CN109137706B - Automatic printing method and device - Google Patents
Automatic printing method and device Download PDFInfo
- Publication number
- CN109137706B CN109137706B CN201811006117.5A CN201811006117A CN109137706B CN 109137706 B CN109137706 B CN 109137706B CN 201811006117 A CN201811006117 A CN 201811006117A CN 109137706 B CN109137706 B CN 109137706B
- Authority
- CN
- China
- Prior art keywords
- printing
- printed
- automatic
- current path
- pattern
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
- B41J2/005—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by bringing liquid or particles selectively into contact with a printing material
- B41J2/01—Ink jet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
- B41J29/393—Devices for controlling or analysing the entire machine ; Controlling or analysing mechanical parameters involving printing of test patterns
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
Abstract
The embodiment of the application provides an automatic printing method and device. The method comprises the steps of acquiring automatic printing instruction information, wherein the automatic printing instruction information comprises an automatic printing driving route and printing information of at least one object to be printed, and the printing information comprises a printing pattern of the object to be printed and a printing position in the automatic printing driving route. And then, automatically driving based on the automatically printed driving route, acquiring the current path position in real time in the automatic driving process, then comparing and analyzing the current path position with the printing position of any object to be printed, and controlling the automatic printing equipment to print the printing pattern of the object to be printed at the current path position if the current path position is matched with the printing position of any object to be printed. From this, this application is through at the automatic accurate required pattern of printing of autopilot in-process to avoid manual operation, reduce artifical intensity of labour, greatly improve printing efficiency, have wide application prospect.
Description
Technical Field
The application relates to the technical field of printing, in particular to an automatic printing method and device.
Background
At present, a number of related equipment and units are involved in code spraying or jet printing or printing technology for patterns (such as landmark patterns, advertisement patterns, plastic runway patterns and the like), but at present, a manual printing or paint spraying mode is adopted, and obviously, the defects of manual operation, high labor intensity, low printing efficiency and the like exist.
Content of application
In order to overcome the defects in the prior art, the application aims to provide an automatic printing method and device, the required patterns are automatically and accurately printed in the automatic driving process, so that manual operation is avoided, the manual labor intensity is reduced, the printing efficiency is greatly improved, and the automatic printing method and device have a wide application prospect.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides an automatic printing method, which is applied to an autonomous vehicle, where an automatic printing device is disposed on a chassis of the autonomous vehicle, and the method includes:
acquiring automatic printing instruction information, wherein the automatic printing instruction information comprises an automatic printing driving route and printing information of at least one object to be printed, and the printing information comprises a printing pattern of the object to be printed and a printing position in the automatic printing driving route;
automatically driving based on the automatically printed driving route, and acquiring the current route position in real time in the automatic driving process;
comparing and analyzing the current path position with the printing position of any object to be printed, and judging whether the current path position is matched with the printing position of any object to be printed;
and if the current path position is matched with the printing position of any object to be printed, controlling the automatic printing equipment to print the printing pattern of the object to be printed at the current path position.
Optionally, the autonomous vehicle is in communication connection with a server, and the step of obtaining the automatic printing instruction information includes:
receiving an automatic printing request sent by a user through the server;
and acquiring automatic printing instruction information from the automatic printing request.
Optionally, the autonomous vehicle is further in communication connection with a drone, the drone flies around the autonomous vehicle according to an automatically printed travel route of the autonomous vehicle, and the step of performing autonomous driving based on the automatically printed travel route includes:
monitoring a wireless communication state with the drone during autonomous driving;
when the communication speed between the unmanned aerial vehicle and the unmanned aerial vehicle is monitored to be larger than or equal to a preset threshold value, receiving road surface information of the automatic driving vehicle on the automatic printing driving route acquired by the unmanned aerial vehicle, and executing corresponding actions according to the road surface information;
when the communication rate between the unmanned aerial vehicle and the monitored target is smaller than a preset threshold value, receiving the road information sent by the server, and executing corresponding actions according to the road information;
and when the road surface information is not received, entering an automatic early warning state.
Optionally, the step of comparing and analyzing the current path position with the print position of any one object to be printed, and determining whether the current path position matches with the print position of any one object to be printed includes:
calculating a coordinate difference value between the longitude and latitude coordinates of the current road position and the longitude and latitude coordinates of the printing position of any one object to be printed;
and judging whether the coordinate difference value is smaller than a preset threshold value, if so, judging that the current path position is matched with the printing position of any object to be printed.
Optionally, the automatic printing device includes a paint cavity provided with a printing paint, and if the current path position matches with a printing position of any one object to be printed, the step of controlling the automatic printing device to print a printing pattern of the object to be printed at the current path position includes:
and if the current path position is matched with the printing position of any object to be printed, stopping driving, controlling the automatic printing equipment to export the paint required by the object to be printed from the paint cavity, and enabling the automatic printing equipment to print the exported paint on the printing position of the object to be printed based on the printing pattern of the object to be printed.
Optionally, after the step of controlling the automatic printing device to print the print pattern of the object to be printed at the current pass-through position, the method further includes:
collecting a printed pattern image of the printed object to be printed;
carrying out image analysis on the printing pattern image, and detecting whether the printing pattern image has printing defects;
if the printing pattern image is detected to have a printing defect, acquiring a first printing remediation strategy of the printing defect;
and controlling the automatic printing equipment to carry out remedial printing on the printing defect based on the first printing remedial strategy.
Optionally, after the step of performing automatic driving based on the automatically printed driving route and acquiring the current road position in real time during the automatic driving, the method further includes:
acquiring printing and cleaning indication information, wherein the printing and cleaning indication information comprises cleaning information of at least one object to be cleaned, and the cleaning information comprises a cleaning pattern of the object to be cleaned and a cleaning position in the automatic printing traveling route;
comparing and analyzing the current path position with the cleaning position of any object to be cleaned, and judging whether the current path position is matched with the printing position of any object to be cleaned;
and if the current path position is matched with the printing position of any object to be cleaned, cleaning the printing pattern of the object to be cleaned printed at the current path position.
Optionally, after the step of cleaning the printed pattern of the object to be cleaned printed at the current path position, the method further includes:
and controlling the automatic printing equipment to reprint the printing pattern of the object to be cleaned after detecting that the printing pattern of the object to be cleaned printed at the current path position is cleaned.
Optionally, after the step of performing automatic driving based on the automatically printed driving route, the method further comprises:
acquiring a path area image in real time in the automatic driving process;
carrying out image analysis on the path area image, and detecting whether the path area image has printing defects;
if the path area image is detected to have printing defects, acquiring a second printing remediation strategy of the path area image, wherein the second printing remediation strategy comprises a printing pattern of the path area image;
and controlling the automatic printing equipment to carry out remedial printing on the path area image based on the second printing remedial strategy.
In a second aspect, an embodiment of the present application further provides an automatic printing apparatus, which is applied to an autonomous vehicle, where an automatic printing device is disposed on a chassis of the autonomous vehicle, and the apparatus includes:
the automatic printing system comprises an acquisition module, a printing module and a printing module, wherein the acquisition module is used for acquiring automatic printing instruction information, the automatic printing instruction information comprises an automatic printing driving route and printing information of at least one object to be printed, and the printing information comprises a printing pattern of the object to be printed and a printing position in the automatic printing driving route;
the automatic driving module is used for carrying out automatic driving based on the automatic printing driving route and acquiring the current route position in real time in the automatic driving process;
the comparison analysis module is used for comparing and analyzing the current path position with the printing position of any object to be printed and judging whether the current path position is matched with the printing position of any object to be printed;
a printing control module for controlling the automatic printing device to print the printing pattern of the object to be printed at the current path position if the current path position is matched with the printing position of any object to be printed
In a third aspect, embodiments of the present application further provide a readable storage medium, on which a computer program is stored, where the computer program is executed to implement the automatic printing method described above.
Compared with the prior art, the method has the following beneficial effects:
the embodiment of the application provides an automatic printing method and device. The method comprises the steps of acquiring automatic printing instruction information, wherein the automatic printing instruction information comprises an automatic printing driving route and printing information of at least one object to be printed, and the printing information comprises a printing pattern of the object to be printed and a printing position in the automatic printing driving route. Then, automatic driving is carried out based on the automatic printing driving route, the current path position is obtained in real time in the automatic driving process, then, the current path position is compared and analyzed with the printing position of any object to be printed, whether the current path position is matched with the printing position of any object to be printed or not is judged, and if the current path position is matched with the printing position of any object to be printed, the automatic printing equipment is controlled to print the printing pattern of the object to be printed at the current path position. From this, this application is through at the automatic accurate required pattern of printing of autopilot in-process to avoid manual operation, reduce artifical intensity of labour, greatly improve printing efficiency, have wide application prospect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic view of an application scenario of an automatic printing method according to an embodiment of the present application;
fig. 2 is a schematic flowchart of an automatic printing method according to an embodiment of the present application.
FIG. 3 is a functional block diagram of an automatic printing apparatus according to an embodiment of the present disclosure;
fig. 4 is a block diagram schematically illustrating a structure of an electronic device for use in the automatic printing method according to an embodiment of the present application.
Icon: 100-autonomous vehicle; 110-a bus; 120-a processor; 130-a storage medium; 140-bus interface; 150-a network adapter; 160-a user interface; 200-an automatic printing device; 210-an obtaining module; 220-autopilot module; 230-alignment analysis module; 240-print control module; 300-a server; 500-unmanned aerial vehicle.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Fig. 1 is a schematic view of an application scenario of an automatic printing method according to an embodiment of the present application. In this embodiment, the application scenario may include the autonomous vehicle 100, the server 300, and the drone 500, which are communicatively connected to each other.
An Autonomous vehicle 100 (also called an unmanned vehicle, a computer-driven vehicle, or a wheeled mobile robot) is an intelligent vehicle that can be unmanned through a computer system. It may include video cameras, radar sensors and laser rangefinders to learn about the surrounding traffic conditions, and navigate the road ahead through a detailed map (a map collected by a manned automobile), and automatically drive on the road according to a preset navigation route. In this embodiment, the autonomous vehicle 100 may automatically print a pattern during autonomous driving, wherein an autonomous printing device may be disposed on a chassis of the autonomous vehicle 100, a paint cavity for printing paint may be disposed in the autonomous printing device, and the printing paint may be led out from the paint cavity according to the type of the pattern to be printed.
In this embodiment, the server 300 should be understood as a service point providing processing, database, communication facilities. By way of example, server 300 may refer to a single physical processor with associated communication and data storage and library facilities, or it may refer to a networked or clustered collection of processors, associated networks, and storage devices, and operates on software and one or more library systems and application software that support the services provided by server 300. The servers 300 may vary widely in configuration or performance, but the servers 300 may generally include one or more central processing units and memory units. The Server 300 may also include one or more large storage devices, one or more power supplies, one or more wired or wireless network components, one or more input/output components, or one or more operating systems, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD.
Referring to fig. 2, a flowchart of an automatic printing method according to an embodiment of the present disclosure is shown, where the automatic printing method is executed by the autonomous vehicle 100 shown in fig. 1. It should be noted that the automatic printing method provided in the embodiment of the present application is not limited by fig. 2 and the following specific sequence. The method comprises the following specific processes:
in step S210, automatic print instruction information is acquired.
In this embodiment, the autonomous vehicle 100 may receive an automatic print request transmitted by a user through the server 300, and acquire automatic print instruction information from the automatic print request. The automatic printing instruction information can comprise an automatic printing driving route and printing information of at least one object to be printed, and the printing information comprises a printing pattern of the object to be printed and a printing position in the automatic printing driving route.
In this embodiment, the automatic printing travel route may be flexibly set according to actual printing requirements, for example, a landmark pattern between the position a and the position B needs to be printed, and then the travel route between the position a and the position B may be set as the automatic printing travel route.
In this embodiment, the object to be printed may be, but not limited to, a landmark, an advertisement, a plastic runway, an induction coil for military use, and the like, and is not limited specifically herein, the print pattern is a pattern that the object to be printed needs to present, for example, the landmark may include an arrow pattern, a forbidden pattern, a zebra pattern, and the like, and the print position is also a specific position of the pattern that the object to be printed needs to present, and the print position may be stored in a form of latitude and longitude.
And step S220, performing automatic driving based on the automatic printed driving route, and acquiring the current road position in real time in the automatic driving process.
In the present embodiment, in order to facilitate the handling of the autonomous vehicle 100 effectively coping with various emergencies, an accurate response is made when an emergency occurs. Alternatively, the drone 500 may fly around the autonomous vehicle 100 according to an automatically printed travel route of the autonomous vehicle 100, and the drone 500 is configured to acquire road surface information on the automatically printed travel route where the autonomous vehicle 100 is located, and transmit the road surface information to the autonomous vehicle 100 and the server 300. The method includes the steps that the wireless communication state between the automatic driving vehicle 100 and the unmanned aerial vehicle 500 is monitored in real time in the automatic driving process, when the communication speed between the automatic driving vehicle 100 and the unmanned aerial vehicle 500 is monitored to be larger than or equal to a preset threshold value, road surface information where the automatic driving vehicle 100 is located on an automatic printing running road line acquired by the unmanned aerial vehicle 500 is received, corresponding actions are executed according to the road surface information, when the communication speed between the automatic driving vehicle 500 and the unmanned aerial vehicle 500 is monitored to be smaller than the preset threshold value, the road surface information sent by the server 300 is received, and corresponding actions are executed according to. And when the road surface information is not received, entering an automatic early warning state.
From this design, because unmanned aerial vehicle 500 can fly away from autonomous vehicle 100 itself, can collect various road surface conditions in advance and timely send for autonomous vehicle 100, autonomous vehicle 100 can respond to according to the road surface condition of receipt accurately in time, great improvement autonomous vehicle 100's security.
In this embodiment, the unmanned aerial vehicle 500 may include an airborne satellite navigation device, an airborne road information acquisition device, an airborne sensor, and an airborne intelligent processing terminal, where the airborne satellite navigation device, the airborne road information acquisition device, and the airborne sensor are all connected to the airborne intelligent processing terminal, and the airborne road information acquisition device is used to acquire road information and send the road information to the airborne intelligent processing terminal; the onboard satellite navigation device is used for storing an automatically printed running route (such as a navigation route of the automatic driving vehicle 100) and sending the automatically printed running route to the onboard intelligent processing terminal; the airborne sensor is used for acquiring state data of the unmanned aerial vehicle 500 and sending the state data to the airborne intelligent processing terminal; the onboard intelligent processing terminal is used for controlling the unmanned aerial vehicle 500 to fly around the automatic driving vehicle 100 on the automatic printing driving route according to the automatic printing driving route, receiving the road surface information and the state data of the unmanned aerial vehicle 500 and sending the road surface information and the state data to the automatic driving vehicle 100 and the server 300.
Specifically, the onboard road information acquisition device is used for acquiring road information, and the specific acquisition mode is not unique and can be a mode of shooting images or scanning and the like; the onboard satellite navigation device and the navigation device of the autonomous vehicle 100 can be operated synchronously or independently, namely, the synchronous operation is that only one of the unmanned aerial vehicle 500 and the autonomous vehicle 100 needs to be set, and the both walk according to a set route; the airborne intelligent processing terminal, as unmanned aerial vehicle 500's main control part, need handle image data and/or radar information data and sensor data etc. still as the link, is connected with autopilot vehicle 100, server 300, realizes that data information is interactive.
In one embodiment, the onboard road surface information acquisition device can comprise an onboard aerial photography device and/or an onboard radar system which are connected with an onboard intelligent processing terminal. Specifically, the airborne aerial device is used for shooting images or recording images, shot or recorded data, and the aerial device can shoot a large area which can cover the front, back, left and right directions of the unmanned aerial vehicle 500. The airborne aerial photographing device comprises at least one camera device which can be configured by a single camera, double cameras and a plurality of cameras; airborne radar system is used for scanning the road conditions of road, if: a vehicle in a sharp curve, a traffic jam, a broken section, a pothole section, etc., the scanned information will be sent by the onboard intelligent terminal to the autonomous vehicle 100 and the server 300. When visibility is high, the field of vision is good, can use machine-mounted aerial photography device or machine-mounted radar system, be in the state of going at a high speed when autopilot vehicle 100, probably have because the reason in sky color or field of vision, it is unclear that machine-mounted aerial photography device shoots image or image, needs machine-mounted radar system to scan the road condition this moment, can select to use machine-mounted aerial photography device and/or machine-mounted radar system as required, can ensure that unmanned aerial vehicle 500 accurately acquires the road surface information.
Meanwhile, the autonomous driving vehicle 100 acquires the current route position in real time during autonomous driving, and the current route position may be stored in a latitude and longitude form, corresponding to the printing position of the object to be printed.
Step S230, comparing and analyzing the current path position with the printing position of any object to be printed, and determining whether the current path position matches with the printing position of any object to be printed.
In this embodiment, a coordinate difference between the longitude and latitude coordinates of the current passing position and the longitude and latitude coordinates of the printing position of any one object to be printed may be calculated, and it is determined whether the coordinate difference is smaller than a preset threshold value, and if so, it is determined that the current passing position matches the printing position of any one object to be printed.
Step S240, if the current path position matches with the printing position of any one object to be printed, controlling the automatic printing device to print the printing pattern of the object to be printed at the current path position.
In this embodiment, if the current path position matches the printing position of any one object to be printed, the driving is stopped, and the automatic printing device is controlled to export the paint required by the object to be printed from the paint cavity, so that the automatic printing device prints the exported paint on the printing position of the object to be printed based on the printing pattern of the object to be printed.
Based on the design, the required pattern is automatically and accurately printed in the automatic driving process, so that manual operation is avoided, the labor intensity of workers is reduced, the printing efficiency is greatly improved, and the method has a wide application prospect.
Further, in order to ensure the printing integrity and avoid the printing defect, the identification and confirmation of the printing pattern of the object to be printed may be further performed, and optionally, the following step may be further included after the step S240:
firstly, a printed pattern image of the object to be printed is acquired.
Then, the image analysis is carried out on the printing pattern image, and whether the printing pattern image has printing defects or not is detected. For example, the collected printing pattern image may be compared with the standard printing pattern image of the object to be printed for analysis, and whether the collected printing pattern image has a printing defect or not may be determined.
If the printing pattern image is detected to have a printing defect, a first printing remediation strategy for the printing defect is obtained, wherein the first printing remediation strategy may include a printing mode for remedying the printing defect. And finally, controlling the automatic printing equipment to carry out remedial printing on the printing defects based on the first printing remedial strategy.
Based on the design, the printing integrity can be effectively guaranteed, and the printing defect is avoided.
Optionally, the automatic printing method provided in this embodiment may further clean the old printed pattern in addition to the printing function, as an implementation manner, after step S220, the method may further include the following steps:
first, print cleaning instruction information is acquired. Alternatively, the print purging instruction information may be acquired from the print purging request by receiving the print purging request sent by the user through the server 300. The printing cleaning instruction information can comprise cleaning information of at least one object to be cleaned, and the cleaning information comprises a cleaning pattern of the object to be cleaned and a cleaning position in the automatic printing driving route.
And then, comparing and analyzing the current path position with the cleaning position of any object to be cleaned, judging whether the current path position is matched with the printing position of any object to be cleaned, and cleaning the printing pattern of the object to be cleaned printed at the current path position if the current path position is matched with the printing position of any object to be cleaned. Therefore, the old printed image can be cleaned without manual operation, the manual workload is reduced, and the cleaning efficiency is greatly improved.
Further, the autonomous vehicle 100 may control the automatic printing apparatus to reprint the print pattern of the object to be cleaned after detecting that the cleaning of the print pattern of the object to be cleaned printed at the current passing position is completed. Therefore, the old printed image can be refreshed, and the manual workload is further reduced.
Further, it is also possible that the printing cleaning instruction information is not preset, that is, the old printed image is automatically refreshed by automatic detection during the automatic driving process, for example, as another embodiment, after the step S220, the method may further include the following steps:
first, a path region image is acquired in real time during automatic driving.
Then, the image analysis is performed on the path area image to detect whether the path area image has a printing defect, that is, the image analysis is performed on the print pattern image included in the path area image to detect whether the print pattern image has a printing defect, for example, the print pattern image may be matched with a plurality of pre-stored print pattern images to match with corresponding target print pattern images, and the print pattern image is analyzed to compare with the corresponding target print pattern images for analysis to determine whether the print pattern image has a printing defect.
And then, if the path area image is detected to have a printing defect, acquiring a second printing remedy strategy of the path area image, wherein the second printing remedy strategy comprises a printing pattern of the path area image. Finally, the automatic printing device is controlled to perform remedial printing on the path area image based on the second printing remedial strategy. By means of the design, the old printed image can be effectively automatically refreshed through automatic detection in the automatic driving process, manual setting is not needed, and convenience and rapidness are achieved.
Further, referring to fig. 3, an automatic printing apparatus 200 according to an embodiment of the present application may include:
the obtaining module 210 is configured to obtain automatic printing instruction information, where the automatic printing instruction information includes an automatic printing travel route and printing information of at least one object to be printed, and the printing information includes a printing pattern of the object to be printed and a printing position in the automatic printing travel route.
And the automatic driving module 220 is configured to perform automatic driving based on the automatically printed driving route, and obtain a current route position in real time in the automatic driving process.
And the comparison analysis module 230 is configured to compare and analyze the current path position with the printing position of any one object to be printed, and determine whether the current path position matches with the printing position of any one object to be printed.
And the printing control module 240 is configured to control the automatic printing device to print the printing pattern of the object to be printed at the current path position if the current path position matches with the printing position of any one object to be printed.
It can be understood that, for the specific operation method of each functional module in this embodiment, reference may be made to the detailed description of the corresponding step in the foregoing method embodiment, and no repeated description is provided herein.
Further, please refer to fig. 4, which is a schematic block diagram of a structure of an autonomous vehicle 100 for the automatic printing method according to an embodiment of the present application. In this embodiment, the autonomous vehicle 100 may be implemented with a bus 110 as a general bus architecture. The bus 110 may include any number of interconnecting buses and bridges depending on the specific application of the autonomous vehicle 100 and the overall design constraints. Bus 110 connects various circuits together, including processor 120, storage medium 130, and bus interface 140. Alternatively, the autonomous vehicle 100 may connect a network adapter 150 or the like via the bus 110 using the bus interface 140. The network adapter 150 may be used to implement signal processing functions at the physical layer of the autonomous vehicle 100 and to implement transmission and reception of radio frequency signals via an antenna. The user interface 160 may connect external devices such as: a keyboard, a display, a mouse or a joystick, etc. The bus 110 may also connect various other circuits such as timing sources, peripherals, voltage regulators, or power management circuits, which are well known in the art, and therefore, will not be described in detail.
Alternatively, the autonomous vehicle 100 may be configured as a general purpose processing system, such as a general purpose chip, that includes: one or more microprocessors providing processing functions, and an external memory providing at least a portion of storage medium 130, all connected together with other support circuits through an external bus architecture.
Alternatively, the autonomous vehicle 100 may be implemented using: an ASIC (application specific integrated circuit) having a processor 120, a bus interface 140, a user interface 160; and at least a portion of the storage medium 130 integrated in a single chip, or the autonomous vehicle 100 may be implemented using: one or more FPGAs (field programmable gate arrays), PLDs (programmable logic devices), controllers, state machines, gate logic, discrete hardware components, any other suitable circuitry, or any combination of circuitry capable of performing the various functions described throughout this application.
Among other things, processor 120 is responsible for managing bus 110 and general processing (including the execution of software stored on storage medium 130). Processor 120 may be implemented using one or more general-purpose processors and/or special-purpose processors. Examples of processor 120 include microprocessors, microcontrollers, DSP processors, and other circuits capable of executing software. Software should be construed broadly to mean instructions, data, or any combination thereof, whether referred to as software, firmware, middleware, microcode, hardware description language, or otherwise.
The storage medium 130 is shown separate from the processor 120 in fig. 4, however, one skilled in the art will readily appreciate that the storage medium 130, or any portion thereof, may be located outside of the autonomous vehicle 100. Storage medium 130 may include, for example, a transmission line, a carrier waveform modulated with data, and/or a computer product separate from the wireless node, which may be accessed by processor 120 via bus interface 140. Alternatively, the storage medium 130, or any portion thereof, may be integrated into the processor 120, e.g., may be a cache and/or general purpose registers.
The processor 120 may execute the above-described embodiments, specifically, the storage medium 130 may store the automatic printing apparatus 200 therein, and the processor 120 may be configured to execute the automatic printing apparatus 200.
Further, an embodiment of the present application also provides a non-volatile computer storage medium, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions may execute the automatic printing method in any of the above method embodiments.
In summary, the embodiment of the present application provides an automatic printing method and apparatus. The method comprises the steps of acquiring automatic printing instruction information, wherein the automatic printing instruction information comprises an automatic printing driving route and printing information of at least one object to be printed, and the printing information comprises a printing pattern of the object to be printed and a printing position in the automatic printing driving route. Then, automatic driving is carried out based on the automatic printing driving route, the current path position is obtained in real time in the automatic driving process, then, the current path position is compared and analyzed with the printing position of any object to be printed, whether the current path position is matched with the printing position of any object to be printed or not is judged, and if the current path position is matched with the printing position of any object to be printed, the automatic printing equipment is controlled to print the printing pattern of the object to be printed at the current path position. From this, this application is through at the automatic accurate required pattern of printing of autopilot in-process to avoid manual operation, reduce artifical intensity of labour, greatly improve printing efficiency, have wide application prospect.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
Alternatively, all or part of the implementation may be in software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as an electronic device, server, data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. An automatic printing method applied to an autonomous vehicle having an autonomous printing apparatus provided on a chassis thereof, the method comprising:
acquiring automatic printing instruction information, wherein the automatic printing instruction information comprises an automatic printing driving route and printing information of at least one object to be printed, and the printing information comprises a printing pattern of the object to be printed and a printing position in the automatic printing driving route;
automatically driving based on the automatically printed driving route, and acquiring the current route position in real time in the automatic driving process;
comparing and analyzing the current path position with the printing position of any object to be printed, and judging whether the current path position is matched with the printing position of any object to be printed;
if the current path position is matched with the printing position of any object to be printed, controlling the automatic printing equipment to print the printing pattern of the object to be printed at the current path position;
after the step of controlling the automatic printing device to print the printing pattern of the object to be printed at the current pass-through position, the method further includes:
collecting a printed pattern image of the printed object to be printed;
comparing and analyzing the printing pattern image with a standard printing pattern image of the object to be printed, and judging whether the acquired printing pattern image has printing defects or not;
if the printing pattern image is detected to have a printing defect, acquiring a first printing remediation strategy of the printing defect;
and controlling the automatic printing equipment to carry out remedial printing on the printing defect based on the first printing remedial strategy.
2. The automated printing method according to claim 1, wherein the autonomous vehicle is communicatively connected to a server, and the step of obtaining the automated printing instruction information includes:
receiving an automatic printing request sent by a user through the server;
and acquiring automatic printing instruction information from the automatic printing request.
3. The automated printing method of claim 2, wherein the autonomous vehicle is further communicatively coupled to a drone, the drone flying around the autonomous vehicle according to an automatically printed travel route of the autonomous vehicle, the step of autonomous driving based on the automatically printed travel route comprising:
monitoring a wireless communication state with the drone during autonomous driving;
when the communication speed between the unmanned aerial vehicle and the unmanned aerial vehicle is monitored to be larger than or equal to a preset threshold value, receiving road surface information of the automatic driving vehicle on the automatic printing driving route acquired by the unmanned aerial vehicle, and executing corresponding actions according to the road surface information;
when the communication rate between the unmanned aerial vehicle and the monitored target is smaller than a preset threshold value, receiving the road information sent by the server, and executing corresponding actions according to the road information;
and when the road surface information is not received, entering an automatic early warning state.
4. The automatic printing method according to claim 1, wherein the step of comparing the current path position with the printing position of any one object to be printed and determining whether the current path position matches with the printing position of any one object to be printed includes:
calculating a coordinate difference value between the longitude and latitude coordinates of the current road position and the longitude and latitude coordinates of the printing position of any one object to be printed;
and judging whether the coordinate difference value is smaller than a preset threshold value, if so, judging that the current path position is matched with the printing position of any object to be printed.
5. The automatic printing method according to claim 1, wherein the automatic printing device includes a paint cavity in which a printing paint is disposed, and the step of controlling the automatic printing device to print the printing pattern of any one object to be printed at the current passing position if the current passing position matches the printing position of the object to be printed includes:
and if the current path position is matched with the printing position of any object to be printed, stopping driving, controlling the automatic printing equipment to export the paint required by the object to be printed from the paint cavity, and enabling the automatic printing equipment to print the exported paint on the printing position of the object to be printed based on the printing pattern of the object to be printed.
6. The automated printing method according to claim 1, wherein the automated driving based on the automatically printed travel route and after the step of acquiring the current road location in real time during the automated driving, the method further comprises:
acquiring printing and cleaning indication information, wherein the printing and cleaning indication information comprises cleaning information of at least one object to be cleaned, and the cleaning information comprises a cleaning pattern of the object to be cleaned and a cleaning position in the automatic printing traveling route;
comparing and analyzing the current path position with the cleaning position of any object to be cleaned, and judging whether the current path position is matched with the printing position of any object to be cleaned;
and if the current path position is matched with the printing position of any object to be cleaned, cleaning the printing pattern of the object to be cleaned printed at the current path position.
7. The automatic printing method according to claim 6, wherein after the step of cleaning the print pattern of the object to be cleaned printed at the current pass-through position, the method further comprises:
and controlling the automatic printing equipment to reprint the printing pattern of the object to be cleaned after detecting that the printing pattern of the object to be cleaned printed at the current path position is cleaned.
8. The automated printing method of claim 1, wherein after the step of automatically driving based on the automatically printed travel route, the method further comprises:
acquiring a path area image in real time in the automatic driving process;
carrying out image analysis on the path area image, and detecting whether the path area image has printing defects;
if the path area image is detected to have printing defects, acquiring a second printing remediation strategy of the path area image, wherein the second printing remediation strategy comprises a printing pattern of the path area image;
and controlling the automatic printing equipment to carry out remedial printing on the path area image based on the second printing remedial strategy.
9. An automatic printing apparatus, applied to an autonomous vehicle having an automatic printing device provided on a chassis thereof, the apparatus comprising:
the automatic printing system comprises an acquisition module, a printing module and a printing module, wherein the acquisition module is used for acquiring automatic printing instruction information, the automatic printing instruction information comprises an automatic printing driving route and printing information of at least one object to be printed, and the printing information comprises a printing pattern of the object to be printed and a printing position in the automatic printing driving route;
the automatic driving module is used for carrying out automatic driving based on the automatic printing driving route and acquiring the current route position in real time in the automatic driving process;
the comparison analysis module is used for comparing and analyzing the current path position with the printing position of any object to be printed and judging whether the current path position is matched with the printing position of any object to be printed;
the printing control module is used for controlling the automatic printing equipment to print the printing pattern of the object to be printed at the current path position if the current path position is matched with the printing position of any object to be printed;
the apparatus is further configured to:
collecting a printed pattern image of the printed object to be printed;
comparing and analyzing the printing pattern image with a standard printing pattern image of the object to be printed, and judging whether the acquired printing pattern image has printing defects or not;
when the printing pattern image is detected to have a printing defect, acquiring a first printing remediation strategy of the printing defect;
and controlling the automatic printing equipment to carry out remedial printing on the printing defect based on the first printing remedial strategy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811006117.5A CN109137706B (en) | 2018-08-30 | 2018-08-30 | Automatic printing method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811006117.5A CN109137706B (en) | 2018-08-30 | 2018-08-30 | Automatic printing method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109137706A CN109137706A (en) | 2019-01-04 |
| CN109137706B true CN109137706B (en) | 2021-03-12 |
Family
ID=64829570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811006117.5A Active CN109137706B (en) | 2018-08-30 | 2018-08-30 | Automatic printing method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109137706B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006027006A (en) * | 2004-07-14 | 2006-02-02 | Canon Inc | Printer |
| CN105964469A (en) * | 2016-07-14 | 2016-09-28 | 青岛金光鸿智能机械电子有限公司 | Square cabin type automatic spraying system and method |
| CN106498835A (en) * | 2016-12-22 | 2017-03-15 | 吉林大学 | Road traffic marking system for automatic marker making car |
| CN106903315A (en) * | 2017-05-08 | 2017-06-30 | 长沙新材料产业研究院有限公司 | A kind of 3D printing equipment and Method of printing |
| CN107871399A (en) * | 2016-12-27 | 2018-04-03 | 珠海市杰理科技股份有限公司 | Vehicular automatic driving system and method |
-
2018
- 2018-08-30 CN CN201811006117.5A patent/CN109137706B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006027006A (en) * | 2004-07-14 | 2006-02-02 | Canon Inc | Printer |
| CN105964469A (en) * | 2016-07-14 | 2016-09-28 | 青岛金光鸿智能机械电子有限公司 | Square cabin type automatic spraying system and method |
| CN106498835A (en) * | 2016-12-22 | 2017-03-15 | 吉林大学 | Road traffic marking system for automatic marker making car |
| CN107871399A (en) * | 2016-12-27 | 2018-04-03 | 珠海市杰理科技股份有限公司 | Vehicular automatic driving system and method |
| CN106903315A (en) * | 2017-05-08 | 2017-06-30 | 长沙新材料产业研究院有限公司 | A kind of 3D printing equipment and Method of printing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109137706A (en) | 2019-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108109437B (en) | Unmanned aerial vehicle autonomous route extraction and generation method based on map features | |
| CN110723303B (en) | Method, device, equipment, storage medium and system for assisting decision | |
| CN109767637B (en) | Method and device for identifying and processing countdown signal lamp | |
| CN105973245A (en) | Method and device for updating online map by using unmanned vehicle | |
| CN105157708A (en) | Unmanned aerial vehicle autonomous navigation system and method based on image processing and radar | |
| CN111988524A (en) | Unmanned aerial vehicle and camera collaborative obstacle avoidance method, server and storage medium | |
| CN113286081B (en) | Target identification method, device, equipment and medium for airport panoramic video | |
| US11371851B2 (en) | Method and system for determining landmarks in an environment of a vehicle | |
| US11353872B2 (en) | Systems and methods for selectively capturing and filtering sensor data of an autonomous vehicle | |
| CN110888434A (en) | Automatic driving method, device, computer equipment and computer readable storage medium | |
| CN107393347A (en) | Method and apparatus for detecting airport building area jamming | |
| US20190362637A1 (en) | Automated vehicle control | |
| US11373409B2 (en) | Photography system | |
| CN114067615A (en) | Intelligent security system based on Internet of things | |
| CN109137706B (en) | Automatic printing method and device | |
| CN113286121A (en) | Enhanced monitoring method, device, equipment and medium for airport scene video | |
| CN112580489A (en) | Traffic light detection method and device, electronic equipment and storage medium | |
| WO2020121665A1 (en) | Information processing device | |
| EP3989034A1 (en) | Automatic safe-landing-site selection for unmanned aerial systems | |
| CN113269977B (en) | Map generation data collection device and map generation data collection method | |
| KR102349818B1 (en) | Autonomous UAV Navigation based on improved Convolutional Neural Network with tracking and detection of road cracks and potholes | |
| CN112133137B (en) | ITWR system and ATC system correlation consistency checking method and device | |
| CN110764526A (en) | Unmanned aerial vehicle flight control method and device | |
| CN111902851B (en) | Learning data generation method, learning data generation device, and learning data generation program | |
| US20230024799A1 (en) | Method, system and computer program product for the automated locating of a vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |