corresponding with this optical invisible code.
8. positioning system according to claim 1, described system also comprises location-server, and described locating device comprises optical invisible code recognizer and the communication unit for communicating with described location-server; Wherein,
Described optical invisible code recognizer for obtaining the optical imagery in described tacldng medium layer, and identifies the optical invisible code that this optical imagery is corresponding;
The optical invisible code of described optical invisible code recognizer identification is sent to described location-server by described communication unit by described locating device;
Received optical invisible code, based on the corresponding relation between the positional information in optical invisible code and described two-dimensional space, is converted to the positional information of the locating area corresponding with this optical invisible code by described location-server.
9., based on a localization method for the positioning system as described in claim arbitrary in the claims 1-8, described method comprises:
Step 1) optical invisible code by comprising in locating device identification tacldng medium layer;
Step 2) positional information of the locating area of its correspondence is obtained according to this optical invisible code.
10. method according to claim 9, described step 1) comprising:
Step 11) obtain optical imagery in tacldng medium layer;
Step 12), obtained optical imagery is identified, judges whether the optical invisible code corresponding with this optical imagery, if do not had, then return step 11) again obtain optical imagery, until identify optical invisible code.
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| CN106933355A (en) * | 2017-01-24 | 2017-07-07 | 北京富龙飞科技有限公司 | The quick method for obtaining moving object information in real time in augmented reality |
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