CN102616020A - Two-point positioning method and system used for large-format printing - Google Patents
Two-point positioning method and system used for large-format printing Download PDFInfo
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- CN102616020A CN102616020A CN2012100939839A CN201210093983A CN102616020A CN 102616020 A CN102616020 A CN 102616020A CN 2012100939839 A CN2012100939839 A CN 2012100939839A CN 201210093983 A CN201210093983 A CN 201210093983A CN 102616020 A CN102616020 A CN 102616020A
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Abstract
The invention discloses a two-point positioning method and system used for large-format printing, completely different from the structure and mode of the traditional printing machine. The method disclosed by the invention is based on the two-point positioning principle and provides theoretical basis for wireless positioning and orientation, namely positioning and orientation carried out on one or multiple sets of mobile printing equipment can be realized just in the way that two wireless positioners are placed at any side outside a printing area; and the system disclosed by the invention takes a wireless positioning technology as a core; through positioning and orientation carried out on one or multiple mobile equipment, printing information is received from and sent to one or multiple sets of mobile equipment, and large-format printing can be probably realized, thus printing without being restricted by format is completed.
Description
Technical field
The present invention relates to a kind ofly can carry out large format, fine definition, high-speed large-breadth printing system and the main method of foundation thereof at indoor or outdoors.
Background technology
At present, in the large-breadth printing field, comprise printing techniques such as pin type, ink-jet, wax spray, laser; Paper supply way all is to adopt paper bowl usually, and promptly the user is placed on the printing paper that needs use on the paper bowl, and is placed on the porch of printer to an end of printing paper; When needs are printed; Printer can rotate paper bowl automatically, sends into printer to printing paper and prints, in order to print continuous length but the breadth of fixed width.Its weak point is: print span is still restricted; Print media is restricted; Print speed also is difficult to improve by a larger margin.
Publication number is that the Chinese patent document of CN101332723A and CN101332724A discloses two kinds of large-breadth printing systems; This system all adopts three-point positioning method; Promptly know on the plane 3 position, and record certain point in addition, thereby obtain this point coordinates respectively apart from 3 distance.The three-point positioning method that adopts in two parts of documents needs three or three above positioning units, be arranged in print area around, the mobile print unit is through calculating the relative distance between synchronization and each positioning unit, self coordinate of acquisition print unit.
Positioning unit is a locator in the prior art, and locator commonly used has lodar and electromagnetic wave locator.The mobile print unit is a mobile print equipment, is a kind of programme controlled automatic stamper device people, also can be outer power-actuated automatic PRN device, and this mobile print equipment leans on wireless positioning, and color print head can be installed as required.Large-breadth printing of the prior art system all adopts three-point fix, but its weak point is to need more locator, thereby cost is bigger.
Summary of the invention
To the weak point of present large-breadth printing, the technical problem that the present invention will solve provided a kind of based on wireless location technology two independent positioning methods and according to the print system of the method.
A kind of two independent positioning methods that are used for large-breadth printing; Homonymy on arbitrary limit of print area is placed first positioning unit and second positioning unit; The mobile print unit is placed on each summit of print area respectively; When the mobile print unit is in the print area summit; Calculate the distance of the mobile print unit and first positioning unit and second positioning unit respectively, confirming said first positioning unit and second positioning unit coordinate with respect to print area, and the coordinate on each summit of print area; When driving the mobile print unit and print by preset program, calculate synchronization mobile print unit respectively with the distance of first positioning unit and second positioning unit, obtain the coordinate position of mobile print unit in print area.
As preferably, described print area is a rectangle.The mobile print equipment that the present invention mentioned need be known the boundary position of print area at the beginning of printing; Boundary position like the rectangle print area is confirmed; Only need let a mobile print equipment confirm that four endpoint locations get final product; Promptly through manual work mobile print equipment is placed on four endpoint locations, mobile print equipment writes down the coordinate information of these four points automatically.When many mobile print equipment of need print work simultaneously; At first letting a mobile print equipment that print area is carried out boundary position confirms; Be sent to control centre to the boundary position information of the print area of record, through control centre every mobile print equipment carried out the working region and distribute.
When print area was other shapes, the confirming and can choose the certain characteristics point of boundary position according to the method described above of its boundary position let the coordinate position of mobile print equipment records point, thereby accomplishes printing the definite of borderline region boundary position.
Adopt radio communication between described positioning unit and the mobile print unit, i.e. wireless location technology.Localization method commonly used has: GPS, Wi-Fi location, bluetooth location, Zigbee location, optical ranging and UWB wireless location technology.The present invention adopts the UWB wireless location technology at present; UWB (Ultra-Wideband, ultra broadband) wireless location technology because low in energy consumption, anti-multipath is effective, have extremely strong penetration capacity, system complexity is low, advantage such as point-device positioning accuracy can be provided.
Described mobile print unit inserts and is controlled by control centre, communicates by letter with control centre through wireless mode in described mobile print unit.Control centre is a computer control, and it mainly acts on is PRN device to be carried out task distribute and the zone division.The aforementioned calculation machine controller is not a key equipment of the present invention, if promptly only use a mobile print equipment, whole system can be simplified, and can the work of computer control be integrated in the mobile print equipment.
Control centre needs images printed information send the mobile print unit to through the mode handle of radio communication; Because normally several Mbytes of image file size of being used for large-breadth printing are to the hundreds of Mbytes, in addition bigger, generally can select the wireless transmission broadband; Commonly used have a WLAN (Wireless Local Area Network; WLAN), the high-speed radio transport module of UWB (Ultra-Wideband, ultra broadband) or other type or network are accomplished radio communication.
Two independent positioning methods that the present invention adopted have reduced the quantity of locator, reduce cost.Described wireless location technology comprises that the electromagnetism of various frequency ranges involves sound wave, like radio wave, light wave, X ray, gamma-rays and ultrasonic wave etc.Because the characteristic of various ripples is different, its positioning accuracy is also different, and printing precision receives the influence of positioning accuracy.Concrete selection can see publication number CN101332723A for details based on the large-breadth printing system of ultrasonic locating technology and the publication number CN101332724A large-breadth printing system based on the electromagnetic wave location technology.
The present invention also provides a kind of large-breadth printing system based on two point locations; Comprise the mobile print unit that in print area, prints by preset program; Arbitrary limit homonymy of said print area is provided with first positioning unit and second positioning unit; Said first positioning unit is connected with the mobile print unit communication with second positioning unit, and the distance of said mobile print unit basis and first positioning unit and second positioning unit obtains the coordinate in print area.
As preferably, described print area is a rectangle.When print area was other shapes, the confirming and can choose several points of boundary position according to the method described above of its boundary position let the coordinate position of mobile print equipment records point, thereby accomplishes printing the definite of borderline region boundary position.
Adopt radio communication between described positioning unit and the mobile print unit, i.e. wireless location technology.
Described mobile print unit inserts and is controlled by control centre, communicates by letter with control centre through wireless mode in described mobile print unit.
The present invention adopts the large-breadth printing system based on wireless two point locations technology, can be implemented in more smooth large-scale plane, comprises the large-breadth printing that does not receive the breadth restriction on the horizontal planes such as large format paper, wall, billboard basically; Can realize the distributed automatic printing of single device or multiple devices; Can realize that also handheld device carries out large-breadth printing on vertical wall, be similar to the process of brush paint.For example be used for interior decoration, can realize directly on wall, printing.If vertical large-scale plane as on large-scale outdoor signboard, then can be adopted the equipment of many similar sucked type climbing robots to carry out the high-speed automated graphics printing of large format, thereby save a large amount of manpower and materials, practice thrift cost.
Description of drawings
Fig. 1 is the work sketch map that the present invention adopts many mobile print equipment.
Fig. 2 is a wireless signal transfer sketch map of the present invention.
Fig. 3 is radio positioner internal module figure.
Fig. 4 is a mobile print device interior module map.
Fig. 5 is the radio positioner workflow diagram.
Fig. 6 is the positioning printing workflow diagram of mobile print equipment.
Fig. 7 is mobile print device initialize process location and orientation principle figure.
Fig. 8 is another point location of mobile print device initialize process and orientation principle figure.
Fig. 9 is location and orientation principle figure in the mobile print equipment print procedure.
Figure 10 is another point location and orientation principle figure in the mobile print equipment print procedure.
The specific embodiment
Like Fig. 1, shown in Figure 2, the large-breadth printing system that the present invention is based on two point locations technology is made up of computer control 3, one or more mobile print equipment 2 and two radio positioners 1.Image file is stored in the computer control 3, and computer control to each mobile print equipment 2 range of distribution, and passes through radio signal and gives mobile print equipment 2 the parts of images data passes of respective regions as required.Mobile print equipment 2 confirms that the position of self just calls self-contained parts of images file afterwards with direction and print in 3 assigned region of computer control.Certainly, if only use a mobile print equipment 2, whole system can be simplified, and can directly store image in the storage system of himself, no longer needs computer control 3, does not also need wireless data signal receive-transmit system 9.
Equipment configuration and workflow:
Radio positioner is seen Fig. 3 inner the composition, is made up of with wireless signal receive-transmit system 6 control system 5.Control system 5 can be a SCM system, and radio positioning signal receive-transmit system 6 is used for receiving and transmission is located wireless.Radio positioner 1 adopts powered battery.The fixing means of radio positioner 1 has a variety of, and for example its base can adopt modes such as gelatin substance, magnetisable material or sucker with the one side that self is fixed on print area 4.
The workflow of radio positioner 1 is seen Fig. 5.System initialization (after the step 13), just begins circulation and receives signal (step 14), the discernible signal (process of step 15) and feedback signal (step 16).In a certain moment during work, each radio positioner 1 can receive the signal that mobile print equipment 2 is sent, and promptly step 14 is given mobile print equipment 2, i.e. step 16 these signal feedback afterwards.Simultaneously; In step 16; Wherein any radio positioner 1 also can transmit to another radio positioner 1, in case radio positioner 1 is received after the signal of another radio positioner 1 feedback i.e. step 14; Can feed back to mobile print equipment 2, i.e. step 16 to the signal transmission time between radio positioner 1 and another radio positioner 1 again.Issue the signal of distinct device, and the coding of signal that receives and feedback signal all is inequality, helps distinguishing unlike signal like this and avoid signal mutual interference mutually.Can not have done state in this flow chart, can simplify flow process like this and practice thrift cost, print the power supply that directly to close radio positioner 1 after accomplishing.
Mobile print equipment 2: see Fig. 4 inner the composition.Form by control system 7, electromagnetic wave framing signal receive-transmit system 8, electromagnetic wave data-signal receive-transmit system 9, storage system 10, print system 11 and drive system 12.Control system 7 is responsible for coordinating and controlling other system, accomplishes this task by SCM system usually.Electromagnetic wave framing signal receive-transmit system 8 utilize wireless carry out and radio positioner 1 between time measurement, what native system adopted at present is the UWB range-measuring circuit.Electromagnetic wave data-signal receive-transmit system 9 is accepted the control and the management of control system 7.Storage system 10 is commonly used to preserve computer control 3 and distributes the parts of images file of coming, and accepts calling of control system 7.This storage system can be to use card reader to read the form of storage card, also can be to use the form of USB (Universal Serial Bus, USB) memory, or use the built-in form that clashes memory etc.Print system 11 can be print members such as ink-jet, pin type or laser.Print system 11 is accepted the commander of control system 7 and is called.Drive system 12 is electromechanical components that be responsible for to move of mobile print equipment 2, if in horizontal plane work, then can adopt two stepper motors to control 2 driving wheels respectively and turn to and walk.If in vertical plane work, then can adopt the sucked type walking mechanism.Drive system 12 is accepted the commander of control system 7.Mobile print equipment 2 in the work feeds back to computer control 3 to self duty and progress through radio in real time.Mobile print equipment 2 is supplied power by battery.
The groundwork flow process of mobile print equipment 2 is seen Fig. 6.At first be system initialization (step 17), this process is accomplished equipment self-inspection, and some parameter of initialization.For example, with the location number of times zero setting of the diverse location of mobile print equipment 2 straight line mobile routes, the quantity zero setting of mobile print equipment 2 being carved at a time the radio positioner 1 of the effective locating information of feedback that receives radio positioner 1.These parameters in new position of every calculating or direction before all can be by zero clearing.Get into systemic circulation then; Judge whether to print completion (step 18); Accomplish if print, then begin to confirm self present residing coordinate position, transmit to locator and receive locator feedback information (step 19); And whether the location quantity of judging the feedback effective information equal two (steps 20), and effectively whether confirmation (step 21) and calculate current location (step 22).Whether the location number of times of confirming diverse location then is more than or equal to two (steps 23); And calculate current direction (step 25); If position and poor direction are really then move and revise (step 29); Up to arriving assigned address with direction and need not revise, just begin to print (step 30) on directly at the stretch that can effectively control printing precision.Will begin second circulation of systemic circulation afterwards, promptly begin the print job in second section path to new position.This systemic circulation meeting lasts till to print always accomplishes just end.Wherein step 19 is that each radio positioner 1 of a certain moment receives the wireless signal of mobile print equipment 2 and another radio positioner 1 transmission, and feeds back signal to the process of mobile print equipment 2 and another radio positioner 1.Why will judge that the wireless signal between each radio positioner 1 transmits the cycle, whether purpose is to be changed for the position of confirming radio positioner.Step 20 is to have judged whether that two radio positioners 1 have fed back signal, if just can't accomplish two point locations because be less than two feedback signals.If there are two signals to obtain feedback, then to check signal whether effectively (step 21), for example time delay is long or signal such as can't discern at situation, and this signal will be judged to invalid signals.If the quantity of useful signal is less than two, will get into the wireless location circulation once more, up to having obtained two useful signals.After obtaining two useful signals, calculate mobile print equipment 2 residing positions (step 22).Computational process step 22 adopts the method for two point locations; Radio positioner 1 signal transmission time each other is known; Mobile print equipment 2 and two radio positioners 1 signal transmission time each other also are known, so be easy to calculate the current coordinate position at mobile print equipment 2 places.Step 23 is to judge whether to have carried out the location second time on the straight line moving route; If carried out the location twice; Then according to the principle of 2 definite straight lines; The direction of travel of mobile print equipment 2 and the inclination angle of reference axis have just confirmed that just confirmed the direction that mobile print equipment 2 is faced, calculated direction is a step 25.Step 26 is to judge direction that mobile print equipment 2 faced whether on the rectilinear direction of printing, and this direction is level normally.Step 27 is to judge whether mobile print equipment 2 positions are correct, and just whether the position is in the scope that error allows.Step 28 is to judge whether that current print area has been printed to finish or run into situation such as obstacle, needs to change direction or position etc.If changing the direction or the position of mobile print equipment 2, needs such as direction or position will get into step 29; Step 29 is to move and revise the process of direction and position; And recomputate before direction and the position; With the location number of times zero setting of the diverse location of mobile print equipment 2 straight line mobile routes, mobile print equipment 2 is carved at a time the quantity zero setting of radio positioner 1 of the effective locating information of feedback of the radio positioner 1 that receives.If the judgement (step 28) whether process direction judgement (step 26), position judgment (step 27) and direction or position need change is afterwards, can on current straight line path, continue to print, then get into and print (step 30).Printing (step 30) is to move the process that print on the limit in the top, stretch footpath that can confirm direction, position and precision.System can get into new location, orientation and print cycle once more afterwards.
Computer control 3: 3 couples of the present invention of computer control are not key equipment, promptly can the work of computer control 3 be integrated in the mobile print equipment 2, thereby dispense this equipment.Adding this equipment among the embodiment is in order to prove absolutely operation principle of the present invention.Computer control 3 can be common computer, but needs corresponding wireless communication module of configuration and administration module.Because normally several Mbytes of image file size of being used for large-breadth printing are to the hundreds of Mbytes, in addition bigger, so the bandwidth of wireless transmission can not be too little.Can adopt WLAN (Wireless Local Area Network, WLAN), the high-speed radio transport module of UWB (Ultra-Wideband, ultra broadband) or other type or network are accomplished radio communication.Computer control 3 is responsible for giving all mobile print equipment 2 zone that shares out the work through radio signal, and with the part or all of data of image through radio transmitting to mobile print equipment 2.In a print out task, only carrying out a subtask usually distributes; Only if certain mobile print equipment 2 encounters problems; For example: failover shutdown, running down of battery, printing consumables exhaust or the like situation, and computer control 3 just can automatically carry out regional planning to all mobile print equipment 2 again and task is distributed.
Location at the beginning of the printing and orientation process:
As shown in Figure 7, two positions of radio positioner 1 in coordinate system be respectively a little 35 with point 36.Four angles of rectangle print area 4 are point 31, point 32, point 33 in the position of coordinate system and put 34 that its mid point 31 overlaps with coordinate origin respectively.34 two determined straight lines of point 31 and point are on the X axle, and point 31 and point 32 determined straight lines are on the Y axle.Certainly all hypothesis are just explained computational process for ease, do not represent and cannot use other coordinate position or scheme.
Before beginning to print, on certain one side of print area, more arbitrarily place two radio positioners.At this moment mobile print equipment 2 and do not know the position of rectangle print area and the position of radio positioner, whole print system does not have any print area 4 and the positional information of radio positioner 1 in coordinate system.During the print system initialization, only need artificially mobile print equipment 2 is placed on position 31, and let mobile print equipment 2 note the information of this position, the i.e. information of the wireless signal delivery time of dotted line representative, just range information among Fig. 7.And then mobile print equipment 2 is placed on position 34, i.e. Fig. 8, the positional information of record this moment once more.Twice positional information has been confirmed rectangle print area 4 upper left corners and the upper right corner position in coordinate system, promptly put 31 with the point 34.Point 32 can let system decide automatically with the position of point 33 according to said method.Simultaneously also confirmed two positions of radio positioner 1 in coordinate system, promptly put 35 with point 36.The residue print job all is that system accomplishes automatically, does not need human intervention.
Location in the print procedure and orientation process:
Fig. 9 and Figure 10 are the schematic diagrams that is used for calculating location and direction in the print procedure.Point 37 is two end points on print area 4 interior certain section printing paths with point 38.The as noted above definite point 31 in position of point 37 and point 38 is the same with the position of point 34; Can be easy to calculate their position through two point locations; And put 37 with the point 38 two determined straight lines direction also just be easy to calculate; If so put 37 correct with point 38 position and direction, mobile print equipment 2 will point 37 with put in 38 the zone, and print in certain section zone of their extended line.
Positioning accuracy:
The positioning accuracy of system is in Centimeter Level at present.Along with the raising of range-measuring circuit performance, positioning accuracy of the present invention also can improve constantly.
Operating process:
The first step is that image file is stored in mobile print equipment 2 or the computer control 3.Second step was the artificial boundary position of confirming print area 4, and marked.Place on one side arbitrarily or fixing two radio positioners 1 at print area 4, the placement location of radio positioner 1 does not need very accurate, as long as certain that roughly is distributed in print area 4 on one side.The 3rd step was to let mobile print equipment 2 know the position on border.For example: the confirming of the print area border of rectangle; Like the rectangle print area among Fig. 7 and Fig. 8; Only need let a mobile print equipment 2 confirm that the position of four end points gets final product; Confirming and can mobile print equipment 2 being placed on this four points through manual work of these four endpoint locations lets mobile print equipment 2 write down this four some positions automatically, and lets mobile print equipment 2 write down the printing terminal point of the origins of coordinates and X axle.The 4th step was that mobile print equipment 2 is placed in the print area.The 5th step was to print, and overall print process is accomplished by complete equipment automatically.Operating process is very simple.
Claims (8)
1. two independent positioning methods that are used for large-breadth printing; It is characterized in that; Homonymy on arbitrary limit of print area is placed first positioning unit and second positioning unit; The mobile print unit is placed on each summit of print area respectively, when being in the print area summit, calculates the distance of the mobile print unit and first positioning unit and second positioning unit respectively in the mobile print unit; Confirming said first positioning unit and second positioning unit coordinate with respect to print area, and the coordinate on each summit of print area;
When driving the mobile print unit and print by preset program, calculate synchronization mobile print unit respectively with the distance of first positioning unit and second positioning unit, obtain the coordinate position of mobile print unit in print area.
2. two independent positioning methods that are used for large-breadth printing as claimed in claim 1 is characterized in that described print area is a rectangle.
3. according to claim 1 or claim 2 two independent positioning methods that are used for large-breadth printing is characterized in that, adopt radio communication between described first positioning unit and second positioning unit and the mobile print unit.
4. two independent positioning methods that are used for large-breadth printing as claimed in claim 3 is characterized in that, said mobile print unit inserts and is controlled by control centre, communicate by letter with said control centre through wireless mode in said mobile print unit.
5. large-breadth printing system based on two point locations; Comprise the mobile print unit that in print area, prints by preset program; It is characterized in that arbitrary limit homonymy of said print area is provided with first positioning unit and second positioning unit, said first positioning unit is connected with the mobile print unit communication with second positioning unit; The distance of said mobile print unit basis and first positioning unit and second positioning unit obtains the coordinate in print area.
6. the large-breadth printing system based on two point locations as claimed in claim 5 is characterized in that described print area is a rectangle.
7. like claim 5 or 6 described large-breadth printing systems, it is characterized in that, adopt radio communication between described first positioning unit and second positioning unit and the mobile print unit based on two point locations.
8. the large-breadth printing system based on two point locations as claimed in claim 7 is characterized in that, said mobile print unit inserts and is controlled by control centre, communicates by letter with said control centre through wireless mode in said mobile print unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210093983.9A CN102616020B (en) | 2012-04-01 | 2012-04-01 | Two-point positioning method and system used for large-format printing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210093983.9A CN102616020B (en) | 2012-04-01 | 2012-04-01 | Two-point positioning method and system used for large-format printing |
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| CN102616020B CN102616020B (en) | 2014-12-10 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104162990A (en) * | 2014-07-29 | 2014-11-26 | 上海建工集团股份有限公司 | Building 3D printing device and method based on polar coordinate positioning |
| CN106042643A (en) * | 2016-06-06 | 2016-10-26 | 上海银帆信息科技有限公司 | Mobile robot printing system based on single-point positioning technique |
| CN106079896A (en) * | 2016-06-06 | 2016-11-09 | 上海银帆信息科技有限公司 | Mobile robot based on One-Point Location technology print system |
| CN109435455A (en) * | 2018-10-19 | 2019-03-08 | 江苏斯派尔建材科技有限公司 | A kind of metal wood grain heat insulation decoration integrated plate stamp is to the system of penetrating |
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| CN2595569Y (en) * | 2002-08-13 | 2003-12-31 | 北京中文之星数码科技有限公司 | Micro printer moving on static interface |
| CN1623782A (en) * | 2003-12-03 | 2005-06-08 | 三星电子株式会社 | Method for controlling nozzle position in image forming apparatus |
| CN101332723A (en) * | 2008-04-24 | 2008-12-31 | 梁勇 | Large-breadth printing system based on ultrasonic location technique |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2595569Y (en) * | 2002-08-13 | 2003-12-31 | 北京中文之星数码科技有限公司 | Micro printer moving on static interface |
| CN1623782A (en) * | 2003-12-03 | 2005-06-08 | 三星电子株式会社 | Method for controlling nozzle position in image forming apparatus |
| CN101332723A (en) * | 2008-04-24 | 2008-12-31 | 梁勇 | Large-breadth printing system based on ultrasonic location technique |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104162990A (en) * | 2014-07-29 | 2014-11-26 | 上海建工集团股份有限公司 | Building 3D printing device and method based on polar coordinate positioning |
| CN104162990B (en) * | 2014-07-29 | 2018-07-17 | 上海建工集团股份有限公司 | A kind of 3D printing device and method for building based on polar coordinates positioning |
| CN106042643A (en) * | 2016-06-06 | 2016-10-26 | 上海银帆信息科技有限公司 | Mobile robot printing system based on single-point positioning technique |
| CN106079896A (en) * | 2016-06-06 | 2016-11-09 | 上海银帆信息科技有限公司 | Mobile robot based on One-Point Location technology print system |
| CN106079896B (en) * | 2016-06-06 | 2017-07-07 | 上海银帆信息科技有限公司 | Mobile robot print system based on One-Point Location technology |
| CN109435455A (en) * | 2018-10-19 | 2019-03-08 | 江苏斯派尔建材科技有限公司 | A kind of metal wood grain heat insulation decoration integrated plate stamp is to the system of penetrating |
| CN109435455B (en) * | 2018-10-19 | 2019-07-19 | 江苏斯派尔建材科技有限公司 | A kind of metal wood grain heat insulation decoration integrated plate stamp is to the system of penetrating |
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| Publication number | Publication date |
|---|---|
| CN102616020B (en) | 2014-12-10 |
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