CN105466420B - A kind of apparatus and method for reading Intelligent mobile equipment action identification - Google Patents
A kind of apparatus and method for reading Intelligent mobile equipment action identification Download PDFInfo
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Abstract
A kind of apparatus and method for reading Intelligent mobile equipment action identification belong to navigation and mode identification technology more particularly to a kind of apparatus and method for reading Intelligent mobile equipment action identification.The present invention provides a kind of apparatus and method of the good and at low cost reading Intelligent mobile equipment action identification of strong interference immunity, stability.The device that the present invention reads Intelligent mobile equipment action identification includes microcontroller, photovoltaic array and power supply, power input of the electric energy output end mouth of power supply respectively with the power input of photovoltaic array, microcontroller is connected, photoelectric tube in its structural feature photovoltaic array forms a line, interval between each photoelectric tube is equal, and the length of photovoltaic array is more than the length of positioning mark；The status signal output mouth of each photoelectric tube is connected respectively with the state signal collecting port of microcontroller, and the location information output port of microcontroller is connected with the location information input port of Intelligent mobile equipment.
Description
Technical Field
The invention belongs to the technical field of navigation and mode recognition, and particularly relates to a device and a method for reading an intelligent mobile device action identifier.
Background
The existing navigation control of intelligent mobile equipment mainly comprises the following steps: 1. inertial navigation is carried out by utilizing sensors such as a gyroscope, a compass and the like; 2. navigating by utilizing an electromagnetic or ultrasonic sensor; 3. navigation is performed using a visual sensor. However, each of the above 3 methods has disadvantages. The position estimation error of the method 1 is increased along with the continuous motion of the robot; the method 2 can cause pollution to the detection environment, such as microwave, ultrasound and the like, and the sensors can interfere with each other; method 3 requires a large amount of image computation, resulting in a decrease in system real-time. In order to avoid the problems, scholars propose to adopt a specific action identifier to indicate the travel path of the intelligent mobile equipment and read action information in the identifier by using a camera. However, this method also has problems such as a large amount of information.
Disclosure of Invention
The invention aims at the problems and provides a device and a method for reading the action identifier of the intelligent mobile equipment, which have strong anti-interference performance, good stability and low cost.
In order to achieve the purpose, the device for reading the action identifier of the intelligent mobile equipment comprises a single chip microcomputer, a photoelectric tube array and a power supply, wherein an electric energy output port of the power supply is respectively connected with an electric energy input port of the photoelectric tube array and an electric energy input port of the single chip microcomputer; the state signal output port of each photoelectric tube is respectively connected with the state signal acquisition port of the single chip microcomputer, and the position information output port of the single chip microcomputer is connected with the position information input port of the intelligent mobile device; the single chip microcomputer, the photoelectric tube array and the power supply are all arranged on the intelligent mobile device and move together with the intelligent mobile device.
As a preferred scheme, the length of the positioning mark is equal to the total width of the action mark, and the positioning mark is black or white; the motion marks are 3 multiplied by 3 black and white square grids, the color of the square grid on the left side and the right side in the 3 square grids closest to the positioning mark is consistent with the positioning mark, and the color of the square grid on the left side and the right side in the 3 square grids farthest from the positioning mark is consistent with the positioning mark; the color of other 5 squares is black or white; the number of the photoelectric tubes is 16.
As another preferable scheme, the positioning mark is black and has the size D k ×D c ＝3cm×12cm，D k To locate the width of the mark, D c Is the length of the positioning mark; the size of each square grid of the action identifier is D f ×D f ＝4cm×4cm，D f The side length of the square grid; the 5 squares are all white; the interval of the photoelectric tubes is D g =1cm, the total length of the photocell array being 15cm.
The invention discloses a method for reading an intelligent mobile device action identifier, which comprises the following steps:
step 1: the single chip microcomputer reads the state of each photoelectric tube in the photoelectric tube array, judges whether the photoelectric tube array reaches the positioning mark, if so, the next step is carried out, otherwise, the step 1 is repeated;
step 2: recording the position of a first state-changing photocell in the photocell array; the single chip microcomputer starts to record the duration of state change when each photoelectric tube passes through the positioning identification;
and step 3: the single chip microcomputer reads the state of each photoelectric tube in the photoelectric tube array, judges whether the condition that all the photoelectric tubes in the photoelectric tube array are moved out of the positioning mark is true, and then the next step is carried out, otherwise, the state change duration time when each photoelectric tube passes through the positioning mark is continuously recorded;
and 4, step 4: sequencing the state change duration of each photoelectric tube from large to small, removing the maximum value and the minimum value, and solving the average value as the time of the photoelectric tube array passing through the positioning identification;
and 5: calculating the relative position of the photoelectric tube array and the action identifier through the single chip microcomputer according to the time when the photoelectric tube array passes through the positioning identifier, the width of the positioning identifier, the moving speed of the intelligent mobile equipment and the positions of the photoelectric tubes which change states firstly and finally, and sending position information to the intelligent mobile equipment;
and 6: the single chip microcomputer reads the state of each photoelectric tube in the photoelectric tube array and judges whether the photoelectric tube array enters an action identifier or not; if yes, the next step is carried out, otherwise, the step 6 is continuously carried out;
and 7: judging whether the distance between the photoelectric tube at the leftmost end and the photoelectric tube at the rightmost end of the state change in the photoelectric tube array changes or not, and if not, determining that the photoelectric tube array completely covers the action identifier; calculating the relative angle between the photoelectric tube array and the action mark according to the distance, the width of the action mark and the photoelectric tube which changes the state firstly;
and 8: and (4) reading information in the action identifier as action information and sending the action information to the intelligent mobile equipment according to the relative angle, the moving speed of the intelligent mobile equipment and the state change of the photoelectric tube in the photoelectric tube array in the step (7).
As a preferable scheme, the state return value of the photoelectric tube of the present invention is 1 for the ground and white, and 0 for the black.
As another preferable scheme, step 1: reading the states of 16 photoelectric cells Li, i = 1-16; if the 16 photoelectric tubes return to the 0 state and last for more than 2 sampling periods, the intelligent mobile equipment is determined to reach the positioning identifier, the next step is carried out, and otherwise, the step 1 is repeated;
and 2, step: recording the position of a first photocell in the photocell array which changes the state as first _ change; and starts to record the duration time of the state change of each photoelectric tube when passing through the positioning mark i ；
And step 3: if the return states of all the photoelectric tubes in the photoelectric tube array are all 1, the condition that all the photoelectric tubes in the photoelectric tube array are all moved out of the positioning mark is considered to be true, the position of the last photoelectric tube which becomes 1 is recorded and recorded as last _ change, the next step is carried out, and otherwise, the continuous time of the state change when each photoelectric tube passes through the positioning mark is continuously recorded i ；
And 4, step 4: all the time i Sorting from large to small, removing maximum and minimum, calculating average, and positioning as photoelectric tube arrayIdentified time of day tong ；
And 5: the moving speed of the intelligent mobile equipment is v, and an included angle theta between the axis of the photoelectric tube array and the axis of the positioning identification is calculated according to the following formula:
θ＝arccos(v×time tong /D k )
and (3) when the positioning identifier is used as the origin of coordinates and the photoelectric tube array completely passes through the positioning identifier, calculating coordinates of the geometric center of the photoelectric tube array under the coordinate system according to the following formula, wherein first _ change is more than last _ change in 3 cases:
case 1:
case 2:
case 3:
and after the coordinates are calculated, the coordinates are sent to a driving controller of the intelligent mobile device.
Secondly, step 6 of the invention: the single chip microcomputer reads the state of each photoelectric tube in the photoelectric tube array, if the state of the photoelectric tube changes, the position fx of the photoelectric tube with the first changing state is recorded, the states of the photoelectric tubes adjacent to each other in the position are subjected to exclusive OR pairwise, the result is accumulated and recorded as change _ f, if the value of the change _ f of more than 3 continuous sampling periods is 2 or 4, the photoelectric tube array is considered to enter an action identifier, the positions of the photoelectric tubes with the exclusive OR result of 1 are recorded as c1, c2 or c1, c2, c3 and c4, the next step is carried out, and otherwise, the step 6 is continuously executed.
In addition, step 7 of the present invention: the process of starting to read the action identifier and reading the action information by the photocell array through the action identifier is as follows:
A. judging whether the distance between the photoelectric tube at the leftmost end and the photoelectric tube at the rightmost end of the state change in the photoelectric tube array changes or not, and if not, determining that the photoelectric tube array completely covers the action identifier; record this distance as dis l ；
B. Calculating the included angle between the photoelectric tube array and the action mark by the following formula
C. Calculating 3 times by the following formula, and reading the position code of the photoelectric tube of the action identifier to be recorded as read i,j ,i，j＝1,2,3，read i,j Identifying a read position code for the ith row and the jth block;
(1) If fx > N/2, change \uf =4
read 1,1 ＝c1+2
read 1,2 ＝c4-2
read 1,3 ＝c2+(c3-c2)/2
(2) If fx > N/2,change \uf =2
read 1,1 ＝c1+2
read 1,2 ＝c2-2
read 1,3 ＝c1+(c2-c1)/2
(3) If fx < N/2,change \ u f =4
read 1,1 ＝c1+2
read 1,2 ＝c4-2
read 1,3 ＝c2+(c3-c2)/2
(4) If fx < N/2, change _f =2
read 1,1 ＝c1+2
read 1,2 ＝c2-2
read 1,3 ＝c1+(c2-c1)/2
D. Record the current time T d = T, read
E. The current timeWhile reading
F. Current time of dayWhile reading
G. The read-out action information is r12, r21, r22, r23, r32;
and 8: and sending the action information to a driving controller of the intelligent mobile equipment.
The invention has the beneficial effects.
The device for reading the action identifier of the intelligent mobile equipment based on the photoelectric array has the following advantages:
1. the problems that the existing robot navigation field is weak in adaptability to complex environments, errors in navigation are accumulated, the calculation amount is large, sensors are interfered with each other and the like are effectively solved.
2. The method can be combined with other navigation systems, and the stability and the practicability of the navigation system are improved.
3. Compared with the video-based information reading device, the video-based information reading device has the advantages of simple structure, low cost and convenience in maintenance and repair.
4. Compared with the information reading device based on video, the device has the advantages of small required data space, small information amount and strong anti-interference performance.
Drawings
The invention is further described with reference to the following figures and detailed description. The scope of the invention is not limited to the following expressions.
FIG. 1 is a schematic diagram of an action identifier and a location identifier according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an apparatus for reading an action identifier of a smart mobile device according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for reading motion ID information according to an embodiment of the present invention;
FIG. 4 is a schematic view of a photovoltaic array passing through a location indicator according to one embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a process of reading motion information by a photo array according to an embodiment of the present invention.
Detailed Description
As shown in the figure, the device for reading the action identifier of the intelligent mobile equipment comprises a single chip microcomputer, a photoelectric tube array and a power supply, wherein an electric energy output port of the power supply is respectively connected with an electric energy input port of the photoelectric tube array and an electric energy input port of the single chip microcomputer, photoelectric tubes in the photoelectric tube array are arranged in a row, intervals among the photoelectric tubes are equal, and the length of the photoelectric tube array is greater than that of a positioning identifier; the state signal output port of each photoelectric tube is respectively connected with the state signal acquisition port of the single chip microcomputer, and the position information output port of the single chip microcomputer is connected with the position information input port of the intelligent mobile device; the single chip microcomputer, the photoelectric tube array and the power supply are all arranged on the intelligent mobile device and move together with the intelligent mobile device.
The center of the action mark is over against the center of the positioning mark. The length of the positioning mark is equal to the total width of the action mark, the distance between the positioning mark and the action mark is S, and the positioning mark is black or white; the action marks are 3 multiplied by 3 black and white square grids, the color of the square grid on the left side and the right side in the 3 square grids closest to the positioning mark is consistent with the positioning mark, and the color of the square grid on the left side and the right side in the 3 square grids farthest from the positioning mark is consistent with the positioning mark; the other 5 squares are black or white in color, and the total number of the 5 th power of 2 is provided for 32 patterns to encode the next action of the intelligent mobile device; the number of the photoelectric tubes is 16.
The positioning mark is black and has a size of D k ×D c ＝3cm×12cm，D k To locate the width of the mark, D c Length of the positioning mark; the size of each square of the action mark is D f ×D f ＝4cm×4cm，D f The side length of the square grid; the 5 squares are all white; the interval of the photoelectric tubes is D g =1cm, and the total length of the photocell array is 15cm.
The invention discloses a method for reading an intelligent mobile device action identifier, which comprises the following steps:
step 1: reading the state (0 or 1 in the singlechip) of each photoelectric tube in the photoelectric tube array by the singlechip (the singlechip can be C8051F 340), judging whether the photoelectric tube array reaches the positioning identifier, if so, turning to the next step, otherwise, repeating the step 1;
step 2: recording the position of a first state-changing photocell in the photocell array; the single chip microcomputer starts to record the duration of state change when each photoelectric tube passes through the positioning identification;
and step 3: the single chip microcomputer reads the state of each photoelectric tube in the photoelectric tube array, judges whether the condition that all the photoelectric tubes in the photoelectric tube array are moved out of the positioning mark is true, if so, the next step is carried out, and if not, the state change duration time when each photoelectric tube passes through the positioning mark is continuously recorded;
and 4, step 4: sequencing the state change duration of each photoelectric tube from large to small, removing the maximum value and the minimum value, and solving an average value as the time of the photoelectric tube array passing through the positioning identifier;
and 5: calculating the relative position of the photoelectric tube array and the action identifier through the single chip microcomputer according to the time when the photoelectric tube array passes through the positioning identifier, the width of the positioning identifier, the moving speed of the intelligent mobile equipment and the positions of the photoelectric tubes which change states firstly and finally, and sending position information to the intelligent mobile equipment;
and 6: the single chip microcomputer reads the state of each photoelectric tube in the photoelectric tube array and judges whether the photoelectric tube array enters an action identifier or not; if yes, the next step is carried out, otherwise, the step 6 is continuously carried out;
and 7: judging whether the distance between the leftmost phototube and the rightmost phototube in the phototube array with changed states changes or not, and if not, determining that the phototube array completely covers the action identifier; calculating the relative angle between the photoelectric tube array and the action mark according to the distance, the width of the action mark and the photoelectric tube which changes the state firstly;
and step 8: and (4) reading information (black or white) of 9 grids in the action identifier as action information and sending the action information to the intelligent mobile device according to the relative angle in the step (7), the moving speed of the intelligent mobile device and the state change of the photoelectric tube in the photoelectric tube array.
The return value of the photoelectric tube to the ground and the white state is 1, and the return value to the black state is 0. The photoelectric tube is used for converting optical signals reflected back after irradiating the ground or marking into electric signals, the electric signals reflected back by different colors have different sizes, and the electric signals are larger than 1 and smaller than 0 compared with a set value.
The step 1: reading the states of 16 photoelectric cells Li, i = 1-16; if the 16 photoelectric tubes return to the 0 state and last for more than 2 sampling periods, the intelligent mobile equipment is determined to reach the positioning identifier, the next step is carried out, and otherwise, the step 1 is repeated;
step 2: recording the position of a first photocell in the photocell array which changes state as first _ change (1-16); and starts to record the duration time of the state change of each photoelectric tube when passing through the positioning mark i ；
And step 3: if all the photocells in the photocell array return to the state of 1, the condition that all the photocells in the photocell array are moved out of the positioning mark is considered to be true, the position of the last photocell which is changed into 1 is recorded as last _ change (1-16), the next step is carried out, and otherwise, the duration time of the state change of each photocell when passing through the positioning mark is continuously recorded i ；
And 4, step 4: all the time i Sorting from big to small, removing maximum value and minimum value, calculating average value as time of photoelectric tube array passing through positioning mark tong ；
And 5: the moving speed of the intelligent mobile equipment is v, and the included angle theta between the axis of the photoelectric tube array and the axis of the positioning identification is calculated according to the following formula:
θ＝arccos(v×time tong /D k )
when the positioning identifier is used as the origin of coordinates and the photocell array completely passes through the positioning identifier, the coordinates of the geometric center of the photocell array in the coordinate system are calculated according to the following formula, wherein first _ change is greater than last _ change in 3 cases, as shown in fig. 4:
case 1:
case 2:
case 3:
and after the coordinates are calculated, the coordinates are sent to a driving controller of the intelligent mobile equipment, and the intelligent mobile equipment is aligned with the action identifier.
The step 6: the single chip microcomputer reads the state of each photoelectric tube in the photoelectric tube array, if the state of the photoelectric tube changes, the position fx of the photoelectric tube with the first changing state is recorded, the states of the photoelectric tubes adjacent to each other in the position are subjected to exclusive OR pairwise, the result is accumulated and recorded as change _ f, if the value of the change _ f of more than 3 continuous sampling periods is 2 or 4, the photoelectric tube array is considered to enter an action identifier, the positions of the photoelectric tubes with the exclusive OR result of 1 are recorded as c1, c2 or c1, c2, c3 and c4, the next step is carried out, and otherwise, the step 6 is continuously executed.
The step 7: the process of starting to read the action identifier and reading the action information by the photocell array through the action identifier is as follows:
H. judging whether the distance between the leftmost phototube and the rightmost phototube in the phototube array with changed states changes or not, and if not, determining that the phototube array completely covers the action identifier; record this distance as dis l ；
I. Calculating the included angle between the photoelectric tube array and the action mark by the following formula
J. Calculating 3 times by the following formula, and recording the position code of the photoelectric tube for reading the action identifier as read i,j ,i，j＝1,2,3，read i,j Identifying a read position code for the ith row and the jth block;
(1) If fx > N/2, change \uf =4
read 1,1 ＝c1+2
read 1,2 ＝c4-2
read 1,3 ＝c2+(c3-c2)/2
(2) If fx > N/2,change \uf =2
read 1,1 ＝c1+2
read 1,2 ＝c2-2
read 1,3 ＝c1+(c2-c1)/2
(3) If fx < N/2, change _f =4
read 1,1 ＝c1+2
read 1,2 ＝c4-2
read 1,3 ＝c2+(c3-c2)/2
(4) If fx < N/2,change \uf =2
read 1,1 ＝c1+2
read 1,2 ＝c2-2
read 1,3 ＝c1+(c2-c1)/2
K. Recording the current time Td = T, reading
Current time LAt the same time, read
M. current timeWhile reading
N. the read motion information is r12, r21, r22, r23, r32;
and step 8: and sending the action information to a drive controller of the intelligent mobile device, so that the intelligent mobile device executes the action indicated by the action identifier to complete the whole reading process.
Positioning identification: for indicating the location of the action markers.
And (4) action identification: for instructing the smart mobile device on the next action.
A single chip microcomputer: the device is used for judging the state of the whole device and the action of the singlechip in the next period according to the state of each photoelectric tube in the photoelectric tube array and the change time sequence of the whole photoelectric array.
Power supply: the device is used for providing electric energy for normal operation of the singlechip and the photoelectric tube.
The photoelectric tube array: the device is composed of a plurality of photoelectric tubes which are arranged in a row (the length is greater than that of a positioning mark) and used for detecting the change of the ground color state.
It should be understood that the detailed description and specific examples, while indicating preferred embodiments of the invention, are given by way of illustration only, not limitation, and it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention; as long as the use requirements are met, the method is within the protection scope of the invention.
Claims (6)
1. A device for reading action identification of intelligent mobile equipment comprises a singlechip, a photoelectric tube array and a power supply, wherein an electric energy output port of the power supply is respectively connected with an electric energy input port of the photoelectric tube array and an electric energy input port of the singlechip; the state signal output port of each photoelectric tube is respectively connected with the state signal acquisition port of the single chip microcomputer, and the position information output port of the single chip microcomputer is connected with the position information input port of the intelligent mobile device; the single chip microcomputer, the photoelectric tube array and the power supply are all arranged on the intelligent mobile equipment and move together with the intelligent mobile equipment;
the length of the positioning mark is equal to the total width of the action mark, and the positioning mark is black or white; the motion marks are 3 multiplied by 3 black and white square grids, the color of the square grid on the left side and the right side in the 3 square grids closest to the positioning mark is consistent with the positioning mark, and the color of the square grid on the left side and the right side in the 3 square grids farthest from the positioning mark is consistent with the positioning mark; the color of other 5 squares is black or white; the number of the photoelectric tubes is 16.
2. The apparatus according to claim 1, wherein the positioning mark is black and has a size of D k ×D c ＝3cm×12cm，D k To locate the width of the mark, D c Is the length of the positioning mark; the size of each square of the action mark is D f ×D f ＝4cm×4cm，D f The side length of the square grid; the 5 squares are all white; the interval of the photoelectric tubes is D g =1cm, and the total length of the photocell array is 15cm.
3. The method for reading the action identifier of the intelligent mobile device is characterized by comprising the following steps:
step 1: the single chip microcomputer reads the state of each photoelectric tube in the photoelectric tube array, judges whether the photoelectric tube array reaches the positioning mark, if so, the next step is carried out, and if not, the step 1 is repeated;
step 2: recording the position of a first state-changing photocell in the photocell array; the single chip microcomputer starts to record the duration of state change when each photoelectric tube passes through the positioning identification;
and 3, step 3: the single chip microcomputer reads the state of each photoelectric tube in the photoelectric tube array, judges whether the condition that all the photoelectric tubes in the photoelectric tube array are moved out of the positioning mark is true, and then the next step is carried out, otherwise, the state change duration time when each photoelectric tube passes through the positioning mark is continuously recorded;
and 4, step 4: sequencing the state change duration of each photoelectric tube from large to small, removing the maximum value and the minimum value, and solving the average value as the time of the photoelectric tube array passing through the positioning identification;
and 5: calculating the relative position of the photoelectric tube array and the action identifier through the single chip microcomputer according to the time when the photoelectric tube array passes through the positioning identifier, the width of the positioning identifier, the moving speed of the intelligent mobile equipment and the positions of the photoelectric tubes which change states firstly and finally, and sending position information to the intelligent mobile equipment;
step 6: the single chip microcomputer reads the state of each photoelectric tube in the photoelectric tube array and judges whether the photoelectric tube array enters an action identifier or not; if yes, the next step is carried out, otherwise, the step 6 is continuously carried out;
and 7: judging whether the distance between the leftmost phototube and the rightmost phototube in the phototube array with changed states changes or not, and if not, determining that the phototube array completely covers the action identifier; calculating the relative angle between the photoelectric tube array and the action mark according to the distance, the width of the action mark and the photoelectric tube which changes the state firstly;
and 8: and (4) reading information in the action identifier as action information and sending the action information to the intelligent mobile equipment according to the relative angle, the moving speed of the intelligent mobile equipment and the state change of the photoelectric tube in the photoelectric tube array in the step (7).
4. The method for reading action id of smart mobile device according to claim 3, wherein the photocell returns a value of 1 for ground and white status and a value of 0 for black status.
5. Method for reading an intelligent mobile device action identification according to claim 4, characterized in that said step 1: reading the states of 16 photoelectric cells Li, i = 1-16; if any one of the 16 photoelectric tubes has a 0 state and returns and lasts for more than 2 sampling periods, the intelligent mobile equipment is determined to reach the positioning identifier, the next step is carried out, and otherwise, the step 1 is repeated;
step 2: recording the position of a first state-changing photoelectric tube in the photoelectric tube array as first _ change; and starts to record the duration time of the state change of each photoelectric tube when passing through the positioning mark i ；
And step 3: if the return states of all the photoelectric tubes in the photoelectric tube array are all 1, the condition that all the photoelectric tubes in the photoelectric tube array are all moved out of the positioning mark is considered to be true, the position of the last photoelectric tube which becomes 1 is recorded and recorded as last _ change, the next step is carried out, and otherwise, the continuous time of the state change when each photoelectric tube passes through the positioning mark is continuously recorded i ；
And 4, step 4: all the time i Sorting from big to small, removing maximum value and minimum value, calculating average value as time of photoelectric tube array passing through positioning mark tong ；
And 5: the moving speed of the intelligent mobile equipment is v, and the included angle theta between the axis of the photoelectric tube array and the axis of the positioning identification is calculated according to the following formula:
θ＝arccos(v×time tong /D k )
and (3) when the positioning identifier is used as the origin of coordinates and the photoelectric tube array completely passes through the positioning identifier, calculating the coordinates of the geometric center of the photoelectric tube array under the coordinate system according to the following formula, wherein first _ change is more than last _ change and is divided into 3 conditions:
case 1:
case 2:
case 3:
drive controller for calculating coordinates and sending the coordinates to intelligent mobile equipment
N is the number of the photoelectric tubes in the photoelectric array, dg is the distance between two photoelectric tubes in the photoelectric array, dk is the width of the positioning mark, and Dc is the length of the positioning mark.
6. Method for reading an intelligent mobile device action identification according to claim 5, characterized in that said step 6: the single chip microcomputer reads the state of each photoelectric tube in the photoelectric tube array, if the state of the photoelectric tube changes, the position fx of the photoelectric tube in the first changing state is recorded, the states of the adjacent photoelectric tubes in the position are subjected to XOR pairwise, the result is accumulated and recorded as change _ f, if the value of change _ f for more than 3 continuous sampling periods is 2 or 4, the photoelectric tube array is considered to enter an action identifier, the positions of the photoelectric tubes with the XOR result of 1 are recorded as c1, c2 or c1, c2, c3 and c4, the next step is carried out, and otherwise, the step 6 is continuously executed.
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