CN109137706A - automatic printing method and device - Google Patents
automatic printing method and device Download PDFInfo
- Publication number
- CN109137706A CN109137706A CN201811006117.5A CN201811006117A CN109137706A CN 109137706 A CN109137706 A CN 109137706A CN 201811006117 A CN201811006117 A CN 201811006117A CN 109137706 A CN109137706 A CN 109137706A
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- CN
- China
- Prior art keywords
- automatic
- printing
- printed
- current road
- 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.)
- Granted
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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
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the present application provides a kind of automatic printing method and device.By obtaining automatic print instruction information, wherein, automatic printing instruction information includes the type information of automatic printing travel route and at least one object to be printed, the print pattern and the print position in automatic printing travel route that type information includes the object to be printed.Then, automatic Pilot is carried out based on automatic printing travel route, and current road is obtained in real time during automatic Pilot through position, then, current road is compared through position and the print position of any one object to be printed, if current road is matched through position with the print position of any one object to be printed, the print pattern that automatic printing equipment prints the object to be printed on current road through position is controlled.The application precisely prints required pattern by automatic during automatic Pilot as a result, to avoid manual operation, reduces labor intensity, printing effect is greatly improved, has broad application prospects.
Description
Technical field
This application involves printing technique fields, in particular to a kind of automatic printing method and device.
Background technique
Currently, with regard to pattern (such as terrestrial reference pattern, advertising design, plastic track pattern etc.) coding or spray printing or printing skill
The associated equipment and unit that art is related to are many, but mostly use the mode for printing or painting by hand air brushing at present, it is therefore apparent that it is deposited
In the disadvantages such as manual operation, large labor intensity, printing effect be low.
Apply for content
In order to overcome above-mentioned deficiency in the prior art, the application's is designed to provide a kind of automatic printing method and dress
It sets, precisely prints required pattern by automatic during automatic Pilot, to avoid manual operation, it is strong to reduce hand labor
Degree, is greatly improved printing effect, has broad application prospects.
To achieve the goals above, the embodiment of the present application the technical solution adopted is as follows:
In a first aspect, the embodiment of the present application provides a kind of automatic printing method, it is applied to automatic driving vehicle, it is described automatic
It drives and is provided with automatic printing equipment on the chassis of vehicle, which comprises
Obtain automatic print instruction information, wherein automatic printing instruction information include automatic printing travel route with
And the type information of at least one object to be printed, the type information include the print pattern of the object to be printed and in institute
State the print position in automatic printing travel route；
Automatic Pilot is carried out based on the automatic printing travel route, and obtains current road in real time during automatic Pilot
Through position；
The current road is compared through position and the print position of any one object to be printed, described in judgement
Whether current road matches with the print position of any one object to be printed through position；
If the current road is matched through position with the print position of any one object to be printed, controls and described beat automatically
Printing apparatus prints the print pattern of the object to be printed on the current road through position.
Optionally, the automatic driving vehicle is connect with server communication, the step for obtaining automatic print instruction information
Suddenly, comprising:
User is received to request by the automatic printing that the server is sent；
Automatic print instruction information is obtained from automatic printing request.
Optionally, the automatic driving vehicle is also connect with UAV Communication, and the unmanned plane is according to the automatic Pilot
The automatic printing travel route of vehicle around the automatic driving vehicle fly, it is described based on the automatic printing travel route into
The step of row automatic Pilot, comprising:
Wireless communication state during automatic Pilot between monitoring and the unmanned plane；
When monitoring that the traffic rate between the unmanned plane is greater than or equal to preset threshold, the unmanned plane is received
Information of road surface locating for the automatic driving vehicle on the automatic printing travel route obtained, and according to the information of road surface
Execute corresponding movement；
When monitoring that the traffic rate between the unmanned plane is less than preset threshold, receive what the server was sent
The information of road surface, and corresponding movement is executed according to the information of road surface；
When not receiving the information of road surface, into automatic early-warning state.
Optionally, described the current road to be compared through position with the print position of any one object to be printed point
Analysis, judges the step of whether current road matches through position with the print position of any one object to be printed, comprising:
Calculate the longitude and latitude of latitude and longitude coordinates of the current road through position and the print position of any one object to be printed
Spend the coordinate difference between coordinate；
Judge whether the coordinate difference is less than preset threshold, if so, determine the current road through position with it is any one
The print position of a object to be printed matches.
It optionally, include the coating cavity for being provided with printing coatings in the automatic printing equipment, if described work as
Preceding road is matched through position with the print position of any one object to be printed, then controls the automatic printing equipment described current
The step of print pattern of the object to be printed is printed through position in road, comprising:
If the current road is matched through position with the print position of any one object to be printed, stop travelling, and control
Automatic printing equipment coating needed for exporting the object to be printed in the coating cavity is made, the automatic printing is set
Derived coating is printed on the print position of the object to be printed by the standby print pattern based on the object to be printed.
Optionally, the control automatic printing equipment prints beating for the object to be printed through position on the current road
After the step of being patterned, the method also includes:
The print pattern image of the object to be printed after acquisition printing；
Image analysis is carried out to the print pattern image, detects the print pattern image with the presence or absence of printing defects；
If detecting the print pattern image there are printing defects, the first printing for obtaining the printing defects is remedied
Strategy；
The automatic printing equipment is controlled based on the first printing remediation policy the printing defects are carried out to remedy printing.
Optionally, described that automatic Pilot is carried out based on the automatic printing travel route and real during automatic Pilot
When obtain current road after the step of position, the method also includes:
It obtains printing cleaning and indicates information, wherein the printing cleaning instruction information includes at least one object to be cleaned
Cleaning information, the cleaning information includes the cleaning pattern of the object to be cleaned and in the automatic printing travel route
Cleaning positions；
The current road is compared through position and the cleaning positions of any one object to be cleaned, described in judgement
Whether current road matches with the print position of any one object to be cleaned through position；
If the current road is matched through position with the print position of any one object to be cleaned, the current road is passed through
The print pattern of the object to be cleaned of position printing is cleaned.
Optionally, the step that the print pattern of the object to be cleaned that the current road is printed through position cleans
After rapid, the method also includes:
After the completion of detecting the print pattern cleaning of the object to be cleaned that the current road is printed through position, institute is controlled
State the print pattern that automatic printing equipment prints the object to be cleaned again.
Optionally, after described the step of carrying out automatic Pilot based on the automatic printing travel route, the method is also
Include:
Acquire passage zone image in real time during automatic Pilot；
Image analysis is carried out to the passage zone image, detects the passage zone image with the presence or absence of printing defects；
If detecting the passage zone image, there are printing defects, the second printing of the passage zone image is obtained
Remediation policy, wherein the second printing remediation policy includes the print pattern of the passage zone image；
The automatic printing equipment is controlled based on the second printing remediation policy to remedy the passage zone image
Printing.
Second aspect, the embodiment of the present application also provide a kind of automatic printing device, be applied to automatic driving vehicle, it is described from
It is provided with automatic printing equipment on the dynamic chassis for driving vehicle, described device includes:
Module is obtained, for obtaining automatic print instruction information, wherein the automatic printing instruction information includes beating automatically
Travel route and the type information of at least one object to be printed are printed, the type information includes the printing of the object to be printed
Pattern and the print position in the automatic printing travel route；
Automatic Pilot module, for carrying out automatic Pilot based on the automatic printing travel route, and in automatic Pilot mistake
Current road is obtained in journey in real time through position；
Analysis module is compared, for carrying out the current road through the print position of position and any one object to be printed
Analysis is compared, judges whether the current road matches with the print position of any one object to be printed through position；
Control module is printed, if the print position for the current road through position Yu any one object to be printed
Match, then controls the print pattern that the automatic printing equipment prints the object to be printed on the current road through position
The third aspect, the embodiment of the present application also provide a kind of readable storage medium storing program for executing, are stored thereon with computer program, described
Computer program, which is performed, realizes above-mentioned automatic printing method.
In terms of existing technologies, the application has the advantages that
The embodiment of the present application provides a kind of automatic printing method and device.By obtaining automatic print instruction information, wherein
Automatic printing instruction information includes the type information of automatic printing travel route and at least one object to be printed, type information
Print pattern including the object to be printed and the print position in automatic printing travel route.Then, it is based on beating automatically
It prints travel route and carries out automatic Pilot, and obtain current road in real time through position during automatic Pilot, then, current road is passed through
Position and the print position of any one object to be printed are compared, judge current road through position whether with any one
The print position of object to be printed matches, if current road is matched through position with the print position of any one object to be printed,
Control automatic printing equipment prints the print pattern of the object to be printed on current road through position.The application passes through certainly as a result,
It is automatic in dynamic driving procedure precisely to print required pattern, to avoid manual operation, labor intensity is reduced, is greatly improved and beats
Efficiency is printed, is had broad application prospects.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the application scenarios schematic diagram of automatic printing method provided by the embodiments of the present application；
Fig. 2 is the flow diagram of automatic printing method provided by the embodiments of the present application.
Fig. 3 is the functional block diagram of automatic printing device provided by the embodiments of the present application；
Fig. 4 is the structural schematic block diagram of the electronic equipment provided by the embodiments of the present application for above-mentioned automatic printing method.
Icon: 100- automatic driving vehicle；110- bus；120- processor；130- storage medium；140- bus interface；
150- network adapter；160- user interface；200- automatic printing device；210- obtains module；220- automatic Pilot module；
230- compares analysis module；240- prints control module；300- server；500- unmanned plane.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiment is some embodiments of the present application, instead of all the embodiments.Usually herein
The component of the embodiment of the present application described and illustrated in place's attached drawing can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's all other embodiment obtained without creative labor belongs to the application protection
Range.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
Referring to Fig. 1, being the application scenarios schematic diagram of automatic printing method provided by the embodiments of the present application.The present embodiment
In, which may include the automatic driving vehicle 100, server 300 and unmanned plane 500 communicated to connect between each other.
Automatic driving vehicle 100 (Autonomous vehicles) be also known as pilotless automobile, computer driving or
Wheeled mobile robot is that one kind by computer system realizes unpiloted intelligent automobile.It may include video camera, thunder
The traffic condition of surrounding is understood up to sensor and airborne laser range finder, and by a detailed map (by manned
The map of automobile acquisition) it navigates to the road in front, and carried out on road automatically according to preset navigation routine
It drives.In the present embodiment, automatic driving vehicle 100 can during automatic Pilot automatic printing pattern, wherein the automatic Pilot
It may be provided with automatic printing equipment on the chassis of vehicle 100, may be provided with the coating cavity of printing coatings in automatic printing equipment,
The types of patterns that can be printed as needed in printing exports printing coatings from the coating cavity.
In the present embodiment, server 300 should be understood the service point of offer processing, data bank, communications service.Citing and
Speech, server 300 can refer to single physical processor with related communication and data storage and document library facility or it can
To refer to the aggregate of networking or the processor gathered, related network and storing unit, and to software and one or more data
The application software serviced provided by library system and support server 300 is operated.Server 300 can be in configuration or performance
It is upper widely different, but server 300 generally may include one or more central processing unit and storage unit.Server
300 can also include one or more large-scale storage area equipment, one or more power supplys, one or more wired or wireless networks
Component, one or more input output assemblies or one or more operating systems, such as, Windows Server, Mac OS
X、Unix、Linux、FreeBSD。
Referring to Fig. 2, for the flow diagram of automatic printing method provided by the embodiments of the present application, it, should in the present embodiment
Automatic printing method automatic driving vehicle 100 as shown in Fig. 1 executes.It should be noted that provided by the embodiments of the present application
Automatic printing method is not limitation with Fig. 2 and specific order below.The detailed process of this method is as follows:
Step S210 obtains automatic print instruction information.
In the present embodiment, automatic driving vehicle 100 can receive the automatic printing request that user is sent by server 300,
And automatic print instruction information is obtained from automatic printing request.Wherein, automatic printing instruction information may include automatic printing row
Sail the type information of route and at least one object to be printed, type information include the object to be printed print pattern and
Print position in automatic printing travel route.
In the present embodiment, automatic printing travel route can carry out flexible setting according to practical printing demand, such as need
Location A is printed to the terrestrial reference pattern between B location, then the settable travel route between location A to B location is used as beats automatically
Print travel route.
In the present embodiment, object to be printed be can be, but is not limited only to such as terrestrial reference, advertisement, plastic track, is used for military affairs
Induction coil of purposes etc. is not specifically limited herein, and print pattern is the pattern that the object to be printed needs to show,
Such as terrestrial reference may include arrow pattern, forbidden pattern, zebra line pattern etc., print position namely the object needs to be printed are in
Reveal the specific location of the pattern come, which can be stored in the form of longitude and latitude.
Step S220 carries out automatic Pilot based on automatic printing travel route, and obtains in real time during automatic Pilot
Current road is through position.
In the present embodiment, the processing of various emergency cases is successfully managed for the ease of automatic driving vehicle 100, is being dashed forward
Accurate response is made when heat condition.Optionally, unmanned plane 500 can travel road according to the automatic printing of automatic driving vehicle 100
Line flies around automatic driving vehicle 100, and unmanned plane 500 sails automatic driving vehicle 100 on route for obtaining automatic print line
Locating information of road surface, and information of road surface is sent to automatic driving vehicle 100 and server 300.Automatic driving vehicle 100 exists
Wireless communication state during automatic Pilot between real-time monitoring and unmanned plane 500, when monitoring between unmanned plane 500
When traffic rate is greater than or equal to preset threshold, automatic Pilot vehicle on the automatic printing travel route that unmanned plane 500 obtains is received
Information of road surface locating for 100, and corresponding movement is executed according to information of road surface, it is logical between unmanned plane 500 when monitoring
When believing that rate is less than preset threshold, the information of road surface that server 300 is sent is received, and corresponding dynamic according to information of road surface execution
Make.When not receiving information of road surface, into automatic early-warning state.
Thus it designs, since unmanned plane 500 can fly away from automatic driving vehicle 100 itself, various roads can be collected ahead of time
Face situation is simultaneously timely sent to automatic driving vehicle 100, automatic driving vehicle 100 can based on the received surface conditions it is quasi- in time
It really reacts, greatly improves the safety of automatic driving vehicle 100.
In the present embodiment, unmanned plane 500 may include onboard satellite navigation device, airborne information of road surface acquisition device, airborne
Sensor and airborne Intelligent treatment terminal, onboard satellite navigation device, airborne information of road surface acquisition device and airborne sensor are equal
Airborne Intelligent treatment terminal is connected, airborne information of road surface acquisition device is sent at airborne intelligence for obtaining information of road surface
Manage terminal；Onboard satellite navigation device is for storing automatic printing travel route (such as the navigation road of automatic driving vehicle 100
Line), and it is sent to airborne Intelligent treatment terminal；Airborne sensor is used to acquire the status data of unmanned plane 500, and is sent to machine
Carry Intelligent treatment terminal；Airborne Intelligent treatment terminal is used to control unmanned plane 500 according to automatic printing travel route and beat automatically
It prints and flies on travel route around automatic driving vehicle 100, and the status data for receiving information of road surface and unmanned plane 500 is sent to
Automatic driving vehicle 100 and server 300.
Specifically, for airborne information of road surface acquisition device for obtaining information of road surface, specific acquisition modes are not unique, can
In a manner of through shooting image or image or scanning etc.；The navigation of onboard satellite navigation device and automatic driving vehicle 100 fills
Set, can simultaneously operating, it is also independently operable, so-called simultaneously operating, in particular to, only need to set unmanned plane 500 or automatic Pilot
100 1 side of vehicle both walks according to the route of setting；Airborne Intelligent treatment terminal, the main control part as unmanned plane 500
Point, it needs to handle image data and/or radar information data and sensing data etc., is also used as connecting pin, and drives automatically
Sail vehicle 100, server 300 is attached, realization data information interaction.
In one embodiment, airborne information of road surface acquisition device may include the airborne boat for connecting airborne Intelligent treatment terminal
Clap device and/or onboard radar system.Specifically, airborne aerial device is for shooting image or shooting with video-corder image, captured or take the photograph
The data of record, aerial device can shoot the region of larger area, which can cover in all around direction of unmanned plane 500.Machine
Carrying aerial device includes at least one cam device, can be single camera, dual camera and the configuration of multiple cameras；Machine
The road conditions that radar system is used to scan road are carried, such as: the vehicle of racing bend, traffic congestion situation, fracture location, hollow location,
The information of scanning will be sent to automatic driving vehicle 100 and server 300 by airborne intelligent terminal.When the high visual field of visibility is good
When, airborne aerial device or onboard radar system can be used, it, can when automatic driving vehicle 100 is in the state run at high speed
There can be the reason of because of the colour of sky or the visual field, airborne aerial device shooting image or image are unclear, need airborne thunder at this time
Road conditions are scanned up to system, selection is can according to need and uses airborne aerial device and/or onboard radar system, can ensure that nothing
Man-machine 500 are accurately obtained information of road surface.
Meanwhile automatic driving vehicle 100 obtains current road through position, with object to be printed in real time during automatic Pilot
Print position it is corresponding, which can be stored in the form of longitude and latitude.
Current road is compared through position and the print position of any one object to be printed, sentences by step S230
Whether current road of breaking matches with the print position of any one object to be printed through position.
In the present embodiment, the printing of the current road latitude and longitude coordinates through position and any one object to be printed can be calculated
Coordinate difference between the latitude and longitude coordinates of position, and judge whether coordinate difference is less than preset threshold, if so, determining current
Road is matched through position with the print position of any one object to be printed.
Step S240, if current road is matched through position with the print position of any one object to be printed, control is automatic
Printing device prints the print pattern of the object to be printed on current road through position.
In the present embodiment, if current road is matched through position with the print position of any one object to be printed, stop going
It sails, and controls automatic printing equipment coating needed for exporting the object to be printed in coating cavity, make automatic printing equipment base
Derived coating is printed on the print position of the object to be printed in the print pattern of the object to be printed.
Based on above-mentioned design, the present embodiment precisely prints required pattern by automatic during automatic Pilot, to keep away
Manpower-free's operation, reduces labor intensity, printing effect is greatly improved, has broad application prospects.
Further, in order to guarantee print integrity, avoid print defect, can also be to the printing of above-mentioned object to be printed
Pattern, which carries out recognition and verification, can also optionally include the following steps: after above-mentioned steps S240
Firstly, the print pattern image of the object to be printed after acquisition printing.
Then, image analysis is carried out to print pattern image, detection print pattern image whether there is printing defects.Example
Such as, the print pattern image of acquisition and the standardized printing pattern image of the object to be printed can be compared, is judged
The print pattern image of acquisition whether there is printing defects.
If detecting print pattern image, there are printing defects, the first printing remediation policy of the printing defects is obtained,
Wherein, the first printing remediation policy may include that the printing defects remedy mode of printing.Finally, based on the first printing remediation policy
Control automatic printing equipment carries out the printing defects to remedy printing.
Based on above-mentioned design, it can effectively ensure that printing integrity, avoid print defect.
Optionally, automatic printing method provided in this embodiment, can also be to old other than with above-mentioned printing function
Print pattern is cleaned, and as an implementation, after step S220, method can be with following steps:
Firstly, obtaining printing cleaning indicates information.Optionally, it can be beaten by receiving user by what server 300 was sent
Cleaning request is printed, and obtains printing cleaning from printing cleaning request and indicates information.Wherein, printing cleaning instruction information may include
The cleaning information of at least one object to be cleaned, cleaning information includes the cleaning pattern of the object to be cleaned and in automatic printing
Cleaning positions in travel route.
Then, current road is compared through position and the cleaning positions of any one object to be cleaned, judgement is worked as
Whether preceding road matches with the print position of any one object to be cleaned through position, if current road is waited for clearly through position with any one
The print position matching for washing object, then clean the print pattern for the object to be cleaned that current road is printed through position.By
This, may be implemented to clean old print image, without human intervention, reduce labor workload, greatly improve cleaning
Efficiency.
Further, automatic driving vehicle 100 can also be in the object to be cleaned for detecting that current road is printed through position
Print pattern cleaning after the completion of, control automatic printing equipment prints the print pattern of the object to be cleaned again.Hereby it is achieved that
Renovation to old print image, further reduces labor workload.
It is further possible to pass through in automatic Pilot process automatic without presetting printing cleaning instruction information
Old print image is renovated in detection automatically, such as another embodiment, after step S220, method may be used also
To include the following steps:
Firstly, acquiring passage zone image in real time during automatic Pilot.
Then, image analysis being carried out to path area image, detection passage zone image whether there is printing defects,
That is, carrying out image analysis to the print pattern image for including in the area image of path, detecting the print pattern image whether there is
Printing defects, for example, can match the print pattern image with pre-stored multiple print pattern images, matching is corresponded to
Target print pattern image, and analyze the print pattern image and compare analysis with corresponding target print pattern image, judge
The print pattern image whether there is printing defects.
Then, if detecting passage zone image there are printing defects, the second printing of the passage zone image is obtained
Remediation policy, wherein the second printing remediation policy includes the print pattern of the passage zone image.Finally, based on the second printing
Remediation policy control automatic printing equipment carries out remedying printing to the passage zone image.Thus it designs, it can be effectively automatic
Driving procedure renovates old print image by detecting automatically automatically, convenient and efficient without artificial setting.
Further, referring to Fig. 3, the embodiment of the present application also provides a kind of automatic printing device 200, which be can wrap
It includes:
Module 210 is obtained, for obtaining automatic print instruction information, wherein automatic printing instruction information includes beating automatically
Travel route and the type information of at least one object to be printed are printed, type information includes the print pattern of the object to be printed
And the print position in automatic printing travel route.
Automatic Pilot module 220, for carrying out automatic Pilot based on automatic printing travel route, and in automatic Pilot process
In obtain current road in real time through position.
Analysis module 230 is compared, for carrying out current road through the print position of position and any one object to be printed
Analysis is compared, judges whether current road matches with the print position of any one object to be printed through position.
Control module 240 is printed, if being matched through position with the print position of any one object to be printed for current road,
Then control the print pattern that automatic printing equipment prints the object to be printed on current road through position.
It is understood that the concrete operation method of each functional module in the present embodiment can refer to above method embodiment
The detailed description of middle corresponding steps, it is no longer repeated herein.
Further, referring to Fig. 4, being the automatic Pilot provided by the embodiments of the present application for above-mentioned automatic printing method
A kind of structural schematic block diagram of vehicle 100.In the present embodiment, automatic driving vehicle 100 can be made general total by bus 110
Wire body architecture is realized.According to the concrete application of automatic driving vehicle 100 and overall design constraints condition, bus 110 can be with
Including any number of interconnection bus and bridge joint.Together by various circuit connections, these circuits include processor to bus 110
120, storage medium 130 and bus interface 140.Optionally, bus interface 140 can be used by network in automatic driving vehicle 100
Adapters 150 etc. are connected via bus 110.Network adapter 150 can be used for realizing the letter of physical layer in automatic driving vehicle 100
Number processing function, and sending and receiving for radiofrequency signal is realized by antenna.User interface 160 can connect external equipment, example
Such as: keyboard, display, mouse or control stick.Bus 110 can also connect various other circuits, as timing source, periphery are set
Standby, voltage regulator or management circuit etc., these circuits are known in the art, therefore are no longer described in detail.
It can replace, automatic driving vehicle 100 may also be configured to generic processing system, such as be commonly referred to as chip, this is logical
It include: the one or more microprocessors of processing function are provided, and storage medium 130 is provided at least one with processing system
The external memory divided, it is all these all to be linked together by external bus architecture and other support circuits.
Alternatively, following realize can be used in automatic driving vehicle 100: have processor 120, bus interface 140,
The ASIC (specific integrated circuit) of user interface 160；And it is integrated at least one of the storage medium 130 in one single chip
Point, alternatively, automatic driving vehicle 100 can be used following realize: one or more FPGA (field programmable gate array),
PLD (programmable logic device), controller, state machine, gate logic, discrete hardware components, any other suitable circuit or
It is able to carry out any combination of the application circuit of described various functions in the whole text.
Wherein, processor 120 is responsible for management bus 110 and general processing (is stored on storage medium 130 including executing
Software).One or more general processors and/or application specific processor can be used to realize in processor 120.Processor 120
Example includes microprocessor, microcontroller, dsp processor and the other circuits for being able to carry out software.It should be by software broadly
It is construed to indicate instruction, data or any combination thereof, regardless of being called it as software, firmware, middleware, microcode, hard
Part description language or other.
Storage medium 130 is illustrated as separating with processor 120 in Fig. 4, however, those skilled in the art be easy to it is bright
White, storage medium 130 or its arbitrary portion can be located at except automatic driving vehicle 100.For example, storage medium 130 can be with
It is equal including transmission line, the carrier waveform modulated with data, and/or the computer product separated with radio node, these media
It can be accessed by processor 120 by bus interface 140.Alternatively, storage medium 130 or its arbitrary portion can integrate
Into processor 120, for example, it may be cache and/or general register.
Above-described embodiment can be performed in processor 120, specifically, can store automatic printing device in storage medium 130
200, processor 120 can be used for executing automatic printing device 200.
Further, the embodiment of the present application also provides a kind of nonvolatile computer storage media, computer storage is situated between
Matter is stored with computer executable instructions, which can be performed beating in above-mentioned any means embodiment automatically
Impression method.
In conclusion the embodiment of the present application provides a kind of automatic printing method and device.By obtaining automatic print instruction
Information, wherein automatic printing instruction information includes automatic printing travel route and the printing letter of at least one object to be printed
Breath, the print pattern and the print position in automatic printing travel route that type information includes the object to be printed.Then,
Automatic Pilot is carried out based on automatic printing travel route, and during automatic Pilot obtains current road in real time through position, then,
Current road is compared through position and the print position of any one object to be printed, judge current road through position whether
It is matched with the print position of any one object to be printed, if current printing position of the road through position Yu any one object to be printed
Matching is set, then controls the print pattern that automatic printing equipment prints the object to be printed on current road through position.The application as a result,
Required pattern is precisely printed by automatic during automatic Pilot, to avoid manual operation, reduces labor intensity, pole
It is big to improve printing effect, it has broad application prospects.
In embodiment provided herein, it should be understood that disclosed device and method, it can also be by other
Mode realize.Device and method embodiment described above is only schematical, for example, flow chart and frame in attached drawing
Figure shows the system frame in the cards of the system of multiple embodiments according to the application, method and computer program product
Structure, function and operation.In this regard, each box in flowchart or block diagram can represent a module, section or code
A part, a part of the module, section or code includes one or more for implementing the specified logical function
Executable instruction.It should also be noted that function marked in the box can also be with not in some implementations as replacement
It is same as the sequence marked in attached drawing generation.For example, two continuous boxes can actually be basically executed in parallel, they have
When can also execute in the opposite order, this depends on the function involved.It is also noted that in block diagram and or flow chart
Each box and the box in block diagram and or flow chart combination, can function or movement as defined in executing it is dedicated
Hardware based system realize, or can realize using a combination of dedicated hardware and computer instructions.
In addition, each functional module in each embodiment of the application can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It can replace, can be realized wholly or partly by software, hardware, firmware or any combination thereof.When
When using software realization, can entirely or partly it realize in the form of a computer program product.The computer program product
Including one or more computer instructions.It is all or part of when loading on computers and executing the computer program instructions
Ground is generated according to process or function described in the embodiment of the present application.The computer can be general purpose computer, special purpose computer,
Computer network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or
Person is transmitted from a computer readable storage medium to another computer readable storage medium, for example, the computer instruction
Wired (such as coaxial cable, optical fiber, digital subscriber can be passed through from a web-site, computer, server or data center
Line (DSL)) or wireless (such as infrared, wireless, microwave etc.) mode to another web-site, computer, server or data
It is transmitted at center.The computer readable storage medium can be any usable medium that computer can access and either wrap
The data storage devices such as electronic equipment, server, the data center integrated containing one or more usable mediums.The usable medium
It can be magnetic medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid-state
Hard disk Solid State Disk (SSD)) etc..
It should be noted that, in this document, term " including ", " including " or its any other variant are intended to non-row
Its property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include the other elements being not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence " including one ... ", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case where without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and scope of the present application is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included in the application.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of automatic printing method, which is characterized in that be applied to automatic driving vehicle, on the chassis of the automatic driving vehicle
It is provided with automatic printing equipment, which comprises
Obtain automatic print instruction information, wherein automatic printing instruction information includes automatic printing travel route and extremely
The type information of a few object to be printed, the type information include the object to be printed print pattern and it is described from
Print position in dynamic printing travel route；
Automatic Pilot is carried out based on the automatic printing travel route, and obtains current Lu Jingwei in real time during automatic Pilot
It sets；
The current road is compared through position and the print position of any one object to be printed, is judged described current
Whether road matches with the print position of any one object to be printed through position；
If the current road is matched through position with the print position of any one object to be printed, controls the automatic printing and set
The standby print pattern for printing the object to be printed through position on the current road.
2. automatic printing method according to claim 1, which is characterized in that the automatic driving vehicle and server communication
The step of connection, the acquisition automatic print instruction information, comprising:
User is received to request by the automatic printing that the server is sent；
Automatic print instruction information is obtained from automatic printing request.
3. automatic printing method according to claim 2, which is characterized in that the automatic driving vehicle is also logical with unmanned plane
Letter connection, the unmanned plane fly according to the automatic printing travel route of the automatic driving vehicle around the automatic driving vehicle
Row, described the step of automatic Pilot is carried out based on the automatic printing travel route, comprising:
Wireless communication state during automatic Pilot between monitoring and the unmanned plane；
When monitoring that the traffic rate between the unmanned plane is greater than or equal to preset threshold, receives the unmanned plane and obtain
The automatic printing travel route on information of road surface locating for the automatic driving vehicle, and executed according to the information of road surface
Corresponding movement；
When monitoring that the traffic rate between the unmanned plane is less than preset threshold, the described of the server transmission is received
Information of road surface, and corresponding movement is executed according to the information of road surface；
When not receiving the information of road surface, into automatic early-warning state.
4. automatic printing method according to claim 1, which is characterized in that it is described by the current road through position and any
The print position of one object to be printed is compared, and judges whether the current road is to be printed with any one through position
The step of print position matching of object, comprising:
The longitude and latitude for calculating latitude and longitude coordinates of the current road through position and the print position of any one object to be printed is sat
Coordinate difference between mark；
Judge whether the coordinate difference is less than preset threshold, if so, determining that the current road is waited for through position with any one
The print position of print object matches.
5. automatic printing method according to claim 1, which is characterized in that include setting in the automatic printing equipment
There is the coating cavity of printing coatings, if print position of the current road through position Yu any one object to be printed
Match, then control the automatic printing equipment the step of print pattern of the object to be printed is printed through position in the current road,
Include:
If the current road is matched through position with the print position of any one object to be printed, stop travelling, and controls institute
Automatic printing equipment coating needed for exporting the object to be printed in the coating cavity is stated, the automatic printing equipment base is made
Derived coating is printed on the print position of the object to be printed in the print pattern of the object to be printed.
6. automatic printing method according to claim 1, which is characterized in that the control automatic printing equipment is in institute
After stating the step of print pattern of the object to be printed is printed through position in current road, the method also includes:
The print pattern image of the object to be printed after acquisition printing；
Image analysis is carried out to the print pattern image, detects the print pattern image with the presence or absence of printing defects；
If detecting the print pattern image there are printing defects, plan is remedied in the first printing for obtaining the printing defects
Slightly；
The automatic printing equipment is controlled based on the first printing remediation policy the printing defects are carried out to remedy printing.
7. automatic printing method according to claim 1, which is characterized in that described to be based on the automatic printing travel route
Automatic Pilot is carried out, and obtains current road in real time after the step of position during automatic Pilot, the method also includes:
It obtains printing cleaning and indicates information, wherein the printing cleaning instruction information includes the clear of at least one object to be cleaned
Wash information, the cleaning information includes the cleaning pattern of the object to be cleaned and clear in the automatic printing travel route
Wash position；
The current road is compared through position and the cleaning positions of any one object to be cleaned, is judged described current
Whether road matches with the print position of any one object to be cleaned through position；
If the current road is matched through position with the print position of any one object to be cleaned, by the current road through position
The print pattern of the object to be cleaned of printing is cleaned.
8. automatic printing method according to claim 7, which is characterized in that described to print on the current road through position
After the step of print pattern of the object to be cleaned is cleaned, the method also includes:
After the completion of detecting the print pattern cleaning of the object to be cleaned that the current road is printed through position, control it is described from
Dynamic printing device prints the print pattern of the object to be cleaned again.
9. automatic printing method according to claim 1, which is characterized in that described to be based on the automatic printing travel route
After the step of carrying out automatic Pilot, the method also includes:
Acquire passage zone image in real time during automatic Pilot；
Image analysis is carried out to the passage zone image, detects the passage zone image with the presence or absence of printing defects；
If detecting the passage zone image there are printing defects, the second printing for obtaining the passage zone image is remedied
Strategy, wherein the second printing remediation policy includes the print pattern of the passage zone image；
It controls the automatic printing equipment based on the second printing remediation policy the passage zone image is carried out remedying printing.
10. a kind of automatic printing device, which is characterized in that be applied to automatic driving vehicle, the chassis of the automatic driving vehicle
On be provided with automatic printing equipment, described device includes:
Module is obtained, for obtaining automatic print instruction information, wherein the automatic printing instruction information includes automatic printing row
The type information of route and at least one object to be printed is sailed, the type information includes the print pattern of the object to be printed
And the print position in the automatic printing travel route；
Automatic Pilot module, for carrying out automatic Pilot based on the automatic printing travel route, and during automatic Pilot
Current road is obtained in real time through position；
Analysis module is compared, for the current road to be compared through position with the print position of any one object to be printed
Analysis, judges whether the current road matches with the print position of any one object to be printed through position；
Control module is printed, if being matched through position with the print position of any one object to be printed for the current road,
Control the print pattern that the automatic printing equipment prints the object to be printed on the current road through position.
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 |
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| CN109137706A true CN109137706A (en) | 2019-01-04 |
| CN109137706B CN109137706B (en) | 2021-03-12 |
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| CN201811006117.5A Active CN109137706B (en) | 2018-08-30 | 2018-08-30 | Automatic printing method and device |
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| JP2006027006A (en) * | 2004-07-14 | 2006-02-02 | Canon Inc | Printer |
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| 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 |
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| 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 |
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| Publication number | Publication date |
|---|---|
| CN109137706B (en) | 2021-03-12 |
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