TWI862216B - Positioning system, autonomous mobile device, motion control system and positioning method based on image visual recognition - Google Patents

Abstract

A positioning system, an autonomous mobile device, a motion control system, and a positioning method based on image visual recognition are provided. The present invention can perform positioning and movement control from long distances to short distances in an environment without GPS signals. The present invention has the effect of stable and accurate positioning. In the case of insufficient ambient light, the detection and location of the present invention are stable. Moreover, the present invention can increase the computing speed, reduce computing resources, and quickly complete accurate positioning, and then guide the autonomous mobile device.

Description

Positioning system, autonomous mobile device, motion control system and positioning method based on image vision recognition

The present invention provides a positioning system and a positioning method, in particular, a positioning system, an autonomous mobile device, a motion control system and a positioning method based on image visual recognition.

Usually, the Global Positioning System (GPS) can be used to accurately locate the environment or unmanned vehicles in open outdoor spaces. However, in large indoor areas (such as factories), tunnels, valleys and other environments without GPS, the location of the environment or unmanned vehicles is a difficult problem.

For large indoor venues, one of the known indoor positioning technologies is to deploy high-density or high-precision fixed wireless communication equipment to actively send out wireless positioning signals. However, if accurate positioning is required, the price of wireless communication equipment is high and it is difficult to popularize. Another indoor positioning technology is to use RGB cameras and SLAM (Simultaneous localization and mapping) positioning algorithms. This technology must use cameras, other types of image sensors, radar scanners or sonars to measure the position, distance or speed, and build a map model based on this. The map model takes time. Once the environment changes greatly (such as when a natural disaster occurs unexpectedly), it takes time to re-build the map model, which no longer meets the current needs, and it is difficult to observe environmental changes and measure the surrounding environment for a while.

As for outdoor areas, in natural environments such as tunnels and valleys, there is usually no GPS signal for positioning. There is also a lack of lighting equipment in these natural environments. In the absence of GPS signal positioning and in low light conditions, it is quite difficult to achieve accurate positioning.

Therefore, the present invention aims at the above-mentioned problems of the prior art and further proposes a positioning system, autonomous mobile device, motion control system and positioning method based on image visual recognition to solve the problems caused by learning.

In view of the above problems, the main purpose of the present invention is to provide a method for guiding autonomous mobile devices from long distances to short distances to reach the target location stably and accurately based on image vision recognition technology in an environment lacking GPS signals. At the same time, it can stably detect and locate in the case of insufficient ambient light, and can improve computing speed and reduce computing resources, so as to quickly complete accurate positioning and guide autonomous mobile devices.

To achieve the above-mentioned purpose, the present invention provides a positioning system, which includes a navigation marker unit and an autonomous mobile device. The navigation marker unit is located in the environment, and the navigation marker unit includes a positioning marker (fiducial marker) and a light beacon. The light beacon is located around the positioning marker and emits one or more light spots. The autonomous mobile device includes a body, a driving unit, an image capture unit and a motion control system. The driving unit is used to drive the body to move. The image capture unit generates an image in the environment. The motion control system includes a processing unit, and the processing unit signal connects the driving unit and the image capture unit to receive images, and the processing unit is used to analyze images. When the processing unit recognizes that the image has a navigation marker unit and the spatial coordinates cannot be calculated using the positioning marker, the processing unit selects the first navigation algorithm, controls the drive unit according to the first navigation algorithm, and navigates the body to a first distance from the positioning marker. When the processing unit recognizes that the image has a navigation marker unit and the spatial coordinates can be calculated using the positioning marker, the processing unit selects the second navigation algorithm, controls the drive unit according to the second navigation algorithm, and navigates the body to a second distance from the positioning marker. The first distance is greater than the second distance.

As in the aforementioned positioning system, in one embodiment, the positioning system further includes a multi-intensity illuminator, which can be set on the autonomous mobile device or located around the navigation marker unit, and emits light toward the positioning marker, and dynamically adjusts the brightness of the light according to time changes or preset frequencies, so as to provide the image capture unit with images whose brightness changes over time.

According to the purpose of the present invention, an autonomous mobile device is proposed, which includes a body, a driving unit, an image capture unit and a motion control system. The driving unit is used to drive the body to move. The image capture unit generates images in the environment. The motion control system includes a processing unit, the processing unit signal connects the driving unit and the image capture unit to receive images, and the processing unit is used to analyze the images. When the processing unit recognizes that the image has a navigation mark unit and the positioning mark cannot be used for spatial coordinate calculation, the processing unit selects a first navigation algorithm, controls the driving unit according to the first navigation algorithm, and navigates the body to a first distance from the positioning mark. When the processing unit recognizes that the image has a navigation marker unit and can use the positioning marker to perform spatial coordinate calculation, the processing unit selects the second navigation algorithm, controls the drive unit according to the second navigation algorithm, and navigates the body to the second distance from the positioning marker.

According to the purpose of the present invention, a motion control system is proposed. The motion control system includes a processing unit, which receives and analyzes images in the environment; when the processing unit recognizes that the image has a navigation marker unit and can use the positioning marker to perform spatial coordinate calculation, the processing unit selects a first navigation algorithm, and the processing unit controls the drive unit according to the first navigation algorithm, and navigates the body to a first distance from the positioning marker. When the processing unit recognizes that the image has a navigation marker unit and can use the positioning marker to perform spatial coordinate calculation, the processing unit selects a second navigation algorithm, and the processing unit controls the drive unit according to the second navigation algorithm, and navigates the body to a second distance from the positioning marker.

According to the purpose of the present invention, the present invention further provides a positioning method, which includes the following steps: receiving an image generated by an image capture unit through a processing unit; and analyzing whether the image has a positioning mark in a navigation mark unit through the processing unit; if not, analyzing whether the image has a light spot mark, and if so, controlling the driving unit through the processing unit according to a first navigation algorithm signal, and navigating the body to a first distance from the positioning mark; if so, controlling the driving unit through the processing unit according to a second navigation algorithm signal, and navigating the body to a second distance from the positioning mark; wherein the first distance is greater than the second distance.

As mentioned above, the present invention can guide the autonomous mobile device to reach the target location in the absence of GPS signals, regardless of whether the distance to the target location is long or short, and it can also adapt to various environments.

1,1’: Positioning system

10: Navigation marker unit

12: Positioning mark

14,14’: light spot mark

20,20’: Autonomous mobile devices

21: Body

22: Drive unit

24: Image capture unit

30: Motion control system

32: Processing unit

40,40’:Multiple intensity illuminators

L1: First distance

L2: Second distance

P: Target position

P1: Initial position

P2: Identifiable location

X: Target distance

S1~S5,S11~S14,S41~S43,S51~S56,S61~S64: Steps

FIG. 1A is a block diagram of the first embodiment of the positioning system of the present invention; FIG. 1B is a schematic diagram of the first embodiment of the positioning system of the present invention; FIG. 2A is a block diagram of the second embodiment of the positioning system of the present invention; FIG. 2B is a schematic diagram of the second embodiment of the positioning system of the present invention; FIG. 3 is a flow chart of the first embodiment of the positioning method of the present invention; FIG. 4 is a flow chart of the second embodiment of the positioning method of the present invention; FIG. 5 is a flow chart of the third embodiment of the positioning method of the present invention; FIG. 6 is a flow chart of the fourth embodiment of the positioning method of the present invention; FIG. 7 is a flow chart of the fifth embodiment of the positioning method of the present invention.

The embodiments of the present invention will be further explained below with the help of the relevant drawings. As far as possible, the same reference numerals in the drawings and the specification represent the same or similar components. In the drawings, the shapes and thicknesses may be exaggerated for the sake of simplicity and convenience. It is understood that the components not specifically shown in the drawings or described in the specification are in the form known to those with ordinary knowledge in the relevant technical field. Those with ordinary knowledge in this field can make various changes and modifications based on the content of the present invention.

Please refer to FIG. 1A and FIG. 1B , the positioning system 1 includes a navigation marker unit 10, an autonomous mobile device 20 and a multi-intensity illuminator 40. The navigation marker unit 10 is located in the environment and includes a positioning marker 12 and a light spot marker 14. The light spot marker 14 is located around the positioning marker 12 and emits one or more light spots. The autonomous mobile device 20 includes a body 21, a drive unit 22, an image capture unit 24 and a motion control system 30. The drive unit 22 drives the body 21 to move. The image capture unit 24 generates an image in the environment.

The motion control system 30 includes a processing unit 32, which is connected to the drive unit 22 and the image capture unit 24 by signal to receive the image. The processing unit 32 is used to analyze the image. When the processing unit 32 recognizes that the image has a navigation marker unit 10 and cannot use the positioning marker 12 to perform spatial coordinate calculation (that is, only the light spot marker 14 can be recognized), the processing unit 32 selects the first navigation algorithm. The processing unit 32 controls the drive unit 22 according to the first navigation algorithm signal to navigate the body 21 to a first distance L1 from the navigation marker unit 10.

When the processing unit 32 recognizes that the image has a navigation marker unit 10 and can use the positioning marker 12 to perform spatial positioning and spatial coordinate calculation, the processing unit 32 selects the second navigation algorithm. The processing unit 32 controls the driving unit 22 according to the second navigation algorithm signal to navigate the body 21 to the second distance L2 from the navigation marker unit 10. The first distance L1 is greater than the second distance L2.

The multi-intensity illuminator 40 is located around the navigation mark unit 10 and emits light toward the positioning mark 12. In actual settings, it can be placed at different distances according to different environments. The multi-intensity illuminator 40 dynamically adjusts the brightness of the light according to time changes or preset frequencies, providing the image capture unit 24 with images whose brightness changes over time. Generally speaking, in order to adapt to different terrains and environments, the distance between the multi-intensity illuminator 40 and the positioning mark 12 may be different in different situations. The multi-intensity illuminator 40 allows the light to change over time and change the brightness, thereby enabling the autonomous mobile device 20 to improve the recognition stability of the positioning mark 12 in various different locations.

Regarding the setting of the positioning mark 12 and the light spot mark 14, for example, as shown in FIG1B, the navigation mark unit 10 may include a plurality of positioning marks 12, each positioning mark 12 represents an ArUco code and is arranged in a matrix, and the navigation mark unit 10 may be rectangular but is not limited thereto. The light spot mark 14 may emit one or more light spots, two parallel light spots in the figure, which are set above the positioning mark 12, and the two light spots are separated by a certain distance. The light spot mark 14 may also change its position, and is not limited to being next to the positioning mark 12.

Furthermore, in actual application, the establishment of the positioning marker 12 on the navigation marker unit 10 must include one or more marker parameters, which include: the number of positioning markers 12 set in each row and column, the side length of the positioning marker 12, the spacing distance between each positioning marker 12, the token dictionary, and the ID of the first marker. Since the positioning marker 12 has a unique number and directional characteristics, in order to obtain more stable and accurate results, the present invention uses a plurality of positioning markers 12 of the same type but different styles, and forms a specific marker plate in a matrix arrangement to improve the recognition rate of the positioning marker 12, has a greater tolerance for partially blocked images, and can form more reference points, so that a more stable detection result can be achieved.

For example, the autonomous mobile device 20 is a drone, and the image capture unit 24 is a camera. The drone identifies the position of the positioning mark 12 in the environment through the image collected by the front camera, defines the coordinates of the drone itself based on the position of the positioning mark 12, and performs guidance. If the ambient light is insufficient, the multi-intensity illuminator 40 emits different brightness changes to perform appropriate brightness compensation. If the image of the positioning mark 12 cannot be obtained (that is, the positioning mark 12 cannot be used for spatial positioning calculation), the light spot mark 14 recognition mechanism is turned on, and the light spot mark 14 is recognized based on the specific frequency or specific placement position, and then the drone is guided to the distance range where the positioning mark 12 can be recognized, and then guidance is performed.

The first navigation algorithm or the second navigation algorithm may be stored in the autonomous mobile device 20 or the motion control system 30, and the processing unit 32 may select the first navigation algorithm or the second navigation algorithm from the autonomous mobile device 20 or the motion control system 30.

Please refer to Figure 2A and Figure 2B. The difference between this embodiment and the first embodiment is that the light spot mark 14', the autonomous mobile device 20', and the multi-intensity illuminator 40' of the positioning system 1' are different from the light spot mark, the autonomous mobile device, and the multi-intensity illuminator of the positioning system 1.

In this embodiment, there is a distance between the light spot mark 14' and the positioning mark 12, and the two are not connected. The multi-intensity illuminator 40' is set on the autonomous mobile device 20', and the multi-intensity illuminator 40' is electrically connected to the processing unit 32. The processing unit 32 controls the multi-intensity illuminator 40' to emit light, and dynamically adjusts the brightness of the light according to time changes or preset frequencies, so as to provide the image capture unit 24 with images whose brightness changes with time.

For example, when the autonomous mobile device 20' is located at the initial position P1 of takeoff, the initial position P1 is about 40 to 80 meters away from the target position P. Since the distance to the positioning mark 12 is too far, the positioning mark 12 is difficult to identify in the image, and the positioning mark 12 cannot be used to perform spatial positioning calculation. At this time, if the processing unit 32 analyzes the image and recognizes the light spot mark 14', the processing unit 32 controls the autonomous mobile device 20' according to the first navigation algorithm signal, and guides the autonomous mobile device 20' to move to the first distance L1 from the positioning mark 12 through the guidance of the light spot mark 14', and continues to move to the recognizable position P2. The identifiable position P2 is about 12 to 20 meters away from the target position P. After navigating to the identifiable position P2, the processing unit 32 can analyze the image and identify the positioning mark 12. Then the processing unit 32 controls the driving unit 22 according to the second navigation algorithm signal to navigate the body 21 to move within the second distance L2 from the positioning mark 12.

Generally speaking, when the autonomous mobile device 20' arrives at the target position P, the environmental factors may change greatly during the actual process, which may interfere with the positioning capability of the autonomous mobile device 20' at the target position P. For example, when the wind or external force causes the mobile device to turn sharply, the positioning mark 12 may be beyond the sensing range of the image capture unit 24; or, when the autonomous mobile device 20' is very close to the positioning mark 12, it is easily disturbed by the airflow, especially when there are obstacles or obstructions in the surrounding environment. The airflow generated by the rotation of the propeller of the autonomous mobile device 20' (such as a drone) may be affected by the aforementioned obstacles, resulting in unstable flight conditions. This unstable phenomenon may also cause the image capture unit 24 on the autonomous mobile device to be unable to face the positioning mark 12. The motion control system 30 can set a target distance as a preset drifting range, that is, when the autonomous mobile device 20' reaches the target position P, the autonomous mobile device 20' can be allowed to drift within a certain range.

Therefore, the present invention controls the autonomous mobile device to locate itself in a GPS-free environment by moving and flying, and adjusts the forward position and orientation at the same time, thereby reaching the target location. The autonomous mobile device can be a drone or unmanned vehicle.

Although the concept of the positioning method has been explained in the process of explaining the positioning system of the present invention, for the sake of clarity, a flowchart is still shown below for detailed explanation. Please use the block diagram and schematic diagram of the positioning system shown in Figures 1A to 2B above to clearly explain the flowcharts shown in Figures 3 to 7 below.

Please refer to Figure 3, the positioning method includes the following steps:

Step S1, receiving the image generated by the image capture unit.

Step S2, analyze whether the image has a positioning mark. If not, execute step S3, if yes, execute step S5.

Step S3, analyzing whether the image has a light spot mark.

Step S5, the processing unit controls the driving unit according to the second navigation algorithm signal, and navigates the body to move within the second distance from the positioning mark.

In step S3, if yes, go to step S4, if no, go back to step S1.

Step S4, the processing unit controls the driving unit according to the first navigation algorithm signal, and navigates the body to within the first distance from the positioning mark.

In step S1, the motion control system also includes a communication unit, through which the image generated by the image capture unit is received.

In step S2, after receiving the image generated by the image capture unit through the communication unit, the image is analyzed by the processing unit.

Please refer to Figure 4. The difference between this embodiment and the embodiment described in Figure 3 is that the positioning method of this embodiment also includes the following steps:

Step S11, control the driving unit to drive the body to move to the initial height.

Step S12, receiving the image generated by the image capture unit.

Step S13, analyze whether the image has a navigation marker unit. If yes, execute step S2; if no, execute step S14.

Step S14, control the driving unit to drive the body to continue to rise, and continue to receive and analyze the images output by the image capture unit during the rise, until the preset maximum height is reached, then control the body to land on the ground and end the mission.

In step S11, the initial height is higher than the ground or equal to the ground. The aircraft can be set to take off/land from the ground or a position far from the ground according to needs, but it is not limited to this.

In step S11 and step S14, regarding the step of controlling the driving unit, the driving unit can be controlled by a direct signal from the motion control system, or a control signal can be transmitted to indirectly control the driving unit.

For example, in some cases, the location where the positioning marker is set may be blocked by obstacles or the height is too low or blocked, or when the autonomous mobile device is started to move, it may not face the positioning marker, so the above steps are used for search sensing. At the same time, the YOLOv5 model can also be used to identify the size of the bounding box around the positioning marker, and in order to ensure that the mobile device can remain facing the positioning marker, the width of the bounding box around the positioning marker is preferably set within 20 pixels from the center of the image, and the height can be greater than 300 pixels, so as to facilitate the subsequent guidance of short-distance positioning navigation.

[Long-distance positioning navigation]

Please refer to Figure 3 and Figure 5 together. Figure 5 also shows the concept of the first navigation algorithm. The default scenario is in an environment without GPS, and the distance between the mobile device and the target location is currently unknown. In this embodiment, the positioning method can first determine whether it is close to the target location, and then further perform navigation guidance positioning. The following steps are also included in step S4:

Step S41, using a deep learning model to identify navigation marker units through a processing unit.

Step S42, control the drive unit to drive the body.

Step S43, the navigation body moves toward the light spot mark and within the first distance.

After executing step S43, return to step S1 in Figure 3.

[Short-range positioning navigation]

Please refer to Figure 6. In this embodiment, the difference between the positioning method of Figure 6 and Figure 3 is that step S5 also includes steps S51 to S56. When the autonomous mobile device is within the second distance before the positioning mark, the short-distance positioning navigation mechanism will be performed.

Step S51, analyzing the image according to the preset icon features through the motion control system.

Step S52, determine whether there is a positioning mark in the image that meets the preset icon characteristics. If yes, execute step S53, otherwise return to step S51.

Step S53, establish the image coordinates of the positioning mark.

Step S54, calculate the position and direction of the autonomous mobile device through the geometric relationship between the image coordinates and the corresponding world coordinates.

Step S55, guide and control the movement of the body according to the positioning mark, and control the positioning mark to be located at the center of the image.

Step S56, reach the target position in front of the positioning mark.

In step S51, the default icon features include the color, shape, size and other features of the positioning mark.

In step S54, the so-called world coordinates are a fixed universal coordinate system, an ordered real number triple consisting of three absolute coordinates (X, Y, Z). X, Y, and Z represent the directed distance from the world origin (0, 0, 0) along the corresponding axis direction.

For example, when the object size is larger, the position of the YOLOv5 recognition bounding box may be less stable. Therefore, applying this method will overcome the problem of unstable positioning and achieve accurate guidance to a specific target position. When the mobile device is within 12 to 20 meters in front of the navigation marker unit, the positioning method of this embodiment can be applied. The target position can be set 3 to 5 meters in front of the positioning marker, or a target preset distance or target preset range (for example, within the range of 0 to 5 meters) can be set as the target position.

Furthermore, in the application of short-distance precise positioning, the positioning method of the present invention can calculate the position and posture of the autonomous mobile device through positioning markers (i.e. ArUco boards) and visual positioning algorithms.

[Suspended phase]

Please refer to Figure 7. In this embodiment, the positioning method of Figure 7 is different from that of Figure 6 in that when step S56 reaches the target position, it also includes steps S61 to S64.

Step S61, control the machine to reach the target position and suspend, and control the positioning mark to be located at the center of the image.

Step S62, calculate the position average of multiple image coordinates stored during the movement process.

Step S63, adjust the position and direction of the autonomous mobile device according to the average position value.

Step S64, control the body image capture unit to face the positioning mark while maintaining horizontal movement.

In step S62, adjusting the flight of the mobile device by averaging the position of the ten image coordinates recorded when the mobile device was previously moving will help reduce the impact of air turbulence and unstable flight conditions.

Furthermore, in step S63, a preset drifting range can be set, that is, when the autonomous mobile device reaches the target position, the autonomous mobile device can be allowed to drift within a certain range. For example, a circle with the target position as the center and a radius within a preset distance are all within the allowable drifting range, thereby ensuring the accurate positioning and stability of the autonomous mobile device.

In the above positioning method, it may also include emitting bright light toward the positioning mark by a multi-intensity illuminator to provide ambient brightness compensation. The multi-intensity illuminator emits bright light toward the positioning mark, and dynamically adjusts the brightness of the bright light according to time changes or preset frequency.

The circuit of this multi-intensity illuminator uses the principle of voltage change generated by electronic circuits to generate auxiliary lighting of different intensities. For example, when the cycle of the multi-intensity illuminator is set to three seconds, the brightness of the multi-intensity illuminator will be adjusted from complete darkness to complete brightness during this period.

Although the steps of the methods described in the present disclosure are shown and described in a particular order, the order of operation of each method can be changed, and some steps can be performed in the reverse order, or some steps can be performed simultaneously with other steps. In another embodiment, different steps can be implemented in an intermittent and/or alternating manner.

In summary, the present invention can effectively guide the mobile device from a long distance to a short distance and then to the target position in front of the positioning marker in an environment without GPS. Using the light spot marker for positioning navigation in a long-distance range and using the positioning marker for positioning navigation in a short-distance range can ensure that the mobile device can fly smoothly to the target position. Therefore, through two stages (long-distance navigation and short-distance navigation), the drone can achieve accurate, stable and efficient navigation from far to near.

The above is only an example to illustrate the preferred implementation of the present invention, and is not intended to limit the scope of implementation. All simple substitutions and equivalent changes made according to the scope of the patent application of the present invention and the content of the patent specification are within the scope of the patent application of the present invention.

1: Positioning system

10: Navigation marker unit

12: Positioning mark

14: Light spot mark

20: Autonomous mobile devices

21: Body

22: Drive unit

24: Image capture unit

30: Motion control system

32: Processing unit

40:Multiple intensity lighting device

Claims (19)

A positioning system includes: a navigation mark unit located in an environment, the navigation mark unit includes a positioning mark and a light spot mark, the light spot mark is located around the positioning mark and emits one or more light spots; and an autonomous mobile device, including: a body; a driving unit, driving the body to move; an image capture unit, generating an image in the environment; and a motion control system, including a processing unit, the processing unit signal connecting the driving unit and the image capture unit to receive the image, the processing unit is used to analyze the image; the processing unit identifies that the image has the navigation mark unit and When the spatial coordinates cannot be calculated using the positioning mark, the processing unit selects a first navigation algorithm, controls the driving unit according to the first navigation algorithm, and navigates the body to a first distance from the positioning mark; when the processing unit recognizes that the image has the navigation mark unit and performs spatial coordinate calculation using the positioning mark, the processing unit selects a second navigation algorithm, controls the driving unit according to the second navigation algorithm, and navigates the body to a second distance from the positioning mark; wherein the first distance is greater than the second distance. The positioning system as described in claim 1 further comprises a multi-intensity illuminator, which is located around the navigation mark unit or is disposed on the autonomous mobile device and emits light toward the positioning mark, and dynamically adjusts the brightness of the light according to time changes or a preset frequency, so as to provide the image capture unit with the image whose brightness changes with time. A positioning system as described in claim 1, wherein, in the first navigation algorithm, the processing unit uses a deep learning model to identify the navigation marker unit. A positioning system as described in claim 1, wherein the positioning marker has a preset icon feature, and in the second navigation algorithm, when the processing unit analyzes the image and finds that the positioning marker has the preset icon feature, an image coordinate of the positioning marker is established, and the processing unit calculates the position and direction of the body relative to the positioning marker based on the spatial geometric relationship between the image coordinate and a corresponding world coordinate. A positioning system as described in claim 4, wherein the processing unit analyzes the image and controls the positioning mark of the body to be located at the center of the image during the movement. When the positioning mark deviates from the center of the image, the processing unit controls the driving unit to drive the body to move in height and turn, while continuing to move toward the positioning mark. A positioning system as described in claim 4, wherein the processing unit navigates the body to move within the second distance from the positioning mark, and continues to navigate until the body is located at a target position in front of the positioning mark, controls the body to reach the target position and suspend, and controls the positioning mark to be located at the center of the image. A positioning system as described in claim 6, wherein, when the body is suspended, the processing unit calculates a position average of a plurality of image coordinates stored during the movement process to calculate the position and direction of the body to be moved, and the processing unit controls the body and the image capture unit to face the navigation marking unit while maintaining horizontal movement to ensure positioning stability. An autonomous mobile device comprises: a machine body; a driving unit for driving the machine body to move; an image capturing unit for generating an image in an environment; a motion control system comprising a processing unit, the processing unit signal connecting the driving unit and the image capturing unit for receiving and analyzing the image; when the processing unit identifies that the image has a navigation marker unit and a positioning marker in the navigation marker unit cannot be used to perform spatial coordinate calculation, the processing unit selects a first navigation algorithm, controls the driving unit according to the first navigation algorithm, and navigates the machine body to a position away from the positioning marker. within a first distance; when the processing unit identifies that the image has the navigation mark unit and performs spatial coordinate calculation with the positioning mark, the processing unit selects a second navigation algorithm, and the processing unit controls the driving unit according to the second navigation algorithm, and navigates the body to a second distance from the positioning mark, wherein the first distance is greater than the second distance; and a multi-intensity illuminator, electrically connected to the motion control system, the multi-intensity illuminator emits light, and dynamically adjusts the brightness of the light according to time changes or a preset frequency, so as to provide the image capture unit with the image whose brightness changes with time. A motion control system includes: a processing unit, receiving and analyzing an image in an environment; when the processing unit recognizes that the image has a navigation marker unit and a positioning marker in the navigation marker unit cannot be used to perform spatial coordinate calculation, the processing unit selects a first navigation algorithm, controls a drive unit according to the first navigation algorithm, and navigates an object to a position at a distance within a first distance of the positioning mark; when the processing unit recognizes that the image has the navigation mark unit and performs spatial coordinate calculation with the positioning mark, the processing unit selects a second navigation algorithm, and the processing unit controls the drive unit according to the second navigation algorithm and navigates the body to a second distance from the positioning mark; wherein the first distance is greater than the second distance. A positioning method includes: receiving an image generated by an image capture unit through a processing unit; and analyzing whether the image has a positioning mark in a navigation mark unit through the processing unit; if not, analyzing whether the image has a light spot mark, and if so, controlling a driving unit through the processing unit according to a first navigation algorithm signal, and navigating a body to a first distance from the positioning mark; if so, controlling the driving unit through the processing unit according to a second navigation algorithm signal, and navigating the body to a second distance from the positioning mark; wherein the first distance is greater than the second distance. A positioning method as described in claim 10, wherein the first navigation algorithm utilizes a deep learning model to identify the navigation marker unit. As described in claim 10, before analyzing whether the image has the positioning mark in the navigation mark unit, the positioning method further includes: controlling the driving unit to drive the body to move to an initial height, and returning to the step of receiving the image generated by the image capture unit. The positioning method as described in claim 10, wherein, in the step of analyzing the image, if the image does not have the navigation marker unit, the processing unit controls the driving unit to drive the body to continue to rise, and continuously receives the image output by the image capture unit during the rise. A positioning method as described in claim 13, wherein the aircraft is controlled to rise to a preset maximum height, and the image is analyzed to see whether it has the navigation marker unit, and if not, it descends to the ground. The positioning method as described in claim 10, wherein the positioning marker has a preset icon feature, and in the second navigation algorithm, when the image has the positioning marker that meets the preset icon feature, an image coordinate of the positioning marker is established, and the position and direction of the body relative to the positioning marker are calculated based on the spatial geometric relationship between the image coordinate and a corresponding world coordinate. As described in claim 15, after calculating the position and direction of the body relative to the positioning mark, the positioning mark is controlled to be located at the center of the image during the movement of the body; when the positioning mark deviates from the center of the image, the driving unit is controlled to drive the body to move in height and turn, while continuing to move toward the positioning mark. As described in claim 14, in the step of controlling the driving unit by the processing unit according to the second navigation algorithm signal to navigate the body to move within the second distance from the positioning mark, the method further includes continuing navigation until the body is located at a target position in front of the navigation mark unit, controlling the body to reach the target position and suspend, and controlling the positioning mark to be located at the center of the image. The positioning method as described in claim 17 may further include the following steps in the step of controlling the body to reach the target position and suspend: calculating an image coordinate of the positioning mark and a position average of a plurality of image coordinates stored during the movement process to calculate the position and direction of the body to be moved; and controlling the body and the image capture unit to face the navigation mark unit while maintaining horizontal movement to ensure positioning stability. The positioning method as described in claim 10, before the step of sensing and generating the image through the image capture unit, also includes emitting light toward the navigation mark unit through a multi-intensity illuminator, and dynamically adjusting the brightness of the light according to time changes or a preset frequency to obtain the image whose brightness changes with time.