AU2021101291A4

AU2021101291A4 - Vision-based positioning system for slot during high-speed motion and positioning method thereof

Info

Publication number: AU2021101291A4
Application number: AU2021101291A
Authority: AU
Inventors: Yongqiao Li; Zihong Liu; Jinfeng Yao; Yangji Zeng
Original assignee: Southwest University of Science and Technology
Current assignee: Southwest University of Science and Technology
Priority date: 2021-03-12
Filing date: 2021-03-12
Publication date: 2021-05-06
Anticipated expiration: 2029-03-12

Abstract

The present disclosure belongs to the field of fishing tackle, and provides a vision-based positioning system for a slot during high-speed motion and a positioning method thereof. The present disclosure can rapidly identify a lead fishing sinker with scales, and greatly improve rolling efficiency. The system includes a support frame, a motor for a rotary disk, the rotary disk, a positioning unit, a camera, and a control system, where the motor for the rotary disk, the positioning unit, and the camera are connected to and supported by the support frame. The present disclosure can solve the problem that small and medium-sized factories are unable to develop a full-automatic device for rolling a lead sheet strip due to lack of funds and limitation of technologies, and can be used for a manual or semi automatic device to achieve accurate rolling of the lead fishing sinker with scales. By means of tests, the present disclosure can effectively improve accuracy in rolling of a product, greatly improving the quality and rolling efficiency of the product. Furthermore, the present disclosure features ingenious conception, proper design, convenience in use, and high application value, thus being worth to promote and use on a large scale. 12 Start Starting of a system Positioning of a roller Starting ofa motor Starting of a camera Rough detection on a slot Yes Reduction of a rotational speed of the motor Fine detection on the slot Yes PID adjustment Stop of rotation of the motor End 3

Description

Start

Starting of a system

Positioning of a roller

Starting ofa motor

Starting of a camera

Rough detection on a slot

Yes

Reduction of a rotational speed of the motor

Fine detection on the slot

Yes

PID adjustment

Stop of rotation of the motor

End

VISION-BASED POSITIONING SYSTEM FOR SLOT DURING HIGH-SPEED MOTION AND POSITIONING METHOD THEREOF TECHNICAL FIELD The present disclosure relates to the field of fishing tackle, and specifically, to a vision-based positioning system for a slot during high-speed motion and a positioning method thereof. BACKGROUND The lead fishing sinker with scales is used to rapidly and accurately adjust fishing floats. Rolling is a procedure for producing the leadfishing sinker with scales. Currently, most rolling mechanisms on the market are semi-automatic and require persons to assist in performing the rolling. Such traditional rolling mechanisms have low production efficiency and cost manpower and material resources to a certain extent. Once the manual operation is improper, the rolling mechanisms and the lead fishing sinker with scales will be damaged at different levels. Due to the lack of funds and the limitation of technologies, small and medium-sized factories are unable to develop relevant full automatic devices. Some factories having strong strength, namely sufficient funds and talents, can develop the full-automatic devices to manufacture the lead fishing sinker with scales by means of casting, extrusion molding, paint spraying for forming scales, cutting, rolling, and packaging. However, this is not adapted to the actual production situation of the small and medium-sized factories. Therefore, it is necessary to develop a full-automatic device for rolling the lead fishing sinker with scales to improve the production efficiency of the small and medium-sized factories and reduce the labor intensity of the small and medium-sized factories. Furthermore, the full-automatic device can improve the use experience of customers and the profit margin of products, this is of great significance for the development of manufacture factories. SUMMARY An embodiment of the present disclosure provides a vision-based positioning system for a slot during high-speed motion and a positioning method thereof. An embodiment of the present disclosure can be used to identify a lead fishing sinker with scales and position the lead fishing sinker with scales according to an identification result, which may greatly improving rolling efficiency. An embodiment of the present disclosure may have high application value. An embodiment of the present disclosure may provide a vision-based positioning system for a slot during high-speed motion and a positioning method thereof to rapidly identify a lead fishing sinker with scales, so as to greatly improve rolling efficiency. An embodiment of the present disclosure may solve the problem that small and medium-sized factories are unable to develop a full automatic device for rolling the lead sheet strip due to lack of funds and limitation of technologies, and may be used for a manual or semi-automatic device to achieve accurate rolling of the lead fishing sinker with scales. By means of tests, an embodiment of the present disclosure may effectively improve accuracy in rolling of a product, thus greatly improving the quality and rolling efficiency of the product. Furthermore, an embodiment of the present disclosure may feature ingenious conception, proper design, convenience in use, and high application value, thus being worth to promote and use on a large scale. An embodiment provides a vision-based positioning system for a slot during high-speed motion includes a support frame, a motor for a rotary disk, the rotary disk, a positioning unit, a camera, and a control system, where the motor for the rotary disk, the positioning unit, and the camera are connected to and supported by the support frame; the rotary disk is connected to a rotating shaft of the motor for the rotary disk and can be driven to rotate by the motor; and at least one groove for conveying a roller is formed in the rotary disk; the positioning unit includes the roller in the groove, a positioning motor, a fixing shaft, and an air cylinder, where the roller includes a central tube and a pair of baffles respectively at two ends of the central tube, and has an I-shaped section along its axis; a slot used to fix a lead sheet strip is formed in the central tube; and a trough is formed in the baffle on at least one side of the roller; the positioning motor is connected to the fixing shaft through the air cylinder and can drive the fixing shaft to rotate; and a clamping portion matched with the trough is arranged at a tail end of the fixing shaft, and can be clamped in the trough in the roller when the air cylinder drives the fixing shaft to extend, so as to fix the roller; the camera used to detect the rotary disk is arranged above the rotary disk; and the motor for the rotary disk, the positioning motor, the air cylinder, and the camera are connected to the control system. Two to twenty grooves for conveying rollers may be uniformly formed in the rotary disk. Four to eight grooves for conveying rollers may be formed in the rotary disk. The fixing shaft may have a central rotation axis coinciding with that of the roller. The central tube may be cannular. There may be one trough formed in a side, close to the positioning motor, of the roller. The trough may include a central portion and a positioning portion connected to the central portion; the clamping portion of the fixing shaft may include a central clamped component matched with the central portion of the trough as well as a positioned component matched with the positioning portion of the trough; and the central clamped component and the positioned component may be connected into a whole to form the clamping portion. The baffles may be circular. An embodiment of the control system may include: a rotary disk module which is connected to the motor for the rotary disk to control rotation of the motor for the rotary disk and adjusts the position of the rotary disk by means of the motor for the rotary disk to convey the roller; an extension module which is connected to the air cylinder to control extension and retraction of the air cylinder, so as to drive the fixing shaft to move axially, thus enabling the clamping portion of the fixing shaft to be clamped in and disengage from the trough; a positioning module which is connected to the positioning motor to control rotation of the positioning motor and adjusts an angle of the roller by means of the positioning motor; a camera module which is connected to the camera and an identification module and transmits an image acquired by the camera to the identification module; and the identification module which is used to detect the slot in the central tube in the image acquired by the camera; where when the slot in the central tube reaches a predetermined rough detection area, the identification module transmits information to the positioning module to reduce a rotational speed of the positioning motor; and when the slot in the central tube reaches a predetermined position, the identification module transmits information to the positioning module to make the positioning motor stop rotating. The predetermined position may refer to a position where the slot in the central tube is required to reach, namely a position where a lead fishing sinker with scales is inserted into the slot; the rough detection area may be artificially determined close to the predetermined area; and that is, if the roller in the rough detection area rotates, the slot in the roller may be about to reach a vicinity of the predetermined position. An embodiment provides a positioning method of the vision-based positioning system for a slot during high-speed motion comprises the following steps: (1). placing the roller onto the rotary disk, and driving, by the motor for the rotary disk, the roller to rotate to a position corresponding to the fixing shaft; (2). driving, by the air cylinder, the fixing shaft to extend to be clamped with the roller; and (3). driving, by the positioning motor, the roller to rotate through the fixing shaft to the predetermined position; where, in steps (1) to (3), the camera acquires the image and transmits the acquired image to the control system; and according to the acquired image, the control system sends commands to the motor for the rotary disk, the air cylinder, and the positioning motor to adjust the roller. The positioning method may further include the following steps: (4). after the roller is completely positioned, conveying, by a conveyor, a strip to be processed into the slot in the roller to position the strip to be processed; and (5). after the strip to be processed is completely positioned, rolling, by means of rotation of the positioning motor, the strip to be processed onto the roller by a preset length. The positioning method may further include the following step:

(6). after the strip to be processed is completely rolled, driving, by the motor for the rotary disk, the roller to rotate through the rotary disk for rolling of the next roller. The strip to be processed may be the lead fishing sinker with scales. To solve the above problems, an embodiment of the present disclosure provides a vision-based positioning system for a slot during high-speed motion and the positioning method thereof. According to an embodiment of the present disclosure, the slot can be positioned during the high-speed motion based on vision, so that the lead fishing sinker with scales can be rapidly positioned, thus greatly improving rolling efficiency; the slot can be detected in the case of high-speed motion based on the vision, and the information can be fed back to a computer in time for corresponding control, so that the slot can be accurately positioned during the high-speed motion; a machine instead of human eyes is used to perform measurement and determination; and a captured object is transformed into an image signal and transmitted to the control system by the vision-based machine, and the control system extracts features of the object to find the position of the slot, so that accurate positioning can be achieved. An embodiment of the present disclosure may feature ingenious conception, proper design, simple structure, and convenience in use, may achieve the positioning in the slot during the high speed motion, thus effectively positioning the strip to be processed (such as the lead fishing sinker with scales and other components); and furthermore, may be low in cost, and may meet the requirement for rolling suitable for small and medium-sized factories on rolling, thus having high application value and extensive application prospect. BRIEF DESCRIPTION OF THE DRAWINGS The present disclosure will be described by way of example only with reference to the embodiments and accompanying non-limiting drawings. FIG. 1 is a structural diagram of a vision-based positioning system for a slot during high-speed motion in embodiment 1 of the present disclosure; FIG. 2 is a structural diagram of a roller in embodiment 1 of the present disclosure; FIG. 3 is a structural diagram of a rotary disk in embodiment 1 of the present disclosure; FIG. 4 is a structural diagram of a fixing shaft in embodiment 1 of the present disclosure; FIG. 5 is a flow chart of positioning of a slot in embodiment 1 of the present disclosure; and FIG. 6 is a schematic diagram of a vision-based detection area in embodiment 1 of the present disclosure. In the figure, 1. motor for a rotary disk, 2. camera, 3. support frame, 4. roller, 401. slot, 402. trough, 5. air cylinder, 6. fixing shaft, 601. clamping portion, 7. positioning motor, 8. rotary disk, 801. groove, 9. rough detection area, 10. fine detection area. DETAILED DESCRIPTION Except contradictory features and/or steps, all features, methods, or steps in a process which are disclosed in this specification can be combined in any manner. Unless otherwise explicitly specified, any feature disclosed in this specification can be substituted by features with purposes similar to that of the one before or be substituted by equivalent features, that is, each feature is just an example of the features with the purposes similar to that of the one before, or an example of a series of equivalent features. For the sake of a clearer explanation of the technical solutions of the embodiments of the present disclosure, the accompanying drawings required by the embodiments will be described briefly below. Clearly, the following accompanying drawings merely illustrate some embodiments of the present disclosure, and other accompanying drawings can also be obtained by those ordinarily skilled in the art based on the following ones without creative efforts. Embodiment 1 As shown in figures, a vision-based positioning system for a slot during high-speed motion in an embodiment includes a support frame 3, a motor for a rotary disk 1, the rotary disk 8, a positioning unit, a camera 2, and a control system, where the motor for the rotary disk 1, the positioning unit, and the camera 2 are connected to and supported by the support frame 3; the rotary disk 8 fixed by the support frame 3 is connected to a rotating shaft of the motor for the rotary disk 1 and can be driven to rotate by the motor 1; and five grooves 801 for conveying rollers 4 are formed in the rotary disk 8. In this embodiment, the positioning unit includes the corresponding roller in one groove 801, a positioning motor 7, a fixing shaft 6, and an air cylinder 5, where the roller 4 includes a cannular central tube and a pair of circular baffles respectively at two ends of the central tube, and has an I shaped section along its axis; a slot 401 used to fix a lead sheet strip is formed in the central tube for positioning; and a trough 402 used to make the roller 4 be fixed is formed in the baffle, close to the positioning motor 7, of the roller 4. Furthermore, the positioning motor 7 is connected to the fixing shaft 6 through the air cylinder 5 and can drive the fixing shaft 6 to rotate; a clamping portion 601 (used to fix the roller 4) matched with the trough 402 is arranged at a tail end of the fixing shaft 6, and can be clamped in the trough 402 in the roller 4 when the air cylinder 5 drives the fixing shaft 6 to extend, so as to fix the roller 4; and the fixing shaft 6 has a central rotation axis coinciding with that of the roller 4. Moreover, the camera 2 used to detect the rotary disk 8 is obliquely arranged above the roller 4 on the rotary disk 8; and the motor for the rotary disk 1, the positioning motor 7, the air cylinder 5, and the camera 2 are connected to the control system. Preferably, the trough 402 in this embodiment includes a central portion and a positioning portion connected to the central portion; the clamping portion 601 of the fixing shaft 6 includes a central clamped component matched with the central portion of the trough 402 as well as a positioned component matched with the positioning portion of the trough 402; and the central clamped component and the positioned component are connected into a whole to form the clamping portion 601. In this embodiment, the control system includes: a rotary disk module which is connected to the motor for the rotary disk 1 to control rotation of the motor for the rotary disk 1 and adjusts the position of the rotary disk 8 by means of the motor for the rotary disk 1 to convey the rollers 4; an extension module which is connected to the air cylinder 5 to control extension and retraction of the air cylinder 5, so as to drive thefixing shaft 6 to move axially, thus enabling the clamping portion 601 of the fixing shaft 6 to be clamped in and disengage from the trough 402; a positioning module which is connected to the positioning motor 7 to control rotation of the positioning motor 7 and adjusts an angle of the roller 4 by means of the positioning motor 7; a camera module which is connected to the camera 2 and an identification module and transmits an image acquired by the camera 2 to the identification module; and the identification module which is used to detect the slot 401 in the central tube in the image acquired by the camera 2; where when the slot 401 in the central tube reaches a predetermined rough detection area 9, the identification module transmits information to the positioning module to reduce a rotational speed of the positioning motor 7; and when the slot 401 in the central tube reaches a predetermined position, the identification module transmits information to the positioning module to make the positioning motor 7 stop rotating. Further, a positioning method of the vision-based positioning system for a slot 401 during high speed motion in the embodiment includes: (1). place the rollers 4 onto the rotary disk 8, and drive, by the motor for the rotary disk 1, one roller 4 to rotate to a position corresponding to the fixing shaft 6; (2). drive, by the air cylinder 5, the fixing shaft 6 to extend to be clamped with the roller 4; and (3). drive, by the positioning moto 7r, the roller 4 to rotate through the fixing shaft 6 to the predetermined position; Where, the camera 2 acquires the image and transmits the acquired image to the control system; and according to the acquired image, the control system sends commands to the motor for the rotary disk 1, the air cylinder 5, and the positioning motor 7 to adjust the roller 4. Further, a lead fishing sinker with scales is taken as a strip to be processed for description herein. An embodiment of the positioning method further includes: (4). after the roller 4 is completely positioned, convey, by a conveyor, the lead fishing sinker with scales into the slot 401 in the roller 4 to position the leadfishing sinker with scales; and (5). after the lead fishing sinker with scales is completely positioned, roll, by means of rotation of the positioning motor 7, the lead fishing sinker with scales onto the roller 4 by a preset length.

In an embodiment, the method further includes the following step: (6). after the lead fishing sinker with scales is completely rolled, drive, by the motor for the rotary disk 1, the roller 4 to rotate through the rotary disk 8 for rolling of the next roller 4. In this embodiment, the camera 2 is obliquely arranged above the corresponding roller 4 to conveniently detect the slot 401; the rotary disk 8 is controlled to rotate by the motor for the rotary disk 1 to convey the roller 4 into a vision-based detection area; the fixing shaft 6 is driven by the air cylinder 5 to make the clamping portion 601 closely contact the trough 402 to fix the roller 4; and the positioning motor 7 controls the fixing shaft 6 to rotate, so as to control the roller 4 to rotate. This structure can be used to conveniently detect the slot 401 during high-speed motion, so as to achieve accurate positioning. When the camera 2 detects that the slot 401 in the roller 4 reaches the rough detection area 9, a master computer sends a signal to a slave computer to reduce the rotational speed of the positioning motor 7 for a fine adjustment; and when the camera 2 detects that the slot 401 in the roller 4 reaches the predetermined position, the slave computer controls a stepper motor to stop rotating and wait for that the lead fishing sinker with scales is conveyed into the slot 401. To meet the requirement for detection of the lead fishing sinker with scales, the rough detection area 9 and a fine detection area 10 are predetermined in the present disclosure. An example is enumerated herein for a further description in the present disclosure. The vision-based positioning system for a slot 401 during high-speed motion consists of indispensable and complementary hardware and software, where the hardware mainly includes the camera 2, a computer, and a stm32; and the software mainly includes QT, VS, OpenCV, and programming software such as keil5. FIG. 5 shows a flow chart of positioning of the slot 401. In addition, the control system in this embodiment is composed of the computer and the stm32, where the computer refers to the master computer, and the stm32 refers to the slave computer. When the camera 2 detects that the slot 401 in the roller 4 reaches the rough detection area 9, the master computer sends the signal to the slave computer to reduce the rotational speed of the positioning motor 7 for the fine adjustment 10; when the camera 2 detects that the slot 401 in the roller 4 reaches the fine detection area 10, the slave computer controls the positioning motor 7 for proportional-integral-derivative (PID) control; and when the camera 2 detects that the slot 401 in the roller 4 reaches the predetermined position, the slave computer controls the positioning motor 7 to stop rotating and wait for that the lead fishing sinker with scales is conveyed into the slot 401. The image is processed by means of image denoising, gray level transformation, edge detection, and image segmentation as follows: (1). Image denoising A neighborhood within a certain range is selected to obtain a mean value of all pixels in the neighborhood by means of mean filtering, the mean value obtained is taken as a value of a pixel point; and after the image is processed, a gray level value of the pixel point is g (x, y): g(x,y)= 1 n(1);

Where, n represents a total number of pixel points in the neighborhood; (2). Gray level transformation If a gray level value R of pixels in an original image is f (x, y), a gray level value R' of pixels in an image with a gray level transformed is r (x, y); and based on this, the gray level transformation can be expressed as: r(x,y)=W[f(x,y)] (2);

(3).Edge detection: a Canny function is adopted to extract an edge line for the edge detection; and (4). Image segmentation: a two-dimensional array is adopted to mark an area to be processed for the image segmentation. After the corresponding roller 4 moves to the marked area in the image, the image starts to be processed; by adoption of repeated experiments, a rough detection line and a fine detection line are determined; a coordinate, obtained by means of edge extraction, of the slot 401 is compared with coordinates of the rough detection line and the detection line; when the coordinate of the slot 401 is the same as that of the rough detection line, the positioning motor 7 is reduced in the rotational speed for the fine adjustment; afterwards, when the coordinate of the slot 401 is the same as that of the fine detection line, the positioning motor 7 stops rotating; and at this moment, the positioning is completed. The coordinate of the slot 401 is calculated through the following formula:

y1+ yi

n (3);

Where, y represents an output coordinate of the slot 401; yi represents a coordinate of a midpoint in the processed area of the image; and n represents the number of times to detect the position of the slot 401. In a case where the coordinate of the rough detection line is denoted by y2 and the coordinate of the fine detection line is denoted by y3, (1). ify-y2=0, the slot 401 coincides with the rough detection line; in this case, rough detection can be performed; and afterwards, fine detection can be performed; and (2). if y-y3=0, the slot 401 coincides with the fine detection line; and at this moment, the positioning is completed. In the description of this specification, the descriptions referring to the terms "one embodiment",

"example", "specific example", etc. mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The preferable embodiments of the present disclosure that are disclosed above are merely used to help explaining the present disclosure. Not all details are described in detail in the preferable embodiments, and the present disclosure is not limited to specific implementations. Obviously, many modifications and changes may be made based on content of this specification. This specification selects and specifically describes these embodiments, to better explain the principle and actual applications of the present disclosure, so that those skilled in the art can better understand and use the present disclosure. The present disclosure is limited by the appended claims and all scope and equivalents thereof. It is to be understood that, if any prior publication is referred to herein, such reference does not constitute an admission that the publication forms part of the common general knowledge in the art, in Australia, or any other country. In the claims which follow and in the preceding description of the disclosure, except where context requires otherwise due to expressed language or necessary implications, the word "comprise" or variants such as "comprises" or "comprising" is used in an inclusive sense i.e. to specify the presence of the state features but not to preclude the presence or addition of further features in various embodiments.

Claims

What is claimed is: 1. A vision-based positioning system for a slot during high-speed motion, comprising a support frame, a motor for a rotary disk, the rotary disk, a positioning unit, a camera, and a control system, wherein the motor for the rotary disk, the positioning unit, and the camera are connected to and supported by the support frame; the rotary disk is connected to a rotating shaft of the motor for the rotary disk and can be driven to rotate by the motor; and at least one groove for conveying a roller is formed in the rotary disk; the positioning unit comprises the roller in the groove, a positioning motor, a fixing shaft, and an air cylinder, wherein the roller comprises a central tube and a pair of baffles respectively at two ends of the central tube, and has an I-shaped section along its axis; a slot used to fix a lead sheet strip is formed in the central tube; and a trough is formed in the baffle on at least one side of the roller; the positioning motor is connected to the fixing shaft through the air cylinder and can drive the fixing shaft to rotate; and a clamping portion matched with the trough is arranged at a tail end of the fixing shaft, and can be clamped in the trough in the roller when the air cylinder drives the fixing shaft to extend, so as to fix the roller; the camera used to detect the rotary disk is arranged above the rotary disk; and the motor for the rotary disk, the positioning motor, the air cylinder, and the camera are connected to the control system.
2. The vision-based positioning system for a slot during high-speed motion according to claim 1, wherein the fixing shaft has a central rotation axis coinciding with that of the roller; wherein the central tube is cannular.
3. The vision-based positioning system for a slot during high-speed motion according to any one of claims 1 to 2, wherein the trough comprises a central portion and a positioning portion connected to the central portion; the clamping portion of the fixing shaft comprises a central clamped component matched with the central portion of the trough as well as a positioned component matched with the positioning portion of the trough; and the central clamped component and the positioned component are connected into a whole to form the clamping portion; wherein the baffles are circular; wherein the control system comprises: a rotary disk module which is connected to the motor for the rotary disk to control rotation of the motor for the rotary disk and adjusts a position of the rotary disk by means of the motor for the rotary disk to convey the roller; an extension module which is connected to the air cylinder to control extension and retraction of the air cylinder, so as to drive the fixing shaft to move axially, thus enabling the clamping portion of the fixing shaft to be clamped in and disengage from the trough; a positioning module which is connected to the positioning motor to control rotation of the positioning motor and adjusts an angle of the roller by means of the positioning motor; a camera module which is connected to the camera and an identification module and transmits an image acquired by the camera to the identification module; and the identification module which is used to detect the slot in the central tube in the image acquired by the camera; wherein when the slot in the central tube reaches a predetermined rough detection area, the identification module transmits information to the positioning module to reduce a rotational speed of the positioning motor; and when the slot in the central tube reaches a predetermined position, the identification module transmits information to the positioning module to make the positioning motor stop rotating.
4. A positioning method of the positioning system according to any one of claims 1 to 3, comprising the following steps: (1). placing the roller onto the rotary disk, and driving, by the motor for the rotary disk, the roller to rotate to a position corresponding to the fixing shaft; (2). driving, by the air cylinder, the fixing shaft to extend to be clamped with the roller; and (3). driving, by the positioning motor, the roller to rotate through the fixing shaft to the predetermined position; wherein, in steps (1) to (3), the camera acquires an image and transmits the acquired image to the control system; and according to the acquired image, the control system sends commands to the motor for the rotary disk, the air cylinder, and the positioning motor to adjust the roller.
5. The positioning method according to claim 4, further comprising the following steps: (4). after the roller is completely positioned, conveying, by a conveyor, a strip to be processed into the slot in the roller to position the strip to be processed; and (5). after the strip to be processed is completely positioned, rolling, by means of rotation of the positioning motor, the strip to be processed onto the roller by a preset length; further comprising the following step: (6). after the strip to be processed is completely rolled, driving, by the motor for the rotary disk, the roller to rotate through the rotary disk for rolling of a next roller; wherein the strip to be processed is the leadfishing sinker with scales.

FIG. 2 FIG. 1 DRAWINGS

FIG. 4 FIG. 3

Start

Starting of a system 2021101291

Positioning of a roller

Starting of a motor

Starting of a camera

Rough detection on a slot

Yes

Reduction of a rotational speed of the motor

Fine detection on the slot

Yes

PID adjustment

Stop of rotation of the motor

End

FIG. 5 Detection on a slot 2021101291

FIG. 6