CN101176872A - Materials real-time detection and foreign body eliminating system based on machine vision - Google Patents
Materials real-time detection and foreign body eliminating system based on machine vision Download PDFInfo
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- CN101176872A CN101176872A CNA2007100318669A CN200710031866A CN101176872A CN 101176872 A CN101176872 A CN 101176872A CN A2007100318669 A CNA2007100318669 A CN A2007100318669A CN 200710031866 A CN200710031866 A CN 200710031866A CN 101176872 A CN101176872 A CN 101176872A
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Abstract
The invention discloses a materiel real-time detecting and foreign body removing system based on machine vision, which comprises a transport device, a power subsystem, an optic lighting subsystem, an image acquisition subsystem, an image identification and motion control subsystem, and a foreign body removing subsystem. By utilizing the image information difference between the foreign body and the materiel, such as color, light intensity, morphological difference, a plurality of different foreign bodies, for example, hair, fiber, metal filing, can be detected through intelligent analyzing and identifying of computer. The image of the materiel can be shot simultaneously from top and bottom by using transparent conveyor for transportation, thus the detecting efficiency is improved effectively. By controlling light source via strobe, triggering shooting via optical fiber sensor, and controlling the transport speed of conveyor and the arrangement and adjustment of lamp box, the image quality and the accuracy of materiel detecting and foreign body identification are improved effectively. The foreign body can be removed online intelligently by the controlling of the PLC communicated with the optical fiber sensor, an image pick-up device and a computer.
Description
Technical field
The present invention relates to sheet, bulk, granular material and detect in real time and foreign body eliminating system, be specifically related to a kind of fruit raw material and detect in real time and foreign body eliminating system based on machine vision.
Background technology
China is agricultural product big producing countries, and fruit and vegetable is not only wide in variety, and output is also very big.20 the end of the century China's fruit total output occupied the second place of the world, the vegetables total output ranks first in the world.Though China is fruits and vegetables output big country, the garden stuff processing level is backward relatively.China's fruit is marketing fresh more than 90%, develops the processing of fruit juice pulp gradually since the eighties in 20th century, and its processing equipment also is first introduction, imitated, part independent development then.The most of still dependence on import processing equipment of present domestic fruit processing industry, homemade fruits and nuts processing machinery tool kind is few, and matching is poor, and automation, intelligent degree are not high, and many crucial machineries are still untapped.Domestic many fruit processing factory operation such as sorts and feed intake except that part operations such as cleaning, packing adopt machinery, especially inspection process is still a large amount of adopts manually-operateds.Therefore, improve the processing horizontal in postpartum of China's Agricultural, improving deep processing of farm products added value and international competitiveness is the task of top priority, is one of key point that improves fruits and vegetables processing horizontal in postpartum and improve fruit processing detection means.
For a long time, the Quality Detection of agricultural product is taked manual type always.Though this mode is with low cost, but run counter to the basic goal of liberating the productive forces, in addition, individual differences such as the shape of fruit and vegetable food, size, color and luster are very big, be difficult to resemble the industrial goods uniform, more the interference of objective factor is very big so fruit and vegetable food detects examined personnel's subjective mood and eyesight, muscle power.Adopt machinery to carry out the fruit and vegetable food detection and have the advantage that the time is short, efficient is high, and the detection mechanical energy of application automation is not having strictly to carry out the world, domestic relevant criterion under the artificial situation about participating in.
In recent years, utilize machine vision technique to carry out agricultural product and detect the attention be subjected to domestic and international experts and scholars and enterprise, particularly utilize machine vision to carry out class spherical fruit size fractionation or fruit surface has the technology of not damaged classification to obtain broad research.The patent No. is that 02295073.7 utility model patent discloses a kind of fruit and carries and grading plant.This device comprises conveying device and grading plant, and conveying device and grading plant are all driven by two sprocket wheels and chain, and power is input to grading plant by the outside, again by grading plant synchronous be delivered to conveying device.Encoder is installed on the conveying device, links to each other with the image pick-up card of installing on computers by lead, and lighting box is installed on the conveying device, and video camera links to each other with capture card by cable in lighting box.Computer links to each other with shift register group by LPT, and the classification mechanism controller of shift register group by separately links to each other with classification mechanism on being installed in grading plant.Discharging opening is below classification mechanism.Computer-internal software carries out classification to fruit image to be handled, and the action of real time control machine structure.This system is that the appearance to whole fruit abrades, weighs wounded and detects and classification, the shape of fruit is determined substantially, as apple, orange, pears all is spheroid, and the image appearance of fruit surface damage is also simpler, compares all inclined to one side black with normal pericarp surface as abrade, weigh wounded etc.Do not have as yet so far based on machine vision, not too sheet or the bulk, graininess of rule are done, fresh fruit product raw material surface carries out automation and detect also and can discern and reject the patented technology of various foreign matters such as hair, fiber, metal fillings to shape.
Summary of the invention
But the objective of the invention is to propose non-regular sheet, bulk, granular fresh fruit, the dry fruit raw material that a kind of Real-time and Dynamic Detection is cut or do not cut, can discern the Machine Vision Detection and the eliminating system of number of different types foreign matter and online rejecting foreign matter.
Purpose of the present invention is achieved through the following technical solutions:
A kind of material based on machine vision detects and foreign body eliminating system in real time, comprises conveying device, power sub-system, illumination optical subsystem, image acquisition subsystem, image recognition and motion control subsystem and foreign body eliminating subsystem;
Conveying device comprises transport tape, roller, yielding coupling and rotary encoder; Transport tape is the transparent transmission band, two ends be looped around respectively one of return idler and return idler two on;
Power sub-system comprises ac utility power source, threephase asynchronous and frequency converter, and ac utility power source is electrically connected with threephase asynchronous by frequency converter, and threephase asynchronous directly links to each other with the active roller that is positioned at the frame bottom; Rotary encoder links to each other with the axle of active roller by yielding coupling, and rotary encoder is also linked PLC, and PLC also is connected with computer; Active roller is connected with two of one of return idler and return idler by transport tape;
The illumination optical subsystem comprises led light source and the moulding diffusing panel lamp box with light transmittance, and light source places in the lamp box; Many group lamp boxes are placed in the transport tape above and below respectively;
Image acquisition subsystem comprises the area array cameras and the Fibre Optical Sensor of computer, image pick-up card, multi-faceted layout; Image pick-up card links to each other by data cable with a plurality of area array cameras respectively, and one group in three groups of camera heads is installed in the transport tape top, and one group of below that is installed in transport tape also has one group and is installed in the transport tape level height, is circumferential camera head; Every group of camera head comprises two or more same model, arranges the different area array cameras in orientation; Image pick-up card links to each other with the graphics processing unit of computer, Fibre Optical Sensor is the correlation Fibre Optical Sensor, be symmetrically arranged on the sensor stand of both sides of transport tape, the output signal of Fibre Optical Sensor is introduced Programmable Logic Controller PLC, and PLC also is linked into led light source and area array cameras;
The foreign body eliminating subsystem comprises PLC and a plurality of device for eliminating; A plurality of device for eliminating are installed in the end of conveyer belt side by side, and are vertical with the material movement direction; Device for eliminating is made up of magnetic valve, executing agency and collecting box, and collecting box is installed in the below of executing agency, and is corresponding with executing agency, to receive the material from executing agency;
Image recognition and motion control subsystem comprise computer and PLC; The computer that material foreign matter detection software is housed is linked to each other with PLC by serial communication port.
For further realizing goal of the invention, described executing agency comprises cylinder, rotating shaft and turnover panel, and turnover panel is nested in the rotating shaft, and the rotating shaft and the cylinder of every row interconnect.
Also comprise human-computer interaction interface in described real-time detection and eliminating system, human-computer interaction interface and PLC
Connect.
The described apart 120 ° of layouts of 3 area array cameras that are installed in the circumferential camera head of transport tape level height.
Described circumferential camera head adopts special fixture, these anchor clamps comprise knob, clamping plate, screw thread column, polished rod column, area array cameras fixed head, binding, mount holder, fine-tuning nut composition, mount holder is connected with the guide rail of frame by through hole, its position is by a plurality of through hole adjustment of mount holder, the area array cameras fixed head is connected by bearing with the polished rod column, closely be connected by screw thread with the screw thread column, and carry out the adjustment of upper-lower position by knob turn screw thread column; Polished rod column and screw thread column pass through two clamping plate up and down, and on binding, its integral body can realize rotating at any angle on base plate clamping plate by bolting.
With respect to prior art, the present invention has following advantage:
(1) at the upper and lower of transparent transmission band and a plurality of detection orientation of horizontal level area array cameras is set, triggering is taken pictures, and can carry out multiaspect to the many kinds in the transmission and different material (such as apple flakes, pudding piece, grape particle etc.) and detect;
(2) utilize the image information difference of foreign matter and fruit raw material,,, can detect the foreign matter of number of different types, as hair, fiber, metal fillings etc. by computer intelligence analysis identification as color, light intensity, morphological differences;
(3) adopt the oolemma transmission,, improved detection efficiency effectively to realize simultaneously material being carried out image taking from top and bottom surface;
(4) trigger and take pictures, control the transmission speed of transport tape and the layout and the adjusting of lamp box by stroboscopic control light source, Fibre Optical Sensor, can improve picture quality and material effectively and detect and the foreign matter recognition accuracy;
(5) by the control of the PLC that is communicated with Fibre Optical Sensor, camera head, computer, can online intelligently rejecting foreign matter.
Description of drawings
Fig. 1 is material detection of dynamic and the online eliminating system schematic block diagram of foreign matter that the present invention is based on machine vision;
Fig. 2 is that the embodiment of the invention 1 detects and the eliminating system floor plan;
Fig. 3 is the workflow block diagram of the embodiment of the invention 1 material detection of dynamic and the online eliminating system of foreign matter;
Fig. 4 is the schematic diagram of shifting fork mechanism in the embodiment of the invention 1;
Fig. 5 is that the fruit based on machine vision is expected the steering vertical view in the embodiment of the invention 1;
Fig. 6 is that the embodiment of the invention 2 detects and the eliminating system floor plan;
Fig. 7 is the schematic diagram of camera special fixture in the embodiment of the invention 2.
The specific embodiment
The present invention is further illustrated below in conjunction with drawings and embodiments, but the scope of protection of present invention is not limited to the scope that embodiment is expressed.
Embodiment 1: the fruit raw material based on machine vision detects and foreign body eliminating system in real time
As shown in Figure 1, a kind of detection in real time of fruit raw material and foreign body eliminating system based on machine vision comprises conveying device, power sub-system, illumination optical subsystem, image acquisition subsystem, image recognition and motion control subsystem, foreign body eliminating subsystem and accessory.
Conveying device comprises transport tape 5, roller, dynamical system, yielding coupling 7 and rotary encoder 8.Transport tape 5 is the transparent transmission band, two ends be looped around respectively one of return idler 9 and return idler 2 10 on, employed transparent transmission band not only conforms with the requirement of food hygiene, and can printing opacity to obtain the image of detected fruit raw material bottom, can improve detection efficiency and accuracy rate greatly.
Power sub-system comprises ac utility power source, threephase asynchronous 11 and frequency converter 12, and ac utility power source is electrically connected with threephase asynchronous 11 by frequency converter 12, and threephase asynchronous 11 directly links to each other with the active roller 14 that is positioned at frame 13 bottoms.Active roller 14 is connected with 2 10 of one of return idler 9 and return idler by transport tape 5; Rotary encoder 8 links to each other with the axle of active roller 14 by yielding coupling 7, in order to obtain the real-time rotating speed of active roller, can draw the actual time line speed of transparent transmission band thus.In order to obtain the linear velocity of stable transparent transmission band 5, rotary encoder 8 is linked to Programmable Logic Controller PLC 6, PLC 6 also is connected with computer 15, to from rotary encoder, compare by the 8 pairing active roller rotating speeds of desired transparent transmission band 5 linear velocities of real-time rotating speed of active roller and system that obtain, in order to transparent transmission band 5 is carried out the FEEDBACK CONTROL of linear velocity.Its feedback control signal exports frequency converter 12 to, by changing frequency of supply to realize the real-time adjustment to transparent transmission band 5 linear velocities.
The illumination optical subsystem comprises led light source 1 and the moulding diffusing panel lamp box 2 of certain light transmittance is arranged that light source 1 places in the lamp box 2.Two groups of lamp boxes 2 are placed in transport tape 5 above and belows respectively.Light shines fruit raw material surface by diffuse reflection, to alleviate the reflective phenomenon on fruit raw material surface to the full extent.The illumination optical subsystem can make image capturing system collect high-quality image as far as possible, and the light source type that adopted of illumination optical subsystem and the arrangement of light source can be determined according to the surface condition of fruit raw material and the position of camera.
Image acquisition subsystem comprises the camera 3 and Fibre Optical Sensor 4 of computer 15, image pick-up card 21, multi-faceted layout.Image pick-up card 21 links to each other by data cable with a plurality of area array cameras 3 respectively.Native system is used two groups of camera heads, and one group is installed in transport tape 5 tops, and other one group is installed in transport tape 5 belows, and every group of camera head comprises two area array cameras 3 that model is identical.The distance of area array cameras 3 camera lenses and transport tape 5 is determined by the focal length of area array cameras 3.Image pick-up card 21 links to each other with the graphics processing unit of computer, and Fibre Optical Sensor 4 is the correlation Fibre Optical Sensor, is symmetrically arranged on the sensor stand of both sides of transport tape 5.Among the output signal input Programmable Logic Controller PLC6 of Fibre Optical Sensor 4, PLC 6 carries out controlling led light source 1 stroboscopic and triggering camera 3 shootings after the computing according to the signal that obtains.Fruit raw material during online the detection on the transport tape aligns continuously to be sent to, with the fruit raw material of certain line number above the conveyer belt is the processing of taking pictures of an array, when Fibre Optical Sensor 4 is passed through in each array forward position, Fibre Optical Sensor 4 produces a level signal and exports to PLC 6, PLC6 trigger area array cameras 3 take the photograph the image of a fruit raw material array, trigger light source 1 stroboscopic simultaneously, the stroboscopic time is by PLC6 time-delay control.For avoiding the influence of extraneous light, transport tape shooting section and camera 3, Fibre Optical Sensor 4 and lamp box 2 all are in the door curtain made of cloth and interdict in the environment of extraneous light.
Image recognition and motion control subsystem comprise computer 15 and PLC 6, and the fruit raw material is housed computer 15 and foreign matter is analyzed identification software, links to each other with PLC 6 by serial communication port.The user can carry out the setting of software computing parameter according to detection fruit raw material and the kind, the size that need to reject foreign matter.After PLC 6 receives foreign matter positional information from computer, be sent to the magnetic valve 18 of foreign matter respective column with rejecting signal.
The foreign body eliminating subsystem comprises PLC 6 and a plurality of device for eliminating.A plurality of device for eliminating are installed on the end of conveyer belt side by side, and are vertical with fruit raw material 16 throughput directions, and the columns that tested fruit raw material is arranged on the quantity of device and the conveyer belt is consistent.Each device for eliminating is formed by magnetic valve 18, executing agency 19 and collecting box 20, and collecting box 20 is installed in the below of executing agency 19, and is corresponding with executing agency 19, really expects with the foreign matter that has that receives executing agency's 19 rejectings.Executing agency 19 mainly is made up of cylinder 24, rotating shaft 25 and turnover panel 26, as shown in Figure 2.Turnover panel 26 is nested in the rotating shaft 25, and the rotating shaft 25 and the cylinder 24 of every row interconnect.Computer 15 links to each other with PLC6 by serial communication port, computer 15 is after analysis of fruit raw material array image and foreign matter identification, send the locating information of foreign matter in fruit raw material array, 18 actions of PLC 6 control magnetic valves are rotated to drive cylinder 24, drive turnover panel 26 actions, the fruit material that will contain foreign matter is rejected in the collecting box 20.
What computer sent is to contain the array position information that foreign matter is really expected, PLC 6 need be with this journey column position information translation for triggering the correct time of corresponding rejecting mechanism action.When receiving the foreign matter positional information that computer sends, PLC 6 begins to trigger time-delay, and required time-delay t is calculated by formula (1):
In the formula, t ' handles the time (second) that the foreign matter positional information is spent that provides for the fruit raw material detects software from beginning to carry out image, s is the distance (rice) from the Fibre Optical Sensor installation site to the transport tape end, N is that foreign matter is at the capable ordinal number of really expecting in the array, s ' expects that for fruit line-spacing (rice), v are the actual time line speed (meter per second) of transport tape.T ' can detect software by the fruit raw material and generate, and v can be calculated by formula (2) and try to achieve:
In the formula, n be the active roller rotating speed that rotary encoder obtained (rev/min), D is the diameter (millimeter) of active roller.
Accessory is a human-computer interaction interface 22, is communicated with PLC 6.Human-computer interaction interface 22 shows the capable information of PLC to the fruit raw material that passed through, when the column information one of carrying the fruit raw material regularly, the product of ranks is the fruit raw material number that had detected, i.e. reflection detection productivity ratio; Human-computer interaction interface 22 simultaneously also can be by the artificial fruit material line number of setting every two field picture detection.
Based on the fruit raw material of machine vision detect in real time and the workflow of foreign body eliminating system as shown in Figure 3.System starts working, and each several part starts.Rotary encoder is measured the real-time rotating speed of transport tape driving rolls, and PLC compares itself and setting value, if do not conform to, PLC sends the adjustment signal, and frequency converter is adjusted motor speed to regulate transfer strip line speed; Fibre Optical Sensor by being arranged in conveyer belt detects fruit and expects that array enters when taking section, produces the image that a level signal triggering light source stroboscopic and camera shooting fruit are expected array.Adopt transparent conveyer belt, can be from it, the below makes a video recording simultaneously.If fruit material list row pass through, then install the four sides shooting that two cameras can be realized the fruit material additional in the transport tape both sides; Can make fruit material row change row if shifting fork mechanism is set again, thereby realize six shootings.The fruit material level that Fig. 4 a, Fig. 4 b are respectively before and after the shifting fork mechanism action is put schematic diagram.Shown in Fig. 4 a, Fig. 4 b, shifting fork mechanism is made up of shift fork 27, cylinder 28, fixed guide cover 29 and stepper motor 30, and fixed guide cover 29 is arranged on the conveyer belt top, and motor 30 is installed in wherein, shift fork 27 connects with shaft coupling with electric machine main shaft, and the piston of cylinder 28 and shift fork 27 usefulness races join.When shifting fork mechanism is worked, cylinder 28 shift forks 27 vertically drop to the transport tape surface along fixed guide cover 29, when the single-row fruit material that advances with transport tape touches shift fork 27, motor 30 shift forks 27 also drive 90 ° of fruit material rotations, cylinder 28 is being with shift fork to rise to original height then, and 27 counter-rotatings of motor 30 shift forks reset.Fairlead 29 surfaces have vertical elongated slot, the piston of cylinder 28 passes this groove joint shift fork 27 and can move up and down, the height that the bar portion of shift fork 27 and the piston of cylinder 28 join has 90 ° of circumferential slots, and the steamboat of pistons end embeds this groove, and steam-cylinder piston can transfer during shift fork 27 rotations.As shown in Figure 5, the method that another kind makes fruit expect 90 ° of transpositions is that second conveying mechanism (conveyer belt of its conveyer belt and preceding conveying device is vertical and accept from the fruit of preceding conveyer belt and expect) is set, make fruit material row change row, and, then can realize six shootings of fruit material at second conveyer belt both sides layout camera.
The image of camera picked-up imports computer into through image pick-up card, carries out a series of image by the image processing software of computer and handles, and whether differentiate has foreign matter; Computer is input to testing result (having or not foreign matter and foreign matter position) in the PLC by serial communication port then.When the Computer Processing image, transport tape continues to move ahead, and transfers on the device for eliminating at its terminal really material.If the fruit that is passed through material does not contain foreign matter, rejecting mechanism is failure to actuate, and the fruit material drops on the transmitting device of next stage by device for eliminating; If the fruit material contains foreign matter, PLC triggers time-delay through calculating, and triggers when the fruit material reaches device for eliminating and rejects executing agency's action, and the fruit material overturning that will contain foreign matter is gone in the foreign matter collecting box.
Embodiment 2: the hemisphere object based on machine vision detects and the eliminating defects system in real time
A kind of hemisphere based on machine vision detects in real time with eliminating defects system and embodiment 1 described system difference and is:
1, optical lighting system is made up of dome light source, the LED lamp box backlight or front illuminated of end face irradiation;
2, this system adopts the camera of upper and lower orientation and circumferential arrangement to obtain hemisphere gross area image.As shown in Figure 6, circumferential 3 area array cameras 3 apart 120 ° are installed on the conveyer belt same level height and position, and correlation Fibre Optical Sensor 4 is symmetrically arranged on the sensor stand of the both sides on the transport tape 5; Hemisphere 17 single-row conveyings are so only need a cover device for eliminating.Device for eliminating is formed by magnetic valve 18, executing agency 19 and collecting box 20, and cylinder 24, rotating shaft 25 and turnover panel 26 are formed executing agency 19.Circumferentially camera adopts special fixture to install.As shown in Figure 7, special fixture comprises parts such as knob 31, clamping plate 32, screw thread column 33, polished rod column 34, camera fixed head 35, binding 36, mount holder 37, fine-tuning nut 38, mount holder 37 is connected with the guide rail of carrying frame 13 by through hole, its position can be by a plurality of through hole adjustment of mount holder 37, camera fixed head 35 and polished rod column 34 are connected by bearing, closely be connected by screw thread with screw thread column 33, and can carry out the adjustment of upper-lower position by knob 31 turn screw thread columns 33; Polished rod column 34 and screw thread column 33 be by two clamping plate 32 up and down, clamping plate 32 by bolting on binding 36.Unclamp fine-tuning nut 38 and can realize that the circumferential 360 degree angles of whole anchor clamps regulate at any angle, this can provide convenience for camera is installed, and also can satisfy other testing goals as the shooting of other angles.
3, directly trigger camera by Fibre Optical Sensor and take, need not rotary encoder.
As mentioned above, can better implement the present invention.
Claims (5)
1. the material based on machine vision detects and foreign body eliminating system in real time, it is characterized in that this system comprises conveying device, power sub-system, illumination optical subsystem, image acquisition subsystem, image recognition and motion control subsystem and foreign body eliminating subsystem;
Conveying device comprises transport tape, roller, yielding coupling and rotary encoder; Transport tape is the transparent transmission band, two ends be looped around respectively one of return idler and return idler two on;
Power sub-system comprises ac utility power source, threephase asynchronous and frequency converter, and ac utility power source is electrically connected with threephase asynchronous by frequency converter, and threephase asynchronous directly links to each other with the active roller that is positioned at the frame bottom; Rotary encoder links to each other with the axle of active roller by yielding coupling, and rotary encoder is also linked PLC, and PLC also is connected with computer; Active roller is connected with two of one of return idler and return idler by transport tape;
The illumination optical subsystem comprises led light source and the moulding diffusing panel lamp box with light transmittance, and light source places in the lamp box; Many group lamp boxes are placed in the transport tape above and below respectively;
Image acquisition subsystem comprises the area array cameras and the Fibre Optical Sensor of computer, image pick-up card, multi-faceted layout; Image pick-up card links to each other by data cable with a plurality of area array cameras respectively, and one group in three groups of camera heads is installed in the transport tape top, and one group of below that is installed in transport tape also has one group and is installed in the transport tape level height, is circumferential camera head; Every group of camera head comprises two or more same model, arranges the different area array cameras in orientation; Image pick-up card links to each other with the graphics processing unit of computer, Fibre Optical Sensor is the correlation Fibre Optical Sensor, be symmetrically arranged on the sensor stand of both sides of transport tape, the output signal of Fibre Optical Sensor is introduced Programmable Logic Controller PLC, and PLC also is linked into led light source and area array cameras;
The foreign body eliminating subsystem comprises PLC and a plurality of device for eliminating; A plurality of device for eliminating are installed in the end of conveyer belt side by side, and are vertical with the material movement direction; Device for eliminating is made up of magnetic valve, executing agency and collecting box, and collecting box is installed in the below of executing agency, and is corresponding with executing agency, to receive the material from executing agency;
Image recognition and motion control subsystem comprise computer and PLC; The computer that material foreign matter detection software is housed is linked to each other with PLC by serial communication port.
2. the material based on machine vision according to claim 1 detects and foreign body eliminating system in real time, it is characterized in that described executing agency comprises cylinder, rotating shaft and turnover panel, and turnover panel is nested in the rotating shaft, and the rotating shaft and the cylinder of every row interconnect.
3. the material based on machine vision according to claim 1 detects and foreign body eliminating system in real time, it is characterized in that described real-time detection and eliminating system also comprise human-computer interaction interface, and human-computer interaction interface is connected with the PLC signal.
4. the material based on machine vision according to claim 1 detects and foreign body eliminating system in real time, it is characterized in that the described apart 120 ° of layouts of 3 area array cameras that are installed in the circumferential camera head of transport tape level height.
5. detect in real time and foreign body eliminating system according to claim 1 or 4 described materials based on machine vision, it is characterized in that described circumferential camera head adopts special fixture, these anchor clamps comprise knob, clamping plate, the screw thread column, the polished rod column, the area array cameras fixed head, binding, mount holder, fine-tuning nut is formed, mount holder is connected with the guide rail of frame by through hole, its position is by a plurality of through hole adjustment of mount holder, the area array cameras fixed head is connected by bearing with the polished rod column, closely be connected by screw thread with the screw thread column, and carry out the adjustment of upper-lower position by knob turn screw thread column; Polished rod column and screw thread column pass through two clamping plate up and down, and on binding, its integral body can realize rotating at any angle on base plate clamping plate by bolting.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2190759B (en) * | 1986-05-19 | 1990-10-03 | Brother Ind Ltd | Picture recording method and apparatus therefor |
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