TWI595338B - Method for moving vehicle to predetermined physical position - Google Patents

Description

Method of moving a carrier to a predetermined physical location

The invention relates to a method of movement, and in particular to a method of moving a carrier to a predetermined physical location.

For vehicle handlers, parking vehicles to specific parking areas (such as landing a multi-rotor aircraft in a specific area, parking a boat to a specific location or parking a car into a specific parking space) requires superb driving skills and A wealth of driving experience can be achieved.

When the controller is not familiar with the vehicle driving, it is often impossible to correctly judge the positional deviation between the current position of the vehicle and the parking point, and it is impossible to accurately park the vehicle to a specific parking area. In the above case, the controller usually has to make multiple attempts to park the vehicle into a specific parking area.

Therefore, the existing manual manipulation of the vehicle to a specific parking area is not only labor intensive, but when the controller is not familiar with the vehicle driving, the vehicle is more likely to be damaged due to the landing failure or the items around the parking area are damaged.

SUMMARY OF THE INVENTION A primary object of the present invention is to provide a method of moving a carrier to a predetermined physical location that automatically moves the carrier to a predetermined physical location.

In order to achieve the above object, the present invention provides a method for moving a vehicle to a predetermined physical position, comprising the steps of: a) obtaining a captured image via an image capturing device of a carrier, and identifying in the captured image a first layer of two-dimensional barcodes of a multi-level pattern, wherein the multi-level pattern is disposed at a predetermined physical location and includes a plurality of two-dimensional barcodes; b) calculating the first layer of two-dimensional barcodes in the captured image Deviating from a first screen position between the screen position and a first screen position; c) controlling the carrier to move toward the direction of the multi-level pattern according to the first screen position deviation; d) after step c, acquiring a new one Extracting a picture; e) identifying a second layer two-dimensional barcode of the multi-level pattern in the captured image, wherein a size of the second layer two-dimensional barcode is smaller than a size of the first layer two-dimensional barcode; f) calculating Deviating from the second picture position between the picture position in the captured picture and a second picture position; and g) controlling the carrier to approach the multi-level pattern according to the second picture position deviation .

The present invention can accurately move the carrier to a predetermined physical position by calculating a screen position deviation using a multi-level pattern in the captured picture.

1‧‧‧ Vehicles

10‧‧‧Image capture device

100‧‧‧ Capture the center of the screen

102‧‧‧ Picture vertical line

12‧‧‧ drive

1200‧‧‧ triangle

1202‧‧‧ midline

14‧‧‧ memory

140‧‧‧ computer program

16‧‧‧ Processor

18‧‧‧Signal Transceiver

2‧‧‧Multi-level pattern

20, 22, 24‧‧‧2D barcode

200‧‧‧ Coverage

202‧‧‧ Central location of coverage

3‧‧‧Predetermined physical location

5‧‧‧ capture screen

90‧‧‧ Positioning Mark

S10-S26‧‧‧First deviation calculation and movement control steps

S300-S332‧‧‧Second deviation calculation and movement control steps

S50-S52‧‧‧ verification steps

1 is a block diagram of a carrier according to a first embodiment of the present invention.

2 is a schematic view of a multi-level pattern according to a first embodiment of the present invention.

Figure 3 is a schematic illustration of a mobile carrier to a predetermined physical location in accordance with a first embodiment of the present invention.

4 is a flow chart of a method of moving a carrier to a predetermined physical location in accordance with a first embodiment of the present invention.

FIG. 5 is a schematic diagram of a first capture screen according to the first embodiment of the present invention.

FIG. 6 is a schematic diagram of a second capture screen according to the first embodiment of the present invention.

FIG. 7 is a schematic diagram of a third capture screen according to the first embodiment of the present invention.

Figure 8 is a first flow chart of a method of moving a carrier to a predetermined physical location in accordance with a second embodiment of the present invention.

9 is a second flow chart of a method of moving a carrier to a predetermined physical location in accordance with a second embodiment of the present invention.

FIG. 10 is a first schematic diagram of calculating a deviation distance and a deviation direction according to a second embodiment of the present invention.

Figure 11 is a second schematic diagram for calculating the deviation distance and the deviation direction according to the second embodiment of the present invention.

Fig. 12 is a third schematic diagram showing the calculation of the deviation distance and the deviation direction according to the second embodiment of the present invention.

Figure 13 is a first schematic diagram of calculating a deviation angle according to a second embodiment of the present invention.

Figure 14 is a second schematic diagram of calculating a deviation angle according to a second embodiment of the present invention.

Figure 15 is a third schematic diagram of calculating a deviation angle according to a second embodiment of the present invention.

Figure 16 is a fourth schematic diagram of calculating a deviation angle according to a second embodiment of the present invention.

17 is a partial flow chart of a method of moving a carrier to a predetermined physical location in accordance with a third embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION A preferred embodiment of the present invention will be described in detail with reference to the drawings.

First, please refer to FIG. 1, which is a structural diagram of a carrier according to a first embodiment of the present invention. The present invention discloses a method of moving a carrier to a predetermined physical location for use in the carrier 1 as shown in FIG. In the present invention, The vehicle 1 (such as a multi-rotor aircraft, a boat, a car) mainly includes an image capturing device 10, a driving device 12, a memory 14, and a processor 16 electrically connected to the above components.

The image capturing device 10 is configured to perform image capturing on the external environment of the carrier 1 and generate an instant capture screen (the captured image 5 shown in FIGS. 5-7 and 10-16). The driving device 12 (such as a combination of a transmission element and a rotor of a multi-rotor aircraft, a combination of a transmission component and a rudder of a boat, a combination of a transmission component of the automobile and a tire) is used to control the carrier 1 to move or rotate in a specific direction to a specific direction. Orientation. The memory 14 is used to store data. The processor 16 is used to control the carrier 1.

In another embodiment of the invention, the carrier 1 further includes a signal transmitter 18 electrically coupled to the processor 16. The signal transmitter 18 can receive control signals from an external device (such as a remote control) and transmit it to the processor 16. The processor 16 can control the driving device 12 according to the received control signal to move and/or rotate the carrier 1 in the direction corresponding to the control signal to the direction of the corresponding control signal. Thereby, the user can manually remotely control the movement and steering of the vehicle 1 using the remote controller.

2 and FIG. 3, FIG. 2 is a schematic diagram of a multi-level pattern according to a first embodiment of the present invention, and FIG. 3 is a schematic diagram of the mobile vehicle to a predetermined physical position according to the first embodiment of the present invention.

As shown in FIG. 2, the multi-level pattern 2 of the present invention includes complex two-dimensional barcodes of different sizes, such as a two-dimensional barcode 20 having the largest size, a two-dimensional barcode 22 having a second size, and a two-dimensional barcode 24 having the smallest size.

Preferably, the plurality of two-dimensional barcodes are arranged in a concentric manner as shown in FIG. 2, and the plurality of two-dimensional barcodes are all QR codes, but are not limited thereto. .

It is worth mentioning that, since the multi-level pattern of the present invention includes two-dimensional bar codes of different sizes, when the carrier 1 is too close to the multi-level pattern, the feature points of the two-dimensional bar code located on the outer layer and having a large size cannot be recognized ( When the feature point of the outer layer and the larger size of the two-dimensional barcode exceeds the captured image 5 of the image capturing device 10, the two-dimensional barcode having a smaller size in the inner layer can be clearly and completely displayed on the image. The screen 5 is captured and identified, and the carrier 1 can determine the deviation position and angle according to the feature points of the second-sized barcode having the smaller size to perform positioning.

In the present example, the multi-level pattern 2 includes three sets of two-dimensional barcodes as an example for description, but not limited thereto, the user can arbitrarily increase or decrease the number of two-dimensional barcodes included in the multi-level pattern 2 according to requirements. .

In the following, taking the carrier 1 as a multi-rotor aircraft as an example, a brief description of how the present invention uses the multi-level pattern 2 to assist in moving the carrier to a predetermined physical position 3 and rotating to a predetermined orientation will be briefly described. As shown in FIG. 3, the user can first adhere the multi-level pattern 2 to the predetermined physical position 3 in a specific orientation (such as the middle positioning point toward the north) according to the predetermined orientation when the desired carrier 1 is stopped (eg, the predetermined landing gear 1). The center of the area). Then, the vehicle 1 can continue to shoot through the image capturing device 10 during flight, and instantly detect and identify whether the captured image 5 includes any set of two-dimensional barcodes 20-24 of the multi-level pattern 2. If any set of two-dimensional barcodes 20-24 is detected and recognized in the capture screen 5, the carrier 1 determines the positional deviation of the screen according to the position of the identified two-dimensional barcode 20-24 in the captured screen 5. (including the deviation direction and deviation distance between the current position of the carrier 1 and the predetermined physical position 3, and/or the deviation angle between the current orientation of the carrier 1 and the predetermined orientation), and automatically correcting the moving direction and orientation according to the screen position deviation To accurately move toward the predetermined physical position 3 and align the predetermined orientation.

Thereby, the present invention calculates the screen position deviation by using the multi-level pattern in the capture screen 5, and can accurately move the carrier to the predetermined physical position and align the predetermined orientation.

Referring to FIG. 4, a flow chart of a method for moving a vehicle to a predetermined physical position according to a first embodiment of the present invention. The method of moving the vehicle to the predetermined physical position (hereinafter referred to as the moving method) of the embodiments of the present invention is mainly realized by the carrier 1 shown in FIG. Specifically, the memory 14 of the carrier 1 further stores a computer program 140 in which the program code executable by the processor 16 is stored. When the computer program 140 is executed by the processor 16, the method of movement of the various embodiments of the present invention can be implemented. The moving method of this embodiment includes the following steps.

Step S10: The processor 16 of the carrier 1 captures the surrounding environment via the image capturing device 10 to obtain the captured screen 5.

Preferably, the lens of the image capturing device 10 is disposed in a direction in which a predetermined physical position 3 (such as a landing area, a dock or a garage) can be photographed, so that the carrier 1 can be photographed when it is near the predetermined physical position 3. A multi-level pattern 2 at a predetermined physical location 3.

For example, if the carrier 1 is a multi-rotor aircraft, the lens of the image capturing device 10 can face the lower side of the vehicle 1 to capture the multi-level pattern 2 disposed on the ground; if the vehicle 1 is a boat, the image The lens of the capturing device 10 can be oriented toward the wharf (eg, on the side of the side) to capture the multi-level pattern 2 disposed at the dock; if the vehicle 1 is a car, the lens of the image capturing device 10 can face the carrier 1 Rear (if installed at the rear of the car) to capture a multi-level pattern 2 set in the garage.

Step S12: The processor 16 identifies a set of two-dimensional barcodes (ie, the first layer of two-dimensional barcodes) of the multi-level pattern 2 in the capture screen 5, wherein the multi-level pattern 2 includes complex two-dimensional barcodes of different sizes. Preferably, the carrier 1 is a first-level two-dimensional barcode that captures the identifiable and optimally sized two-dimensional barcode in the screen 5 (ie, the most easily identifiable two-dimensional barcode).

Please refer to FIG. 5, which is a schematic diagram of a first capture screen according to the first embodiment of the present invention. As shown in FIG. 5, when the carrier 1 is far from the predetermined physical position 3, although the complex two-dimensional barcode 20-24 can be simultaneously displayed in the capture screen 5, the resolution of the captured image 5 (ie, the image) The number of pixels of the photosensitive element of the capturing device 10 and the resolution of the lens are limited, and the two-dimensional barcodes 22 and 24 having a small size may be difficult to recognize or unrecognizable due to insufficient resolution (ie, the image is too small), and only the size is relatively small. The large 2D barcode 20 can be easily identified. Therefore, the carrier 1 uses the identifiable and optimally sized two-dimensional barcode 20 as the first layer two-dimensional barcode.

Please refer to Figure 4 again.

Step S14: The processor 16 calculates a screen position deviation (ie, a first screen position deviation) between the screen position of the first layer two-dimensional barcode in the capture screen 5 and the preset screen position (ie, the first screen position). Preferably, the first picture position is the center position of the picture 5 (the intersection of the vertical dotted line and the horizontal dotted line shown in FIGS. 11-16).

Step S16: The processor 16 controls the driving module 12 to move the carrier 1 in the direction of approaching the multi-level pattern 2 according to the calculated first screen position deviation.

Step S18: The processor 16 acquires a new capture screen 5 (ie, updates the capture screen) via the image capture device 10, and identifies another set of two-dimensional barcodes of the multi-level pattern 2 in the new capture screen 5 (ie, The second layer of two-dimensional barcodes, wherein the size of the second layer of the two-dimensional barcode is smaller than the first layer of the two-dimensional barcode. Preferably, the carrier 1 uses the two-dimensional barcode that is identifiable and optimal in size in the current capture screen 5 as the second layer two-dimensional barcode.

Please refer to FIG. 6 at the same time, which is a schematic diagram of a second capture screen according to the first embodiment of the present invention. As shown in FIG. 6, when the carrier 1 approaches the direction of the multi-level pattern 2, the processor 16 acquires the captured screen 5 whose distance has been shortened. Compared with the previous capture screen 5, in the capture screen 5 obtained this time, the image of the multi-level pattern 2 is enlarged and the second-dimensional barcode 22 of the second order can be clearly recognized. Further, in the capture screen 5 obtained this time, the two-dimensional barcode 20 having the largest size is difficult to recognize or unrecognizable due to excessive enlargement, and the two-dimensional barcode 24 having the smallest size is still too small to be recognized. Therefore, the carrier 1 uses the identifiable and optimally sized 2D barcode 22 as the second layer 2D barcode.

Please refer to Figure 4 again.

Step S20: The processor 16 calculates a screen position deviation (ie, a second screen position deviation) between the screen position of the second layer barcode and the preset screen position (ie, the second screen position) of the second layer barcode. Preferably, the second picture position is the same as the first picture position, and is the center position of the captured picture 5, but is not limited thereto.

It is worth mentioning that the first picture position and the second picture position are set according to the arrangement of the first layer two-dimensional bar code and the second layer two-dimensional bar code in the multi-level pattern 2. For example, if the first layer two-dimensional barcode and the second layer two-dimensional barcode are arranged in a horizontal manner, the first screen position and the second screen position will be located on the same screen horizontal line; if the first layer two-dimensional barcode Arranged in a vertical manner with the second layer of the two-dimensional barcode system, the first screen position and the second screen position will be located on the same vertical line of the screen. If the first layer of the two-dimensional barcode and the second layer of the two-dimensional barcode are arranged in a concentric manner, the first screen position and the second screen position will be located at the same screen position.

By the above manner, the present invention can effectively avoid the problem that the calculated positional deviation of the picture is misjudged due to the difference in the center position of the two-dimensional bar code, and the carrier 1 cannot be accurately guided to the correct predetermined physical position 3.

Step S22: The processor 16 controls the driving module 12 according to the calculated second screen position deviation to further move the carrier 1 in the direction of approaching the multi-level pattern 2.

Step S24: The processor 16 acquires a new capture screen 5 (ie, updates the capture screen) via the image capture device 10, and determines whether there are other two-dimensional barcodes in the new capture screen 5. If it is determined that there are other two-dimensional barcodes in the new capture screen 5, step S20 is executed again.

Specifically, the processor 16 acquires a new capture screen 5 via the image capture device 10, and identifies another set of two-dimensional barcodes of the multi-level pattern 2 in the new capture screen 5 (ie, the third-layer two-dimensional barcode )does it exist. If the third layer of the two-dimensional barcode exists, the size of the third layer of the two-dimensional barcode is smaller than the second layer of the second-dimensional barcode, wherein the carrier 1 is a two-dimensionally identifiable and optimal size of the current captured image 5. The barcode is used as the third layer of 2D barcode.

Please refer to FIG. 7 as a schematic diagram of a third capture screen according to the first embodiment of the present invention. As shown in FIG. 7, when the carrier 1 approaches the direction of the multi-level pattern 2, the processor 16 acquires the captured picture 5 whose distance has been shortened. Compared with the previous capture screen 5, in the capture screen 5 obtained this time, the image of the multi-level pattern 2 is enlarged and the two-dimensional barcode 24 having the smallest size can be clearly recognized. Further, in the capture screen 5 obtained this time, the two-dimensional barcodes 20 and 24 having a large size are difficult to recognize or cannot be recognized due to excessive enlargement. Therefore, the carrier 1 uses the identifiable and optimally sized two-dimensional barcode 24 as the third layer two-dimensional barcode.

Please refer to Figure 4 again.

If the processor 16 determines in step S24 that there is no other two-dimensional barcode in the capture screen 5, step S26 is performed.

Step S26: The processor 16 determines that the predetermined physical location 3 has been reached and may further enter the stop state. For example, if the carrier 1 is a multi-rotor aircraft, the processor 16 can control the carrier 1 to be hovered or fixed-pointed at the current position. If the carrier 1 is a boat or a car, the processor 16 can control the vehicle 1 to idle, turn off, or switch to the manual mode of operation at the current position.

Thereby, the present invention can effectively automatically move the carrier 1 to the predetermined physical position 3.

If the processor 16 determines in step S24 that there are other two-dimensional barcodes, steps S20-S24 are performed again to calculate the screen position of the third-layer two-dimensional barcode in the captured screen 5 and the preset screen position (ie, the third screen position). The screen position deviation (ie, the third screen position deviation) controls the driving module 12 according to the calculated third screen position deviation to further move the carrier 1 toward the multi-level pattern 2, and determines whether or not there is a Other 2D barcodes.

By simultaneously using two-dimensional bar codes of various sizes, the carrier 1 of the present invention can effectively recognize a properly sized two-dimensional bar code, either close to or away from the predetermined physical position 3, thereby automatically and accurately moving toward the predetermined physical position 3.

It is worth mentioning that when the processor 16 judges that there is no other two-dimensional barcode in the capture screen 5, it will be determined that the carrier 1 has reached the predetermined physical position 3 and controls the carrier 1 to stop moving. Through the above characteristics, the user can adjust the size of the smallest two-dimensional barcode in the multi-level pattern 2 according to the closest focusing distance and focal length of the image capturing device 10, thereby adjusting the position between the carrier 1 and the predetermined physical position 3 when the vehicle 1 stops moving. The actual distance, or the hovering height of the vehicle 1 after reaching the predetermined physical position 3.

Continuing to refer to FIG. 8 and FIG. 9, FIG. 8 is a first flowchart of a method for moving a carrier to a predetermined physical position according to a second embodiment of the present invention, and FIG. 9 is a mobile vehicle to a predetermined entity according to a second embodiment of the present invention. A second flow chart of the method of location. The moving method of this embodiment will be described by taking the carrier 1 as a multi-rotor aircraft as an example. The moving method of this embodiment includes the following steps.

Step S300: The processor 16 of the carrier 1 captures the multi-level pattern 2 via the image capturing device 10 to obtain the captured image 5.

Step S302: The processor 16 identifies a plurality of positioning marks (hereinafter referred to as first positioning marks) of a set of two-dimensional bar codes (hereinafter referred to as a first layer two-dimensional bar code) of the multi-level pattern 2 in the captured picture 5. Preferably, the first positioning mark of the first layer two-dimensional barcode is three rectangular marks of the two-dimensional barcode, and is respectively disposed at the lower left, upper left and upper right corners of the first layer two-dimensional barcode.

Continuing to also refer to FIG. 10, a first schematic diagram of calculating a deviation distance and a deviation direction according to a second embodiment of the present invention. As shown, the processor 16 can identify three rectangular positioning marks 90 (i.e., first positioning marks) of the two-dimensional bar code 20 (i.e., the first layer two-dimensional bar code) in the captured picture 5.

Please refer to Figure 8 and Figure 9 again.

Step S304: The processor 16 filters the other two-dimensional barcodes from the captured screen 5. Specifically, the processor 16 filters out other two-dimensional barcodes other than the first layer two-dimensional barcode from the captured image 5 to avoid interference calculation of other two-dimensional barcodes in subsequent processing.

Referring to FIG. 11 at the same time, a second schematic diagram for calculating the deviation distance and the deviation direction according to the second embodiment of the present invention is shown. As shown in the figure, after the 2D barcode 20 (ie, the first layer 2D barcode) is locked, the processor 16 converts the area of the 2D barcode 22, 24 into another color (such as white) to automatically capture the image. 5 Filter out the 2D barcodes 22, 24.

Please refer to Figure 8 and Figure 9 again.

Step S306: The processor 16 identifies the coverage range (ie, the first coverage range) of the first layer two-dimensional barcode in the captured picture 5 according to the plurality of first positioning marks. Preferably, the processor 16 calculates a larger other rectangle formed by the three rectangular first positioning marks as the first coverage.

As shown in FIG. 11, processor 16 may calculate a coverage 200 comprised of three alignment marks 90 of two-dimensional barcode 20.

Step S308: The processor 16 calculates a center position of the first coverage area, and calculates a picture according to the calculated central position of the first coverage area and a preset picture position (first picture position). The deviation direction (ie, the first deviation direction) of the positional deviation (ie, the first screen position deviation) and the deviation distance (ie, the first deviation distance). Preferably, the first picture position is the center position of the picture 5 is captured.

Please refer to FIG. 12 at the same time, which is a third schematic diagram for calculating the deviation distance and the deviation direction according to the second embodiment of the present invention. As shown, the processor 16 first calculates the center position 202 of the coverage area 200 and then calculates the screen position deviation between the center position 202 and the center position 100 of the capture screen 5. Taking FIG. 12 as an example, the screen position deviation is 134 pixels (deviation distance) to the right (deviation direction) and 56 pixels (deviation distance) upward (deviation direction).

Please refer to Figure 8 and Figure 9 again. This embodiment further discloses steps S310-S312 for calculating the deviation angle between the current orientation of the carrier 1 and the predetermined orientation.

Step S310: The processor 16 calculates a positioning line (ie, a first positioning line) of the first layer two-dimensional barcode in the capturing screen 5 according to the plurality of first positioning marks, wherein the positioning line is used to indicate the predetermined orientation.

Preferably, the processor 16 calculates the center line of the triangle formed by the three first positioning marks as the first positioning line.

Continuing to refer to FIG. 13 and FIG. 14, FIG. 13 is a first schematic diagram for calculating a deviation angle according to a second embodiment of the present invention, and FIG. 14 is a second schematic diagram for calculating a deviation angle according to a second embodiment of the present invention. First, as shown in FIG. 13, the processor 16 first calculates a triangle 1200 composed of three positioning marks 90. Next, as shown in FIG. 14, processor 16 calculates centerline 1202 of triangle 1200 and uses centerline 1202 as the first location line.

Please refer to Figure 8 and Figure 9 again.

Step S312: The processor 16 calculates an angle between the first positioning line and the vertical line of the screen in the capturing screen 5, and calculates a deviation angle (ie, a first deviation angle) of the first screen position deviation according to the calculated angle.

Preferably, the processor 16 subtracts the calculated angle by 45 degrees as the first deviation angle. Alternatively, the processor 16 first deflects the first positioning line 45 degrees to the right to obtain a zero-degree positioning line of the first layer two-dimensional barcode, and then uses the angle between the zero-degree positioning line and the vertical line of the picture as the first deviation angle.

Continuing to refer to FIG. 15 and FIG. 16, FIG. 15 is a third schematic diagram for calculating a deviation angle according to a second embodiment of the present invention, and FIG. 16 is a fourth schematic diagram for calculating a deviation angle according to a second embodiment of the present invention. As shown, the processor 16 subtracts 45 degrees between the centerline 1202 and the vertical line 102 of the screen (e.g., 46 degrees) to obtain a first offset angle (i.e., +1 degree, 1 degree to the right).

Specifically, the vertical line 102 of the screen is parallel to the vertical line passing through the center of the captured screen 5 (the vertical dotted line shown in FIGS. 11-16). Further, the processor 16 shifts the vertical line (as shown by the vertical dotted line in FIG. 15) of the center of the capture screen 5 to the position of the center of the multi-level pattern 2 shown by the capture screen 5 (ie, the screen is vertical) The position of the line 102 is), and then the first deviation angle is calculated.

Thereby, the present invention can calculate the deviation angle between the current orientation of the carrier 1 and the predetermined orientation via the above-described manner.

Please refer to Figure 8 and Figure 9 again.

Step S314: The processor 16 controls the carrier 1 to move the first deviation distance (such as 134 pixels to the right and 56 pixels to the right) toward the first deviation direction to move toward the direction close to the multi-level pattern 2. Also, the processor 16 controls the carrier 1 to rotate a first offset angle (e.g., 1 degree to the right) such that the orientation of the carrier 1 can be aligned with the predetermined orientation indicated by the first alignment line.

Step S316: The processor 16 acquires a new capture screen 5 via the image capture device 10, and identifies another set of two-dimensional barcodes of the multi-level pattern 2 (ie, the second layer of the two-dimensional barcode) in the new capture screen 5. The plural positioning mark (ie the second positioning mark). Preferably, the second positioning mark of the second layer two-dimensional barcode is three rectangular marks of the two-dimensional barcode, and is respectively disposed at the lower left, upper left and upper right corners of the second layer two-dimensional barcode.

Step S318: The processor 16 filters the other two-dimensional barcodes from the captured screen 5. Specifically, the processor 16 filters out other two-dimensional barcodes (including the first layer two-dimensional barcode) other than the second layer two-dimensional barcode from the captured image 5 to prevent other two-dimensional barcodes from interfering in subsequent processing. Calculation.

Step S320: The processor 16 identifies the coverage range (ie, the second coverage range) of the second layer two-dimensional barcode in the captured picture 5 according to the plurality of second positioning marks. Preferably, the processor 16 calculates a larger other rectangle formed by the two rectangular second positioning marks and serves as a second coverage.

Step S322: The processor 16 calculates a center position of the second coverage area, and calculates a picture position deviation according to the calculated central position of the second coverage area and the preset picture position (ie, the second picture position) (ie, the second picture) The direction of deviation of the positional deviation (ie the second deviation direction) and the deviation distance (ie the second deviation distance). Preferably, the second screen position captures the center position of the screen 5.

Step S324: The processor 16 calculates a positioning line (ie, a second positioning line) of the second layer two-dimensional barcode in the captured picture 5 according to the plurality of second positioning marks. Preferably, the processor 16 calculates the centerline of the triangle formed by the three second positioning marks and serves as the second positioning line.

Step S326: The processor 16 calculates an angle between the second positioning line and the vertical line of the screen in the capturing screen 5, and calculates a deviation angle (ie, a second deviation angle) of the second screen position deviation according to the calculated angle.

Preferably, the processor 16 subtracts the calculated angle by 45 degrees as the second deviation angle. Alternatively, the processor 16 first deflects the second positioning line 45 degrees to the right to obtain a zero-degree positioning line of the second layer of the two-dimensional barcode, and then uses the angle between the zero-degree positioning line and the vertical line of the picture as the second deviation angle.

Step S328: The processor 16 controls the carrier 1 to move the second deviation distance toward the second deviation direction to further move toward the direction close to the multi-level pattern 2. And, the processor 16 controls the carrier 1 to rotate the second deviation angle such that the orientation of the carrier 1 can be aligned with the predetermined orientation indicated by the second positioning line.

Step S330: The processor 16 acquires a new capture screen 5 via the image capture device 10, and determines whether there are other two-dimensional barcodes in the new capture screen 5. If it is determined that there is no other two-dimensional barcode, step S332 is performed. Otherwise, step S318 is performed again.

It is worth mentioning that the multi-level pattern 2 of the present invention needs to include at least two sets of two-dimensional barcodes (ie, the first layer of two-dimensional barcodes and the second layer of two-dimensional barcodes) so that the carrier 1 passes the predetermined physical position 3 At least one set of two-dimensional barcodes can be identified near or too far and the positional deviation of the picture can be calculated accordingly for positioning. Moreover, the user can increase the identifiable range of the complex two-dimensional barcode by increasing the number of two-dimensional barcodes of different sizes included in the multi-level pattern 2, wherein when the carrier 1 is located within the identifiable range, the carrier A set of two-dimensional barcodes having at least one multi-level pattern can be identified and positioned.

Step S332: The processor 16 determines that the predetermined physical position 3 has been reached, and further drops onto the multi-level pattern 2 at a fixed point.

Continuing to refer to Figure 17, a partial flow chart of a method of moving a carrier to a predetermined physical location in accordance with a third embodiment of the present invention. The difference between the moving method of the present embodiment and the moving method of the first embodiment shown in FIG. 4 is that the two-dimensional bar code of the multi-level pattern 2 of the present embodiment is embedded with identification data for controlling the passing vehicle 1. Moreover, the moving method of this embodiment is after step S12, and the following steps are included before step S14.

Step S50: The processor 16 decodes the first layer two-dimensional barcode identified in step S12 to obtain the identification data. Preferably, the aforementioned identification data is an identification code (such as a Device ID) of the carrier 1 that allows the stop or landing, or a location identification code (such as a coordinate or location number) of the predetermined physical location 3 where the carrier 1 is currently located.

Step S52: The processor 16 compares the identification information of the vehicle (such as the identification code of the vehicle 1 or the location identification code of the destination) with the obtained identification data to determine the predetermined physical location where the vehicle 1 is currently located. 3 Whether it is a destination, or whether there is permission to stop/land.

If the processor 16 determines that the vehicle identification data matches the acquired identification data, step S14 is performed to move to the predetermined physical position 3 more precisely. Otherwise, issue a warning and/or leave the current location.

Thereby, the user can use the multi-level pattern 2 embedded with different identification materials to control the vehicle 1 that is allowed to stop/land, and the vehicle can be prevented from being mistakenly parked in the wrong predetermined physical position 3.

The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Therefore, equivalent changes to the scope of the present invention are included in the scope of the present invention. Bright.

S10-S26‧‧‧First deviation calculation and movement control steps

Claims (10)

A method for moving a carrier to a predetermined physical location includes the steps of: a) obtaining a captured image via an image capture device of a carrier, and identifying a first layer of a multi-level pattern in the captured image a two-dimensional barcode, wherein the multi-level pattern is disposed at a predetermined physical location and includes a plurality of two-dimensional barcodes; b) calculating a first-level two-dimensional barcode between the screen position of the captured image and a first screen position a first picture position deviation; c) controlling the vehicle to move toward the multi-level pattern according to the first picture position deviation; d) obtaining a new captured picture after step c; e) Taking a second layer two-dimensional barcode identifying the multi-level pattern in the picture, wherein the size of the second layer two-dimensional barcode is smaller than the size of the first layer two-dimensional barcode; f) calculating the second layer two-dimensional barcode And capturing a second screen position deviation between the screen position in the screen and a second screen position; and g) controlling the vehicle to approach the multi-level pattern according to the second screen position deviation. The method of claim 1, wherein the step a identifies a plurality of first positioning marks of the first layer of the two-dimensional barcode; and the step e identifies the second layer of the two-dimensional barcode. A plurality of second positioning marks. The method of claim 2, wherein the step a further comprises a step a1: filtering the second layer two-dimensional barcode from the captured image. The method of claim 2, wherein the step b includes the following steps: b1) identifying one of the first layer two-dimensional barcodes in the captured image according to the first positioning marks. First coverage; and B2) calculating a first deviation direction and a first deviation distance of the first picture position deviation according to the central position of the first coverage area and the first picture position; the step f includes the following steps: f1) according to the The second positioning mark identifies a second coverage range of the second layer two-dimensional barcode in the captured image; and f2) calculating the second screen position deviation according to the central location of the second coverage area and the second screen position a second deviation direction and a second deviation distance. The method of claim 4, wherein the step b further comprises the step of: b3) calculating the first layer of the two-dimensional barcode in the captured image according to the first positioning marks. a first positioning line; and b4) calculating an angle between the first positioning line and a vertical line of the picture in the captured picture, and calculating a first deviation angle of the first picture position deviation according to the calculated angle The step f further includes the following steps: f3) calculating a second positioning line of the second layer two-dimensional barcode in the captured image according to the second positioning marks; and f4) calculating the captured image in the captured image And an angle between the second positioning line and the vertical line of the picture, and calculating a second deviation angle of the second picture position deviation according to the calculated angle. The method of claim 5, wherein the first layer of the two-dimensional barcode is QR code, and includes three rectangular first positioning marks, and the first positioning marks are respectively disposed on a lower left, upper left, and upper right corner of the first layer of the two-dimensional barcode; the second layer of the two-dimensional barcode is QR code arranged in a concentric manner with the first layer of the two-dimensional barcode, and includes the second positioning mark of the three rectangles The second positioning marks are respectively disposed at the lower left, upper left, and upper right corners of the second layer two-dimensional barcode. The method of claim 6, wherein the step b3 is to use the center line of a first triangle formed by the three first positioning marks as the first positioning line; the step f3 The center line of a second triangle formed by the three second positioning marks is used as the second positioning line. The method of claim 5, wherein the step c controls the carrier to move the first deviation distance toward the first deviation direction, and rotates the first deviation angle; Controlling the carrier to move the second deviation distance toward the second deviation direction and rotating the second deviation angle. The method of claim 1, wherein the carrier is a multi-rotor aircraft; the first screen position and the second screen position are both central positions of the captured screen; The method further includes a step h: controlling the vehicle to land on the multi-level when determining that all the two-dimensional barcodes of the multi-level pattern in the captured image have been used to calculate a screen position deviation On the pattern. The method of claim 9, wherein after the step a, before the step b, the method further comprises the steps of: i1) decoding the identified first layer of the multi-level pattern. The barcode is obtained to obtain a first identification data; and i2) when it is determined that a vehicle identification data of the vehicle matches the first identification data, the process proceeds to step b.