CN101413904B - Impurity real time machine vision detection method and apparatus in special-shaped bottle-packaging solution - Google Patents
Impurity real time machine vision detection method and apparatus in special-shaped bottle-packaging solution Download PDFInfo
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Abstract
The invention provides a real-time machine visible detection method used for detecting impurities in profiled bottled solution and a device thereof; wherein, the method comprises the steps as follows: a profiled bottle is arranged on a detection chain wheel; a manipulator on the detection chain wheel grasps the nozzle part of the profiled bottle and turns over the profiled bottle by 180 degrees; when the profiled bottle enters a detection area, the sequence image of the profiled bottle is obtained by an image collecting device under the irradiation of backlight; furthermore, the bottle body interference and foreign matter in the liquid can be distinguished by the difference of a movable object and a static object in the sequence image on time and space; the effect caused by the bottle body interference is overcome; whether the impurities exist in the bottle or not is judged; furthermore, according to the impurity situation, a judgment result that whether the solution in the profiled bottle is qualified or not is obtained; furthermore, according to the judgment result, the qualified product and the defective product are separated. The real-time machine visible detection device used for detecting impurities in the profiled bottled solution comprises a profiled bottle feeding mechanism, a detection mechanism and a separation mechanism. The method and the device have high automation degree and high detection accuracy.
Description
Technical field
The invention belongs to the industrial machine field of visual inspection, relate to the automatic detection device on a kind of bottling liquid production, the canning line, be particularly related to impurity real time machine vision detection method and device in a kind of special-shaped bottle-packaging solution, it is applicable to the online detection of automatic production lines such as beverage and medicine.
Background technology
China is the production and consumption big country of bottled products such as a drinks, medicine, beverage.In recent years, perfect along with the raising of the level of consumption and relevant law, rules, in these industries, it is more and more important that product quality becomes.
Because production technology and encapsulation technology etc. may contain impurity such as glass chip, rubber bits, fiber, black slag, hairline in the bottle-packaging solution product.These impurity are very big to the harm that human body caused, and drunk by the people if be mixed in wine or the beverage, may cause throat, esophagus and have a stomach upset, and cause disease of digestive tract, even some objectionable impuritiess may be absorbed and enter human body and cause poisoning; If after confusing soup and injecting blood of human body, gently then may cause dyshaemia, histanoxia, blood supply insufficiency, thus cause diseases such as phlebitis, thrombus, apoplexy, oedema, heavy then cause blood vessel blockage, break, internal organ are impaired, even threat to life.So the detection link is a pith in the production run, be the key link of control product quality.
Yet, usually thisly have the height repetitive work and can only finish by manual detection, we often can see hundreds of even exceed between thousand the inspection vehicle of detection workman at dark place and carry out this procedure in the modernized streamline back of some factories, when increasing huge cost of labor and handling cost to factory, labor strength is big, working environment is relatively poor, and production efficiency still can not get guaranteeing with the detection accuracy rate.Particularly more and more pay attention to the personalization packing of product along with industries such as drinks, medicine, beverages, special-shaped bottle miscellaneous (non-regular circular bottle) is a large amount of to be used, and has enriched market, also has higher requirement to detecting link simultaneously.
In order to solve this bottleneck problem, present international trend is the detection system that adopts based on machine vision, utilization Flame Image Process, analysis and recognition technology are carried out on-line automaticization detection to solution product, and be at the regular circular bottle substantially, there is not good checkout equipment to occur so far to special-shaped bottle-packaging solution.
Summary of the invention
It is low, the problems such as speed is slow, precision is low, loss is high, the easy fatigue of testing staff of manual detection efficiency that exist in detecting at existing special-shaped bottle solution that the present invention wants the technical solution problem, and impurity real time machine vision detection method and device in a kind of special-shaped bottle-packaging solution are provided.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is:
Impurity real time machine vision detection method in a kind of special-shaped bottle-packaging solution is characterized in that, may further comprise the steps:
A). the special-shaped bottle after the can is by the importing travelling belt and import star-wheel, turn to star-wheel to enter an end that detects sprocket wheel;
B). the turning manipulator that detects on the sprocket wheel grasps the special-shaped bottle mouth portion, and make special-shaped bottle turn over turnback, after special-shaped bottle enters surveyed area, pass through backlight illumination, image collecting device obtains the sequence image of special-shaped bottle, utilize motion and the otherness differentiation body interference and liquid internal foreign matter of stationary objects on time and space in the sequence image, overcome body and disturbed the influence that is brought, judge in the bottle whether contain impurity, draw the whether qualified judged result of solution in this special-shaped bottle according to the impurity situation again; During detection, the corresponding special-shaped bottle of turning manipulator; Turning manipulator drives special-shaped bottle of process of rotating: drive the tooth bar motion by cylinder and push rod, tooth bar drives turning gear and rotating shaft rotation again, thus the feasible special-shaped bottle upset of drive turning manipulator;
C). special-shaped bottle enters the substandard products separated region, and shift fork separates substandard product according to described judged result with specification product, and substandard product enters the substandard products travelling belt through deriving star-wheel, and certified products enter next link of production line by the certified products travelling belt;
Described impurity is one or more in glass chip, rubber bits, fiber, black slag and the hairline;
Described detection sprocket wheel adopts the batch (-type) transmission mode.
Impurity real time machine vision pick-up unit in a kind of special-shaped bottle-packaging solution, it is characterized in that, comprise the importing travelling belt, import star-wheel, turn to star-wheel, detect sprocket wheel, video camera, image processing equipment, be used for turning device, shift fork, derivation star-wheel, certified products travelling belt, substandard products travelling belt and master controller that special-shaped bottle overturns;
Described importing star-wheel, turn to star-wheel, detect sprocket wheel and derive on the star-wheel mechanical arm that is used to grasp special-shaped bottle is housed; Described importing travelling belt, an end that imports star-wheel, turns to star-wheel, detects sprocket wheel connect successively, special-shaped bottle can be sent to by travelling belt and detect on the sprocket wheel; Described detection sprocket wheel adopts the batch (-type) transmission mode;
The other end that detects sprocket wheel is connected with the certified products travelling belt, is connected with the substandard products travelling belt by deriving star-wheel simultaneously; Be provided with the shift fork that is used for the special-shaped bottle shunting between derivation star-wheel and detection sprocket wheel, the drive unit of shift fork is connected with master controller;
Be provided with detection station and the back light corresponding with this detection station at the middle part of detecting sprocket wheel, the correspondence position of this detection station is provided with described video camera, and described video camera is connected with image processing equipment; Image processing equipment connects master controller;
Turning device is arranged on the described detection station, and after special-shaped bottle entered the detection station, the mechanical arm on this turning device and the described detection sprocket wheel was connected; Mechanical arm on the described detection sprocket wheel is provided with and is used to add the tong of holding special-shaped bottle; Described detection station, back light, video camera and turning device constitute a cover detecting unit;
Impurity real time machine vision pick-up unit in the described special-shaped bottle-packaging solution comprises that also the entry position that is arranged on described detection station is used to detect the photoelectric sensor of special-shaped bottle location status, and described photoelectric sensor is connected with master controller;
Described turning device is: comprise cylinder, push rod, tooth bar, turning gear and rotating shaft; Push rod one end is connected with tooth bar, and the other end is connected with cylinder; After special-shaped bottle entered the detection station, tong was connected with rotating shaft, and rotating shaft is fixed in the turning gear, and turning gear and tooth bar are in transmission connection;
Described tong comprises that left tong, right tong, two ends are separately fixed at spring and the tong protector on left tong and the right tong; Left side tong and right tong can rotate around rotation axis separately, and pass through gearing mesh; The tong protector is fixed on the described rotation axis.
Described detecting unit is 2～6 covers.
The beneficial effect that the present invention had has:
Compared with prior art, beneficial effect of the present invention is embodied in:
(1) the present invention is simple in structure, automaticity is high, and by the linking mechanism design of mechanical arm Wheel-type, detected product can steadily transmit, and does not need to install and fix guide rail, and dirigibility and practicality are wider.
(2) the present invention adopts the batch (-type) transmission mode (relative with continous way, be to stop a moving pattern), compare with continous way, the sequence image that obtains is more stable, there is not relative displacement between bottle, image collecting device and the light source, need on image, not position again, thereby accuracy of detection and equipment performance are more reliable and more stable.
(3) the present invention only needs one to detect station, broken and be divided into dark impurity and light impurity according to dopant species and adopt two traditional solution detection methods that detect stations, the present invention is according to a detection station of the characteristics design of this kind special-shaped bottle, once can finish all types of impurity such as glass chip, rubber bits, fiber, black slag, hairline detects, improve detection speed, simplified device.
(4) the present invention adopts turning manipulator clamping bottle, be that the center of circle is turned over after the turnback static with the bottleneck, the heavier chips of glass that may exist etc. is fallen from top to bottom, and the random motion with the solution motion in the bottle of slightly light impurity, after video camera obtains sequence image, utilize motion and the otherness differentiation body interference and liquid internal impurity of stationary objects on time and space in the sequence image, overcome body and disturbed the influence that is brought, thereby judged correctly whether product is qualified.
(5) all there is photoelectric sensor in Flip Zone of the present invention, detection zone and substandard products letter sorting zone, do not have detected product on the production line if detect, and then this regional device quits work automatically, has saved the energy.
(6) the present invention can well be connected the upper and lower production link of production line, the online high speed detection of energy, need not the people carries by hand, realized safety clean production, more can cooperate with other automation equipment, make up automation production flow line, realize the unmanned of production scene, stopped the influence that the intervention because of the staff may bring product quality.
Description of drawings
Fig. 1 is the overall construction drawing (overlooking) of apparatus of the present invention
Fig. 2 is the rail plate and the rotating shaft synoptic diagram (overlooking) of apparatus of the present invention
Fig. 3 is the switching mechanism structural drawing
Fig. 4 is the mechanical clamp structural drawing
Fig. 5 is a workflow diagram of the present invention
Fig. 6 is for detecting star-wheel upper bottle body upset synoptic diagram
Fig. 7 is the control system structural drawing
The number in the figure explanation:
1, rotation reel 2, importing travelling belt 3, special-shaped bottle
4, detect rack 5, import star-wheel 6, turn to star-wheel
7, left driving wheel 8, rail plate 9, light source
10, detect sprocket wheel 11, right driving wheel 12, derivation star-wheel
13, baffle plate 14, substandard products travelling belt 15, certified products travelling belt
16, shift fork 17, turning manipulator 18, rotating shaft
19, optical lens 20, ccd video camera 21, photoelectric sensor
22, turning gear 23, tong 24, tooth bar
25, anchor clamps 26, push rod 27, cylinder
28, spring 29, left tong 30, tong protector
31, right tong
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
Embodiment 1:
As shown in Figure 1, the main part of apparatus of the present invention is positioned at the detection rack 4 of a sealing every light.Apparatus of the present invention mainly comprise three parts: importation, test section and output.The importation mainly comprises rotation reel 1, imports travelling belt 2, imports star-wheel 5 and turn to star-wheel 6, importing travelling belt 2 is connected with importing star-wheel 5, detected product is imported detection rack 4, rotation reel 1 is contained on the importing travelling belt 2 that detects in the rack 4, turn to an end of star-wheel 6 to be connected with importing star-wheel 2, the detection sprocket wheel 10 of another termination test section imports star-wheel 5, turns to star-wheel 6 and detects between the sprocket wheel 10 circumscribed.The test section mainly comprises detects sprocket wheel 10, left driving wheel 11, right driving wheel 11, ccd video camera 20, optical lens 19, light source 9, turning manipulator 17, rail plate 8, rotating shaft 18 and photoelectric sensor 21, detect the identical turning manipulator 17 of a circle that is provided with according to certain intervals is arranged on the sprocket wheel 10, optical lens 19 is installed on the ccd video camera 20, and video camera 20, camera lens 19 and light source 9 are installed in the detection station.Left driving wheel 7 and right driving wheel 11 drive detect sprocket wheels 10 and on turning manipulator 17 by the speed running of setting, detecting sprocket wheel 10 1 ends is connected with turning to star-wheel 6, the other end links to each other with the substandard products mechanism for sorting, and the turning manipulator 17 that detects on the sprocket wheel 10 turns round along sliding rail 8.Output mainly comprises derives star-wheel 12, shift fork 16, baffle plate 13, certified products travelling belt 15 and substandard products travelling belt 14.Wherein, shift fork 16 is installed in derives between star-wheel 12 and the detection sprocket wheel 10, certified products travelling belt 15 links to each other with detection sprocket wheel 10, deriving star-wheel 12 1 ends links to each other with detection sprocket wheel 10, the other end connects substandard products travelling belt 14, baffle plate 13 is installed in derives star-wheel 12 sides, and certified products travelling belt 15 and substandard products travelling belt 14 are sent out product and detected rack 4.
Below in conjunction with Fig. 2, Fig. 3 and Fig. 4 turning manipulator 17 is described further.Turning manipulator 17 is installed on the rail plate 8 of the shape that detects on the sprocket wheel 10 such as runway circle, on two upset stations and detection station, rail plate 8 is replaced by rotating shaft 18, cylinder 27 links to each other with tooth bar 24 by push rod 26, tooth bar 24 and turning gear 22 engagements, rotating shaft 18 is fixedlyed connected with turning gear 22.Turning manipulator 17 is installed in rail plate 8 and the rotating shaft 18 at a certain distance; and the running of clearance-type on rail plate 8 and rotating shaft 18 runway circumference; turning manipulator 17 is made up of tong 23 and anchor clamps 25; tong 23 comprises spring 28, left tong 29, tong protector 30 and right tong 31, and left tong 29 and right tong 31 expansibles are special-shaped bottle 3 steady clampings.After receiving the upset instruction, cylinder 27 promotes tooth bar 24 motions by push rod 26, and tooth bar 24 drives turning gear 22 rotations, thereby makes rotating shaft 18 and the turning manipulator in rotating shaft 18 17 turn over turnback.
Turning manipulator 17 is made up of tong 23 and anchor clamps 25.Turning manipulator 17 be in rotating shaft 18, and rotating shaft 18 is connected with turning gear 22 in upset, and cylinder 27, push rod 26 and tooth bar 24 are fixing, and has only a cover to be fixed on that, and a circle is arranged unlike turning manipulator 17.In the time of upset, cylinder 27 drives tooth bar 24 runnings by push rod 26, thereby makes turning gear 22 rotations, and rotating shaft 18 is and then rotation also, thereby drives turning manipulator 17 upsets.In addition, only when detecting station, just make the special-shaped bottle upset.
Principle of work: detect on the sprocket wheel an orthoscopic, rotating machine arm grasps special-shaped bottle neck, making bottle by cylinder driven rotary mechanical arm according to specific speed is that static (there is detailed description the switching process back) after the turnback turned in the center of circle with the bottleneck, make the heavier impurity (vitroclastic etc.) that may exist divide toward bottleneck portion from the bottle bottom, and slightly light impurity is done random motion with the solution motion in the bottle, adopt back led light source irradiation, according to the amplification characteristic of this kind special-shaped bottle bottle to impurity, glass chip, the rubber bits, fiber, black slag, all types of impurity such as hairline are the energy blur-free imaging all, video camera obtains the sequence image of current bottle, utilize in the sequence image motion and the otherness of stationary objects on time and space distinguish the bottle wall disturb with solution in impurity, overcome the bottle wall and disturbed the influence that is brought, thereby judged correctly whether product is qualified.By the running of shift fork, substandard product is isolated production line at last by deriving star-wheel.
As shown in Figure 5, in detail concrete testing process of the present invention is:
(1) energisings such as servomotor, servo-driver and video camera, equipment self-inspection and initialization start computing machine, enter the trace routine interface, be provided with need correlation parameter after, travelling belt and each wheel disc intermittent operation, one of promptly every operation detects the distance back dead time t of station.
(2) special-shaped bottle after the can enters the detection rack by importing travelling belt, and the importing star-wheel is sent into the special-shaped bottle on the importing travelling belt and turned to star-wheel, turns to star-wheel special-shaped bottle to be sent into an end that detects sprocket wheel.
When (3) entering the regional a of upset, trigger photoelectric sensor, detect the special-shaped bottle mouth portion of rotating machine arm extracting on the sprocket wheel, promote push rod by cylinder from turning to star-wheel to send, thereby making turning manipulator partly is that turnback is turned in the center of circle with bottle neck, and product is stood upside down.
(4) after special-shaped bottle enters surveyed area, trigger the photoelectric sensor of this position, by LED irradiation backlight, image collecting device obtains its sequence image, utilize motion and the otherness differentiation body interference and liquid internal foreign matter of stationary objects on time and space in the sequence image, overcome body and disturbed the influence that is brought, whether contained impurity such as glass chip, rubber bits, fiber, black slag, hairline in the judgement bottle.
(5) after bottle leaves and detects station, enter the regional b of upset, it partly is that turnback is turned in the center of circle that the detected bottle of rotating machine arm and extracting thereof is promoted with bottle neck by cylinder, and the product of handstand is just put.
When (6) detected bottle enters the substandard products separated region, trigger photoelectric sensor, the running of servomotor control shift fork separates substandard product with specification product
(7) substandard product enters the unacceptable product travelling belt through deriving star-wheel, and certified products enter next link of production line by the certified products travelling belt.
Below switching process and the Image Acquisition that detects turning manipulator on the station is described in further details: suppose to detect on the station and detect 2 bottles at every turn simultaneously, the then a certain moment overturn regional a and the upset regional b 2 turning manipulators are all arranged, establish this moment as shown in Figure 6.At this moment, bottle 1 and bottle 2 are positioned at upset station a, and bottle 3 and bottle 4 are positioned at the detection station, and bottle 5 and bottle 6 are positioned at upset station b, this constantly, it is center of circle upset that mechanical arm clamping bottle 1 and bottle 2 are just being prepared with the bottleneck, bottle will be stood upside down; Because the rotary movement of bottle 3 and bottle 4 previous steps, the heavier impurity (vitroclastic etc.) that may exist in the bottle divides toward bottleneck portion from the bottle bottom, and slightly light impurity is done random motion with the solution motion in the bottle, and at this moment, two video cameras have obtained bottle 3 and bottle 4 sequence images respectively; Bottle 5 and bottle 6 have made bottle finish to just putting upset by standing upside down.Since the travelling belt intermittent operation, the distance that detects station that at every turn turns round, i.e. two bottles distance in this example, dead time t, next step comes interim, the upwards upset (upset clockwise shown in Fig. 6) of the turning manipulator of clamping bottle 1 and bottle 2, and simultaneously toward detecting the station motion; Bottle 3 and bottle 4 will leave the detection station, toward upset station b motion, and the turning manipulator of clamping bottle 3 and bottle 4 overturn downwards (the counter clockwise direction upset shown in Fig. 6); Bottle 5 and bottle 6 will leave upset station b, go to the derivation star-wheel.So repeatedly, apparatus of the present invention just can be obtained the sequence image of each bottle product.
The control system structure: apparatus of the present invention are that technology such as light harvesting, mechanical, electrical, computing machine, Digital Image Processing and mechanical drive are the comprehensive high technology equipment of one.Its machinery, automatically controlled, vision-based detection part co-ordination mutually constitute an organic whole jointly.System adopts the electric control structure based on PC and PLC, as shown in Figure 7.Wherein, industrial computer is responsible for operation and is detected software and the product image is analyzed, handled and judge the contour level operation; PLC is responsible for the bottom control of electric part, comprise the control motor rotation, receive to trigger that camera is taken pictures and the photoelectric sensor of mechanical arm upset (effect of photoelectric sensor is to detect current location whether tested special-shaped bottle is arranged, if do not have, then output signal to control module and make production line out of service, to save the energy) feedback signal of signal and servo-driver etc.; The video camera that detects station is that system obtains the product image and is transferred to image pick-up card.Industrial computer is by pci bus access images capture card, and operation detect software judge product be qualified/defective, communicate PLC control first floor system reaction action then with PLC.Substandard product is picked out device and is adopted counting and the location of photoelectric sensor as product on the streamline, finishes the substandard products sorting work.Thereby realize the function of whole device.
Claims (3)
1. the impurity real time machine vision detection method in the special-shaped bottle-packaging solution is characterized in that, may further comprise the steps:
A). the special-shaped bottle after the can is by the importing travelling belt and import star-wheel, turn to star-wheel to enter an end that detects sprocket wheel;
B). the turning manipulator that detects on the sprocket wheel grasps the special-shaped bottle mouth portion, and make special-shaped bottle turn over turnback, after special-shaped bottle enters surveyed area, pass through backlight illumination, image collecting device obtains the sequence image of special-shaped bottle, utilize motion and the otherness differentiation body interference and liquid internal foreign matter of stationary objects on time and space in the sequence image, overcome body and disturbed the influence that is brought, judge in the bottle whether contain impurity, draw the whether qualified judged result of solution in this special-shaped bottle according to the impurity situation again; During detection, the corresponding special-shaped bottle of turning manipulator; Turning manipulator drives special-shaped bottle of process of rotating: drive the tooth bar motion by cylinder and push rod, tooth bar drives turning gear and rotating shaft rotation again, thus the feasible special-shaped bottle upset of drive turning manipulator;
C). special-shaped bottle enters the substandard products separated region, and shift fork separates substandard product according to described judged result with specification product, and substandard product enters the substandard products travelling belt through deriving star-wheel, and certified products enter next link of production line by the certified products travelling belt;
Described impurity is one or more in glass chip, rubber bits, fiber, black slag and the hairline;
Described detection sprocket wheel adopts the batch (-type) transmission mode.
2. the impurity real time machine vision pick-up unit in the special-shaped bottle-packaging solution, it is characterized in that, comprise the importing travelling belt, import star-wheel, turn to star-wheel, detect sprocket wheel, video camera, image processing equipment, be used for turning device, shift fork, derivation star-wheel, certified products travelling belt, substandard products travelling belt and master controller that special-shaped bottle overturns;
Described importing star-wheel, turn to star-wheel, detect sprocket wheel and derive on the star-wheel mechanical arm that is used to grasp special-shaped bottle is housed; Described importing travelling belt, an end that imports star-wheel, turns to star-wheel, detects sprocket wheel connect successively, special-shaped bottle can be sent to by travelling belt and detect on the sprocket wheel; Described detection sprocket wheel adopts the batch (-type) transmission mode;
The other end that detects sprocket wheel is connected with the certified products travelling belt, is connected with the substandard products travelling belt by deriving star-wheel simultaneously; Be provided with the shift fork that is used for the special-shaped bottle shunting between derivation star-wheel and detection sprocket wheel, the drive unit of shift fork is connected with master controller;
Be provided with detection station and the back light corresponding with this detection station at the middle part of detecting sprocket wheel, the correspondence position of this detection station is provided with described video camera, and described video camera is connected with image processing equipment; Image processing equipment connects master controller;
Turning device is arranged on the described detection station, and after special-shaped bottle entered the detection station, the mechanical arm on this turning device and the described detection sprocket wheel was connected; Mechanical arm on the described detection sprocket wheel is provided with and is used to add the tong of holding special-shaped bottle; Described detection station, back light, video camera and turning device constitute a cover detecting unit;
Impurity real time machine vision pick-up unit in the described special-shaped bottle-packaging solution comprises that also the entry position that is arranged on described detection station is used to detect the photoelectric sensor of special-shaped bottle location status, and described photoelectric sensor is connected with master controller;
Described turning device is: comprise cylinder, push rod, tooth bar, turning gear and rotating shaft; Push rod one end is connected with tooth bar, and the other end is connected with cylinder; After special-shaped bottle entered the detection station, tong was connected with rotating shaft, and rotating shaft is fixed in the turning gear, and turning gear and tooth bar are in transmission connection;
Described tong comprises that left tong, right tong, two ends are separately fixed at spring and the tong protector on left tong and the right tong; Left side tong and right tong can rotate around rotation axis separately, and pass through gearing mesh; The tong protector is fixed on the described rotation axis.
3. the impurity real time machine vision pick-up unit in the special-shaped bottle-packaging solution according to claim 2 is characterized in that, described detecting unit is 2～6 covers.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008101436968A CN101413904B (en) | 2008-11-25 | 2008-11-25 | Impurity real time machine vision detection method and apparatus in special-shaped bottle-packaging solution |
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| CN2008101436968A CN101413904B (en) | 2008-11-25 | 2008-11-25 | Impurity real time machine vision detection method and apparatus in special-shaped bottle-packaging solution |
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| CN101413904B true CN101413904B (en) | 2011-09-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005031328A1 (en) * | 2003-09-30 | 2005-04-07 | Eisai Co., Ltd. | Inspection system |
| CN201322727Y (en) * | 2008-11-25 | 2009-10-07 | 湖南大学 | Linear automatic detection device for detecting liquid in special shaped bottle |
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