CN105642478A - Device based on invisible code positioning and positioning method - Google Patents
Device based on invisible code positioning and positioning method Download PDFInfo
- Publication number
- CN105642478A CN105642478A CN201511024438.4A CN201511024438A CN105642478A CN 105642478 A CN105642478 A CN 105642478A CN 201511024438 A CN201511024438 A CN 201511024438A CN 105642478 A CN105642478 A CN 105642478A
- Authority
- CN
- China
- Prior art keywords
- spray printing
- unit
- main control
- control unit
- invisible ink
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
- B05D1/12—Applying particulate materials
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a device based on invisible code positioning. The device comprises a walking body, wherein a main control unit is arranged on the walking body; and the main control unit is electrically connected with a driving system unit, an invisible ink jet coding unit and a code reading unit. The invention further discloses a method based on invisible code positioning. The device and the method have the advantages as follows: not only rapid, accurate and non-blind area positioning can be achieved through a way of marking, but also the attractive appearance of the environment cannot be affected by marking.
Description
Technical field
The present invention relates to location technology, especially relate to a kind of to realize location quick, accurate, non-blind area by the mode of labelling, the device based on concealed code location and the localization method of environmental beauty will not be affected again because of labelling.
Background technology
How robot identifies that external environment and self poisoning are difficult problems in robot Development Technology. GPS be positioned at indoor signal weak time be to use, and due to use satellite fix, there is certain time delay; Ultrasonic locating is when sending ultrasound wave, and different material is different with absorbance to hyperacoustic reflectance, and the material echo-signal high for absorbance is likely to None-identified; Bluetooth beacon location algorithm is complicated, and accuracy also can not get ensureing; Quick Response Code positions, and namely pastes several places Quick Response Code on indoor wall, and by identifying that several places Quick Response Code positions, but its aesthetic property uncovered area simultaneously that can affect environment also cannot use. In nature, a lot of animals are to remember, by olfactory sensation, the route oneself passed by, and its principle is exactly make marks on the route oneself passed by, by identifying that labelling positions during return.
Summary of the invention
For solving the problems referred to above, it is an object of the invention to provide and a kind of can realize location quick, accurate, non-blind area by the mode of labelling, the device positioned based on concealed code of environmental beauty will not be affected again because of labelling.
The present invention is realized by techniques below measure, a kind of device based on concealed code location, including walking main body, described walking main body being provided with main control unit, described main control unit is electrically connected with drive system unit, invisible ink coding unit and reading code unit.
As a kind of optimal way, the ink in described invisible ink coding unit is ultraviolet invisible ink.
As a kind of optimal way, described reading code unit is ultraviolet light scanner.
As a kind of optimal way, described invisible ink coding unit spray printing is Quick Response Code.
As a kind of optimal way, described walking main body is robot.
As a kind of optimal way, the shower nozzle of described invisible ink coding unit is 5mm��10mm to ground distance.
The invention also discloses a kind of method based on concealed code location, comprise the steps:
The first step: stealthy spray printing content, spray printing region are set in the main control unit of the device positioned based on concealed code by human-computer interaction device;
Second step: by main control unit, initial position carried out spray printing labelling, and generate this spray printing labelling and initial position co-ordinates (x at main control unit0,y0) association;
3rd step: drive system unit is traveling in mobile route, carries out different spray printing labellings in predetermined spray printing region, and generates associating of each spray printing labelling and respective routes coordinate at main control unit;
4th step: drive system unit is in return line, the content of spray printing labelling is read by reading code unit, main control unit obtains the route coordinates information associated by each spray printing labelling, calculate and the last hithermost route coordinates of target route coordinate, and advance to it by drive system unit; Until returning to initial position co-ordinates (x0,y0)��
As a kind of optimal way, described stealthy spray printing content is Quick Response Code.
As a kind of optimal way, the ink in described invisible ink coding unit is ultraviolet invisible ink.
As a kind of optimal way, described reading code unit is ultraviolet light scanner.
The present invention utilizes the invisible ink spray printing in invisible ink coding unit to go out the labelling that is invisible to the naked eye, and spray printing labelling could read its content only by reading code unit, thus without the overall appearance affecting environmental surfaces. The present invention can realize location quick, accurate, non-blind area by the mode of labelling, will not affect because of labelling again attractive in appearance, be applied to the fields such as intelligent robot, can improve the practicality of intelligent robot.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the embodiment of the present invention;
Fig. 2 is the main program flow chart of the embodiment of the present invention;
Fig. 3 is the man-machine interaction flow chart of the embodiment of the present invention;
Fig. 4 is stealthy spray printing and the light scanning flow chart of the embodiment of the present invention;
Fig. 5 is the flow chart that the drive system unit of the embodiment of the present invention moves.
Detailed description of the invention
Below in conjunction with embodiment and compare accompanying drawing the present invention is described in further detail.
A kind of device and method based on concealed code location, refer to Fig. 1, device based on concealed code location includes walking main body 100 such as intelligent robot etc., described walking main body 100 is provided with main control unit 102, described main control unit 102 is electrically connected with drive system unit 101, invisible ink coding unit 104 and reading code unit 103, the invisible ink coding unit 104 of this device selects BD-588 invisible ink ink jet numbering machine, adopt ultraviolet invisible ink, quick dried environment protection ink, without external gas source and diluent, spray printing distance 5mm��10mm (shower nozzle to ground distance). its localization method is:
The first step: stealthy spray printing content (Quick Response Code), spray printing region (as at 50cmX50cm) are set in the main control unit 102 of the device positioned based on concealed code by human-computer interaction device 200 (such as input keyboard, computer, smart mobile phone etc.);
Second step: by main control unit 102, initial position carried out spray printing labelling, and generate this spray printing labelling and initial position co-ordinates (x at main control unit 1020,y0) association;
3rd step: drive system unit 101 is traveling in mobile route, carries out different spray printing labellings, and generates route coordinates information (x at main control unit 102 in predetermined spray printing region1,y1)��(x2,y2) ..., make each spray printing labelling and respective routes coordinate information (x1,y1)��(x2,y2) ... it is associated; For spray printing Quick Response Code tag plane route coordinates, mobile route often moves a certain distance and carries out spray printing, spray printing is marked under ordinary ray and is shown as invisible, under specific ultraviolet light (200-400nm) irradiates just high-visible, thus ultraviolet light scanner can be passed through read the location information in coding content;
4th step: drive system unit is in return line, the content of spray printing labelling is read by reading code unit 103 (ultraviolet light scanner), main control unit 102 obtains the route coordinates information associated by each spray printing labelling, calculate and the last hithermost route coordinates of target route coordinate, and advance to it by drive system unit;Successively according to ..., (x2,y2)��(x1,y1) labelling returns, until returning to initial position co-ordinates (x0,y0)��
Fig. 2 is the main program flow chart of the present embodiment; Fig. 3 is the man-machine interaction flow chart of the present embodiment; Fig. 4 is stealthy spray printing and the light scanning flow chart of the present embodiment; Fig. 5 is the flow chart that the drive system unit of the present embodiment moves.
This method utilizes the invisible ink spray printing in invisible ink coding unit 104 to go out the labelling that is invisible to the naked eye, and spray printing labelling could read its content only by reading code unit 103, thus without the overall appearance affecting environmental surfaces. This method can realize location quick, accurate, non-blind area by the mode of labelling, will not affect because of labelling again attractive in appearance, be applied to the fields such as intelligent robot, can improve the practicality of intelligent robot.
The device and method based on concealed code location of the present embodiment, concrete it is also possible that walking main body is robot on the basis of previous technique scheme.
The device being above the present invention is positioned based on concealed code is set forth; it is adapted to assist in and understands the present invention; but embodiments of the present invention are also not restricted to the described embodiments; any without departing from the change made under the principle of the invention, modification, replacement, combination, simplification; all should be the substitute mode of equivalence, be included in protection scope of the present invention.
Claims (10)
1. the device based on concealed code location, it is characterised in that: including walking main body, described walking main body is provided with main control unit, described main control unit is electrically connected with drive system unit, invisible ink coding unit and reading code unit.
2. the device based on concealed code location according to claim 1, it is characterised in that: the ink in described invisible ink coding unit is ultraviolet invisible ink.
3. the device based on concealed code location according to claim 1, it is characterised in that: described reading code unit is ultraviolet light scanner.
4. the device based on concealed code location according to claim 1, it is characterised in that: described invisible ink coding unit spray printing is Quick Response Code.
5. the device based on concealed code location according to claim 1, it is characterised in that: described walking main body is robot.
6. the device based on concealed code location according to claim 1, it is characterised in that: the shower nozzle of described invisible ink coding unit is 5mm��10mm to ground distance.
7. the method based on concealed code location, it is characterised in that comprise the steps:
The first step: stealthy spray printing content, spray printing region are set in the main control unit of the device positioned based on concealed code by human-computer interaction device;
Second step: by main control unit, initial position carried out spray printing labelling, and generate this spray printing labelling and initial position co-ordinates (x at main control unit0,y0) association;
3rd step: drive system unit is traveling in mobile route, carries out different spray printing labellings in predetermined spray printing region, and generates associating of each spray printing labelling and respective routes coordinate at main control unit;
4th step: drive system unit is in return line, the content of spray printing labelling is read by reading code unit, main control unit obtains the route coordinates information associated by each spray printing labelling, calculate and the last hithermost route coordinates of target route coordinate, and advance to it by drive system unit; Until returning to initial position co-ordinates (x0,y0)��
8. the method based on concealed code location stated according to claim 7, it is characterised in that: described stealthy spray printing content is Quick Response Code.
9. the method based on concealed code location stated according to claim 7, it is characterised in that: the ink in described invisible ink coding unit is ultraviolet invisible ink.
10. the method based on concealed code location stated according to claim 7, it is characterised in that: described reading code unit is ultraviolet light scanner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511024438.4A CN105642478A (en) | 2015-12-30 | 2015-12-30 | Device based on invisible code positioning and positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511024438.4A CN105642478A (en) | 2015-12-30 | 2015-12-30 | Device based on invisible code positioning and positioning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105642478A true CN105642478A (en) | 2016-06-08 |
Family
ID=56490045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511024438.4A Pending CN105642478A (en) | 2015-12-30 | 2015-12-30 | Device based on invisible code positioning and positioning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105642478A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771086A (en) * | 2021-09-28 | 2021-12-10 | 深圳市零差云控科技有限公司 | Joint module, control method and coaxiality adjusting method thereof, and joint robot |
| CN117541271A (en) * | 2024-01-09 | 2024-02-09 | 中企信诚(北京)防伪技术有限公司 | Invisible code-based product anti-counterfeiting traceability verification method and system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201534944U (en) * | 2009-04-24 | 2010-07-28 | 粟文红 | Rail sleeper positioning and dotting device |
| US7918402B2 (en) * | 2006-03-07 | 2011-04-05 | Tension International, Inc. | Item labeling, inspection and verification system for use in manufacturing, packaging, product shipment-fulfillment, distribution, or on-site operations |
| CN102818568A (en) * | 2012-08-24 | 2012-12-12 | 中国科学院深圳先进技术研究院 | Positioning and navigation system and method of indoor robot |
| CN103196440A (en) * | 2013-03-13 | 2013-07-10 | 上海交通大学 | M sequence discrete-type artificial signpost arrangement method and related mobile robot positioning method |
| CN203241825U (en) * | 2013-05-21 | 2013-10-16 | 无锡普智联科高新技术有限公司 | Mobile robot positioning system based on two-dimension code navigation ribbon |
| CN103869814A (en) * | 2012-12-17 | 2014-06-18 | 联想(北京)有限公司 | Terminal positioning and navigation method and mobile terminal |
| CN204129536U (en) * | 2014-10-08 | 2015-01-28 | 华中科技大学 | A kind of boats and ships hyperbolicity outside plate space orientation marking arrangement |
-
2015
- 2015-12-30 CN CN201511024438.4A patent/CN105642478A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7918402B2 (en) * | 2006-03-07 | 2011-04-05 | Tension International, Inc. | Item labeling, inspection and verification system for use in manufacturing, packaging, product shipment-fulfillment, distribution, or on-site operations |
| CN201534944U (en) * | 2009-04-24 | 2010-07-28 | 粟文红 | Rail sleeper positioning and dotting device |
| CN102818568A (en) * | 2012-08-24 | 2012-12-12 | 中国科学院深圳先进技术研究院 | Positioning and navigation system and method of indoor robot |
| CN103869814A (en) * | 2012-12-17 | 2014-06-18 | 联想(北京)有限公司 | Terminal positioning and navigation method and mobile terminal |
| CN103196440A (en) * | 2013-03-13 | 2013-07-10 | 上海交通大学 | M sequence discrete-type artificial signpost arrangement method and related mobile robot positioning method |
| CN203241825U (en) * | 2013-05-21 | 2013-10-16 | 无锡普智联科高新技术有限公司 | Mobile robot positioning system based on two-dimension code navigation ribbon |
| CN204129536U (en) * | 2014-10-08 | 2015-01-28 | 华中科技大学 | A kind of boats and ships hyperbolicity outside plate space orientation marking arrangement |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771086A (en) * | 2021-09-28 | 2021-12-10 | 深圳市零差云控科技有限公司 | Joint module, control method and coaxiality adjusting method thereof, and joint robot |
| CN113771086B (en) * | 2021-09-28 | 2023-11-10 | 深圳市零差云控科技有限公司 | Control method of joint module and joint robot |
| CN117541271A (en) * | 2024-01-09 | 2024-02-09 | 中企信诚(北京)防伪技术有限公司 | Invisible code-based product anti-counterfeiting traceability verification method and system |
| CN117541271B (en) * | 2024-01-09 | 2024-03-15 | 中企信诚(北京)防伪技术有限公司 | Invisible code-based product anti-counterfeiting traceability verification method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7336184B2 (en) | Systems, methods, and tools for spatially aligning virtual content with a physical environment in an augmented reality platform | |
| CN110019580B (en) | Map display method, map display device, storage medium and terminal | |
| ATE385317T1 (en) | MULTIPLE RESOLUTION OBJECT LOCALIZATION SYSTEM AND METHOD | |
| US20150169045A1 (en) | 3D human-machine interaction method and system | |
| CA2713282C (en) | Marking device with transmitter for triangulating location during marking operations | |
| CN103913162B (en) | The mobile platform of enhancing positions | |
| CN109282811A (en) | Indoor and outdoor positioning system and method for interconnecting UWB (ultra wide band) and smart phone | |
| CN106940713A (en) | Large-scale intermittent manufacture workshop holographic map and implementation method based on RFID and UWB | |
| CN101551250A (en) | Mobile robot landmark dynamic configuration method and device searching facing to unknown environments | |
| US10420059B2 (en) | Method and device for high-precision determination of a mobile device and method for locating or positioning stationary devices | |
| CN107756398A (en) | Robot vision bootstrap technique, device and equipment | |
| CN106153057A (en) | Air navigation aid based on bar code and device, bar code generation method and device | |
| CN105642478A (en) | Device based on invisible code positioning and positioning method | |
| CN103389486A (en) | Control method and electronic device | |
| CN109917790A (en) | It is a kind of independently to guide vehicle and its travel control method and control device | |
| CN105403235A (en) | Two-dimensional positioning system and method | |
| Zhang et al. | Seeing Eye Phone: a smart phone-based indoor localization and guidance system for the visually impaired | |
| US20220084247A1 (en) | System and method for recalibrating an augmented reality experience using physical markers | |
| CN105488312A (en) | Game system | |
| CN101806599A (en) | Intelligent blind-guiding method | |
| Gotlib et al. | Cartographical aspects in the design of indoor navigation systems | |
| CN107463871A (en) | A kind of point cloud matching method based on corner characteristics weighting | |
| CN105758398A (en) | AR (augmented reality)-based parking positioning device | |
| CN106133478A (en) | Speed based on vehicle changes cartographic information density | |
| CN103344974A (en) | Method and system for locating through scenic region guide map |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160608 |