CN101149932A - Method and device for printing pattern on tag surface of optical disc medium - Google Patents

Method and device for printing pattern on tag surface of optical disc medium Download PDF

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Publication number
CN101149932A
CN101149932A CNA2006101162437A CN200610116243A CN101149932A CN 101149932 A CN101149932 A CN 101149932A CN A2006101162437 A CNA2006101162437 A CN A2006101162437A CN 200610116243 A CN200610116243 A CN 200610116243A CN 101149932 A CN101149932 A CN 101149932A
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China
Prior art keywords
printing
mentioned
data
label surface
optical disc
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CNA2006101162437A
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Chinese (zh)
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郑仁树
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Shanghai LG Electronics Co Ltd
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Shanghai LG Electronics Co Ltd
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Priority to CNA2006101162437A priority Critical patent/CN101149932A/en
Publication of CN101149932A publication Critical patent/CN101149932A/en
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Abstract

The method for printing pattern on the label of a CD medium includes: scanning the pattern to be printed on the label, coding and encoding to form printing data, lighting up the recording light beam produced according to the printing data onto the label to print the pattern. The ratio of the whole size of the printing data formed by coding to that of the current data or the ratio of last printing -ring number of the printing data formed by coding to that of the current printing data presents printing progress and is displayed on the picture. Advantage: printing time can be estimated and fall-by-wayside of printing can be avoided.

Description

The method of printed patterns and device on the label surface of optical disc medium
Technical field
The present invention relates to a kind of can be on the label surface of optical disk medium printed patterns and can allow the user grasp the method and the device of printing progress.
Background technology
Along with the development of optical disk medium and digital technology, a large number of users can be indexed to own video or the audio content of being liked in the optical disk medium, just can watch or listen to by playing then.Because it has storage and reads the convenience of aspect.Therefore, just a large amount of contents can be indexed in the optical disk medium.
Along with increasing of the optical disk medium of including different content, the user just need be distinguished different optical disc mediums.Simultaneously, the user also wishes and can show including the own video of being liked or the concrete condition of audio content sometimes.Therefore, the manufacturer of optical disc medium has been just in company with providing adhesive label, but on adhesive label information such as shorthand, it can be attached on the label surface or its shell of optical disc medium then.
But, when optical disc medium separates with shell, just can not discern the information that is embodied on the media.If adhesive label is attached on the label surface of optical disc medium, be difficult to see owing to used bonding agent, its critical surface to seem.
Owing to this reason, the researchist has just proposed a kind of scheme, promptly directly be coated with the label surface of the optical disc medium of the material that under the irradiation of light, can burn with the writing light beam irradiation, thereby just can achieve one's goal pattern or literal etc. is printed, people are referred to as this method ' photoetching ' (Light Scribe).
As shown in Figure 1a, support the label surface of the optical disc medium of photoetching technique to be divided into clamp/identified areas 1 and controlling features (Feature) zone 2.Shown in Fig. 1 b, described controlling features zone 2 comprises speed control characteristic strip (2a), controlling features outer ring (2b), and reflector space (2c).On described speed control characteristic strip (2a), be marked with 400 spokes (spoke).Shown in Fig. 1 c, go up formation rectangle or crenellation pattern at controlling features outer ring (2b), it is divided into the index marker zone respectively with optical disc medium, media ID zone 1, sawtooth wave zone, media ID zone 2, sawtooth wave zone, a plurality of zones such as media ID zone 3.
The pattern that on described controlling features zone 2, forms can be by being positioned at pen recorder the scrambler of CD placed side inner ring detect, when the optical disc medium shown in Fig. 1 a rotates, just can grasp the speed of CD rotation according to the cycle of the rect.p. that begins to detect from spoke by described scrambler.Therefore, just can be that benchmark makes the input data sync be recorded (printing) on label surface with the terminal point (2d) of index marker.
But, for can be on the label surface of optical disk medium printed pattern or literal etc., just must correctly discern CD radial location (below, if be not particularly limited, ' position ' speech just is meant ' radial location '.)。The information that is positioned at described controlling features zone 2 does not comprise the information of relevant radial location.Therefore, any one position on just must the correct decision CD.But,, so just can not grasp current position because figure or the literal that the user will be wanted to print record on the label surface exactly.Therefore, when just beginning to carry out photoetching, pen recorder just focuses of the light beam on the label surface.Then, writing light beam is begun to shine laterally from inner ring, and move according to printing circle (circle) standard that is equivalent to pattern.Simultaneously, on the circumferential position that moves, write down the information that needs printed patterns.
Fig. 2 is the synoptic diagram of photoetching action shown in the expression, begins to make each printing circle by record speed multiplay, for example from the inner ring of printing zone: to move by 1/4 times of speed (X/4).Simultaneously, make its amplitude bigger slightly (Lw_o) (being equivalent to a printing circle) move 201 laterally than the diameter of light beam.Therefore, printed patterns etc. just to need the longer time.
Therefore, the user just needs to wait for long time.If the user is after having waited for considerable time, still do not finish printing process.The user also needs the time how long with regard to there is no telling.Like this, under the state that printing process is not finished, printing is interrupted.
Summary of the invention
The present invention proposes for addressing the above problem just, the object of the present invention is to provide a kind ofly in the pattern that the user is liked etc. is printed onto process on the label surface, can allow the user grasp the method and the device of printed patterns on the label surface of optical disc medium what degree printing proceeds to.
To achieve these goals, according to of the present invention on the CD label face method of printed patterns, it is characterized in that, pattern on the label surface of preparing to be printed onto optical disc medium is scanned the back coding form the printing data, to shine on the described label surface with the writing light beam that data produce according to described printing then, thereby just can brush pattern; Simultaneously, the printing progress can be presented on the picture.
According to one embodiment of the present of invention, the printing progress is to show with the big or small ratio with the size that is printed on the data on the label surface of the integral body of data according to the printing that coding forms.
According to another one embodiment of the present invention, the printing progress numbering that to be the printing that forms according to coding enclose with last printing of data shows with the ratio of the numbering of the printing circle that is printed on the data on the label surface.
According to one embodiment of the present of invention, except that the printing progress, the position that printing process finishes also can be presented on the picture together.
According to one embodiment of the present of invention, the printing progress may be displayed on and includes on the CD model of preparing printed patterns.
In addition, to achieve these goals, according to of the present invention on the CD label face device of printed patterns, comprise following several sections:
The CD-ROM driver that the optical drive signal is applied to light picker according to tracer signal;
Apply tracer signal according to the data that received, and on above-mentioned label surface the controller of printed patterns,
The image data of input is converted to signal of video signal and with its output, then it is presented at the signal of video signal handling part on the picture;
To after preparing to be printed onto pattern on the above-mentioned label surface and scanning, its coding is formed the printing data, then with its application program to above-mentioned controller transmission, above-mentioned application program can generate the image data that can show the printing progress of printed patterns on above-mentioned label surface, then it is provided to above-mentioned signal processor.
Above-mentioned application program can be according to the data of above-mentioned controller transmission the printing progress being judged.
Above-mentioned application program can be judged the printing progress according to the information of the printing end data of above-mentioned controller transmission.
Big or small and the current ratio of finishing the printing and the size of the data of printing shows with the integral body of data in the printing that above-mentioned printing progress can form according to above-mentioned coding.
The numbering that the printing that above-mentioned printing progress can form according to above-mentioned coding is enclosed with last printing of data shows with the ratio of the numbering of the printing circle of the data of current printing.
Above-mentioned application program can generate and the printing end position can be presented at image data on the picture with above-mentioned printing progress, and it is provided to above-mentioned signal of video signal handling part.
Above-mentioned application program can generate the image data that above-mentioned printing progress can be presented on the CD model that includes the pattern of preparing printing, and it is provided to above-mentioned signal of video signal handling part.
Effect of the present invention:
In sum, of the present invention on the label surface of optical disc medium the method and the device of printed patterns have following effect: because the user can grasp the printing progress of current label surface.Therefore, in the process that label surface is printed, just can predict the time that to do other thing.Simultaneously, owing to can estimate, so just can prevent that the printing of label surface from giving up halfway to printing time.Thereby for the user brings great convenience.
For further specifying above-mentioned purpose of the present invention, design feature and effect, the present invention is described in detail below with reference to accompanying drawing.
Description of drawings
Fig. 1 a is a label surface synoptic diagram of supporting the optical disc medium of photoetching technique;
Fig. 1 b is a part of pattern synoptic diagram in the controlling features zone shown in Fig. 1 a;
Fig. 1 c is each area schematic that the label surface of the optical disc medium of supporting photoetching (Light Scribe) technology is divided;
Fig. 2 focuses on writing light beam on the label surface process synoptic diagram that pattern etc. is printed according to existing method;
Fig. 3 is can be at a part of structural representation of the optical disc recording apparatus of the label surface printed patterns of optical disk medium according to one embodiment of the present of invention;
Fig. 4 is that the CD sheet coding that will comprise the pattern that provides forms the method synoptic diagram of photoetching with data;
Fig. 5 is presented at instance graph picture at the progress msg of printed patterns on the label surface with optical disc shapes with foundation one embodiment of the present of invention;
Fig. 6 will be presented at instance graph on the picture at the progress msg of printed patterns on the label surface according to another one embodiment of the present invention.
The symbol description of major part in the accompanying drawing:
10,11: optical sensor 12,13: section portion
21: light picker 22: servo portion
23: CD-ROM driver 24:RF portion
30: control part 31: impact damper
100:LS application program 101: CD shape thin slice
110: the signal of video signal handling part
Embodiment
Below with reference to accompanying drawings to of the present invention on the label surface of optical disc medium the method for printed patterns and the embodiment of device be elaborated.
Fig. 3 is can be at a part of structural representation of the optical disc recording apparatus of the label surface printed patterns of optical disk medium according to one embodiment of the present of invention.In structural representation shown in Figure 3, only the inscape relevant with photoetching technique shown, and to not having the record of data of direct relation or the formation that reads incoherent optical disc recording apparatus to omit with the present invention.In the declarative procedure below, the run action of the pen recorder of being familiar with for everybody that has nothing to do with the present invention also will be omitted, and no longer it will be elaborated.
Below, will structure shown in Figure 3 be described.
Structure among Fig. 3 comprises following several sections: the spoke light sensor 11 that the speed control characteristic area beam reflected from the optical disc medium of supporting photoetching technique is detected, to the ring light sensor 10 that detects from the pattern beam reflected that is positioned at the controlling features outer ring, will be by above-mentioned each optical sensor 10, after 11 detections, the electric signal that forms after preposition amplification is handled is compared with levels of the standard (Vref), convert thereof into the section portion 12 of square wave and output then respectively, 13, the CD-ROM driver 23 of the light beam drive signal output that will produce by the tracer signal of input, the light beam irradiates that will be produced by above-mentioned light beam drive signal is to optical disc medium, then writing light beam or the reflected light that reads light beam are converted to the light picker 21 of RF electric signal, will be by the signal of above-mentioned RF electric signal according to scale-of-two (binarized) conversion, the RF portion 24 of focusing error (FE) signal and the output of tracking error (TE) signal, according to servo error signal or control signal the actuator (actuator) of above-mentioned light picker 21 is controlled, simultaneously to servo 22 of making the traction electric machine that above-mentioned light picker 21 moves and the spindle motor of the CD rotation of installation is controlled, carry out the control part 30 of photoetching action according to above-mentioned each square wave, the impact damper 31 that exchanges with information such as the data of main frame (on the figure indicate) and instructions/reply, the application program of carrying out when the photoetching technique that host computer using user provides converts the data of record format to such as pattern, be LS (Light Scribe) application program 100, and the data-switching of input become signal of video signal and the image processor 110 of its output.
In Fig. 3, though above-mentioned LS application program 100 and image processor 110 are positioned on the main frame of distinguishing from physical characteristics with pen recorder, these inscapes also can constitute an integral body with optical disc recording apparatus.
Below, will the photoetching action of being carried out by device shown in Figure 3 be described in detail.
The electronics thin slice (sheet) 101 that above-mentioned LS application program 100 will include that the user provides or pattern (101a) the CD shape selected begins to encode by bit stream from the inner ring with the corresponding scanning area of printing zone.
Fig. 4 is that the CD sheet coding that will comprise the pattern that provides forms the method synoptic diagram of photoetching with data.
In Fig. 4, shown above-mentioned coding method in detail, as can be seen from the figure, any one datum line, for example: the top perpendicular line (5a) with the electronics thin slice that includes the pattern of preparing printing is a benchmark, each virtual scanning circle (circle) (in fact scanning circle with and the virtual printing circle (circle) that has on the label surface of same magnitude of the track pitch (pitch) of the record surface of CD corresponding) generation makes bit ' 1 of pattern part ' and do not have the bit ' 0 ' forward of the pattern part corresponding bit stream of (perhaps reverse corresponding), and it is stored in the memory device, for example: it is stored on the hard disk.The circumference of each scanning circle is different.Therefore, the data volume of being distributed is also different.If the writing speed per second according to v0 when carrying out photoetching can be handled K bytes, so, the bit number (fn (Nc)) that above-mentioned LS application program 100 is distributed to each scanning circle (Nc) just can calculate by following calculating formula 1.
Fn (Nc)=8K2 π (NcLw+r0)/v0 (bits) calculating formula 1
Here, r0 represents the radius of the inner ring of printing zone, and v0 represents that optical disc medium carries out the writing speed of photoetching.In addition, Lw represents to scan the amplitude of circle, and (NcLw+r0) expression has the value of radius (r) of the scanning circle position of Nc.
That is to say, above-mentioned LS application program 100 begins to distribute the individual bit of fn (Nc) according to aforementioned calculation formula 1 to each printing circle (Nc) from the printing circle of inner ring (r0), if on the corresponding bits position, pattern is arranged, if simultaneously ' 1 ' direction on do not have bit, just according to ' 0 ' direction (perhaps reverse) by it generate photoetching with (LS uses) data 51.In this case, just can not generate data (outside the 5d) at the outer collar region (from r1 to r2) that does not have pattern.In addition, with the numbering of the scanning circle that generates at last, the number (NTOT) (it is identical with the numbering of the last scanning circle that generates) or the total amount of data (DSTOT) of generation that promptly generate total scanning circle (printing circle) of lithography data are stored.Simultaneously, the additional information that finishes storage instruction in the final data that generates.
After the instruction of sending the request photoetching to above-mentioned control part 30, just begin successively the above-mentioned LS that generates and stores to be come out with data read from memory device, and provide to above-mentioned control part 30 by above-mentioned impact damper 31 according to storage order.
Above-mentioned LS application program 100 is transmitted with data the LS of above-mentioned storage to above-mentioned impact damper 31.Meanwhile, the image data that also will carry out imprinting to the CD shape electronics thin slice of the pattern of the preparation printing that includes user input applies to above-mentioned signal of video signal handling part 110.Fig. 5 is presented at instance graph picture at the progress msg of printed patterns on the label surface with optical disc shapes with foundation one embodiment of the present of invention, as shown in Figure 5, image can be presented at other display device, for example: be presented on the monitor or televisor of PC.In this case, above-mentioned LS application program 100 just provides image data to above-mentioned image processor 110, thereby just the LS that mark 501 be presented at and generates of expression printing end position itself can be enclosed on corresponding position with last scanning of data.
In addition, before (overflow) phenomenon of overflowing in generation, above-mentioned impact damper 31 begins LS with above-mentioned generation according to storage order from memory device and comes out with data read and transmit.In this case, according to the amount of the data of being transmitted and by aforementioned calculation formula 1 just can to current be to confirm (502) in which data conditions that scanning is enclosed of transmission.In addition, can also generate can be to enclosing corresponding position with scanning from EDs to above-mentioned impact damper 31 that transmit, the image data that the mark 502 that printing progress on the CD shape electronics thin slice as shown in Figure 5 shows indicates, and it is provided to above-mentioned image processor 110.
In addition, if receive above-mentioned photoetching instruction, above-mentioned control part 30 is just carried out the preliminary activities such as servo setting of label surface printing.Then, the light beam that makes above-mentioned light picker 21 is to inner ring (r0) irradiation of printing zone, and then will carry out information after the buffered or data read through above-mentioned impact damper 31 by above-mentioned LS application program 100 and come out and handle accordingly.
In addition, the current location from light beam begins to regulate so that it reaches the linear velocity (v0) of regulation by the rotational speed of above-mentioned servo 22 pairs of CDs.The rotational speed of CD can maintain desirable level according to the umber of pulse in the unit interval of detecting by above-mentioned spoke light sensor 11.Simultaneously, can begin the detection case of index marker is monitored from the pattern of the signal that detects by above-mentioned ring light sensor 10.According to above-mentioned monitoring result, if confirm index marker is detected, just synchronously the LS that above-mentioned impact damper 31 receives is come out with data read with its terminal point, pattern is printed on label surface according to the value of each bit simultaneously.
That is to say, will apply to above-mentioned CD-ROM driver 23 by the tracer signal that LS produces with the value of each bit of data.Like this, just can be to printing with a corresponding pattern of printing circle.Certainly, show do not have under the situation of pattern at the bit of data, writing light beam just can not be applied in.If the data volume of current printing circle all reads out and handles by above-mentioned impact damper 31, in this case, in order to move, just the light beam of above-mentioned light picker 21 amplitude (Lw_o) according to the printing circle of having set is moved to next one printing circle.
On each printing circle pattern is printed in the manner described above, the above-mentioned impact damper 31 that LS is carried out buffered with data will become empty gradually.If underrun (underrun) takes place above-mentioned impact damper 31 or its clearance spaces surpasses specified reference value, above-mentioned LS application program 100 will be come out the LS that is stored in the memory device once more with data read, and the clearance spaces of above-mentioned impact damper 31 is filled up.In this case, with regard to generating the image data that can show, then it is applied to above-mentioned image processor 110 situation of printing with the number of the corresponding printing circle of data with the LS that moves to above-mentioned impact damper 31.In this manner, just the printing progress of the label surface of optical disc medium can be shown to the user.Again the LS that fills to above-mentioned impact damper 31 just can be recorded in the corresponding printing circle according to mode noted earlier with data.
As mentioned above, when the printing progress was shown, the photoetching carried out action can be with the end of record (EOR) command information to above-mentioned impact damper 31 transmission, when operation of recording finishes till.
In addition, Fig. 6 will be presented at instance graph on the picture at the progress msg of printed patterns on the label surface according to another one embodiment of the present invention, as shown in Figure 6, the printing progress is shown and can show not according to optical disc shapes it also can show by pattern and the printing rate that is easy to grasp its progress.
In the embodiment shown in fig. 6, above-mentioned LS application program 100 can be calculated and shows including the ratio 601 of the amount (DSTOT) of the total LS data that generate on the CD shape electronics thin slice 101 of the pattern of preparing printing with the total amount of data of transmission on above-mentioned impact damper 31, also can with total printing number of turns (NTOT) of generating on the above-mentioned electronics thin slice 101 with current on above-mentioned impact damper 31 ratio 601 of the numbering of the scanning circle (printing circle) of the data of transmission calculate and show.
In the above-described embodiments, above-mentioned LS application program 100 will be used as the data of actual print to the data of above-mentioned impact damper 31 transmission, thereby printing progress or printing rate are shown.But the meeting life period is poor before the data of above-mentioned impact damper 31 transmission carrying out actual print, and the big more above-mentioned mistiming of above-mentioned impact damper 31 is just big more.
Therefore, in order to eliminate this mistiming, in foundation another one embodiment of the present invention, the numbering (CPL_N) of the printing circle of the data that above-mentioned control part 30 just reads out from above-mentioned impact damper 31 according to 1 pair of aforementioned calculation formula confirms, then with its numbering (CPL_N) to above-mentioned LS application program 100 transmission.Like this, above-mentioned LS application program 100 just judges that the label surface that deducts 1 printing circle in the numbering (CPL_N) of the printing circle that is received finished printing process, at that printing circle (CPL_N-1) before, the situation of finishing printing shows according to the mode of Fig. 5 or Fig. 6.
Those of ordinary skill in the art will be appreciated that, above embodiment is used for illustrating the present invention, and be not to be used as limitation of the invention, as long as in connotation scope of the present invention, all will drop in the scope of claims of the present invention variation, the modification of the above embodiment.

Claims (12)

1. the method for a printed patterns on the label surface of optical disc medium is characterized in that comprising the steps:
The pattern of preparing to be printed onto on the label surface is scanned, and coding forms the printing data then, will shine on the above-mentioned label surface by the writing light beam that above-mentioned data produce, thereby pattern is printed;
Simultaneously, the printing progress is presented on the picture.
2. as claimed in claim 1 on the label surface of optical disc medium the method for printed patterns, it is characterized in that:
The printing that above-mentioned printing progress can form according to above-mentioned coding shows with the ratio of the size of the data of printing on the whole size of data and the above-mentioned label surface.
3. as claimed in claim 1 on the label surface of optical disc medium the method for printed patterns, it is characterized in that:
The ratio of the numbering of the printing circle of the data of printing on the numbering that the printing that above-mentioned printing progress also can form according to above-mentioned coding is enclosed with last printing of data and the above-mentioned label surface shows.
4. as claimed in claim 1 on the label surface of optical disc medium the method for printed patterns, it is characterized in that also comprising:
In above-mentioned steps, except that above-mentioned printing progress, the position that printing process finishes also can be presented on the picture together.
5. as claimed in claim 1 on the label surface of optical disc medium the method for printed patterns, it is characterized in that also comprising:
In above-mentioned steps, above-mentioned printing progress also may be displayed on the CD model that includes the pattern of preparing printing.
6. the device of a printed patterns on the label surface of optical disc medium is characterized in that comprising following several sections:
The CD-ROM driver that the optical drive signal is applied to light picker according to tracer signal;
Apply tracer signal according to the data that received, and on above-mentioned label surface the controller of printed patterns;
The image data of input is converted to signal of video signal and with its output, then it is presented at the signal of video signal handling part on the picture;
To after preparing to be printed onto pattern on the above-mentioned label surface and scanning, its coding is formed the printing data, then with its application program to above-mentioned controller transmission, above-mentioned application program can generate the image data that can show the printing progress of printed patterns on above-mentioned label surface, then it is provided to above-mentioned signal processor.
7. as claimed in claim 6 on the label surface of optical disc medium the device of printed patterns, it is characterized in that:
Above-mentioned application program can be according to the data of above-mentioned controller transmission the printing progress being judged.
8. as claimed in claim 6 on the label surface of optical disc medium the device of printed patterns, it is characterized in that:
Above-mentioned application program can be judged the printing progress according to the information of the printing end data of above-mentioned controller transmission.
9. as claimed in claim 6 on the label surface of optical disc medium the device of printed patterns, it is characterized in that:
Big or small and the current ratio of finishing the printing and the size of the data of printing shows with the integral body of data in the printing that above-mentioned printing progress can form according to above-mentioned coding.
10. as claimed in claim 6 on the label surface of optical disc medium the device of printed patterns, it is characterized in that:
The numbering that the printing that above-mentioned printing progress can form according to above-mentioned coding is enclosed with last printing of data shows with the ratio of the numbering of the printing circle of the data of current printing.
11. as claimed in claim 6 on the label surface of optical disc medium the device of printed patterns, it is characterized in that:
Above-mentioned application program can generate and the printing end position can be presented at image data on the picture with above-mentioned printing progress, and it is provided to above-mentioned signal of video signal handling part.
12. as claimed in claim 6 on the label surface of optical disc medium the device of printed patterns, it is characterized in that:
Above-mentioned application program can generate the image data that above-mentioned printing progress can be presented on the CD model that includes the pattern of preparing printing, and it is provided to above-mentioned signal of video signal handling part.
CNA2006101162437A 2006-09-20 2006-09-20 Method and device for printing pattern on tag surface of optical disc medium Pending CN101149932A (en)

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Application Number Priority Date Filing Date Title
CNA2006101162437A CN101149932A (en) 2006-09-20 2006-09-20 Method and device for printing pattern on tag surface of optical disc medium

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Application Number Priority Date Filing Date Title
CNA2006101162437A CN101149932A (en) 2006-09-20 2006-09-20 Method and device for printing pattern on tag surface of optical disc medium

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CN101149932A true CN101149932A (en) 2008-03-26

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CNA2006101162437A Pending CN101149932A (en) 2006-09-20 2006-09-20 Method and device for printing pattern on tag surface of optical disc medium

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103963481A (en) * 2013-02-02 2014-08-06 上海信东仪器仪表有限公司 Equipment and method for drawing instrument board
CN110579226A (en) * 2018-06-08 2019-12-17 精工爱普生株式会社 Encoder, motor, and robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103963481A (en) * 2013-02-02 2014-08-06 上海信东仪器仪表有限公司 Equipment and method for drawing instrument board
CN110579226A (en) * 2018-06-08 2019-12-17 精工爱普生株式会社 Encoder, motor, and robot

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