KR20090093726A - A zone discrimination system - Google Patents

Abstract

A section identification system is provided to reduce the installation fee using the image of the software. A section identification system comprises a Braille code draft(120) and a transport unit(110). The Braille code draft has the section identification signal. The Braille code draft is formed of the highly reflection material. The transport unit has a main body(112), a central control unit(114), a light source generator(118) and a picture receiver(116). The central control unit controls the movement of the main body. The light source generator is arranged on the main body. The light source generator provides the light source. The Braille code draft reflects the light source. The picture receiver is arranged on the main body. The picture receiver receives the image of the Braille code draft and transmits to the central control unit.

Description

Zone identification system {A ZONE DISCRIMINATION SYSTEM}

The present invention relates to a zone identification system. In particular, it relates to a zone identification system for positioning using Braille code drawings.

As household robots' relationship to everyday life increases, the demand for home robots is increasing day by day. In particular, attention is focused on self-propelled robots with artificial intelligence. These home or self-propelled robots can be set up to clean themselves, to process household chores on their own, or to be set up as pets to be partners in the family, or to carry cargo in the factory. On the other hand, no matter what function the robot plays, the most important capability of the robot is to determine its own location. If this cannot be done, it is set based on the program, and various functions cannot be executed. Therefore, in robot application, the zone identification system has been an important subject of research improvement over many years.

Table 1 shows the stereotactic techniques employed by the known three zone robot-based zone identification systems and their limitations. Each will be described below. In the robot of No. 1, the laser-distance measuring device is placed, and the emitted laser is reflected back to the shield (wall, etc.) to calculate the distance between the robot and the shield, and to position itself. However, the deployment cost of the laser-distance measuring device is very high, which hinders the dissemination of this robot positioning system. In addition, when the shield was made of a material having high transmittance such as glass or a material having high reflectance such as a mirror, the laser-distance measuring device could not detect them. Therefore, the robot may collide with the glass or the mirror and be destroyed.

TABLE 1

  number     Zone identification technology                    Environmental restrictions    One.   Laser distance measuring device    Glass, no mirrors detected    2.          Electronic tag    Can't cope with long distance    3.     Visual software identification  Monotonous images are not identified and error rate is high

The robot area identification system of No. 2 employs Radio Frequency Identification (RFID) technology to perform positioning. The known technique arranges a reader in a robot and arranges a plurality of electronic tags in a specific position. The signal of the location of the location of the electronic tag can be stored, and when the electronic tag with the robot approaches, the reader can read the information of the location of the location of the electronic tag, thereby positioning the relative position of the robot. However, since the placement cost of the reader and the electronic tag cannot be said to be inexpensive, it hinders the spread of this robot positioning system. In addition, the communicable distance between the reader and the electronic tag is not long, and is generally from several centimeters to several meters. Therefore, when the material space of a robot is very large, it is necessary to raise the placement density of an electronic tag, and there exists a problem of extending the installation cost of the said area | region identification system further.

In addition, the two types of zone identification systems have a common problem of being too expensive. However, in order to lower the installation cost, the publicly known technology separately proposes a method for analyzing images of the environment directly by software. Taking the robot of No. 3 as an example, a charge coupled device is directly disposed, an external image is detected, a specific target in the image is determined by software, and the relative position of the robot is positioned.

However, software-based identification can currently only identify certain prominent targets, such as windows, doors, seats, or tables. Its main purpose is to avoid obstacles or to pass through doors to other sections, which also cannot effectively identify which room the robot is in (especially when the doors or windows of the room are all in a similar fashion). When the contrast difference between the target in the image and the background is not large, the identification software cannot identify the target in the image, and the robot becomes impossible to locate. In addition, if the charge couple device has different angles at which the images of the seat and the table are read, the shape of the video is changed, and an error occurs in the software judgment.

In addition, when the environment around the robot is too monotonous (e.g., a wallpaper in which the same pattern is repeated, etc.), the identification software may be disturbed and effective positioning may not be possible. In addition, there is currently too much difficulty in direct geometric analysis performed by the software on the surrounding environment image, and the error identification rate is too high.

The problem to be solved by the present invention is a combination of a braille cord having a simple structure, a high reflection material and a reflective light source, which greatly improves the success rate of image identification of software, and also causes a problem of an image pickup angle deformer. It is to provide a difficult area identification system.

In order to solve the above problems, the present invention provides the following zone identification system. The zone identification system includes a Braille code drawing, a mobile device, the mobile device including a main body, a central control unit, a light source generator, an image receiver, the central control unit controlling the movement of the main body, and the light source generator And the image receiver are disposed on the main body, the braille code pattern is provided with a zone identification signal, and the braille code pattern is a material of high reflection material, and the light source generator generates a light source to generate the braille. When the code drawing is irradiated, the braille code drawing highly reflects the light source to the image receiver, and in addition, the image receiver receives an image of the braille code drawing and transmits the image to the central control unit. The central control unit positions the main body according to the zone identification information.

In an embodiment of the present invention, the braille code of the braille code pattern is a Chinese code, an English code, a Japanese code, or a Korean code.

In an embodiment of the present invention, the braille code pattern includes a frame mark and a braille code mark, wherein the braille code mark is disposed in the frame mark and the shape of the braille code mark. Is round, square, rhombic, triangular, or other suitable shape.

In an embodiment of the present invention, the braille code pattern reflects visible light or invisible light (invisible light), and the highly reflective material is light reflecting particles, light reflecting pigments, light reflecting paints, or other suitable materials. In addition, the moving device includes a light source generator, the light source generator is disposed on the main body, and the light source generator is a projection lamp, a light emitting diode, a halogen lamp, a fluorescent lamp, or a condenser lamp.

In an embodiment of the present invention, the image receiver is a charge couple device, a Complementary Metal-0xide-Semiconductor (CM0S), an old camera (PTZ), or a digital camera (DVR).

In the zone identification system of the present invention as described above, when the video receiver receives a zone of high brightness included in the image, the identification software starts determining whether these zones of high brightness are Braille code drawings, and the braille code drawing is simple. Since the geometric composition is provided, the central control unit can perform geometric analysis by software to easily identify whether the Braille code drawing is included in the image. In this way, corresponding zone identification information can be obtained, thereby improving the success rate of soft identification.

The invention according to claim 1 of the present invention includes a braille code drawing and a moving device, wherein the braille code drawing has a zone identification signal, and the braille code drawing is made of a highly reflective material. The mobile device includes a main body, a central control unit, a light source generator, and an image receiver, the central control unit controls the movement of the main body, and the light source generator is disposed on the main body, the light source generator providing a light source. The braille code pattern reflects the light source. The image receiver may be disposed on the main body to receive an image of the Braille code drawing and transmit the image to the central control unit, whereby the central control unit is located in accordance with the area identification information. Zone identification system, characterized in that to locate.

The invention according to claim 2 is a zone identification system according to claim 1, wherein the braille code of the braille code pattern is a Chinese code, an English code, a Japanese code, or a Korean code.

The invention according to claim 3, wherein the braille code drawing comprises a frame mark and a braille code mark, and the braille code mark is disposed in the frame mark. System.

The invention according to claim 4 is a zone identification system according to claim 3, wherein the shape of the braille code mark is a circle, a square, a rhombus, or a triangle.

The invention according to claim 5 is the zone identification system according to claim 1, wherein the braille code pattern is capable of reflecting visible or invisible light.

The invention according to claim 6 is the zone identification system according to claim 1, wherein the highly reflective material is light reflecting particles, light reflecting pigments, and light reflecting paints.

The invention according to claim 7 is the zone identification system according to claim 5, wherein the invisible light is infrared light.

The invention according to claim 8 is a zone identification system according to claim 1, wherein the light source generator is a projection lamp, a light emitting diode, a halogen lamp, a fluorescent lamp, or a focusing lamp.

The invention according to claim 9 is the zone identification system according to claim 1, wherein the video receiver is a charge couple device, a CM0S, an old camera, or a digital camera.

The invention according to claim 10, wherein the braille code drawing comprises two orthogonal marks and one braille code mark, wherein the two orthogonal marks define one zone and the one bra The unique code mark is a zone identification system, which is arranged in the zone defined by each of the stereotactic marks. ·

The invention according to claim 11 is the zone identification system according to claim 10, wherein the shape of the braille code mark is a circle, a square, a rhombus, or a triangle.

The invention according to claim 12 is a zone identification system according to claim 10, wherein the shape of each stereotactic mark is a circle, a square, a rhombus, or a triangle.

The invention according to claim 13 is a zone identification system according to claim 10, wherein each of the stereotactic marks is located at an edge or an edge of the zone.

As described above, since the zone identification system of the present invention mainly performs identification analysis on the image by software and locates the robot, the installation cost of this zone identification system is very low. In addition, by matching Braille codes with highly reflective materials to simple Braille codes, the difficulty in geometric analysis of image identification can be greatly reduced, thereby greatly improving the accuracy and success rate of software identification. There is a number.

1 is a block chart of a zone identification system mainly comprising a mobile device of a first embodiment of the present invention.

2 is a three-dimensional view of the mobile device of FIG. 1.

3 is a front view of the braille code of FIG. 1.

4 is a front view of the braille code diagram of FIG. 1.

5 is a Braille code table of the English code.

FIG. 6 is a diagram illustrating an image of the Braille code of FIG. 3 picked up at different angles.

7 is a diagram illustrating an image of the Braille code of FIG. 3 picked up at different angles.

Fig. 8 is a front view of four Braille cord designs according to the second embodiment of the present invention.

Fig. 9 is a front view of four Braille cord designs according to the second embodiment of the present invention.

Fig. 10 is a front view of four Braille cord designs in accordance with a second embodiment of the present invention. Fig. 11 is a front view of four Braille cord designs according to the second embodiment of the present invention.

12 is a front view of a plurality of Braille cord designs, which is a second embodiment of the present invention.

13 is a table of local braille codes of each country (China) braille code pattern.

Fig. 14 is a table of local braille codes of each country (Japan) braille code pattern.

15 is a table of local braille codes of each country (Korea) braille code.

<Description of Drawing>

100: zone identification system

110: moving device

112: main body

114: central control unit

116: video receiver

118: light source generator

118a: light source

120, 120a, 320a, 320b, 320c, 320d, 420a, 420b, 420c: braille code design

122, 122a, 422a, 422b, 422c: frame type mark

124, 124a, 324, 424a, 424b, 424c: Braille code mark

322a, 322b, 322c: stereotactic mark

A: pixel area

L: length

W: width

(First embodiment)

1 is a block chart of a zone identification system mainly for a mobile device of the first embodiment of the present invention, FIG. 2 is a three-dimensional view of the mobile device of FIG. 1, and FIG. 3 is a front view of the Braille code diagram of FIG. As shown in FIGS. 1, 2, and 3, the zone identification system 100 of the present invention includes a mobile device 110 and a Braille code drawing 120. The braille code pattern 120 is placed in a particular zone and includes zone identification information for that zone. In an indoor environment, the braille cord design 120 can be bonded to walls of living rooms, corridors, and bedrooms, and can be drawn on the surface of clear articles such as storage boxes. Braille code drawings 120 located in the different zones have different zone identification information.

The mobile device 110 is a robot, and the mobile device 110 includes a main body 112, a central control unit 114, an image receiver 116, and a light source generator 118. The central control unit 114 is used to control the operation of the main body 112, and the image receiver 116 and the light source generator 118 are disposed on the main body 112. The light source generator 118 provides a light source 118a, and the light source 118a is irradiated with an external field. The image receiver 116 constantly reads an external image and transmits the image to the central control unit 114. The central control unit 114 analyzes the alien image by the analysis software, and determines whether the braille code pattern 120 is included in the alien image contents. This analyzes the image of the braille code pattern 120 and analyzes the zone identification information. In this way, the central control unit 114 can know the region of the main body 112 material of the mobile device 110 and performs positioning on the main body 112.

The braille code pattern 120 is made of a highly reflective material such as light reflecting particles, light reflecting pigments, or a light reflecting paint. In this embodiment, the braille code pattern 120 has a highly reflective specific range angle. Is a light source 118a. After the image receiver 116 reads the image, the soft identification function of the central control unit 114 determines whether the image contains pixels of high luminance (this high luminance indicates whether it is high with respect to the background luminance). Analyze If the image contains high brightness pixels, the identification software can analyze whether these high brightness pixels make up the Braille code drawing 120 and can also interpret the zone identification information. In this way, in contrast to the known technique in which the software directly performs the geometric analysis, the present invention can generate high luminance pixels in the received image by using the high brightness Braille code design 120. As a result, the situation of judgment error can be greatly reduced, and the accuracy of identification can be effectively increased.

FIG. 4 is drawn with several other auxiliary lines to clarify the Braille code diagram of FIG. 3. 5 is a Braille code table of the English code. As shown in Fig. 3, Fig. 4, and Fig. 5, the braille code design 120 of this embodiment includes a frame mark 122 and a braille code mark 124. Figs. The braille code mark 124 is located at a specific position within the framed mark 122 and represents specific information.

In this embodiment, each braille code drawing 120 may include information amounts of two English characters. That is, the area in the frame mark 122 is divided into a left half and a right half, each of which represents one alphabetic character. In addition, each half is further divided into 2x3, six bits in total, and each bit is a Braille code mark 124 or a blank. Thus, in the braille code table of contrast 2, it can be seen that the braille code pattern 120 represents mb, and in this embodiment, the area identification information indicated by mb can be defined as the "main bed room". Can be. Therefore, after the said central control unit 114 analyzes this area identification information, the main body 112 of the said mobile device 110 is located in "main bed room."

As described above, the manufacturing cost of the braille code pattern 120 is very low. In this embodiment, the light reflector is cut directly to a braille code drawing 120 having different zone identification signals, and the braille code drawing 120 is glued onto a wall, ceiling, floor, or article, thereby The main body 112 of the mobile device 110 may be positioned anywhere.

Since the braille code of the present invention has the advantage that the structure is simple, and the structure characteristic of the braille code is very clear, when the geometric image analysis is performed by software, the identification success rate and accuracy can be greatly improved. In addition, when the image receiver 116 reads the image at an angle and the braille code drawing 120 is deformed, the braille code drawing 120 may maintain the integrity of the structure.

FIG. 6 is a diagram illustrating an image of the Braille code of FIG. 3 picked up at different angles. In FIG. 7, several auxiliary lines are drawn separately to clearly explain the analysis process of the Braille code diagram of FIG. 6. As shown in Fig. 6 and Fig. 7, the image formed by the Braille code drawing 120a in Fig. 6 is close to a trapezoid in relation to the angle at which the image is read. The central control unit 114 first supplements the outer edge of the frame-shaped mark 122a of the braille code drawing 120a to form a rectangle, and obtains the length L and width W of the rectangle. In addition, the central control unit 114 may calculate the pixel area A occupied by the frame-shaped mark 122a, divide the pixel area A by the length L, and then divide the width W by the width W to obtain the judgment value C1. (See formula 1 below)

<Number 1>

If the first judgment value C1 is smaller than the first threshold T1, the identification software recognizes the valid braille code pattern 120a that the pixel region of high brightness constitutes; otherwise, the identification software identifies the pixel region of this high brightness. It is recognized as noise. In the present embodiment, the value of the first threshold value T1 is 1/4, but the first threshold value T1 can be determined according to the actual value when produced by the frame mark. A person skilled in the art can make some adjustments to the design method of the first judgment value C1 or the value of the first threshold value T1 based on the above, but they all belong to the scope of the present invention.

Subsequently, if the high luminance pixel in the image constitutes the Braille code drawing 120a, the frame mark 122a is divided into 12 bits of 4x3 in total, and each bit is blank or Braille code. It is determined whether the mark 124a is applied. For example, it first detects in bits as to whether a high luminance mark is present. The mark in the bit is determined by the ratio of the length and width defined in the mark production and the allowable ratio. The ratio of length and width is hardly affected by the change in the distance from which the image is read, or is determined by which set section the mark area is. The maximum value needs to be larger than the mark area of the latest distance from which the image is read, and the minimum value needs to be smaller than the mark area of the farthest distance from which the image is read, and the ratio of mark length and width Correspondingly, set the acceptable rate. If the above conditions are met, the identification software determines that this bit is the Braille code mark 124a, and if it does not meet the above conditions, it is determined to be blank. In the present embodiment, the allowable ratio of the ratio between the length and the width is 0.3.

That is, in the step of determining the frame mark 122a, the software can calculate the size of the analysis diagram of the braille code drawing 120a, and at the same time between the main body 112 and the braille code drawing 120a. You can determine the distance of. In this way, the pixel area where the braille code mark 124a is to be estimated can be estimated in reverse. As described above, the present invention can set the farthest distance for reading an image and the latest distance for reading an image as an allowable boundary value, and can convert a corresponding conversion array of pixel areas. When the high luminance pixel area of the braille code drawing is within the pixel area range, the distance between the current mobile device and the braille code drawing can be calculated via the corresponding switching array and the high luminance light reflecting pixel area. . That is, the software can determine the current location of the mobile device and also the detailed location information.

In this way, the central control unit 114 can interpret that the zone identification information included in the deformed braille code drawing 120a is mb, and can greatly improve the accuracy and success rate of the soft identification. Since the present invention mainly performs stereotactic analysis by software analysis, compared with the known laser-orthogonal or RFID identification technology, the zone identification system 100 of the present embodiment can significantly lower the installation cost, so that it is advantageously spread to general households. can do.

In addition, although the braille code drawing 120 of the above embodiment is formed by the frame mark 122 and the braille code mark 124, the present invention does not limit the structural composition of the braille code drawing 120. Requires attention. For example, in another embodiment, the frame mark 122 can be replaced with a diagonal position mark or a qualification position mark. Hereinafter, other embodiments will be described according to the drawings.

(2nd Example)

8 to 11 are front views of four Braille code drawings, which is a second embodiment of the present invention, to aid in the decryption of the region of the Braille code mark by dashed lines. The braille code patterns 320a to 320c of FIGS. 8 to 10 each include two orthogonal marks 322a to 322c and a braille code mark 324. The stereotactic marks 322a ˜ 322c may be located outside the region of the braille code mark 324 and may define a region of the braille code mark 324.

That is, the two stereotactic marks 322a are located at the upper left corner and the lower right corner of the braille code mark 324 zone, and the two stereotactic marks 322b are located at the braille code mark 324 zone. Located at the upper right corner and the lower left corner, the two stereotactic marks 322c are located at the upper and lower edges of the braille code mark 324 region.

Similar to the above, when the central control unit 114 tries to determine whether the high luminance pixel in the image constitutes a Braille code drawing, first, the outer edges of the respective stereotactic marks 322a to 322c are refilled to form a rectangle. Furthermore, it is calculated whether the ratio with respect to the rectangular area of each said stereotactic mark 322a-322c exists in a specific numerical range. One skilled in the art can determine this particular numerical range based on the above description and the actual design.

In addition, it should be noted that the present invention does not limit the shape and quantity of the marks, and does not limit the position of the stereotactic mark installation. For example, the position mark 322a is a key shape, the shape of the position mark 322b is similar to the shape of the braille code mark 324, and the position mark 322c is rod-shaped. In addition, although the number of these stereotactic marks 322a to 322c is two, in other embodiments, three or four or more stereotactic marks may be employed, which is an edge or edge of the braille code mark region. Can be placed on. In other words, the present invention employs different types of positioning marks, and can identify the positioning. As shown in FIG. 11, the braille code design 320d includes stereotype marks 322a to 322c of different formats. The stereotactic marks 322a-322c are located at the lower left and upper right corners and the lower edge of the Braille code mark 324 region.

In this embodiment, the braille code pattern 120 is placed on the wall of the indoor space and does not have the effect of high reflection on the ceiling fluorescent light source, thereby stimulating the eyes to the user of the indoor activity. This effect can be avoided. In addition, the light source generator 118 may generate the light source 118a by a specific angle range, and thus irradiates the braille code pattern 120. When the braille code pattern 120 receives the light source 118a, the braille code drawing 120 highly reflects the light source 118a to the image receiver 116, and generates an image for analysis.

As shown in Fig. 2, in the present embodiment, the central control unit 114 controls the main body 112, the image receiver 116, and the light source generator 118 by a computer or the like by a wireless transmission method. However, the present invention may arrange the central control unit 114 on the main body 112, so that the main body 112, the image receiver 116, and the light source generator 118 may be directly controlled by the wiring connection method. . In addition, the present invention does not limit the types of the image receiver 116 and the light source generator 118. For example, the light source generator 118 may be a projection lamp, a light emitting diode, a halogen lamp, a fluorescent lamp, a condensing lamp, or another. It can be set as a suitable light emitting source. The video receiver 116 can also be a charge couple device, a CMOS, a spherical camera, or a digital camera.

Separately, although all the light sources have been described as visible light, the present invention may read an image by invisible light. For example, the light source generator 118 is an infrared launcher, and irradiates the braille code pattern 120 with infrared light. Subsequently, the braille code pattern 120 highly reflects the infrared rays to the image receiver 116 such as an infrared image receiver to generate a light source. In this structure, the braille cord pattern 120 is a design that does not reflect visible light, and hides it in a picture or other suitable position on a wall, and the braille cord pattern 120 is designed for a high reflection angle. There is no need to do much design.

In the above embodiment, the braille code pattern 120 may include at least two alphabetic characters or a combination information amount of one alphabetic character and one numeral, and may be zone identification information. That is, 26 × 16 = 676 different codes may represent areas such as living rooms, kitchens, restaurants, children's rooms, charging stations, computer rooms, study rooms, rooms, corridors, and so forth. In this case, the user or designer can define their own. Naturally, the present invention can adjust the format of the Braille code drawing according to the refreshment of the amount of information. In addition, the combination of the characters shown separately.

12 is a front view of a number of Braille cord designs in a second embodiment of the present invention. As shown in Figs. 12A to 12C, the braille code drawings 420a, 420b, and 420c of the present embodiment and the braille cord drawings 120 of Fig. 3 are similar to each other. The braille code drawings 420a, 420b and 420c also include framed marks 422a, 422b and 422c and braille code marks 424a, 424b and 424c. The only difference is the format of the Braille code.

Taking the braille code drawings 420a and 420c of Figs. 12A and 12C as an example, they each contain a single amount of information combined with three alphabetic characters, and are denoted by v and xyz. Taking the braille code drawing 420b of Fig. 12B as an example, the two braille code units show an up-and-down arrangement and are denoted by pq. Those skilled in the art can easily understand and will not describe in detail here. Note that the present invention does not limit the shape of the braille code mark. For example, the shapes of the braille code marks 424a, 424b, and 424c may be rectangular, triangular, and rhombic, respectively. The present invention does not limit the color of the frame type mark and braille code mark in the braille code design.

The braille code drawings are mainly English codes, but the present invention does not limit the type of braille codes. For example, the braille code of the present invention may be a Chinese code, a Japanese code, a Korean code, or another suitable code. Fig. 13 is a table of local braille codes of Chinese codes mainly containing main sounds. 14 and 15 are tables of local braille codes of Japanese codes and Korean codes. A person skilled in the art can easily modify the meaning indicated by the Braille code drawing based on Figs. 13 to 15, but all of them fall within the scope of the present invention.

As mentioned above, since the zone identification system of the present invention mainly performs identification analysis on the image by software and locates the robot, the installation cost of this zone identification system is very low. In addition, it is possible to significantly reduce the difficulty in geometric analysis of image identification by matching Braille codes of high reflection material with simple Braille codes. This can greatly improve the accuracy and success rate of software identification.

Claims (13)

Braille code design, including mobile device, The braille code drawing includes a zone identification signal, and the braille code drawing is made of a highly reflective material. The mobile device includes a main body, a central control unit, a light source generator, an image receiver, The central control unit controls the movement of the main body, The light source generator disposed on the body, the light source generator providing a light source, the braille code pattern reflecting the light source, The image receiver may be disposed on the main body to receive an image of the Braille code drawing and transmit the image to the central control unit, whereby the central control unit locates the main body according to the area identification information. Zone identification system, characterized in that. The method of claim 1, The braille code of the braille code pattern is a Chinese code, an English code, a Japanese code, or a Korean code. The method of claim 1, The braille code design includes a frame type mark and a braille code mark, And the braille code mark is disposed in the framed mark. The method of claim 3, The braille code mark has a shape of a circle, a square, a rhombus, or a triangle. The method of claim 1, The braille code pattern is capable of reflecting visible or invisible light. The method of claim 1, And said high reflection material is a light reflecting particle, a light reflecting pigment, or a light reflecting paint. The method of claim 5, And said invisible light is infrared light. The method of claim 1, And the light source generator is a projection lamp, a light emitting diode, a halogen lamp, a fluorescent lamp, or a condenser lamp. The method of claim 1, And the image receiver is a charge couple device, a CM0S, an old camera, or a digital camera. The method of claim 1, The braille code drawing includes two stereotactic marks and one braille code mark, The two stereotactic marks define one zone, And said one Braille code mark is placed in said zone defined by said each stereotactic mark. The method of claim 10, The braille code mark has a shape of a circle, a square, a rhombus, or a triangle. The method of claim 10, And the shape of each stereotactic mark is a circle, a square, a rhombus, or a triangle. The method of claim 10, Wherein each stereotactic mark is located at an edge or edge of the zone.