A universal resource identifier is a generic way to locate a resource. For internationalization, you may want to check on IRI, which is almost the same, but allows for full Unicode compatibility. The reason that it doesn't mention Zeroconf is that URI is a generalized protocol. Zeroconf may use URIs are part of its protocol for discovery, but URI will never use specific implementation in its protocol (you won't find ftp:, https:, mailto:, skype: etc in there either)
Zeroconf is a protocol to automatically configure your network and discover available services. It consists of three parts, address selection (part of IPv4/6), name resolution (mDNS) and service discovery (UPnP (Microsoft), DNS-SD (Apple)). Modern operating systems support all of this out of the box.
If we take UPnP, the discovery is done based on a URI, iirc. The returned information is given in XML. XML can be any Unicode encoding. If you're a device driver manufacturer, you can place any character in there. The final phase may be presentation, which is a URL but that's optional.
A URI / URL both support internationalized characters, but only escaped and not in the domain name part.
-- Abel --