TWI778804B - Two-dimensional code and method for fast localization and robust decoding - Google Patents

Abstract

A two-dimensional code capable of fast localization and robust decoding is disclosed and is constituted by four completely symmetrical code areas each including a positioning graphic, a separated block, a format-info block and a data block. The positioning graphic is arranged at a corner of the code area. The separated block is arranged along a perimeter of the positioning graphic, the format-info block is arranged along a perimeter of the separated block, the data block is arranged along a perimeter of the format-info block. When a scanning device scans and retrieves the positioning graphic of one of the code areas, it can directly estimate positions of other code areas in accordance with information of the scanned positioning graphic, so as to quickly obtain data of all of the code areas.

Description

High-strength two-dimensional code capable of rapid positioning and identification and method for positioning and identification thereof

The invention relates to a two-dimensional code, in particular to a two-dimensional code that can be quickly identified, and a rapid identification method of the two-dimensional code.

The two-dimensional code can record a large amount of information, so that after scanning the two-dimensional code and decoding it, the scanning device can directly obtain the original information, such as text, symbols, instructions and website addresses, which is quite convenient.

Since it is impossible to predict from what angle the user will scan the two-dimensional code, one or more positioning patterns are generally set in the two-dimensional code. Taking a QR code as an example, three positioning patterns are set in the QR code. When all the positioning patterns in the QR code have been scanned, the scanning device can reliably confirm the orientation of the QR code. After the orientation is confirmed, the scanning device can locate the data block in the QR code, and then sample the data of the two-dimensional code. However, the above scanning and recognizing procedures for two-dimensional codes take a long time to obtain sufficient positioning pattern information, and cannot be applied in specific fields (eg, self-driving car navigation).

Furthermore, taking the above-mentioned QR code as an example, as long as one of the three positioning patterns is defaced, it is difficult for the scanning device to identify the orientation of the QR code, and thus it is difficult to read the data of the QR code. In other words, the fault tolerance rate of the existing QR code is low, and the robustness is still insufficient, so it is not suitable for the above-mentioned fields.

The main purpose of the present invention is to provide a high-strength two-dimensional code that can be quickly positioned and identified, and a positioning and identification method thereof, which can provide the effect of rapid identification and have a strong fault tolerance rate.

In order to achieve the above-mentioned purpose, the two-dimensional code of the present invention includes: four completely symmetrical code areas, wherein each of the code areas respectively includes: a positioning pattern arranged at a corner of the code area; an interval block along the code area The perimeter of the positioning pattern is arranged to separate the positioning pattern from other blocks in the code area; a format information block is arranged along the perimeter of the spaced block to record the information of the code area; and a data area The block is arranged along the periphery of the format information block to record the data of the two-dimensional code carried by the data block.

In order to achieve the above-mentioned purpose, the rapid identification method of the present invention is applied to the above-mentioned two-dimensional code, and includes the following steps: a) orderly arrange a scan line on the captured image through an algorithm to scan the two-dimensional code code; b) when the step a) does not obtain a preset code feature from the two-dimensional code, perform the step a) again, wherein the preset code feature is determined from any one of the code areas on the two-dimensional code. The positioning pattern provided by; c) when obtaining the preset code feature, locate the positioning pattern that provides the preset code feature and obtain the number of the positioning pattern; d) estimating the orientation and distance of the positioning pattern relative to the positioning patterns in other code areas according to the position of the positioning pattern, the serial number and a perspective transformation information disclosed by the positioning pattern; e) this step d) after that, the positioning patterns of other code regions are positioned; f) the positions of the data blocks of the code regions are respectively calculated according to the positions of the positioning patterns; and g) the data blocks are sampled and decoded , to decode the QR code.

Compared with the related art, the two-dimensional code of the present invention can directly obtain the data of all code areas after the positioning pattern of any code area is scanned, and then perform full code decoding, thereby achieving extremely fast recognition speed. In addition, the two-dimensional code is composed of four fully symmetrical code areas, so that any one, two or even three positioning patterns can be decoded if any one, two or even three positioning patterns are lost or damaged, which can greatly improve the fault tolerance rate of the two-dimensional code.

1: QR code

10: Code area

11: Zeroth yard area

12: The first yard area

13: Second yard area

14: The third yard area

2: Positioning pattern

21: Black frame module

22: White frame module

23: Black Rectangle Module

24: Center Point

25: Boundary point

3: Interval block

4: Format information block

41: Positioning pattern ID code

42: Error correction code level

43: Mask code

44: Check Code

5: Data block

51: bytes

61~64: scan line

S10~S24: Identification steps

FIG. 1 is a first specific embodiment of a structural diagram of a two-dimensional code of the present invention.

FIG. 2 is a first specific embodiment of a structural diagram of a part of a two-dimensional code of the present invention.

FIG. 3 is a first specific embodiment of a schematic diagram of format information of the present invention.

FIG. 4 is a first specific embodiment of the identification flowchart of the present invention.

FIG. 5 is a first specific embodiment of a scanning schematic diagram of the present invention.

FIG. 6 is a first specific embodiment of a schematic diagram of a two-dimensional code of the present invention.

Hereinafter, a preferred embodiment of the present invention will be described in detail in conjunction with the drawings.

The present invention discloses a high-strength solid two-dimensional code (hereinafter referred to as two-dimensional code) that can be quickly positioned and identified. The two-dimensional code has a completely symmetrical structure of upper, lower, left and right. As long as the scanning device scans a part of the structure of the two-dimensional code, it can be extended to other parts of the two-dimensional code, thereby sampling the entire two-dimensional code, without scanning all the structures of the two-dimensional code completely. Therefore, the two-dimensional code of the present invention can be recognized and completed in a very short time. In one embodiment, the two-dimensional code of the present invention can be recognized and read in an average of less than or equal to 50ms, which is much faster than other forms of two-dimensional codes on the market. Specifically, the above data is the data obtained by actual scanning and identification by a 1GHz/32-bit embedded dedicated microcontroller.

Based on the above advantages, the two-dimensional code of the present invention can be pasted on the ground for movement control and navigation for an Automated Guided Vehicle (AGV) or a robot. In an embodiment, the two-dimensional code of the present invention is based on the above-mentioned fields of application, and can be called NaviCode, and has obvious structural differences with existing two-dimensional codes, such as QRCode, Aztec Code, Maxicode, Hanxin Code, etc. division. As mentioned above, the two-dimensional code of the present invention can be recognized in a very short time, so the self-driving car or robot can recognize the two-dimensional code at the moment of passing the two-dimensional code and can obtain the data recorded in the two-dimensional code stably , to move or perform the corresponding task.

It is worth mentioning that if the QR code is pasted on the ground, it is easy to cause contamination due to being stepped on. However, the two-dimensional code of the present invention can provide a very high error-tolerance rate, so it is suitable for the field of self-driving/robot navigation as described above (described in detail later).

The two-dimensional code of the present invention is a matrix-type two-dimensional code, that is, the two-dimensional code is represented by a matrix formed by a plurality of grids. For different recorded data, the matrix is composed of a plurality of black grids and a plurality of white grids, and each grid represents a data unit (ie, a data bit).

First, please refer to FIG. 1 , which is a first specific embodiment of the structure diagram of the two-dimensional code of the present invention. As shown in FIG. 1 , the two-dimensional code 1 of the present invention is composed of a plurality of completely symmetrical code areas. In the embodiment of FIG. 1 , the plurality of code areas include a zeroth code area 11 , a first code area 12 , a second code area 13 and a third code area 14 .

The technical feature of the present invention is that the structures of the four code areas 11-14 are completely the same, and the difference only lies in the direction and position of the arrangement of the code areas 11-14. In the embodiment of FIG. 1 , the zeroth code area 11 is located on the left side of the first code area 12 and is 90 degrees different from the first code area 12 , and the first code area 12 is located above the second code area 13 and is different from the second code area 12 . Area 13 differs by 90 degrees, the second code area 13 is located on the right side of the third code area 14 and is 90 degrees different from the third code area 14, and the third code area 14 is located below the zeroth code area 11 and is different from the zeroth code area 11 A difference of 90 degrees.

As mentioned above, the plurality of code areas 11-14 of the two-dimensional code 1 have the same structure, wherein each code area 11-14 consists of a positioning pattern 2, an interval block 3, a format information block 4 and a data block respectively 5 components.

Please refer to FIG. 1 and FIG. 2 at the same time, wherein FIG. 2 is a first specific embodiment of a structural diagram of a part of a two-dimensional code of the present invention. In FIG. 2, the zeroth code area 11 in the two-dimensional code 1 is taken as an example to describe the structure of the code area. The structures of the other code areas 12-14 are the same as the structure of the zeroth code area 11, and only the code areas 11-14 are arranged The directions and positions are different, which will not be described in detail later. For the sake of brevity, the code area 10 will be collectively used for description below.

As mentioned above, each code area 10 is respectively composed of positioning pattern 2, space block 3, format information block 4 and data block 5, and positioning pattern 2, space block 3, format information block 4 and data area The blocks 5 are respectively formed of a plurality of lattices (ie, data units).

As shown in FIG. 2 , the positioning pattern 2 is a black and white concentric square, and is arranged at a corner of the code area 10 . The positioning pattern 2 has a fixed and special structure (described in detail later), when the scanning device (not shown in the figure) scans the positioning pattern 2 of any code area 10 in the two-dimensional code 1 through the scanning line, it can code area 10 for positioning. One of the technical features of the present invention is that the plurality of code areas 10 in the two-dimensional code 1 are completely symmetrical, so after the scanning device locates one of the code areas 10, it can directly estimate the other code areas 10 based on the structure. position without having to scan the remaining code area 10. In this way, the main purpose of high-speed identification can be achieved.

The spacer blocks 3 are arranged along the periphery of the positioning pattern 2 to separate the positioning pattern 2 from other blocks in the code area 10 . As shown in FIG. 2 , the two-dimensional code 1 of the present invention is a rectangle, the positioning pattern 2 is also a rectangle, and the positioning pattern 2 is arranged at one corner of the two-dimensional code 1 . That is, two sides of the positioning pattern 2 are aligned with two sides of the two-dimensional code 1 . Moreover, the spacer blocks 3 are arranged along the outer edges of the other two sides of the positioning pattern 2 .

In one embodiment, the width of the spacer block 3 is one data unit, and the spacer block 3 is formed by a plurality of white data units, but not limited thereto.

The format information block 4 is arranged along the periphery of the spacer block 3 and is used to record relevant information of the code area 10 to which it belongs. Specifically, the inner side of the spacer block 3 is aligned with the outer side of the positioning pattern 2 , and the format information block 4 is arranged along the outer side of the spacer block 3 .

In the embodiment of FIG. 2, the format information block 4 is composed of a plurality of data units, including d0, d1, d2, d3, d4, d5 and f0, f1, f2, f3, f4, f5, f6, f7, f8 , f9, f10, f11, f12, f13, f14 and other data units. In an implementation, the format information block 4 records the format of the number of the positioning pattern 2, the error detection and correction code level of the two-dimensional code 1, the mask code style of the two-dimensional code 1, etc. News. The number can be used by the scanning device to determine the relative position of the code area 10 in the entire two-dimensional code 1 .

In one embodiment, the width of the format information block 4 is one data unit, and is formed by a plurality of white data units, a plurality of black data units or a combination thereof depending on the recorded data, but not limited thereto.

Please refer to FIG. 1 to FIG. 3 at the same time, wherein FIG. 3 is a first specific embodiment of a schematic diagram of the format information of the present invention. As shown in FIG. 3 , the format information block 4 records at least a positioning pattern identification code 41 . In the embodiment of FIG. 3 , the positioning pattern identification code 41 is included in six data units such as d0 to d5, but not limited thereto. The positioning pattern identification code 41 is used to record the number of the positioning pattern 2. For example, "010110" represents the number 0, "011001" represents the number 1, "100101" represents the number 2, and "101010" represents the number 3. However, the above is only one specific implementation example of the present invention, but not limited thereto.

Moreover, the number may correspond to the number of the plurality of code areas 10 in the two-dimensional code 1 . For example, if the two-dimensional code 1 is composed of four code areas 10 , the numbers may be, for example, number 0, number 1, number 2, and number 3.

For example, in the QR code 1 shown in FIG. 1 , the code area 10 at the upper left is the zeroth code area 11 , and the format information block 4 in the zeroth code area 11 can record the number of the positioning pattern 2 is 0. The code area 10 located at the upper right of the two-dimensional code 1 is the first code area 12 , and the format information block 4 in the first code area 12 can record the number 1 of the positioning pattern 2 . The code area 10 at the lower right of the two-dimensional code 1 is the second code area 13 , and the format information block 4 in the second code area 13 can record the number 2 of the positioning pattern 2 . The code area 10 at the lower left of the two-dimensional code 1 is the third code area 14 , and the format information block 4 in the third code area 14 can record the number 3 of the positioning pattern 2 .

In this embodiment, the number can also be used to calculate the azimuth and distance of the positioning pattern 2 relative to the positioning patterns 2 of other code areas 10 . Specifically, based on the preset structure of the two-dimensional code 1, as long as the scanning device obtains the number of a positioning pattern 2, it can know which code area 10 the positioning pattern 2 belongs to, and then can know which code area 10 (this positioning pattern 2 belongs to) Orientation of pattern 2) relative to other code areas 10 (other positioning pattern 2).

As shown in FIG. 1 , the positioning pattern 2 of number 0 (belonging to the zeroth code area 11 ) is located to the left of the positioning pattern 2 of number 1 (belonging to the first code area 12 ). The positioning pattern 2 of number 1 is located above the positioning pattern 2 of number 2 (belonging to the second code area 13 ). The positioning pattern 2 of number 2 is located to the right of the positioning pattern 2 of number 3 (belonging to the third code area 14 ). The positioning pattern 2 of number 3 is located below the positioning pattern 2 of number 0 . Based on this structure, after scanning one of the positioning patterns 2 , the scanning device can directly complete the positioning action for all the code areas 10 .

Returning to FIG. 3 , the format information block 4 also records an error correction code level (Level of Error Correction Code, ECC) 42 , a mask code (Mask) 43 and a check code (Check-bits) 44 . Among them, the size of the error detection and correction code level 42 is three data units, which are represented by f12-f14 in FIG. 3; the size of the mask code 43 is two data units, which is represented by f10-f11 in FIG. 3; the check code The size of 44 is ten data units, which are represented by f0-f9 in Figure 3. In one embodiment, the error detection correction code level 42, the mask code 43 and the check code 44 can be mainly implemented by BCH codes (Bose-Chaudhuri-Hocquenghem codes), but not limited thereto.

It is worth mentioning that the size of the error detection correction code level is three data units. By setting the content of the error detection correction code level, eight different error tolerance levels can be set for the two-dimensional code 1 (that is, in binary format. 000 to 111 indicates). In one embodiment, the two-dimensional code 1 uses a Reed-Solomon code (Reed-Solomon code). Solomon error codes) to achieve error detection and correction, based on the level of error detection and correction codes, the error tolerance rate from a minimum of 8% to a maximum of 46% can be achieved.

The above-mentioned Reed-Solomon error codes are commonly used technical means in the coding field, and are not repeated here for the sake of brevity of the description.

As mentioned above, the QR code 1 mainly needs to be pasted on the ground to control and navigate the self-driving car or robot. With the above-mentioned ultra-high fault tolerance rate, the two-dimensional code 1 of the present invention has a high probability of being correctly identified by the self-driving car/robot even if it is seriously stained, so it can be applied to the technical field of the self-driving car or the robot.

Back to Figure 2. The data block 5 is arranged along the periphery of the format information block 4 for recording part or all of the data of the two-dimensional code 1 . Specifically, the inner side of the format information block 4 is aligned with the outer side of the spacer block 3 , and the data block 5 is arranged along the outer side of the format information block 4 . In the embodiment of FIG. 2 , the data block 5 includes a total of thirteen groups of bytes 51 arranged according to the specified byte order, wherein each byte group 51 includes eight data units respectively. b7 represents, but is not limited.

In one embodiment, the data block 5 can be used to record pure binary information, such as numbers (0-9), characters (a-z, A-Z) or symbols. Moreover, depending on the level of error detection and correction code used, a data size of up to 44 bytes can be supported. If the two-dimensional code 1 of the present invention is applied to the field of self-driving cars or robots, the data block 5 can record the current coordinate position, the direction and distance relative to the pasting position of the next two-dimensional code 1, etc. Not limited to this.

One of the technical features of the present invention is that the structure of the four code areas 10 is completely symmetrical, so after scanning the positioning pattern 2 of any code area 10, the scanning device can directly perform two actions: (1) Positioning Format information block 4 and data block 5 of code area 10 to which pattern 2 belongs Positioning is performed to sample data; (2) Positioning patterns 2 of other code areas 10 are positioned to sample data of other code areas 10 . In other words, each code area 10 in the two-dimensional code 1 of the present invention can be sampled separately and participate in decoding together, and the scanning device does not need to wait until the positioning patterns 2 of all the code areas 10 are scanned before starting to scan the two-dimensional code. 1. Data sampling and decoding can be performed, so extremely fast recognition speed can be obtained.

In order to enable the scanning device to clearly identify, the positioning pattern 2 of the two-dimensional code 1 of the present invention has a specific structure. As shown in FIG. 2 , the positioning pattern 2 can be composed of a black frame module 21 , a white frame module 22 and a black rectangle module 23 in sequence from the outside to the inside. As can be seen from FIG. 2 , the black frame module 21 is composed of a plurality of black grids, the white frame module 22 is composed of a plurality of white grids, and the black rectangle module 23 is composed of a plurality of black grids. composition.

Specifically, the positioning pattern 2 in this case can be referred to as positioning the bull's eye, wherein the black frame module 21 is the outer ring for positioning the bull's eye, the white frame module 22 is the inner quiet zone for positioning the bull's eye, and the black rectangle Module 23 locates the pupil of the bull's eye.

As shown in FIG. 2 , the black frame module 21 is in the shape of a hollow box, and the length and width of the black frame module 21 are both nine black data units (ie, black grids). The white frame module 22 is disposed inside the black frame module 21 and is in the shape of a hollow box, and the length and width of the white frame module 22 are seven white data units (ie, white grids). The black rectangular module 23 is disposed inside the white frame module 22 and is in the shape of a solid rectangle, and the length and width of the black rectangular module 23 are both five black data units (ie, black grids).

Based on the above-mentioned structure of the positioning pattern 2, when the algorithm in the scanning device scans the positioning pattern 2 through a scan line, the black data unit, the white data unit, the black data unit, the white data unit and the black data unit can be sequentially obtained from the outside to the inside. Information about the data unit, and its ratio is 1:1:5:1:1.

In the present invention, the scanning device can use the above arrangement and ratio as the code features of the positioning pattern 2 . When the scanning device obtains the above-mentioned code features by scanning lines, the existence of a positioning pattern 2 can be recognized. In particular, this ratio is better than the ratio of 1:1:3:1:1 for the commonly used Quick Response code (Quick Response, QR). With this feature, the scanning device has a higher probability of penetrating the positioning pattern during scanning. Specifically, the penetration probability of a general scanning device for the positioning pattern of the QR code is ~43%, while the penetration probability of the positioning pattern of the two-dimensional code 1 of the present invention is ~56%. Compared with the general QR code, the scanning device can find the positioning pattern in a shorter time for the two-dimensional code 1 of the present invention.

Please refer to FIG. 1 to FIG. 4 at the same time, wherein FIG. 4 is a first specific embodiment of the identification flowchart of the present invention. FIG. 4 discloses a method for positioning and identifying a two-dimensional code (hereinafter referred to as the identification method in the description), and the identification method is described in conjunction with the two-dimensional code 1 shown in FIG. 1 and the code area 10 shown in FIG. 2 . How the scanning device scans and recognizes the two-dimensional code 1 of the present invention.

The scanning device is an electronic device having an image capture device capable of scanning a two-dimensional code, such as a mobile device provided with a camera or a laser sensor provided with a scanner, etc., which are not limited. During scanning, the scanning device captures the image of the two-dimensional code to be recognized, and then arranges a scan line in an orderly manner on the captured image through an algorithm to scan the two-dimensional code 1 (step S10 ). Based on the black and white interval ratio calculated by the algorithm on the scan line, the scanning device can determine whether to obtain the preset code feature (step S12 ). The technical means of scanning the algorithm through the scanning line is a common technical means in the related field of two-dimensional codes, and will not be repeated here.

Specifically, the preset code feature is provided by the positioning pattern 2 of any code area 10 in the two-dimensional code 1 , that is, the scanning device scans any code area on the two-dimensional code 1 in step S10 The positioning pattern 2 of 10 is the target. In one embodiment, the preset code is characterized in that the black data units and the white data units are staggered in an order and ratio of 1:1:5:1:1.

If the scanning device does not obtain the preset code feature, step S10 is performed again, and the next scan line is arranged by an algorithm to find the positioning pattern 2 on the two-dimensional code 1 . If the scanning device obtains the preset code feature, it can be determined that the current scan line runs through the positioning pattern 2 in any code area 10 on the two-dimensional code 1 . At this time, the scanning device locates the positioning pattern 2 that provides the preset code feature (step S14 ), and obtains the serial number of the positioning pattern 2 (step S16 ).

Since the positioning pattern 2 is a rectangle, the preset code feature can be obtained no matter what angle the scan line runs through the positioning pattern 2 . In addition, if the preset code features are set to a ratio of 1:1:5:1:1 between black and white, it is almost impossible to find the same features in other blocks other than the positioning pattern 2 . In this way, the recognition success rate and recognition speed of the two-dimensional code 1 can be effectively improved.

Specifically, in step S14, the scanning device may calculate the center point of the positioning pattern 2 based on the black and white 1:1:5:1:1 positions obtained on the scanning line after finding the positioning pattern 2. and four boundary points (for example, the center point 24 and the four boundary points 25 shown in FIG. 2 ), and the positioning pattern 2 is positioned by the center point 24 and the four boundary points 25 . In step S16, the scanning device can calculate the position of the format information block 4 in the code area 10 to which it belongs based on the structure and size of the center point 24, the four boundary points 25 and the positioning pattern 2 itself, and obtain the information from the format information block. 4. Read the number of positioning pattern 2.

Specifically, the positioning pattern 2 in this case can be called positioning bull's eye, wherein the center point 24 is the center point of positioning bull's eye, and the four boundary points 25 are used to indicate the fixed width ratio of positioning bull's eye ( In the figure, there are nine data units).

As mentioned above, the width of the format information block 4 is one data unit, and can record the positioning pattern identification code 41 , the error detection correction code level 42 , the mask code 43 and the check code 44 . In step S16, the scanning device can read the positioning pattern identification code 41 in the format information block 4 to obtain the The number of positioning pattern 2 is obtained. Through the position obtained after positioning and the obtained number, the scanning device can further estimate the orientation and distance of the positioning pattern 2 relative to the positioning patterns 2 of other code areas 10 in the two-dimensional code 1 (step S18 ).

More specifically, in step S18 , the scanning device mainly estimates the relative position of the positioning pattern 2 relative to other elements in the two-dimensional code 1 according to the position and number of the positioning pattern 2 , and the perspective transformation information disclosed by the positioning pattern 2 . The azimuth and distance of the positioning pattern 2 of the code area 10 .

On the basis of the above, the perspective transformation (or called perspective distortion) refers to the image deformation caused by the shooting inclination in the three-dimensional space. The algorithm of the scanning device needs to first correct the deformation of the positioning pattern 2 by using the perspective conversion information, and then determine the real position of the positioning pattern 2 according to information such as the orientation and position of the positioning pattern 2 . After the real position of one positioning pattern 2 is determined, the algorithm of the scanning device can correctly estimate the azimuth and distance of the positioning pattern 2 relative to other positioning patterns 2 .

For example, as described in the embodiment of FIG. 1 , the two-dimensional code 1 may include a zeroth code area 11 (positioning pattern 2 with number 0), a first code area 12 (positioning pattern 2 with number 1), and a second code area 13 (positioning pattern 2 with number 2) and the third code region 14 (positioning pattern 2 with number 3), the data sorting angle of each code region 12 differs from that of adjacent code regions 12 by 90 degrees. Wherein, the positioning pattern 2 of number 0 is located on the left side of the positioning pattern 2 of number 1, the positioning pattern 2 of number 1 is located above the positioning pattern 2 of number 2, the positioning pattern 2 of number 2 is located on the right side of the positioning pattern 2 of number 3, The positioning pattern 2 of number 3 is located below the positioning pattern 2 of number 0 .

Based on the position and number of any positioning pattern 2 obtained in step S16 , the scanning device can estimate the direction and distance of this positioning pattern 2 relative to other positioning patterns 2 in step S18 , so as to be able to detect the positioning pattern 2 of other code areas 10 . The positioning pattern 2 is positioned (step S20).

Specifically, the scanning device can obtain the center point 24 and four boundary points 25 of the scanned positioning pattern 2 in step S14 . In step S20, the scanning device can estimate the center point 24 and the four boundary points 25 of the positioning pattern 2 of the other code area 10 according to the center point 24 and the four boundary points 25 of the positioning pattern 2, so as to determine the other positioning pattern 2. Pattern 2 for positioning.

As mentioned above, the plurality of code areas 10 on the two-dimensional code 1 are completely symmetrical. Taking the two-dimensional code 1 shown in FIG. 1 as an example, the zeroth code area 11 and the first code area 12 are respectively located at the upper left and the upper right of the two-dimensional code 1 . The distance between the upper right boundary point 25 of the positioning pattern 2 of the zeroth code area 11 and the upper left boundary point 25 of the positioning pattern 2 of the first code area 11 is twelve horizontal data units. For another example, the zeroth code area 11 and the third code area 14 are located at the upper left and the lower left of the two-dimensional code 1 , respectively. The distance between the lower left boundary point 25 of the positioning pattern 2 of the zeroth code area 11 and the upper left boundary point 25 of the positioning pattern 2 of the third code area 14 is twelve vertical data units.

To sum up, as long as the position and number of any positioning pattern 2 are confirmed in step S14 , the scanning device can quickly locate the remaining positioning patterns 2 in the two-dimensional code 1 . In other words, in the identification method of the present invention, the scanning device can complete the positioning of the entire two-dimensional code 1 as long as one scan line scans any positioning pattern 2 , without scanning all the positioning patterns 2 . Accordingly, the main purpose of rapid identification of the present invention can be achieved.

After step S20, the scanning device can calculate the positions of the data blocks 5 in each code area 10 according to the positions of each positioning pattern 2 on the two-dimensional code 1 (step S22), and sample and decode the data blocks 5. (Step S24 ), thereby identifying the two-dimensional code 1 . In one embodiment, each data block 5 includes thirteen groups of bytes 51 arranged according to a specified byte order, and each byte group 51 includes eight data units.

Specifically, after sampling the data blocks 5 of each code region 10, the scanning device can also perform Symmetric codewords retrieval on the acquired data, and perform error detection and correction (for example, through the above-mentioned Reed-Solomon error codes for error detection and correction) to decode the content of the QR code 1.

The plurality of code regions 10 in the two-dimensional code 1 of the present invention are completely symmetrical. Even if some of the code regions 10 are stained, so that the scanning device cannot locate one or more positioning patterns 2 in step S20, the scanning device can still use the The position of the data block 5 in the corrupted code area 10 is located by the center point 24 and the boundary point 25 of the located one or more positioning patterns 2 . In this way, the complete data of the uncontaminated part of the two-dimensional code 1 can still be obtained, and then the contamination and damaged part can be corrected through the above-mentioned Reed-Solomon error codes. In this way, the main purpose of the extremely high fault tolerance rate in this case can be achieved.

In the present invention, the two-dimensional code 1 is composed of four fully symmetrical code areas 10. Even if any one or two or even three positioning patterns 2 are lost or destroyed, the two-dimensional code 1 can still be decoded (only the positioning The more patterns 2 are acquired, the higher the probability of successful decoding is relatively high), which can greatly improve the error tolerance rate of the QR code.

Please refer to FIG. 1 to FIG. 5 at the same time, wherein FIG. 5 is a first specific embodiment of a scanning schematic diagram of the present invention. As shown in FIG. 5 , when scanning the two-dimensional code 1 , the algorithm of the scanning device (not shown) can analyze a plurality of different scanning lines 61 - 64 in sequence.

In the embodiment of FIG. 5 , the scanning device first analyzes the scan line 61 , but the scan line 61 does not fall on the two-dimensional code 1 . Next, the scanning device analyzes the scan line 62 . Although the scan line 62 falls on the two-dimensional code 1, the scanning device cannot obtain the preset code feature through the scan line 62, that is, the ratio of 1:1:5:1:1 in which the black and white data units are alternated. . Next, the scanning device analyzes the scanning line 63 . Although the scan line 63 falls on the two-dimensional code 1, the scanning device still cannot obtain the Preset code features. Next, the scanning device analyzes the scan line 64 and obtains the preset code characteristic by the scan line 64 . Accordingly, the scanning device can determine that the scan line 64 penetrates any positioning pattern 2 on the two-dimensional code 1 , and can position the positioning pattern 2 .

After positioning the positioning pattern 2 , the scanning device can obtain the positions of the center point 24 and the four boundary points 25 of the positioning pattern 2 , and obtain the number of the positioning pattern 2 from the corresponding format information block 4 . In this way, the scanning device can directly estimate the positions of the other three positioning patterns 2 on the two-dimensional code 1 . Furthermore, as shown in FIG. 5 , based on the completely symmetrical structure, even if one of the positioning patterns 2 is stained and cannot be scanned, it will not hinder the scanning device from correctly identifying the two-dimensional code 1 .

By scanning the two-dimensional code 1 of the present invention by the identification method of the present invention, as long as the scanning device scans any positioning pattern 2 on the two-dimensional code 1, it can calculate the positions of all the data blocks 5 and carry out the analysis on the data blocks 5. Sampling, thereby completing the identification of the two-dimensional code 1 . Moreover, the identification method can be completed within a time of less than or equal to 50ms, and has a high fault tolerance rate, so it can be applied to special fields of self-driving cars or robot guidance.

It is worth mentioning that, through the center point 24 and the boundary point 25 of the four positioning patterns 2 , the center position, the horizontal reference line and the vertical reference line of the entire two-dimensional code 1 can be defined. When the self-driving car or the robot passes the QR code 1, in addition to reading the data of the QR code 1, it can also judge its position relative to the QR code 1 based on the center position, the horizontal reference line and the vertical reference line. direction and angle. Through the results of the above judgments, the self-driving car/robot can adjust its parameters such as its position, angle, and direction of travel. In this way, the movement accuracy of the self-driving car/robot can be effectively improved.

Referring to FIG. 6 , it is a first specific embodiment of a schematic diagram of a two-dimensional code of the present invention. FIG. 6 discloses one practical example of the two-dimensional code 1 of the present invention. In the embodiment of FIG. 6 , numbers and characters are respectively recorded in the plurality of data blocks 5 of the two-dimensional code 1 . These numbers and words record a set of coordinates, Its content is: "(X=325.79, Y=-101.23)". However, the embodiment of FIG. 6 is only one set of implementation aspects of the present invention, but not limited thereto.

In the above-mentioned embodiment of FIG. 4 , after scanning a positioning pattern 2, the scanning device firstly positions all positioning patterns 2, then positions the data blocks 5 of each code area 10, and then locates each data block. 5 Take a sample. However, as mentioned above, each code area 10 in the two-dimensional code 1 of the present invention is completely symmetrical and can be individually identified. Therefore, the scanning device can also locate the data blocks 5 of each code region 10 and sample the data blocks 5 at different time points, and is not limited to the process shown in FIG. 4 .

In the present invention, a two-dimensional code 1 is composed of a plurality of code areas 10 that are completely symmetrical, and an extremely fast identification speed can be achieved in combination with the identification method of the present invention. In addition, the error-tolerance rate of the two-dimensional code can be improved by the completely symmetrical multiple code regions, so that the two-dimensional code can be applied in special fields.

The above description is only a preferred specific example of the present invention, and therefore does not limit the scope of the patent of the present invention. Therefore, all equivalent changes made by using the content of the present invention are all included in the scope of the present invention. Bright.

1: QR code

11: Zeroth yard area

12: The first yard area

13: Second yard area

14: The third yard area

2: Positioning pattern

3: Interval block

4: Format information block

5: Data block

51: bytes

Claims (14)

A high-strength two-dimensional code that can be quickly positioned and identified, comprising: four completely symmetrical code areas, each of which respectively includes: a positioning pattern arranged at a corner of the code area; an interval block along the a format information block, the inner side of the format information block is aligned with the outer side of the spacer block , to record the information of the code area; and a data block, arranged along the outer side of the format information block, to record the data of the two-dimensional code. The two-dimensional code according to claim 1, wherein the positioning pattern is composed of a black frame module, a white frame module and a black rectangle module, and the black frame module is a hollow box with both length and width. is nine black data units, the white frame module is set in the black frame module, is a hollow frame and the length and width are both seven white data units, the black rectangle is set in the white frame module, It is a solid rectangle and the length and width are five black data units. The two-dimensional code of claim 2, wherein the width of the spacer block is one data unit, and the width of the format information block is one data unit. The two-dimensional code of claim 2, wherein the format information block records at least a positioning pattern identification code, and the positioning pattern identification code records a number of the positioning pattern, and the number is used to estimate the relative position of the positioning pattern to The azimuth and distance of the positioning pattern in other code areas. The two-dimensional code according to claim 4, wherein the number includes number 0, number 1, number 2 and number 3, the positioning pattern of number 0 is located to the left of the positioning pattern of number 1, and the positioning pattern of number 1 is located on the left side of the positioning pattern of number 1. The positioning pattern is located above the positioning pattern numbered 2, the positioning pattern numbered 2 is located to the right of the positioning pattern numbered 3, and the positioning pattern numbered 3 is located below the positioning pattern numbered 0. The two-dimensional code of claim 4, wherein the format information block further records an error correction code level, a mask code and a check code. The two-dimensional code of claim 4, wherein the data block includes thirteen groups of bytes arranged according to a specified byte order, and each of the byte groups respectively includes eight data units. The two-dimensional code according to any one of claims 1 to 7, wherein the four code areas include a zero code area, a first code area, a second code area, and a third code area, wherein the The zeroth code area is set on the left side of the first code area, and the data sorting angle of the zeroth code area is 90 degrees different from the data sorting angle of the first code area, and the first code area is set in the second code area above, and the data sorting angle of the first code area is 90 degrees different from the data sorting angle of the second code area, the second code area is set on the right side of the third code area, and the data of the second code area The sorting angle differs by 90 degrees from the data sorting angle of the third code area, the third code area is arranged below the zeroth code area, and the data sorting angle of the third code area is different from the data sorting angle of the zeroth code area The angles differ by 90 degrees. A method for positioning and identifying a two-dimensional code, for identifying the two-dimensional code as described in claim 1, comprising: a) scanning the two-dimensional code through a scan line; b) not scanning the two-dimensional code in this step a) from the two When a preset code feature is obtained on the QR code, step a) is performed again, wherein the preset code feature is provided by the positioning pattern in any of the code areas on the QR code; c) After obtaining the preset code When the code feature is used, the positioning pattern that provides the preset code feature is positioned and a serial number of the positioning pattern is obtained; d) estimating the orientation and distance of the positioning pattern relative to the positioning patterns in other code areas according to the position of the positioning pattern, the serial number and a perspective conversion information disclosed by the positioning pattern; e) after step d), positioning the positioning patterns of other code regions; f) calculating the positions of the data blocks of the code regions respectively according to the positions of the positioning patterns; and g) sampling the data blocks and decoding to obtain the QR code to decode. The positioning and identification method according to claim 9, wherein the positioning pattern is composed of a black frame module, a white frame module and a black rectangle module, and the black frame module is a hollow box with a length and a width of All are nine black data units, the white frame module is arranged in the black frame module, is a hollow box, and the length and width are both seven white data units, the black rectangle module is arranged in the white frame module In the group, it is a solid rectangle with five black data units in length and width. The default code is characterized in that the black data units and the white data units are staggered in the order and ratio of 1:1:5:1:1 . The positioning and identification method according to claim 10, wherein the number includes number 0, number 1, number 2 and number 3, the positioning pattern of number 0 is located on the left side of the positioning pattern of number 1, and the positioning pattern of number 1 Located above the positioning pattern of number 2, the positioning pattern of number 2 is located to the right of the positioning pattern of number 3, and the positioning pattern of number 3 is located below the positioning pattern of number 0. The positioning and identification method according to claim 10, wherein the width of the interval block is one data unit, the width of the format information block is one data unit, and a positioning pattern identification code and an error detection correction code level are recorded. , a mask code and a check code, wherein the positioning pattern identity code records the number of the positioning pattern, the data block includes thirteen groups of bytes arranged according to the specified byte order, each of the bytes Each includes eight data units. The positioning and identification method according to claim 12, wherein the step c) estimates the position of the format information block according to the position of the positioning pattern, and reads the number from the format information block, wherein the positioning pattern The location includes a center point and four boundary points. The positioning and identification method as claimed in claim 13, wherein the step e) is to estimate the center point and the four boundaries of the positioning pattern of other code regions according to the center point and the four boundary points of the positioning pattern point to locate the positioning pattern of other code areas.

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