CN101526987B - Region recognition system using braille coded pattern - Google Patents
Region recognition system using braille coded pattern Download PDFInfo
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- CN101526987B CN101526987B CN 200810006534 CN200810006534A CN101526987B CN 101526987 B CN101526987 B CN 101526987B CN 200810006534 CN200810006534 CN 200810006534 CN 200810006534 A CN200810006534 A CN 200810006534A CN 101526987 B CN101526987 B CN 101526987B
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Abstract
The invention discloses a region recognition system, which comprises a braille coded pattern and a mobile device. The mobile device comprises a body, a central control unit, a light source generator and an image receiver, wherein the central control unit is suitable for controlling the body, while the light source generator and the image receiver are arranged on the body; the braille coded pattern contains region recognition information, and a material for preparing the braille coded pattern is a high reflection material; when light source generated by the light source generator irradiates the braille coded pattern, the braille code pattern highly reflects the light source to the image receiver; and then the image receiver is suitable for receiving images of the braille code pattern and transmitting the images to the central control unit, so that the central control unit can position the body according to the region recognition information.
Description
Technical field
The present invention relates to a kind of regional recognition system, relate in particular to a kind of regional recognition system of utilizing the braille coding pattern to position.
Background technology
Along with domestic robot incorporates human daily life gradually, the demand of domestic robot just increases day by day, and the autonomous robot that particularly has part artificial intelligence is the important directions of future studies development especially.For instance, these family expenses or autonomous robot can be set for and sweep the floor voluntarily and the trival matters that manage one's household, and also can set to be modeled as pet with the company household, even robot also can be used for transporting goods voluntarily in the factory.No matter which kind of function robot serves as, and it primarily can judge self residing position earlier, then could carry out various functions according to program setting.Therefore, be one of improved emphasis direction of research and development for many years with the artificial main regional recognition system of machine always.
Table 1
| Numbering | The zone recognition technology | |
| 1. | Laser ranging system | Can't sensing glass, |
| 2. | Electric label | Long distance can't be used |
| 3. | The image software identification | Can't identification dull image, error rate height |
Table 1 is listed known three kinds of the location technology that regional recognition system was adopted and restrictive conditions with the artificial master of machine, below will sketch respectively.The robot of numbering 1 can dispose laser ranging system, reflects by be blocked thing (as wall) by the laser of launching, and then can calculate the distance between robot and the restraining mass, and then orient the position of self.Yet the deployment cost of laser ranging system is quite high, and makes that this robot positioning system is difficult for generally promoting.Have again, when restraining mass is a high penetration material as glass, or during as the high reflectance material of mirror, just then laser ranging system can't effectively sense glass or mirror.So, robot just might bump with glass or mirror and cause damage.
The robot zone recognition system of numbering 2 is to adopt radio frequency identification (Radio FrequencyIdentification, RFID) technology is to position, wherein known technology can be disposed at reader (Reader) in the robot, and dispose a plurality of electric labels (Tag) in ad-hoc location, and the inner information that can store the present position of electric label.When robot when certain electric label, reader just can read the information of electric label position, just can orient the relative position of robot whereby.Yet the deployment cost of reader and electric label is not cheap yet, and makes that this robot zone recognition system is difficult for generally promoting.Have again, but the communication distance of reader and electric label is all not long, and generally only has several centimeters to several meters.Therefore when robot space of living in is very vast, just need to increase the density that sets of electric label, need increase building of this regional recognition system so again and be set to this.
In addition, the common drawback of above-mentioned two kinds of regional recognition systems is that price is too expensive.For asking to reduce cost is set, known skill has proposition directly to analyze at environmental images with software in addition.To number artificially example of 3 machine, it directly disposes Charged Coupled Device, and (Charge Coupled Device is CCD) to detect extraneous image.By the specific objective thing in the software judgement image, attempt to orient the relative position of robot.
Yet, the software identification also only can be differentiated at present as specific significant object such as window, door or bed, desk etc., its fundamental purpose be avoid-obstacles or by door to another interval, and still can't effectively recognize robot be the position in that room (particularly when the room or window is when all being same pattern).When the object in the image and background when the contrast difference is little, recognition software also can't be differentiated the object in the image, causes and can't locate.In addition, when the image angle of Charged Coupled Device acquisition bed, desk not simultaneously, also can cause image deformation and make the software erroneous judgement.
In addition, when the environment arround the robot is too dull (as the wallpaper of repeat patterns), then can causes obscuring in the software identification, and then also can't effectively locate.Just, directly images of environment surrounding is carried out geometric analysis with software at present and still have too many difficulty, and the misidentification rate is too high.
Summary of the invention
The object of the present invention is to provide a kind of regional recognition system, by braille coding simple in structure, arrange in pairs or groups high reflective material and reflection source can significantly promote the image identification success ratio of software, and are not vulnerable to the problem of image capture angle deformation.
To achieve these goals, the invention provides a kind of regional recognition system, comprise braille coding pattern and mobile device, and mobile device comprises body, central control unit, light source generator and panadaptor, wherein central control unit is suitable for control body and moves, and light source generator and panadaptor are to be disposed on the body.The braille coding pattern has regional identifying information, and the material of braille coding pattern is high reflective material.When light source generator produced light source irradiation to the braille coding pattern, the braille coding pattern was suitable for the light source high reflection to panadaptor.In addition, panadaptor is suitable for receiving the image of braille coding pattern and is passed to central control unit, so that central control unit is oriented the position of body according to regional identifying information.
In one embodiment of this invention, the braille of above-mentioned braille coding pattern coding can be Chinese character code, English coding, Japanese coding or Korean coding.
In one embodiment of this invention, above-mentioned braille coding pattern can comprise shaped as frame mark (mark) and braille coded markings, and wherein the braille coded markings is to be disposed in the shaped as frame mark.In addition, the shape of braille coded markings can be circle, square, rhombus, triangle or other suitable shape.
In one embodiment of this invention, above-mentioned braille coding pattern is to be used for reflect visible light or invisible light, and high reflective material can be light-reflecting particles, reflective pigment, reflectorised paint or other suitable material.In addition, mobile device also comprises light source generator, and light source generator is to be disposed on the body, and wherein light source generator can be projecting lamp, light emitting diode, Halogen lamp LED, fluorescent light or spotlight.
In one embodiment of this invention, above-mentioned panadaptor can be Charged Coupled Device, CMOS (Complementary Metal Oxide Semiconductor) (Complementary Metal-Oxide-Semiconductor, CMOS), ball-type video camera (PTZ) or digital camera (DVR).
In sum, in regional recognition system of the present invention, when panadaptor receives when having high brightness regional in the image, recognition software can begin just to judge whether these high-brightness regions are the braille coding pattern.Because the braille coding pattern has the simple geometric composition, so central control unit is carrying out in the software geometric analysis, can pick out whether have the braille coding pattern in the image easily, and then obtain corresponding regional identifying information, whereby with the success ratio of effective lifting software identification.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Description of drawings
Figure 1A is according to the block schematic diagram of one embodiment of the invention based on the regional recognition system of mobile device;
Figure 1B is the stereographic map of the mobile device of Figure 1A;
Fig. 1 C and 1D are the front elevation of the braille coding pattern of Figure 1A;
Fig. 2 is the braille coding schedule of English coding;
Fig. 3 A and 3B are that the braille coding pattern of Fig. 1 C is at different angles picked image synoptic diagram;
Fig. 3 C～3F is the front elevation according to four kinds of braille coding patterns of another embodiment of the present invention;
Fig. 4 A～4C is the front elevation according to a plurality of braille coding patterns of another embodiment of the present invention;
Fig. 5 A～5C is the local braille coding schedule with various countries' braille coding.
Wherein, Reference numeral:
100: regional recognition system
110: mobile device
112: body
114: central control unit
116: panadaptor
118: light source generator
118a: light source
120,120a, 320a～320d, 420a～420c: braille coding pattern
122,122a, 422a～422c: shaped as frame mark
124,124a, 324,424a～424c: braille coded markings
322a～322c: telltale mark
A: elemental area
L: length
W: width
Embodiment
Figure 1A is according to the block schematic diagram of one embodiment of the invention based on the regional recognition system of mobile device, and Figure 1B is the stereographic map of the mobile device of Figure 1A, and Fig. 1 C is the front elevation of the braille coding pattern of Figure 1A.Please refer to Figure 1A～1C, regional recognition system 100 of the present invention comprises mobile device 110 and braille coding pattern 120, and wherein braille coding pattern 120 is to be configured in the specific region, and has the regional identifying information in this zone.With indoor environment, braille coding pattern 120 can be attached on the wall in parlor, corridor, bedroom, also can be illustrated on the surface of obvious article such as locker, and the braille coding pattern 120 that wherein is positioned at zones of different just has different regional identifying informations.
Accept above-mentioned, mobile device 110 can be robot, and mobile device 110 comprises body 112, central control unit 114, panadaptor 116 and light source generator 118, and central control unit 114 is the starts that are used for control body 112, and panadaptor 116 is to be disposed on the body 112 with light source generator 118.Light source generator 118 is to be used to provide light source 118a and light source 118a is exposed to the external world, and panadaptor 116 just constantly captures extraneous image so that extraneous image is passed to central control unit 114.Central control unit 114 can with analysis software to external world image analyze, judge whether extraneous presentation content comprises braille coding pattern 120, and then the image of analyzing braille coding pattern 120 is to parse regional identifying information.Thus, central control unit 114 just can be known the zone at body 112 places of mobile device 110, and can position body 112.
Fig. 1 D is for asking the braille coding pattern that clearly demonstrates Fig. 1 C more to show many boost lines in addition, and Fig. 2 is the braille coding schedule of English coding.Please refer to Fig. 1 C～1D and Fig. 2, the braille coding pattern 120 of present embodiment comprises shaped as frame mark 122 and braille coded markings 124, and wherein braille coded markings 124 is the ad-hoc locations that are positioned at shaped as frame mark 122, with the expression information specific.
With present embodiment, each braille coding pattern 120 can comprise the quantity of information of two English alphabets.Specifically, the zone in the shaped as frame mark 122 can be divided into left side and right-hand part, and each half one all represents an English alphabet.In addition, each half one can divide into 2 * 3 totally six positions again again, and each position can be braille coded markings 124 or blank.Thus, the braille coding schedule of contrast Fig. 2 know that just braille coding pattern 120 is expressed as mb, and the represented regional identifying information of present embodiment definable mb is " master bedroom ".So after central control module 114 parses this regional identifying information, just the body 112 of mobile device 110 can be positioned at " master bedroom ".
Accept above-mentionedly, the cost of manufacture of braille coding pattern 120 is very cheap.Present embodiment is directly to be cut into the braille coding pattern 120 that has the zones of different identifying information with reflective cloth, and these braille coding patterns 120 are attached on wall, ceiling, floor or the article, can make the body 112 of mobile device 110 no matter all can orient the position of self wherein.
Because the braille coding has advantage of simple structure, and the architectural feature of braille coding is very obvious, therefore when carrying out the geometry video recording analysis with software design, can significantly improve the success ratio and the correctness of identification.In addition, no matter panadaptor 116 with which kind of angle pick-up image makes braille coding pattern 120 produce rises deformation, but braille coding pattern 120 still can keep the integrality of its structure.
Fig. 3 A be the braille coding pattern of Fig. 1 C at different angles picked image synoptic diagram, and Fig. 3 B asks the resolving of the braille coding pattern that clearly demonstrates Fig. 3 A more and shows many boost lines in addition.Please refer to Fig. 3 A and 3B, because the relation of pick-up image angle, the image that the braille coding pattern 120a of Fig. 3 A is presented is close to trapezoidal.Central control unit 114 can be a rectangle with the shaped as frame mark 122a outer rim polishing of braille coding pattern 120a at first, and obtains the length L and the width W of this rectangle.In addition, central control unit 114 also can calculate the shared elemental area A of shaped as frame mark 122a, and with elemental area A divided by length L after again divided by width W to obtain the first judgment value C1:
As the first judgment value C1 during less than the first critical value T1, recognition software can assert that just the pixel region of this high brightness constitutes effective braille coding pattern 120a, otherwise recognition software can assert that just the pixel region of this high brightness only is noise.With present embodiment, the value of this first critical value T1 is 1/4, the first critical value T1 determines according to actual value when but can be made by the frame phenotypic marker, those who are familiar with this art are when can be according to above-mentioned and adjust the account form of the first judgment value C1 or the value of the first critical value T1 a little, but it still belongs in the category of the present invention.
Then, if the high luminance pixel in the image is to constitute braille coding pattern 120a, then then shaped as frame mark 122a inner area is divided into 4 * 3 totally 12 positions, and judges whether each position is blank or is braille coded markings 124a.For instance, whether there is the high brightness mark to exist in elder generation's detecting position, a length and width ratio of definition and allow the ratio decision when position internal labeling can be by label creating, length and width ratio is difficult for influencing to some extent apart from change because of capture, or between between a certain setting district, determine by the mark area, maximal value needs the mark area greater than nearest capture distance, minimum value needs the mark area less than capture distance farthest, mating mark length and width ratio are set one and are allowed ratio, meet aforementioned condition, then recognition software can judge that just this position is braille coded markings 124a, otherwise, then be judged as blank.With present embodiment, this length and width ratio allows that ratio is 0.3.
In other words, in the step of judging shaped as frame mark 122a, software just can calculate the resolution sizes of braille coding pattern 120a, and judges the distance between body 112 and the braille coding pattern 120a simultaneously, so just can instead extrapolate the due elemental area of braille coded markings 124a.As in the previous paragraph, the present invention can set the distance of capture farthest and allow marginal value and converse elemental area corresponding conversion matrix apart from conduct with nearest capture, and when the high luminance pixel area of braille coding pattern in aforesaid elemental area scope, transition matrix via correspondence, can further calculate the distance of present mobile device and braille coding pattern by high brightness reflective pixel planimeter, then software just can be judged the positional information of present region of mobile device and thinner portion.
Thus, it is mb that central control unit 114 still can parse the regional identifying information that the braille coding pattern 120a of this deformation includes, with accuracy rate and the success that significantly promotes the software identification.Because the present invention positions analysis with software analysis, so than known laser positioning or radio RF recognition technology, the regional recognition system 100 of present embodiment can significantly reduce to build and is set to this, uses and help extending at home.
Although it should be noted that the braille coding pattern 120 of previous embodiment is to combine with shaped as frame mark 122 and braille coded markings 124, the present invention does not limit the structure of braille coding pattern 120 and forms.For example, other embodiment also can change shaped as frame mark 122 into diagonal orientation mark or four jiaos of telltale marks, below with other for embodiment and the collocation illustrate.
Fig. 3 C～3F is the front elevation according to four kinds of braille coding patterns of another embodiment of the present invention, and shows the zone of braille coded markings in order to deciphering so that dotted line is auxiliary.Please refer to Fig. 3 C～3F, braille coding pattern 320a～320c of Fig. 3 C～3E comprises two telltale mark 322a～322c and braille coded markings 324 respectively, wherein telltale mark 322a～322c is the periphery that is positioned at braille coded markings 324 regions, to define the zone of braille coded markings 324.
Specifically, two telltale mark 322a are the upper left corner and the lower right corner that are positioned at braille coded markings 324 zones, and two telltale mark 322b are the upper right corner and the lower left corner that is positioned at braille coded markings 324 zones, and two telltale mark 322c are top and the left edges that are positioned at braille coded markings 324 zones.
Similar aforementioned, when central control module 114 will judge whether the high luminance pixel in the image constitutes civilian coding pattern, also be to be rectangle with these telltale marks 322a～322c outer rim polishing earlier, whether the ratio of calculating the relative rectangular area of this telltale mark 322a～322c again is within the special value scope, and the personnel that are familiar with this technology can determine this special value scope according to above stated specification and actual design.
It should be noted that the present invention does not limit specifically labelled shape and quantity, also do not limit the position that telltale mark is provided with.For example, telltale mark 322a is hook-shaped, and the shape of telltale mark 322b is identical with the shape of braille coded markings 324, and telltale mark 322c is a strip.In addition, although the quantity of these telltale marks 322a～322c is two, in other embodiments, also can adopts the telltale mark more than three or four, and it is disposed at each corner or the edge in braille coded markings zone.Further, the present invention also can adopt the identification of multi-form telltale mark to position.Shown in Fig. 3 F,, and telltale mark 322a～322c is disposed at the lower left corner, the upper right corner and the lower edge in braille coded markings 324 zones respectively just braille coding pattern 320d comprises multi-form telltale mark 322a～322c.
In the present embodiment, braille coding pattern 120 is to be configured on the wall of the interior space, and does not have the effect of high reflection for the fluorescent light source on the ceiling, to avoid that the user of indoor activity is produced dazzling phenomenon.In addition, light source generator 118 can produce light source 118a with the special angle scope, to expose to braille coding pattern 120.After braille coding pattern 120 is subjected to this light source 118a irradiation, just light source 118a high reflection can be returned panadaptor 116 and analyze to produce image.
Refer again to Figure 1B, in the present embodiment, central control unit 114 for example for computing machine with Wireless transmission mode control body 112, panadaptor 116 and light source generator 118.But, the present invention also can be disposed at central control unit 114 on the body 112, and directly controls body 112, panadaptor 116 and light source generator 118 in online mode.In addition, the present invention does not limit the kind of light source generator 118 and panadaptor 116, for example, light source generator 118 can be projecting lamp, light emitting diode, Halogen lamp LED, fluorescent light, spotlight or other suitable light emitting source, and panadaptor 116 can be Charged Coupled Device, CMOS (Complementary Metal Oxide Semiconductor), ball-type video camera or digital camera.
In addition, although aforementioned alleged light source all is to explain with visible light, the present invention also can the non-visible light pick-up image.For example, light source generator 118 can be infrared transmitter, exposes to braille coding pattern 120 so that infrared light supply to be provided.Then, braille coding pattern 120 can return the infrared light supply high reflection as the panadaptor 116 of infrared light panadaptor to produce light source.Under this framework, braille coding pattern 120 can be designed to not can reflect visible light, and is hidden in the extension picture to the wall or other suitable position, and this braille coding pattern 120 does not need to do design at high reflection angle more yet.
In the aforementioned embodiment, braille coding pattern 120 can comprise quantity of information that two English alphabets or English alphabet add a combination of numbers altogether at least with as regional identifying information, just 26 * 26=676 different representative meaning can be represented parlor, kitchen, dining room, children room, charging station, computer house, study, guest room, corridor or the like zone, and these regional corresponding symbol meanings all can be defined voluntarily by user or deviser.Certainly, the present invention also the visual information amount what and adjust the form of braille coding pattern a little.Below will be more in addition with icon collocation explanatory note.
Fig. 4 A～4C is the front elevation according to a plurality of braille coding patterns of another embodiment of the present invention.Please refer to Fig. 4 A～4C, braille coding pattern 420a, 420b, the 420c of present embodiment are similar to the braille coding pattern 120 of Fig. 1 C, and braille coding pattern 420a, 420b, 420c also comprise shaped as frame mark 422a, 422b, 422c and braille coded markings 424a, 424b, 424c, and its difference only is the form difference of braille coding pattern.
It should be noted that, although aforesaid braille coding is to be encoded to the master with English, but the present invention does not limit the kind of braille coding, and for example, braille coding of the present invention also encode or other suitable coding by Chinese character code, Japanese coding, Korean.Fig. 5 A is based on the local braille coding schedule of the Chinese character code of phonetic notation, and Fig. 5 B and Fig. 5 C are respectively the local braille coding schedule of Japanese coding and Korean coding, the personnel that are familiar with this technology are when the meaning that can revise braille coding pattern representative according to Fig. 5 A～5C easily, but it still belongs in the category of the present invention.
In sum, because regional recognition system of the present invention mainly is with software image to be carried out the identification analysis, and then orients the position of robot, so building of this regional recognition system is set to that this is very cheap.In addition, braille coding simple in structure cooperates the braille coding pattern of high reflective material can significantly reduce the difficulty of image identification in how much parsings, accuracy rate and the success significantly to promote the software identification whereby.
Certainly; the present invention also can have other various embodiments; under the situation that does not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (12)
1. a regional recognition system is characterized in that, comprising:
One braille coding pattern has a regional identifying information, and the material of this braille coding pattern is high reflective material, and this braille coding pattern comprises: a shaped as frame mark; And a braille coded markings, be disposed in this shaped as frame mark;
One mobile device comprises:
One body;
One central control unit is suitable for controlling this body and moves, and based on one first judgment value, assert whether this braille coding pattern is effective, the employing formula
Assert this braille coding pattern, this central control unit is a rectangle with this shaped as frame mark outer rim polishing of this braille coding pattern at first, and, this central control unit also calculates the shared elemental area of this shaped as frame mark, wherein, C1 is first judgment value, L is the rectangle length behind the polishing, W is the rectangle width behind the polishing, A is the area of this shaped as frame mark that this central control unit calculates, and as the first judgment value C1 during less than one first critical value, recognition software can assert that just the pixel region of a high brightness constitutes effective braille coding pattern, otherwise recognition software can assert that just the pixel region of this high brightness only is noise;
One light source generator be disposed on this body, and this light source generator is suitable for providing a light source, and this braille coding pattern is suitable for reflecting this light source; And
One panadaptor is disposed on this body, and is suitable for receiving the image of this braille coding pattern and is passed to this central control unit, so that the position that this central control unit is oriented this body according to this zone identifying information.
2. regional recognition system according to claim 1 is characterized in that, the braille of this braille coding pattern is encoded to Chinese character code, English coding, Japanese coding or Korean coding.
3. regional recognition system according to claim 1 is characterized in that, being shaped as of this braille coded markings is circular, square, rhombus or triangle.
4. regional recognition system according to claim 1 is characterized in that, this braille coding pattern reflect visible light or invisible light.
5. regional recognition system according to claim 1 is characterized in that, high reflective material is light-reflecting particles, reflective pigment or reflectorised paint.
6. regional recognition system according to claim 4 is characterized in that, invisible light is an infrared light.
7. regional recognition system according to claim 1 is characterized in that, this light source generator is projecting lamp, light emitting diode, Halogen lamp LED, fluorescent light or spotlight.
8. regional recognition system according to claim 1 is characterized in that, this panadaptor is Charged Coupled Device, CMOS (Complementary Metal Oxide Semiconductor), ball-type video camera or digital camera.
9. a regional recognition system is characterized in that, comprising:
One braille coding pattern has a regional identifying information, and the material of this braille coding pattern is high reflective material, and this braille coding pattern comprises: two telltale marks define one in order to discern the zone of described regional identifying information; And a braille coded markings, what be disposed at that this two telltale mark defined should be in order in the zone of discerning described regional identifying information;
One mobile device comprises:
One body;
One central control unit is suitable for controlling this body and moves, and based on one first judgment value, assert whether this braille coding pattern is effective, the employing formula
Assert this braille coding pattern, this central control unit is a rectangle with this two telltale marks outer rim polishing of this braille coding pattern at first, and, this central control unit also calculates the shared elemental area of this two telltale mark, wherein, C1 is first judgment value, L is the rectangle length behind the polishing, W is the rectangle width behind the polishing, A is this two specifically labelled area that this central control unit calculates, and as the first judgment value C1 during less than one first critical value, recognition software can assert that just the pixel region of a high brightness constitutes effective braille coding pattern, otherwise recognition software can assert that just the pixel region of this high brightness only is noise;
One light source generator be disposed on this body, and this light source generator is suitable for providing a light source, and this braille coding pattern is suitable for reflecting this light source; And
One panadaptor is disposed on this body, and is suitable for receiving the image of this braille coding pattern and is passed to this central control unit, so that the position that this central control unit is oriented this body according to this zone identifying information.
10. regional recognition system according to claim 9 is characterized in that, being shaped as of this braille coded markings is circular, square, rhombus or triangle.
11. regional recognition system according to claim 9 is characterized in that, this two specifically labelled circle, hook-type or strip of being shaped as.
12. regional recognition system according to claim 9 is characterized in that, this two telltale mark is to be positioned at this corner or edge in order to the zone of discerning described regional identifying information.
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| CN 200810006534 CN101526987B (en) | 2008-03-06 | 2008-03-06 | Region recognition system using braille coded pattern |
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| CN 200810006534 CN101526987B (en) | 2008-03-06 | 2008-03-06 | Region recognition system using braille coded pattern |
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| CN101526987B true CN101526987B (en) | 2013-07-31 |
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| CN107359184B (en) * | 2017-07-27 | 2020-06-26 | 武汉天马微电子有限公司 | Display panel and method for calibrating pixel unit on display panel |
| CN108062548B (en) * | 2017-11-03 | 2020-11-03 | 中国科学院计算技术研究所 | Braille square self-adaptive positioning method and system |
| DE202020103679U1 (en) * | 2020-06-25 | 2020-07-06 | Soft2Tec Gmbh | Device for position and position detection of markings and computer program product |
| CN111796094B (en) * | 2020-07-20 | 2023-10-03 | 珠海丽珠试剂股份有限公司 | Reagent card and fluorescence immunoassay equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1599385A (en) * | 2003-09-16 | 2005-03-23 | 乐金电子(中国)研究开发中心有限公司 | Braille identification device and method of mobile communication terminal |
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| CN1599385A (en) * | 2003-09-16 | 2005-03-23 | 乐金电子(中国)研究开发中心有限公司 | Braille identification device and method of mobile communication terminal |
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