WO2013179595A1 - 位置コードの読み取り装置及び読み取り方法 - Google Patents
位置コードの読み取り装置及び読み取り方法 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 42
- 125000004122 cyclic group Chemical group 0.000 claims abstract description 111
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- 238000007796 conventional method Methods 0.000 description 7
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- 238000012545 processing Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241000545442 Radix Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 208000003580 polydactyly Diseases 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
- G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/0304—Detection arrangements using opto-electronic means
- G06F3/0317—Detection arrangements using opto-electronic means in co-operation with a patterned surface, e.g. absolute position or relative movement detection for an optical mouse or pen positioned with respect to a coded surface
- G06F3/0321—Detection arrangements using opto-electronic means in co-operation with a patterned surface, e.g. absolute position or relative movement detection for an optical mouse or pen positioned with respect to a coded surface by optically sensing the absolute position with respect to a regularly patterned surface forming a passive digitiser, e.g. pen optically detecting position indicative tags printed on a paper sheet
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/042—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
- G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
- G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
- G06K19/06037—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking multi-dimensional coding
Definitions
- the present disclosure relates to a position code reading device and a reading method, and further, a method for generating a position code, a method for decoding a read position code, a computer program for executing these methods, and a product using the position code Etc.
- Patent Document 1 uses three types of number sequences, a main number sequence, a primary number sequence, and a secondary number sequence, to generate a position code.
- Patent Document 1 discloses a method of generating a graphical position code, printing it on a paper surface, optically reading it with an input unit provided in an electronic pen, and determining a coordinate position based on the read position code. It is described.
- Patent Document 1 exemplifies a binary number sequence having a length of 63 as the main number sequence.
- a sequence generated by connecting the beginning of the same main number sequence to the end of the main number sequence is called a cyclic main number sequence.
- the cyclic main number sequence in Patent Literature 1 is a number sequence that can clearly determine the location of the partial number sequence with respect to the main number sequence for any partial number sequence having a length of 6 in the cyclic main number sequence.
- the location of the partial number sequence with respect to the main number sequence corresponds to a remainder when the deviation of the beginning of the partial number sequence from the beginning of the main number sequence in a predetermined direction is divided by the length of the main number sequence. That is, for an arbitrary partial number sequence having a length of 6 extracted from a cyclic main number sequence having a length of 63, the location of the extracted partial number sequence can be specified in the range of 0 to 62. .
- the two or more main number sequences are each moved (shifted) in a predetermined direction according to the designated amount of circulation movement, and are sequentially arranged adjacent to each other as a circulation main number sequence.
- the difference in the amount of cyclic movement between two adjacent cyclic main number sequences is called the difference number.
- This difference number is obtained by extracting a partial sequence with the same deviation from two adjacent cyclic main number sequences arranged adjacent to each other, specifying each of the extracted two partial number sequences with respect to the main number sequence, and the difference between the two specified locations. Is obtained by seeking.
- the partial sequences with the same deviation in the above description mean partial sequences with the same amount of deviation (deviation width) from the beginning of each cyclic main number sequence to the beginning of each partial number sequence.
- partial number sequences having the same deviation are not limited to the above definition, and any number may be used as long as the number of differences between the cyclic main number sequences can be appropriately specified.
- a partial number sequence associated with the positional relationship of the position code arranged on the two-dimensional plane in the two-dimensional plane, or an association based on the positional relationship of the position code arranged in the three-dimensional space in the three-dimensional space It may be a partial sequence.
- Patent Document 1 exemplifies using a value of 5 to 58 as the difference number.
- the number sequence with the difference number as a term forms a primary number sequence.
- the difference number is broken down into multiple digits based on the mixed radix.
- a number sequence whose terms are values of each digit is defined as a secondary number sequence.
- 3, 3, 2, and 3 are exemplified in order from the lower base number as the mixed base number. That is, the number of secondary number sequences derived from one primary number sequence is four.
- Each of the four secondary number sequences is constituted by a cyclic main number sequence, but the length of the main number sequence that forms each cyclic main number sequence is relatively prime (no common divisor other than 1). Is set.
- Patent Document 1 exemplifies 236, 233, 31 and 241, respectively, as the lengths of main number sequences that form a cyclic main number sequence in four secondary number sequences.
- All of the four secondary number sequences can acquire a partial number sequence having a length of 5 from the secondary number sequence, thereby specifying the location in the secondary number sequence.
- the location in the secondary number sequence indicates the desired position information.
- position code The arrangement of a plurality of cyclic main number sequences described above is called a position code, and a position code is generated by encoding position information.
- position information can be estimated from a position code in a predetermined range acquired by reading or the like. This is called position code decoding.
- An apparatus for reading a position code performs a primary operation by circulating a main number sequence of a base number b and a length K and shifting a cyclic main number sequence including K number of eigenparts of a predetermined length according to a predetermined amount.
- FIG. 1A is a diagram schematically showing an example of a position code arranged in the X direction in the present embodiment.
- FIG. 1B is a diagram schematically illustrating an example of a position code arranged in the Y direction in the present embodiment.
- FIG. 2 is a diagram showing an example in which the position code in the present embodiment is arranged using a graphical mark image.
- FIG. 3 is a diagram showing an example of a mark image formed on the xy plane.
- FIG. 4 is a diagram schematically illustrating a state in which a mark image is optically read.
- FIG. 5 is a diagram showing an example in which the mark image of FIG. 4 is rotated in the direction along the xy plane.
- FIG. 6 is a diagram illustrating determination of a position code at a normal position where the mark image is not rotated.
- FIG. 7 is a diagram for explaining position code determination at a position where the mark image of FIG. 6 is rotated 90 degrees clockwise from the normal position.
- FIG. 8 is a diagram for explaining position code determination at a position where the mark image of FIG. 6 is rotated 180 degrees clockwise from the normal position.
- FIG. 9 is a diagram illustrating position code determination at a position where the mark image of FIG. 6 is rotated 270 degrees clockwise from the normal position.
- FIG. 10 is a diagram illustrating a schematic configuration of an apparatus for reading a position code in the present embodiment.
- An apparatus for reading a position code according to an aspect of the present disclosure based on the invention is incorporated into an apparatus such as an electronic pen that optically or electronically identifies a coordinate position.
- An apparatus for reading according to an aspect of the present disclosure uses a primary position code by cyclically shifting a main number sequence of base number b and length K, and by shifting a cyclic main number sequence including K eigenpart number sequences of a predetermined length according to a predetermined amount.
- the determination unit has the smallest hamming distance between each of the read partial sequences of length N and the partial sequences of length N read out of K unique partial sequences.
- the unique partial number sequence can be identified to determine the location in the cyclic main number sequence.
- the determination unit reverses the minimum Hamming distance to the cyclic main number sequence and the polarity of the cyclic main number sequence and reverses the arrangement.
- the minimum Hamming distance with the sequence is calculated, and when the minimum Hamming distance with the auxiliary sequence is smaller than the minimum Hamming distance with the circulation main sequence, the rotation removal process is performed on the partial sequence with the length N read.
- the minimum hamming distance with the circulation main number sequence is calculated and summed
- the minimum hamming distance with the auxiliary number sequence is calculated and summed
- the total value of the minimum hamming distance with the auxiliary number sequence is the minimum hamming distance with the circulation main number sequence.
- the rotation removal processing can be applied to the read partial sequence of length N.
- the determination unit can correct the influence of the rotation generated in the position code in units of 90 degrees based on the calculated minimum Hamming distance or the total value thereof.
- the position code is used to encode position information in one or more dimensions.
- one dimension for example, the x direction
- the cyclic main number sequence used in the present embodiment is a configuration in which a plurality of main number sequences having a predetermined radix and length are connected to the end and the start end, and a plurality of partial number sequences having different predetermined lengths. It has the property that the location for the main number sequence can be specified. Further, each of the plurality of different partial number sequences has a property that even if one term in the partial number sequence becomes a different number sequence, it does not match any of the plurality of partial number sequences.
- the radix of the main number sequence is defined as b
- the length of the main number sequence (circulation length of the cyclic main number sequence) is defined as K
- the length of the partial number sequence in the cyclic main number sequence is defined as N.
- K number of partial number sequences different from each other in the cyclic main number sequence, because they match the length of the main number sequence.
- the partial number sequence of base number b and length N there are (b-1) * N number of number sequences in which one term in the partial number sequence is different.
- the necessary condition for the different K-number partial sequences and the number-sequences in which one term in the K partial number sequences is different from each other is the following formula [1].
- the error of one term in the partial number sequence is allowed, and the location of the partial number sequence with respect to the cyclic main number sequence can be uniquely determined.
- M “0, 0, 1, 0, 1, 1, 1”
- Partial sequence 0, 0, 1, 0, 1, 1 ⁇ 0 for the main sequence 0, 1, 0, 1, 1, 1 ⁇ 1 1,0,1,1,1,0 ⁇ 2 0, 1, 1, 1, 0, 0 ⁇ 3 1,1,1,0,0,1 ⁇ 4 1,1,0,0,1,0 ⁇ 5 1, 0, 0, 1, 0, 1 ⁇ 6
- the position code is obtained by encoding position information by arranging a plurality of cyclic main number sequences each giving a cyclic movement amount determined according to a position in a plane or space. Specifically, a plurality of cyclic main number sequences each shifted in accordance with the amount of cyclic movement are arranged side by side in a dimension in which position information is to be encoded (for example, the x direction in the xy plane). It extends in a dimension orthogonal to the dimension to be encoded (for example, the y direction in the xy plane).
- FIG. 1A shows an example in which a position code in the x direction is encoded on the xy plane.
- a plurality of cyclic main number sequences (seven number sequences x to x + 6 in the example of FIG. 1A) extending in the y direction orthogonal to the x direction (defined as “x ′ direction” for the position code in the x direction).
- x ′ direction for the position code in the x direction
- FIG. 1A shows the state of being arranged side by side in the x direction.
- the locations p (x) to p (x + 6) with respect to the main number sequences of the partial number sequences S (x) to S (x + 6) at the head of each of the seven cyclic main number sequences x to x + 6 shown in FIG. 1A are based on the relationship described above. It becomes 0, 1, 3, 6, 0, 6, 1 respectively.
- the difference number d (X) between adjacent locations p (X) is represented by the following formula [2].
- “mod K” represents an operation modulo K.
- the length K of the main number sequence is 7.
- d (x) ⁇ p (x + 1) ⁇ p (x) ⁇ mod K [2]
- the values of the difference numbers d (x) to d (x + 5) in the example of FIG. 1A are obtained according to the above equation [2], they are 1, 2, 3, 1, 6, and 2, respectively.
- a number sequence consisting of the sequence of the difference numbers d (X) is called a primary number sequence, and a difference number sequence having a length of 5 in the primary number sequence (for example, the difference numbers d (x) to d (x + 4)) is a primary number sequence.
- a partial sequence When the partial sequence selected from the plurality of cyclic main number sequences is a portion other than the head shown in FIG.
- the primary number sequence is a number sequence whose base is K, and the difference number sequence having a length of 5 has a permutation of K 5 at the maximum.
- K 7
- there is a permutation sequence of 7 5 16807 at the maximum in the difference number sequence of length 5. Accordingly, if a differential number sequence having a length of 5 can be uniquely determined as a partial sequence of the primary sequence, a primary sequence having a maximum length of 16807 can be designed, and the position in the x direction can be expressed in the range of 0 to 16806 by the primary sequence. Is possible.
- a shorter length secondary number sequence can greatly reduce the table for converting from that partial number sequence to a place in the primary number sequence.
- the number of secondary number sequences is the number of elements obtained by factoring the difference number. In this example, the number of secondary number sequences is two. Further, the secondary number sequence is configured with elements obtained by factoring the difference numbers as respective radixes.
- the lengths of the plurality of secondary number sequences are selected within a range equal to or less than the above-described maximum length so as to be relatively prime (no divisor other than 1). This combination of partial sequences obtained from each secondary number sequence whose length is selected means that it is unique in the range of the products of the lengths of all the secondary number sequences.
- the secondary number sequence A1 is a number sequence having a radix of 2 and a length of 31
- the secondary number sequence A2 is a number sequence having a radix of 3 and a length of 241.
- d (X) a2 (X) * 2 + a1 (X) +1.
- 0, 1, 0, 0, 1, 1 is used as the first secondary number sequence a1 (x) to a1 (x + 5), and 0 is set as the second secondary number sequence a2 (x) to a2 (x + 5).
- 0, 1, 0, 2, 0 are illustrated.
- FIG. 1B shows an example in which a position code in the y direction is encoded in the xy plane.
- a plurality of cyclic main number sequences (seven number sequences y to y + 6 in the example of FIG. 1B) extending in the x direction orthogonal to the y direction (the position code in the y direction is defined as “y ′ direction”). ) are arranged side by side in the y direction.
- the main number sequence, the primary number sequence, and the secondary number sequence used for encoding the position code in the y direction in two dimensions may be different from those used for encoding the position code in the one dimension (x direction). However, in the example of the present embodiment, the same thing is used.
- the xy plane is treated as a two-dimensional plane.
- the position code in the x direction and the position code in the y direction are overlapped, one bit of the position code in the x direction and one bit of the position code in the y direction exist at each coordinate position on the xy plane. Therefore, four sets of two bits of (0, 0), (0, 1), (1, 0), and (1, 1) are used at each coordinate position. These four sets of 2 bits can be encoded graphically as shown in FIGS. 2A to 2D, for example.
- the mark 22 is a set of one bit of the position code in the x direction and one bit of the position code in the y direction at a position relative to the reference line with the coordinate grid 21 as the reference line.
- the coordinate grid 21 need not be explicitly printed or displayed.
- FIG. 3 schematically illustrates a mark image that is a pattern of a plurality of marks 22 generated based on the position code in a part of the xy plane.
- a different type of graphical encoding may be used than in (a) to (d) of FIG.
- the mark image obtained by graphically encoding the position code is optically read at an optical input unit provided in the reading device, for example.
- an optical input unit for example, an element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) can be considered, but any element can be used as long as it can optically read a mark image. May be.
- a description has been given of an example of a configuration in which a graphical position code is generated and the position code is optically read.
- the position code of the present disclosure is not limited to this.
- the position code may be anything as long as it presents a number of states corresponding to the radix b of the cyclic main number sequence and can be read by the reading device.
- the position code may be presented electrically and read electrically.
- the position code may be presented chemically or acoustically and read by an input unit corresponding to the position code.
- the position code decoding method will be described by taking the position code representing the xy plane as an example.
- the decoding method described below may be performed in an acquisition unit provided in the reading apparatus, or may be performed in an external apparatus connected to the reading apparatus by wired or wireless communication.
- a part of the decoding method described below may be performed by the reading device, and the other part may be performed by an external device.
- FIG. 4A is a diagram schematically showing a situation in which a mark image in the range of 6 * 6 is optically read.
- the dashed grid represents a coordinate grid.
- the coordinate grid may not be explicitly displayed.
- a mark image representing the position code is not shown, but is printed along this coordinate grid (see, for example, FIG. 3).
- FIG. 4A shows a situation where the mark image is read while being rotated in the xy plane when it is optically read.
- a circle range including at least a 6 * 6 mark image (( What is necessary is just to acquire the image of the range of the circle
- an image in a range larger than that may be acquired, and an image in a rectangular range instead of a circle may be acquired.
- a mark including a mark out of the range together with the mark in the range of 6 * 6 The possibility of reading the image should also be considered.
- FIG. 6 to 9 are diagrams for explaining the determination of the position code of the mark included in the mark image.
- FIG. 7 shows a case where the mark image is read in a state rotated 90 degrees clockwise from the normal position
- FIG. 9 illustrates a case where the mark image is read in a state rotated 180 degrees clockwise from the normal position
- FIG. 9 illustrates a case where the mark image is read in a state rotated 270 degrees clockwise from the normal position.
- FIG. 9 illustrates a case where the mark image is read in a state rotated 270 degrees clockwise from the normal position.
- the position code mx is a position code in the x direction
- the position code my is a position code in the y direction.
- the reading state represents a state when a mark that is graphically encoded according to a set of bit values of the position code mx and the position code my is rotated and read at each angle. Dashed lines represent coordinate grids.
- the x ′ arrow indicates the correct x ′ direction in which the cyclic main number sequence of the position code mx is arranged
- the y ′ arrow indicates the correct y ′ direction in which the cyclic main number sequence of the position code my is arranged.
- the x ′′ arrow indicates the direction in which the cyclic main number sequence of the position code mx is determined to be aligned
- the y ′′ arrow indicates the direction in which it is determined that the cyclic main number sequence of the position code my is aligned.
- the determination position code m′x is a position code in the x direction determined based on the x ′′ arrow direction
- the determination position code m′y is a position code in the y direction determined based on the y ′′ arrow direction. is there.
- the graphical position of the read mark image matches the normal position. Therefore, the determination position codes m′x and m′y have the same bit value as the position codes mx and my. Further, the x ′′ direction and the y ′′ direction in which it is determined that the cyclic main number sequences of the position codes are arranged in the read mark image are the same as the x ′ direction and the y ′ direction.
- the graphical position of the read mark image is different from the normal position (dashed circle). Therefore, as a result of determining the position code at such different graphical positions, the bit value of the position code my appears in the determination position code m′x, and the bit obtained by inverting the position code mx in the determination position code m′y. The value appears.
- the y ′′ direction in which it is determined that the cyclic main number sequence of the determination position code m′y is arranged is 180 ° opposite to the x ′ direction in which the cyclic main number sequence of the position code mx is arranged.
- the position code m′y is a cyclic main number sequence in which the bit value (polarity) of the position code mx is inverted and arranged in reverse order.
- the graphical position of the read mark image is exactly opposite to the normal position (dotted circle). Therefore, as a result of determining the position code at the different graphical positions in this way, a bit value obtained by inverting the position code mx appears in the determined position code m′x, and the position code my is inverted in the determined position code m′y. The bit value appears.
- the x ′′ direction in which it is determined that the cyclic main number sequence of the determination position code m′x is arranged is 180 degrees opposite to the x ′ direction in which the cyclic main number sequence of the position code mx is arranged.
- the code m′x is a cyclic main number sequence in which the bit value (polarity) of the position code mx is inverted and arranged in reverse order, and it is determined that the cyclic main number sequence of the determination position code m′y is arranged. Since the y ′′ direction is 180 degrees opposite to the y ′ direction in which the cyclic main number sequence of the position code my is arranged, the determination position code m′y has the bit value (polarity) of the position code my reversed and in reverse order. It becomes a circulation main number sequence arranged in line.
- the graphical position of the read mark image is different from the normal position (dashed circle). Therefore, as a result of determining the position code at the different graphical positions in this way, a bit value obtained by inverting the position code my appears in the determined position code m′x, and the bit of the position code mx appears in the determined position code m′y. The value appears.
- the x ′′ direction in which it is determined that the cyclic main number sequence of the determination position code m′x is arranged is 180 ° opposite to the y ′ direction in which the cyclic main number sequence of the position code my is arranged.
- the position code m′x is a cyclic main number sequence in which the bit value (polarity) of the position code my is inverted and arranged in reverse order.
- Table 1 shows all number sequences having a length of 6 and seven different partial number sequences having a length of 6 in the above-described cyclic main number sequence M (0, 0, 1, 0, 1, 1, 1).
- auxiliary number sequence M * (0, 0, 0, 1, 0, 0) which is a cyclic main number sequence M in which the bit value (polarity) is inverted and the order is reversed.
- the minimum hamming distances from seven different partial sequences having lengths 6 in 1, 1) are shown. For example, since the sequence 010111 is a partial sequence of the cyclic main sequence M, the minimum Hamming distance is “0”, but it is not included in the auxiliary sequence M * , and even in the partial sequence with the closest distance, 1 bit is different.
- the minimum hamming distance is “1”. Whether the number sequence determined from the mark image is based on the cyclic main number sequence M by checking the number sequence of length 6 determined from the read mark image based on Table 1 and determining the minimum Hamming distance Whether it is based on the sequence M * can be identified.
- the sequence determined from the mark image may include an error.
- Table 2 shows the minimum Hamming distance in the case of a sequence having a length of 7
- Tables 3a and 3b similarly determine the minimum Hamming distance in the case of a sequence of length of 8.
- a number sequence having a length longer than 8 can be considered similarly.
- the partial number sequence of the cyclic main number sequence obtained by determination from the mark image There are 6 or more number sequences having a length of 6 or more in each of the x direction and the y direction. Therefore, it is possible to expect improvement in tolerance against errors by comprehensively judging from a plurality of read sequences. For example, a minimum Hamming distance is obtained for a plurality of read number sequences based on Tables 1 to 3, and a sum of the obtained plurality of minimum Hamming distances is obtained to determine whether the number is based on a cyclic main number sequence M or an auxiliary number sequence M * . By determining whether it is based on the sum of the minimum Hamming distances, it is possible to improve resistance to errors in determining the rotation angle of the mark image.
- the rotation of the mark image in units of 90 degrees can be detected and the rotation can be removed.
- the number sequence S (x) is a number sequence composed of mx (x, y), mx (x, y + 1), ..., mx (x, y + 5).
- the sequence S (x) corresponds to a partial sequence of the cyclic main number sequence M.
- Table 4 shows the partial number sequence having the closest hamming distance among seven different partial number sequences having a length of 6 included in the cyclic main number sequence M, the Hamming distance, and the circulation, with respect to the obtained number sequence S (x)
- the location p (x) of the partial number sequence in the main number sequence M is shown.
- the number sequence S (x) that is blank in Table 4 has a plurality of partial number sequences in which the Hamming distances from seven different partial number sequences included in the cyclic main number sequence M are equal, and the Hamming distance is the largest. It is a sequence that cannot identify a nearby partial sequence.
- Table 4 seven different partial sequences included in the cyclic main number sequence M, and a number sequence in which only one term is incorrect are separated from each other without overlap. That is, seven different partial number sequences included in the cyclic main number sequence M are identified by allowing an error in one term.
- a necessary condition for having this property is “K + K * (b ⁇ 1) * N ⁇ b N ” in the above-described equation [1].
- a sequence having a length of 7 corresponding to the cyclic main number sequence M is acquired from the mark image.
- a sequence of 7 consecutive lengths arranged in the y direction starting from the coordinates (x, y) is S (x).
- the sequence S (x) is a sequence consisting of mx (x, y), mx (x, y + 1), ..., mx (x, y + 6).
- the sequence S (x) corresponds to a partial sequence of the cyclic main number sequence M.
- Tables 5a and 5b show, with respect to the obtained number sequence S (x), the partial number sequence having the shortest Hamming distance among seven different partial number sequences having a length of 7 included in the cyclic main number sequence M, and the Hamming distance. And the location p (x) of the partial number sequence in the cyclic main number sequence M is shown. Note that the numerical sequence S (x) that is blank in Tables 5a and 5b has the same idea as in Table 4.
- the same processing as described above may be performed.
- the location p (x) of the partial number sequence in the cyclic main number sequence is specified using Tables 6a to 6d as described above. As can be seen from Table 6, even if an error with a Hamming distance greater than 1 occurs, the original partial sequence may be identified.
- the locations p (x) to p (x + 5) in the circulation main number sequence M can be obtained for the number sequences S (x) to S (x + 5) acquired from the mark image.
- mod 2 is a remainder obtained by dividing by 2
- the difference number d (x) corresponds to the term of the primary number sequence
- the first difference number dc (1, x) corresponds to the term a1 (x) of the first secondary number sequence A1
- the second difference number dc (2, x) corresponds to the term a2 (x) of the second secondary number sequence A2.
- the second A place p2 where a sequence of length 5 consisting of the difference numbers dc (2, x) to dc (2, x + 4) is detected in the second secondary sequence A2 is obtained.
- P is a place where a sequence having a length of 5 consisting of the difference numbers d (x) to d (x + 4) is detected in the primary number sequence, it is between the place P and the places p1 and p2.
- the relationship is as follows.
- place P is congruent with place p1 modulo l1 and place P is congruent with place p2 modulo l2.
- l1 is the length of the first secondary number sequence
- l2 is the length of the second secondary number sequence.
- a plurality of number sequences are extracted from a mark image acquired by reading or the like, and locations where the extracted number sequences are detected as partial number sequences in the cyclic main number sequence are obtained.
- the number of differences between adjacent locations among the plurality of locations in the obtained circulation main number sequence is obtained, and this difference number is further decomposed into a plurality of difference numbers.
- a place where a number sequence consisting of each decomposed difference number is detected as a partial number sequence in the secondary number sequence is obtained, and the mark image is arranged based on the Chinese remainder theorem from the locations in the plurality of secondary number sequences.
- Position can be obtained. Further, by applying the method of the present embodiment to each dimension of two or more dimensions, a coordinate position of two or more dimensions can be represented.
- the present disclosure in particular, in the case where the mark image of N * N ranges representing the coordinate position of the two-dimensional plane, the length K of the cyclic main number sequence, condition K + K * (b-1 ) * N ⁇ b N to meet the
- a position code having excellent resistance to errors a position code reading device, a position code reading method, a method for generating a position code, and a method for decoding the read position code are provided.
- the present disclosure provides a function and method for removing uncertainty due to rotation of a mark image, and a function and method for correcting an error in a cyclic main number sequence.
- the present disclosure can provide a computer program for executing a method for generating a position code excellent in error resistance or a method for decoding a read position code, and a product using the position code.
- the position code reading apparatus and reading method of the present disclosure can be used as an electronic pen or the like for optically or electronically identifying a coordinate position, and is particularly useful when it is desired to improve resistance to errors.
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Abstract
Description
特許文献1に開示された従来の方法では、循環主数列から読み取った部分数列に誤りが含まれていた場合、部分数列の主数列に対する場所を誤って認識して最終的に位置コードの復号すなわち位置情報の推定を誤ってしまうという問題を有していた。また、従来の方法では、回転による不確定性を除去するために、位置情報の推定に必要な部分数列の長さよりも長い部分数列を読み取る必要があるという問題を有していた。
そこで、本発明者らは、部分数列の識別不良や回転による不確定性等が原因で、読み取った部分数列に誤りが含まれていたとしても、読み取った部分数列から正しい部分数列を効果的に取得することができる手法を新たに創案した。
この新たな創案に基づいた本発明の様々な態様は、次の通りである。
発明に基づいた本開示の一態様による位置コードを読み取る装置は、例えば光学的又は電子的に座標位置を識別する電子ペン等の装置に組み込まれる。本開示の一態様による読み取る装置は、位置コードを、基数b及び長さKの主数列を循環させかつ所定長の固有部分数列をK通り含んだ循環主数列をそれぞれ所定量に従ってシフトさせて一次元方向に複数配置した構成とし、複数の循環主数列の少なくとも隣接する2つから「K+K*(b-1)*N≦bN(b、K、Nは、2以上の整数)」を満足する長さNの部分数列をそれぞれ読み取る読み取り部、読み取られた長さNの部分数列の各々について、循環主数列中における場所を判定する判定部、及び判定された場所に基づいて、位置コードの読み取り位置に付与されている位置情報を取得する取得部を備えている。例えば、図10を参照。
[位置コードの生成に関する説明]
位置コードは、1以上の次元における位置情報を符号化するために用いられる。本実施形態では、一般性を損なわない範囲で、まず一次元(例えばx方向)について考察する。
上述したように、本実施形態で使用する循環主数列は、予め定めた基数及び長さの主数列をその末端と始端と複数連結させた構成であり、所定長さの異なる複数の部分数列によって主数列に対する場所が特定できるという性質を有する。さらに、上述の異なる複数の部分数列のそれぞれは、部分数列内の1つの項が異なった数列になっても複数の部分数列のいずれにも一致しないという性質を有する。
K+K*(b-1)*N≦bN … [1]
この式[1]の条件によって、部分数列中の1つの項の誤りを許容して、循環主数列に対する部分数列の場所を一意に決定することができる。
一方、特許文献1で開示されている実施例は、主数列の基数b=2、主数列の長さK=63、部分数列の長さN=6であるため、式[1]の左辺はK+K*(b-1)*N=63+63*1*6=441であり、式[1]の右辺はbN =26 =64であるため、上記式[1]の必要条件を満たしていない。
M=「0,0,1,0,1,1,1」
このとき、主数列Mを循環させた循環主数列において、長さN=6の互いに異なる7通りの部分数列と主数列に対する場所とは、以下の関係を有することになる。
部分数列 主数列に対する場所
0,0,1,0,1,1 → 0
0,1,0,1,1,1 → 1
1,0,1,1,1,0 → 2
0,1,1,1,0,0 → 3
1,1,1,0,0,1 → 4
1,1,0,0,1,0 → 5
1,0,0,1,0,1 → 6
d(x)={p(x+1)-p(x)}mod K … [2]
上記式[2]に従って図1Aの例による差分数d(x)~d(x+5)の値を求めると、それぞれ1,2,3,1,6,2となる。この差分数d(X)の並びからなる数列を一次数列と呼び、この一次数列内の長さが5の差分数列(例えば、差分数d(x)~d(x+4))は、一次数列の部分数列を与える。複数の循環主数列から選択される部分数列が図1Aに示した先頭以外の部分であった場合、場所p(x)~p(x+6)の値は異なる値になるものの、場所p(x)~p(x+6)には一様な値がKを法として加算されるため、結局のところ差分数d(x)~d(x+5)の値を求めれば上述と同じ1,2,3,1,6,2を得ることとなる。
A1=0,0,0,0,0,1,0,0,1,1,0,0,0,1,1,1,1,0,0,1,0,1,0,1,1,0,1,1,1,0,1
A2=0,0,0,0,0,1,0,2,0,0,0,0,2,0,0,2,0,1,0,0,0,1,1,2,0,0,0,1,2,0,0,2,1,0,0,0,2,1,1,2,0,1,0,1,0,0,1,2,1,0,0,1,0,0,2,2,0,0,0,2,2,1,0,2,0,1,1,0,0,1,1,1,0,1,0,1,1,0,1,2,0,1,1,1,1,0,0,2,0,2,0,1,2,0,2,2,0,1,0,2,1,0,1,2,1,1,0,1,1,1,2,2,0,0,1,0,1,2,2,2,0,0,2,2,2,0,1,2,1,2,0,2,0,0,1,2,2,0,1,1,2,1,0,2,1,1,0,2,0,2,1,2,0,0,1,1,0,2,1,2,1,0,1,0,2,2,0,2,1,0,2,2,1,1,1,2,0,2,1,1,1,0,2,2,2,2,0,2,0,2,2,1,2,1,1,1,1,2,1,2,1,2,2,2,1,0,0,2,1,2,2,1,0,1,1,2,2,1,1,2,1,1,2,2,2,2,1,2,0,1,2,2,1,2,2,0,2,2,2,1,1
以下では、前述のx-y平面を表す位置コードを例に、該位置コードの復号方法について説明する。なお、以下で説明する復号方法は、読み取り装置に設けられた取得部において実施されてもよいし、読み取り装置と有線又は無線通信により接続された外部の装置において実施されてもよい。また、以下で説明する復号方法の一部が読み取り装置によって実施され、それ以外の一部が外部の装置において実施されてもよい。
図4の(a)は、6*6の範囲のマーク像を光学的に読み取る状況を模式的に示した図である。図4の(a)において、破線の格子は座標格子を表している。座標格子は明示的には表示されないかもしれない。位置コードを表すマーク像は、図示されていないが、この座標格子に沿って印刷されている(例えば図3を参照)。図4の(a)は、マーク像を光学的に読み取る際に、x-y平面内において回転して読み取られている状況を表している。読み取ったマーク像がx-y平面内でどのように回転されていても6*6の範囲のマーク像を読み取るためには、少なくとも6*6のマーク像を含む円の範囲(図4の(a)に示した円の範囲)の画像を取得すればよい。もちろん、それ以上の範囲の画像を取得してもよく、円形ではなく例えば矩形の範囲の画像を取得してもよい。好ましくは、例えば6*6の範囲のマーク像を含む円内の画像を取得する場合、図4の(b)に示すように、6*6の範囲のマークと共に範囲外のマークも含んだマーク像を読み取ることができている可能性も考慮すべきである。
次に、循環主数列Mに対応する部分数列の誤り訂正について説明する。x方向の処理とy方向の処理は同じであるため、ここではx方向の処理についてのみ説明する。座標(x,y)においてマーク像から得られたx方向の位置コードmxを、mx(x,y)とする。位置コードmxについて、座標(x,y)を起点にy方向に配置された連続する長さが6の数列をS(x)とする。数列S(x)は、mx(x,y),mx(x,y+1),…,mx(x,y+5)からなる数列である。数列S(x)は、循環主数列Mの部分数列に対応する。表4は、得られた数列S(x)に対して、循環主数列Mに含まれる長さが6の互いに異なる7通りの部分数列のうち最もハミング距離が近い部分数列、そのハミング距離及び循環主数列M中の該部分数列の場所p(x)を示している。また、表4において空欄となっている数列S(x)は、循環主数列M中に含まれる互いに異なる7通りの部分数列からのハミング距離が等しくなる部分数列が複数存在し、最もハミング距離が近い部分数列を特定できない数列である。表4からもわかるように、循環主数列Mに含まれる互いに異なる7通りの部分数列、及びそれらの部分数列から1つの項だけ誤った数列は、それぞれ重複なく分離されている。すなわち、循環主数列Mに含まれる互いに異なる7通りの部分数列は、1つの項の誤りを許容して識別される。この性質を有するための必要条件は、上述した式[1]の「K+K*(b-1)*N≦bN」となる。なお、表4には、循環主数列Mに含まれる互いに異なる7通りの部分数列及び該部分数列とのハミング距離が記載されているが、これらは必須ではなく、位置コードの復号においては少なくとも循環主数列M中の該部分数列の場所p(x)がわかればよい。
次に、場所p(x)~p(x+5)から差分数d(x)~d(x+4)を、x~(x+4)の範囲で、上記式[2]の「d(x)=(p(x+1)-p(x))mod K」に従って求める。ここでは、K=7の場合を例に説明している。
d(x)=C+dc(1,x)+b-1*dc(2,x)+…
+b1*b2*…*bm-1*dc(m,x) … [3]
P≡p1 mod l1
P≡p2 mod l2
すなわち、場所Pはl1を法として場所p1と合同であり、また場所Pはl2を法として場所p2と合同である。ここで、l1は第1の二次数列の長さ、l2は第2の二次数列の長さである。
P=(sum(i=1,m)((l/li)*pi*qi))mod L …[4]
P=(5302*p1+2170*p2)mod 7471
22 マーク
Claims (13)
- 位置コードを読み取る装置であって、
前記位置コードは、基数b及び長さKの主数列を循環させかつ所定長の固有部分数列をK通り含んだ循環主数列を、それぞれ所定量に従ってシフトさせて一次元方向に複数配置した構成からなり、
前記複数の循環主数列の少なくとも隣接する2つから、下記式を満足する長さNの部分数列をそれぞれ読み取る読み取り部、
前記読み取られた長さNの部分数列の各々について、前記循環主数列中における場所を判定する判定部、及び
前記判定された場所に基づいて、前記位置コードの読み取り位置に付与されている位置情報を取得する取得部を備える、読み取り装置。
[式] K+K*(b-1)*N≦bN (b、K、Nは、2以上の整数) - 前記判定部は、
前記読み取られた長さNの部分数列の各々について、前記K通りの固有部分数列の中から、前記読み取られた長さNの部分数列とのハミング距離が最も小さい固有部分数列を特定し、
前記特定された固有部分数列について前記循環主数列中における場所を判定する、請求項1に記載の読み取り装置。 - 前記取得部は、
前記判定された場所について、隣接する前記循環主数列間の場所の差分を一次数列として求め、
前記一次数列を混合基数で表したときの各桁の数値を、複数の二次数列として求め、
前記複数の二次数列から長さL(Lは2以上の整数)の部分数列をそれぞれ取得し、
前記取得した長さLの部分数列の各々について、前記二次数列中における場所を判定し、
前記判定された場所に基づいて、前記位置コードの読み取り位置に付与されている位置情報を取得する、請求項1に記載の読み取り装置。 - 前記長さLは、L=N-1に設定される、請求項3に記載の読み取り装置。
- 前記判定部は、
前記読み取られた長さNの部分数列の各々について、前記循環主数列との最小ハミング距離と、前記循環主数列の極性を反転させかつ並びを逆順にした補助数列との最小ハミング距離とを算出し、
前記補助数列との最小ハミング距離が前記循環主数列との最小ハミング距離よりも小さい場合に、前記読み取られた長さNの部分数列に対して回転除去処理を施す、請求項1に記載の読み取り装置。 - 前記判定部は、
前記読み取られた長さNの部分数列の各々について、前記循環主数列との最小ハミング距離を算出して合計し、前記循環主数列の極性を反転させかつ並びを逆順にした補助数列との最小ハミング距離を算出して合計し、
前記補助数列との最小ハミング距離の合計値が前記循環主数列との最小ハミング距離の合計値よりも小さい場合に、前記読み取られた長さNの部分数列に対して回転除去処理を施す、請求項1に記載の読み取り装置。 - 前記判定部は、前記算出された最小ハミング距離に基づいて、90度単位で前記位置コードに生じている回転の影響を補正する、請求項5に記載の読み取り装置。
- 前記判定部は、前記算出された最小ハミング距離の合計値に基づいて、90度単位で前記位置コードに生じている回転の影響を補正する、請求項6に記載の読み取り装置。
- 位置コードを読み取る読み取り方法であって、
前記位置コードは、基数b及び長さKの主数列を循環させかつ所定長の固有部分数列をK通り含んだ循環主数列を、それぞれ所定量に従ってシフトさせて一次元方向に複数配置させた構成からなり、
前記複数の循環主数列の少なくとも隣接する2つから、下記式の条件を満たす長さNの部分数列をそれぞれ読み取るステップ、
前記読み取られた長さNの部分数列の各々について、前記循環主数列中における場所を判定するステップ、及び
前記判定された場所に基づいて、前記位置コードの読み取り位置に付与されている位置情報を取得するステップを備える、読み取り方法。
[式] K+K*(b-1)*N≦bN (b、K、Nは、2以上の整数) - 位置コードを有する製造物であって、
基数b及び長さKの主数列を循環させかつ所定長の固有部分数列をK通り含んだ循環主数列を、それぞれ所定量に従ってシフトさせて一次元方向に複数配置させた構成からなり、下記式の条件を満たす長さNの部分数列によって位置を一意に識別できる位置情報が付与されている位置コードが、読み取り可能に形成された、製造物。
[式] K+K*(b-1)*N≦bN (b、K、Nは、2以上の整数) - 位置コードを生成する方法であって、
位置を一意に識別できる位置情報を表した複数の二次数列を生成するステップ、
前記複数の二次数列の各項を混合基数で表した一次数列を生成するステップ、
基数b及び長さKの主数列を循環させかつ所定長の固有部分数列をK通り含んだ循環主数列を生成するステップ、及び
前記循環主数列を前記一次数列に基づいて付与される所定量に従ってシフトさせて一次元方向に複数配置するするステップによって、
前記循環主数列における下記式の条件を満たす長さNの部分数列によって前記位置情報の取得が可能となる位置コードを生成する、方法。
[式] K+K*(b-1)*N≦bN (b、K、Nは、2以上の整数) - コンピュータ読み取り可能なプログラムが記録された媒体であって、
基数b及び長さKの主数列を循環させかつ所定長の固有部分数列をK通り含んだ循環主数列を、それぞれ所定量に従ってシフトさせて一次元方向に複数配置させた構成からなる位置コードに対して、
前記複数の循環主数列の少なくとも隣接する2つから、下記式の条件を満たす長さNの部分数列をそれぞれ読み取るステップ、
前記読み取られた長さNの部分数列の各々について、前記循環主数列中における場所を判定するステップ、及び
前記判定された場所に基づいて、前記位置コードの読み取り位置に付与されている位置情報を取得するステップを、コンピュータに実行させるためのプログラムが記録された、記録媒体。
[式] K+K*(b-1)*N≦bN (b、K、Nは、2以上の整数) - コンピュータ読み取り可能なプログラムが記録された媒体であって、
位置を一意に識別できる位置情報を表した複数の二次数列を生成するステップ、
前記複数の二次数列の各項を混合基数で表した一次数列を生成するステップ、
基数b及び長さKの主数列を循環させかつ所定長の固有部分数列をK通り含んだ循環主数列を生成するステップ、及び
前記循環主数列を前記一次数列に基づいて付与される所定量に従ってシフトさせて一次元方向に複数配置するステップを、コンピュータに実行させて、
前記循環主数列における下記式の条件を満たす長さNの部分数列によって前記位置情報の取得が可能となる位置コードを生成するプログラムが記録された、記録媒体。
[式] K+K*(b-1)*N≦bN (b、K、Nは、2以上の整数)
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PCT/JP2013/003088 WO2013179595A1 (ja) | 2012-05-31 | 2013-05-15 | 位置コードの読み取り装置及び読み取り方法 |
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US (1) | US9703404B2 (ja) |
JP (1) | JP6029024B2 (ja) |
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WO2016122567A1 (en) * | 2015-01-30 | 2016-08-04 | Hewlett-Packard Development Company, L.P. | M-ary cyclic coding |
DE102016216221A1 (de) | 2016-08-29 | 2018-03-01 | Robert Bosch Gmbh | Zweidimensionale Codeanordnung, Arbeitsanordnung und Verfahren zum Betreiben der Arbeitsanordnung |
US11152958B2 (en) * | 2019-12-09 | 2021-10-19 | Western Digital Technologies, Inc. | Very low complexity SECDED codes |
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WO2001071653A1 (en) * | 2000-03-21 | 2001-09-27 | Anoto Ab | Method and system for storing a coding pattern |
JP2005507535A (ja) * | 2001-10-29 | 2005-03-17 | アノト・アクティエボラーク | 位置コーディングパターンをデコードするための方法およびデバイス |
JP2006511864A (ja) * | 2002-12-23 | 2006-04-06 | アノト アイ ピー リック エイチ ビー | コピー保護を提供する冗長な情報を含む情報コード |
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SE519277C2 (sv) * | 2001-06-25 | 2003-02-11 | Anoto Ab | Anordning och förfarande för positionskodning och för avkodning av en positionskod |
US6667695B2 (en) | 2001-06-25 | 2003-12-23 | Anoto Ab | Position code |
US7145556B2 (en) * | 2001-10-29 | 2006-12-05 | Anoto Ab | Method and device for decoding a position-coding pattern |
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WO2001071653A1 (en) * | 2000-03-21 | 2001-09-27 | Anoto Ab | Method and system for storing a coding pattern |
JP2005507535A (ja) * | 2001-10-29 | 2005-03-17 | アノト・アクティエボラーク | 位置コーディングパターンをデコードするための方法およびデバイス |
JP2006511864A (ja) * | 2002-12-23 | 2006-04-06 | アノト アイ ピー リック エイチ ビー | コピー保護を提供する冗長な情報を含む情報コード |
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CN103748536A (zh) | 2014-04-23 |
JP6029024B2 (ja) | 2016-11-24 |
US20140139428A1 (en) | 2014-05-22 |
US9703404B2 (en) | 2017-07-11 |
JPWO2013179595A1 (ja) | 2016-01-18 |
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