CN112129769A - Capsule defect detection online image acquisition and detection system with multiple cameras and multiple light sources - Google Patents

Capsule defect detection online image acquisition and detection system with multiple cameras and multiple light sources Download PDF

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Publication number
CN112129769A
CN112129769A CN202010913865.2A CN202010913865A CN112129769A CN 112129769 A CN112129769 A CN 112129769A CN 202010913865 A CN202010913865 A CN 202010913865A CN 112129769 A CN112129769 A CN 112129769A
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matrix
preset
camera
capsule
detection
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杨静
李少波
王军
董豪
段仲静
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Guizhou University
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Guizhou University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
    • G01N21/8901—Optical details; Scanning details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
    • G01J3/46—Measurement of colour; Colour measuring devices, e.g. colorimeters
    • G01J3/50—Measurement of colour; Colour measuring devices, e.g. colorimeters using electric radiation detectors
    • G01J3/501—Colorimeters using spectrally-selective light sources, e.g. LEDs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/9508—Capsules; Tablets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
    • G01N21/8901—Optical details; Scanning details
    • G01N2021/8908—Strip illuminator, e.g. light tube
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/06—Illumination; Optics
    • G01N2201/061—Sources
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/06—Illumination; Optics
    • G01N2201/062—LED's

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  • General Physics & Mathematics (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • General Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

The invention relates to a multi-camera multi-light-source capsule defect detection online image acquisition and detection system which comprises a box body, a polishing unit, an image acquisition unit, a plurality of partition plates and a central control processor. According to the invention, the central control processor and the plurality of different light sources are arranged, and the light sources are connected with the central control processor, so that the central control processor can flexibly adjust the brightness of the light sources according to the size of the capsule, and the cameras can clearly acquire the shape, the surface and the color parameters of the capsule when acquiring images, so that the central control processor can more accurately finish the judgment of each capsule when detecting the capsule, and the detection efficiency of the detection system is improved.

Description

Capsule defect detection online image acquisition and detection system with multiple cameras and multiple light sources
Technical Field
The invention relates to the technical field of capsule detection, in particular to a multi-camera multi-light-source capsule defect detection online image acquisition and detection system.
Background
The quality of the hollow capsule is detected before and after the medicine is canned, the detection of the surface defects of the capsule, such as surface scratches, depressions and bulge waiting defects, is performed aiming at the defects of low efficiency and high cost of the traditional manual detection method, individual differences exist in subjective judgment of detection personnel, and the like, which are not beneficial to the large-scale production of modern industry, on one hand, the production cost of a production enterprise is overhigh, and on the other hand, the quality of the capsule is difficult to obtain stable guarantee, so that the adoption of an automatic capsule online defect detection technology is meaningful, and a multi-camera multi-light source system capsule defect detection online image acquisition device is necessary to be provided.
The capsule image acquisition device in the prior art only adopts a single light source, when the image to the capsule is gathered, the single light source can not satisfy the detection demand to capsule shape, surface and colour simultaneously, thereby lead to when examining the capsule, use single light source to improve the detection precision to a certain parameter of capsule when, can exert an influence to the detection precision of two other detection parameters, simultaneously, when examining to the capsule of different sizes, the light source luminance difference of chooseing for use also can exert an influence to the testing result, the image acquisition precision of device has been reduced, thereby the detection efficiency of device has been reduced.
Disclosure of Invention
Therefore, the invention provides a multi-camera multi-light-source capsule defect detection online image acquisition detection system, which is used for solving the problem of low detection efficiency caused by the fact that light sources cannot be flexibly adjusted according to capsules in the prior art.
In order to achieve the above object, the present invention provides a multi-camera multi-light source capsule defect detection on-line image acquisition detection system, comprising:
the box body is used for loading components in the device and comprises a detection inlet and a detection outlet, the box body is arranged at the appointed position of the capsule conveying device, a conveying belt in the conveying device conveys the capsules into the box body through the detection inlet so as to enable the image acquisition unit to acquire the images of the capsules, and after the acquisition is finished, the conveying belt conveys the capsules to the outside of the box body through the detection outlet; a speed detector is arranged in the box body and used for detecting the moving speed of the conveyor belt;
the lighting unit is arranged in the box body and used for providing corresponding light sources for different cameras;
the image acquisition unit comprises a plurality of cameras which are arranged in the box body and positioned on the top wall of the box body and is used for acquiring the image information of the capsule;
the partition plates are respectively arranged at the designated positions in the box body and are used for separating the corresponding cameras in the image acquisition units and the light sources corresponding to the cameras;
the central control processor is respectively connected with the speed detector, each light source in the lighting unit and each camera in the image acquisition unit and used for determining the brightness of each light source according to the moving speed of the conveyor belt and determining the photographing interval of each camera according to the moving speed of the conveyor belt and the size of the capsule transported by the conveyor belt; the central control processor is provided with a preset speed matrix, a preset size matrix, a preset detection standard matrix group, a preset brightness matrix group and a preset photographing interval matrix group, the central control processor compares the moving speed value of the conveyor belt detected by the speed detector with each parameter in the preset speed matrix, selects the parameter in the preset brightness matrix group according to the comparison result to adjust the brightness of each light source, compares the size of the capsule with each parameter in the preset size matrix, and selects a corresponding detection standard from the preset detection standard matrix group according to the comparison result; and the central control processor also selects corresponding parameters from the preset photographing interval matrix group according to the comparison result of the moving speed value of the conveyor belt and each parameter in a preset speed matrix and the comparison result of the capsule size and each parameter in the preset size matrix so as to sequentially set the photographing interval of each camera in the image acquisition unit.
Further, the image acquisition unit includes:
the first camera is arranged on the inner top wall of the box body and is positioned in the middle of one side close to the detection inlet, and the first camera is a black-and-white camera and is used for detecting the shape of the capsule on the conveying belt;
the second camera is arranged on the inner top wall of the box body and is positioned on one side, away from the detection inlet, of the first camera, and the second camera is a black-and-white camera and is used for detecting the surface of the capsule on the conveying belt;
the third camera is arranged on the inner top wall of the box body and is positioned on one side, far away from the first camera, of the second camera, and the third camera is a black-and-white camera and is used for detecting the surface of the capsule on the conveyor belt;
and the fourth camera is arranged on the inner top wall of the box body and is positioned on one side of the third camera far away from the second camera, and the fourth camera is a color camera and is used for detecting the color of the surface of the capsule.
Further, the separator includes:
a first partition disposed within the case and between the first camera and the second camera;
a second partition plate disposed in the case and between the third and fourth cameras;
and the third partition plate is arranged in the box body and is positioned between the fourth camera and the box body detection outlet.
Further, the light unit includes:
the first light source is positioned between the detection inlet and the first partition plate and comprises parallel light sources arranged on two side walls of the box body, and the first light source irradiates the capsule so that the first camera can clearly acquire the outer contour of the capsule and the shape of the capsule is acquired by the first camera;
the second light source is positioned between the first partition plate and the second partition plate and comprises an LED infrared light source arranged at the bottom of the conveyor belt, and the second light source irradiates the capsules so that the second camera and the third camera can clean and collect the surfaces of the capsules;
and the third light source is positioned between the second partition plate and the third partition plate and comprises common LED array light sources arranged on the third partition plate, the fourth partition plate and two side walls of the case, and the common LED array light sources irradiate the capsule so that the fourth camera can acquire the real color of the capsule.
Further, a preset speed matrix V0 and a preset brightness matrix L0 are arranged in the central control unit; for the preset speed matrix V0, V0(V1, V2, V3, V4), where V1 is a first preset moving speed, V2 is a second preset moving speed, V3 is a third preset moving speed, and V4 is a fourth preset moving speed, the preset moving speeds are gradually increased in sequence; for the preset brightness matrix groups L0, L0(L1, L2, L3, L4), where L1 is a first preset brightness matrix, L2 is a second preset brightness matrix, L3 is a third preset brightness matrix, and L4 is a fourth preset brightness matrix;
when the conveying belt conveys the capsules into the box body, the speed detector detects the moving speed V of the conveying belt and conveys a detection value to the central control processor, and the central control processor compares the V with each parameter in the V0 matrix:
when V is less than or equal to V1, the central control processor selects a first preset brightness matrix L1 from the L0 matrix group and sequentially adjusts the brightness of each light source in the lighting unit according to parameters in an L1 matrix;
when V is more than V1 and less than or equal to V2, the central control processor selects a second preset brightness matrix L2 from the L0 matrix group and sequentially adjusts the brightness of each light source in the lighting unit according to parameters in the L2 matrix;
when V is more than V2 and less than or equal to V3, the central control processor selects a third preset brightness matrix L3 from the L0 matrix group and sequentially adjusts the brightness of each light source in the lighting unit according to parameters in the L3 matrix;
when V is more than V3 and less than or equal to V4, the central control processor selects a fourth preset brightness matrix L4 from the L0 matrix group and sequentially adjusts the brightness of each light source in the lighting unit according to parameters in the L4 matrix;
when the brightness adjustment of each light source is completed, the conveyor belt starts to convey the capsules.
Further, for the ith preset luminance matrix Li, i is 1, 2, 3, 4, Li (Lia, Lib, Lic), where Lia is the ith preset luminance of the first light source, Lib is the ith preset luminance of the second light source, and Lic is the ith preset luminance of the third light source;
when the central control processor selects the parameters in the ith preset brightness matrix Li to sequentially adjust the brightness of each light source in the lighting unit, the central control processor adjusts the brightness of the first light source to Lia, the brightness of the second light source to Lib and the brightness of the third light source to Lic.
Further, a preset size matrix C0 and a preset detection standard matrix group S0 are also arranged in the central control processor; for the preset size matrix C0, C0(C1, C2, C3, C4), where C1 is a first preset capsule size, C2 is a second preset capsule size, C3 is a third preset capsule size, and C4 is a fourth preset capsule size, the preset sizes are gradually increased in order; for the preset detection standard matrix groups S0, S0(S1, S2, S3, S4), wherein S1 is a first preset detection standard matrix, S2 is a second preset detection standard matrix, S3 is a third preset detection standard matrix, and S4 is a fourth preset detection standard matrix;
when the capsule is conveyed by the conveyor belt, the first camera acquires an image of the capsule and conveys image information to the central processor, and the central processor detects the capsule size C in the image information and compares C with various parameters in the C0 matrix:
when C is less than or equal to C1, the central control processor selects a first preset detection standard matrix S1 from the S0 matrix group and sets the parameters in the S1 matrix as the detection standard of the detection;
when C1 is more than C and less than or equal to C2, the central control processor selects a second preset detection standard matrix S2 from the S0 matrix group and sets parameters in the S2 matrix as the detection standard of the detection;
when C2 is more than C and less than or equal to C3, the central control processor selects a third preset detection standard matrix S3 from the S0 matrix group and sets parameters in the S3 matrix as the detection standard of the detection;
when C3 is more than C and less than or equal to C4, the central control processor selects a fourth preset detection standard matrix S4 from the S0 matrix group and sets the parameters in the S4 matrix as the detection standard of the detection.
Further, regarding the ith preset detection standard matrix Si, Si (ci, li, ni, ri), where ci is an ith preset shape maximum deviation value, li is an ith preset maximum scratch length, ni is an ith preset maximum scratch number, and ri is an ith preset color maximum deviation value;
when the central processor selects parameters in the Si matrix as the detection standard of the detection, the central processor controls the first camera to detect the shape of the capsule, controls the second camera and the third camera to detect the maximum scratch length l and the scratch number n on the surface of the capsule and controls the fourth camera to detect the color of the capsule, the central processor calculates the deviation value c of the actual shape and the preset property of the capsule and the deviation value r of the actual color and the preset color in turn and compares the parameters with the corresponding parameters in the Si matrix:
when c is larger than ci, the central control processor judges that the capsule does not meet the standard;
when l is more than li, the central control processor judges that the capsule does not meet the standard;
when n is larger than ni, the central processor judges that the capsule does not meet the standard;
when r is larger than ri, the central control processor judges that the capsule does not meet the standard;
when c is less than or equal to ci, l is less than or equal to li, n is less than or equal to ni and r is less than or equal to ri, the central control processor judges that the capsule meets the standard.
Further, a preset photographing interval matrix group F0(F1, F2, F3, F4) is further provided in the central processor, wherein F1 is a first preset photographing interval matrix, F2 is a second preset photographing interval matrix, F3 is a third preset photographing interval matrix, and F4 is a fourth preset photographing interval matrix;
when the capsule is conveyed by the conveyor belt, the central control processor selects a corresponding preset photographing interval matrix according to the comparison result of various parameters in the V and V0 matrixes:
when V is less than or equal to V1, the central control processor selects a first preset photographing interval matrix F1 from the F0 matrix group and sequentially adjusts the photographing interval of each camera according to parameters in the F1 matrix;
when V is more than V1 and less than or equal to V2, the central control processor selects a second preset photographing interval matrix F2 from the F0 matrix group and sequentially adjusts the photographing interval of each camera according to parameters in the F2 matrix;
when V is more than V2 and less than or equal to V3, the central control processor selects a third preset photographing interval matrix F3 from the F0 matrix group and sequentially adjusts the photographing interval of each camera according to parameters in the F3 matrix;
when V is more than V3 and less than or equal to V4, the central control processor selects a fourth preset photographing interval matrix F4 from the F0 matrix group and sequentially adjusts the photographing interval of each camera according to parameters in the F4 matrix.
Further, for the ith preset photographing interval matrix Fi, Fi (Fi1, Fi2, Fi3, Fi4), where Fi1 is the ith preset photographing interval matrix first interval duration, Fi2 is the ith preset photographing interval matrix second interval duration, Fi3 is the ith preset photographing interval matrix third interval duration, Fi4 is the ith preset photographing interval matrix fourth interval duration, and the values of the interval durations gradually increase in sequence;
when the central control processor sequentially adjusts the photographing interval of each camera according to the parameters in the ith preset photographing interval matrix Fi, the central control processor selects the corresponding photographing interval duration from the Fi matrix according to the comparison result of the capsule size C and each parameter in the C0 matrix:
when C is less than or equal to C1, the central control processor selects the first interval duration Fi1 of the ith preset photographing interval matrix from the Fi matrix and sets the photographing interval duration of each camera to Fi 1;
when C is more than C1 and less than or equal to C2, the central control processor selects the second interval duration Fi2 of the ith preset photographing interval matrix from the Fi matrix and sets the photographing interval duration of each camera to Fi 2;
when C is more than C2 and less than or equal to C3, the central control processor selects the third interval duration Fi3 of the ith preset photographing interval matrix from the Fi matrix and sets the photographing interval duration of each camera to Fi 3;
and when C3 is more than C and less than or equal to C4, the central control processor selects the ith preset photographing interval matrix fourth interval duration Fi4 from the Fi matrix and sets the photographing interval duration of each camera to Fi 4.
Compared with the prior art, the invention has the advantages that the central control processor is arranged and the light sources of different types are connected with the central control processor, so that the central control processor can flexibly adjust the brightness of each light source according to the size of the capsule, the shape, the surface and the color parameters of the capsule can be clearly acquired by each camera when the camera acquires an image, the central control processor can more accurately finish the judgment of each capsule when the central control processor detects the capsule, and the detection efficiency of the detection system is improved.
Furthermore, still be equipped with a plurality of baffles in the system, separate each light source through using the baffle, can prevent effectively that a plurality of light sources from shining the definition that the image that leads to the light source that the same capsule shines simultaneously produces the influence to the camera was gathered to same capsule, when guaranteeing the definition that each camera gathered the image, further improved detecting system's detection efficiency.
Furthermore, a speed detector is further arranged in the box body, the central control processor can adjust the brightness of each light source according to the detected moving speed of the conveyor belt, the situation that images collected by the cameras are fuzzy due to the fact that the moving speed of the conveyor belt is not matched with the brightness of the light sources can be effectively prevented, and the detection efficiency of the detection system is further improved while the definition of the images collected by the cameras is guaranteed.
Furthermore, the image acquisition unit comprises three black-and-white cameras and a color camera, and by arranging the black-and-white cameras and the color camera, the acquisition precision of the image can be ensured while the cost is effectively saved, so that the detection efficiency of the detection system is further improved.
Furthermore, a preset speed matrix V0(V1, V2, V3, V4) and a preset brightness matrix L0(L1, L2, L3, L4) are arranged in the central control unit, when the conveying belt conveys capsules into the box body, the speed detector detects the moving speed V of the conveying belt and conveys a detection value to the central control processor, the central control processor compares the V with each parameter in the V0 matrix and adjusts the brightness of each light source to a corresponding value according to the comparison result, and the situation that the light sources are not matched with the moving speed can be further eliminated by matching the rotating speed of the conveying belt with the brightness of each light source, so that the detection efficiency of the detection system is further improved.
Further, for the ith preset luminance matrix Li, i is 1, 2, 3, 4, Li (Lia, Lib, Lic), when the central control processor selects parameters in the ith preset luminance matrix Li to sequentially adjust the luminance of each light source in the lighting unit, the luminance of each light source can be sequentially and specifically adjusted, so that the deviation of the collected image precision caused by uniformly adjusting the luminance of the light sources is prevented, and the detection efficiency of the detection system is further improved.
Furthermore, a preset size matrix C0(C1, C2, C3, C4) and a preset detection standard matrix group S0(S1, S2, S3, S4) are further arranged in the central processor, when the capsule is conveyed by the conveyor belt, the first camera collects an image of the capsule and conveys image information to the central processor, the central processor detects the capsule size C in the image information, compares the C with each parameter in the C0 matrix, and selects a corresponding preset detection standard matrix from the S0 matrix group according to the comparison result, and by selecting a corresponding detection standard according to capsules of different sizes, the deviation generated when capsules of different sizes are detected by adopting a unified standard can be effectively prevented, so that the detection efficiency of the detection system is further improved.
Further, for the ith preset detection standard matrix Si, Si (ci, li, ni, ri), by sequentially detecting various parameters of a single capsule, the quality of the outputted qualified capsule can be ensured by the system, thereby further improving the detection efficiency of the detection system.
Furthermore, a preset photographing interval matrix group F0(F1, F2, F3 and F4) is further arranged in the central control processor, when the capsule is conveyed by the conveyor belt, the central control processor selects a corresponding preset photographing interval matrix according to a comparison result of various parameters in the V and V0 matrixes, and different photographing interval matrixes are selected according to different moving speeds, so that the cameras can complete full-angle photographing of a single capsule by using the least photographing times, and the detection efficiency of the detection system is further improved.
Further, for the ith preset photographing interval matrix Fi, Fi (Fi1, Fi2, Fi3, Fi4), when the central processing unit sequentially adjusts the photographing intervals of the cameras according to the parameters in the ith preset photographing interval matrix Fi, the central processing unit selects the corresponding photographing interval duration from the Fi matrix according to the comparison result of the capsule size C and the parameters in the C0 matrix, and by further adjusting the photographing time of each camera according to the capsule size, the problem that the images acquired by the cameras have deviation due to different speeds of capsules with different diameters at the same moving speed can be effectively avoided, so that the detection efficiency of the detection system is further improved.
Drawings
FIG. 1 is a cross-sectional view of a multi-camera multi-light source capsule defect detection online image acquisition detection system at a detection inlet and a detection port;
fig. 2 is a schematic structural diagram of the multi-camera multi-light-source capsule defect detection online image acquisition detection system provided on the capsule conveying device.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Please refer to fig. 1 and fig. 2, which are respectively a cross-sectional view of the multi-camera multi-light source capsule defect detecting on-line image collecting and detecting system at the detecting entrance and the detecting exit of the multi-camera multi-light source capsule defect detecting on-line image collecting and detecting system of the present invention and a schematic structural view of the multi-camera multi-light source capsule defect detecting on-line image collecting and detecting system installed on the capsule conveying device. The invention discloses a multi-camera multi-light-source capsule defect detection online image acquisition detection system, which comprises:
the box body 1 is used for loading components in the device and comprises a detection inlet 11 and a detection outlet 12, the box body 1 is arranged at a designated position of the capsule conveying device, a conveying belt in the conveying device conveys the capsule into the box body 1 through the detection inlet 11 so as to enable the image acquisition unit 3 to acquire the image of the capsule, and after the acquisition is finished, the conveying belt conveys the capsule to the outside of the box body 1 through the detection outlet 12; a speed detector (not shown) is arranged in the box body 1 and used for detecting the moving speed of the conveyor belt;
the lighting unit is arranged in the box body 1 and used for providing corresponding light sources for different cameras;
the image acquisition unit 3 comprises a plurality of cameras which are arranged in the box body 1 and positioned on the top wall of the box body 1 and is used for acquiring the image information of the capsule;
a plurality of partitions respectively disposed at designated positions in the case 1 to partition the corresponding cameras in the image capturing unit 3 and the light sources corresponding to the cameras;
a central control processor (not shown in the figure) which is respectively connected with the speed detector, each light source in the lighting unit and each camera in the image acquisition unit 3 and is used for determining the brightness of each light source according to the moving speed of the conveyor belt and determining the photographing interval of each camera according to the moving speed of the conveyor belt and the size of the capsule transported by the conveyor belt; the central control processor is provided with a preset speed matrix, a preset size matrix, a preset detection standard matrix group, a preset brightness matrix group and a preset photographing interval matrix group, the central control processor compares the moving speed value of the conveyor belt detected by the speed detector with each parameter in the preset speed matrix, selects the parameter in the preset brightness matrix group according to the comparison result to adjust the brightness of each light source, compares the size of the capsule with each parameter in the preset size matrix, and selects a corresponding detection standard from the preset detection standard matrix group according to the comparison result; the central control processor also selects corresponding parameters from the preset photographing interval matrix group according to the comparison result of the moving speed value of the conveyor belt and each parameter in the preset speed matrix and the comparison result of the capsule size and each parameter in the preset size matrix so as to sequentially set the photographing interval of each camera in the image acquisition unit 3.
Specifically, the image capturing unit 3 of the present invention includes:
a first camera 31 disposed at the top wall of the box 1 and located at the center of one side close to the detection inlet 11, wherein the first camera 31 is a black and white camera for detecting the shape of the capsule on the conveyor belt;
a second camera 32 arranged on the inner top wall of the box body 1 and located on the side of the first camera 31 far away from the detection inlet 11, wherein the second camera 32 is a black and white camera for detecting the surface of the capsule on the conveyor belt;
a third camera 33 arranged on the inner top wall of the box body 1 and located on the side of the second camera 32 far away from the first camera 31, wherein the third camera 33 is a black and white camera for detecting the surface of the capsule on the conveyor belt;
and a fourth camera 34 disposed on the inner top wall of the box 1 and located on the side of the third camera 33 away from the second camera 32, wherein the fourth camera 34 is a color camera for detecting the color of the surface of the capsule.
Specifically, the separator of the present invention comprises:
a first partition plate 41 provided inside the case 1 between the first camera 31 and the second camera 32;
a second partition plate 42 provided inside the case 1 between the third and fourth cameras 33 and 34;
and a third partition 43 disposed in the case 1 between the fourth camera 34 and the detection outlet 12 of the case 1.
Specifically, the polishing unit of the present invention includes:
the first light source 21 is positioned between the detection inlet 11 and the first partition plate 41, comprises parallel light sources arranged on two side walls of the box body 1, and the first light source 21 irradiates the capsule so that the first camera 31 can clearly acquire the outer contour of the capsule and the shape of the capsule is acquired by the first camera 31;
a second light source 22, located between said first partition 41 and said second partition 42, comprising an LED infrared light source arranged at the bottom of said conveyor belt, the second light source 22 illuminating the capsules to enable said second camera 32 and said third camera 33 to wash the surface where the capsules are picked up;
and the third light source 23 is positioned between the second partition plate 42 and the third partition plate 43, and comprises LED common array light sources arranged on the third partition plate 43, the fourth partition plate and two side walls of the case, and the LED common array light sources irradiate the capsule so that the fourth camera 34 can acquire the real color of the capsule.
Referring to fig. 1, the central control unit of the present invention is provided with a preset speed matrix V0 and a preset brightness matrix L0; for the preset speed matrix V0, V0(V1, V2, V3, V4), where V1 is a first preset moving speed, V2 is a second preset moving speed, V3 is a third preset moving speed, and V4 is a fourth preset moving speed, the preset moving speeds are gradually increased in sequence; for the preset brightness matrix groups L0, L0(L1, L2, L3, L4), where L1 is a first preset brightness matrix, L2 is a second preset brightness matrix, L3 is a third preset brightness matrix, and L4 is a fourth preset brightness matrix;
when the conveyor belt conveys the capsules into the box body 1, the speed detector detects the moving speed V of the conveyor belt and conveys a detection value to the central control processor, and the central control processor compares the V with each parameter in the V0 matrix:
when V is less than or equal to V1, the central control processor selects a first preset brightness matrix L1 from the L0 matrix group and sequentially adjusts the brightness of each light source in the lighting unit according to parameters in an L1 matrix;
when V is more than V1 and less than or equal to V2, the central control processor selects a second preset brightness matrix L2 from the L0 matrix group and sequentially adjusts the brightness of each light source in the lighting unit according to parameters in the L2 matrix;
when V is more than V2 and less than or equal to V3, the central control processor selects a third preset brightness matrix L3 from the L0 matrix group and sequentially adjusts the brightness of each light source in the lighting unit according to parameters in the L3 matrix;
when V is more than V3 and less than or equal to V4, the central control processor selects a fourth preset brightness matrix L4 from the L0 matrix group and sequentially adjusts the brightness of each light source in the lighting unit according to parameters in the L4 matrix;
when the brightness adjustment of each light source is completed, the conveyor belt starts to convey the capsules.
Specifically, for the ith preset luminance matrix Li, i is 1, 2, 3, 4, Li (Lia, Lib, Lic), where Lia is the ith preset luminance of the first light source 21, Lib is the ith preset luminance of the second light source 22, and Lic is the ith preset luminance of the third light source 23;
when the central control processor selects the parameters in the ith preset brightness matrix Li to sequentially adjust the brightness of each light source in the lighting unit, the central control processor adjusts the brightness of the first light source 21 to Lia, the brightness of the second light source 22 to Lib, and the brightness of the third light source 23 to Lic.
Specifically, a preset size matrix C0 and a preset detection standard matrix group S0 are further arranged in the central control processor; for the preset size matrix C0, C0(C1, C2, C3, C4), where C1 is a first preset capsule size, C2 is a second preset capsule size, C3 is a third preset capsule size, and C4 is a fourth preset capsule size, the preset sizes are gradually increased in order; for the preset detection standard matrix groups S0, S0(S1, S2, S3, S4), wherein S1 is a first preset detection standard matrix, S2 is a second preset detection standard matrix, S3 is a third preset detection standard matrix, and S4 is a fourth preset detection standard matrix;
when the capsule is conveyed by the conveyor belt, the first camera 31 acquires an image of the capsule and conveys image information to the central processor, and the central processor detects the capsule size C in the image information and compares C with each parameter in the C0 matrix:
when C is less than or equal to C1, the central control processor selects a first preset detection standard matrix S1 from the S0 matrix group and sets the parameters in the S1 matrix as the detection standard of the detection;
when C1 is more than C and less than or equal to C2, the central control processor selects a second preset detection standard matrix S2 from the S0 matrix group and sets parameters in the S2 matrix as the detection standard of the detection;
when C2 is more than C and less than or equal to C3, the central control processor selects a third preset detection standard matrix S3 from the S0 matrix group and sets parameters in the S3 matrix as the detection standard of the detection;
when C3 is more than C and less than or equal to C4, the central control processor selects a fourth preset detection standard matrix S4 from the S0 matrix group and sets the parameters in the S4 matrix as the detection standard of the detection.
Specifically, for the ith preset detection standard matrix Si, Si (ci, li, ni, ri), where ci is an ith preset shape maximum deviation value, li is an ith preset maximum scratch length, ni is an ith preset maximum scratch number, and ri is an ith preset color maximum deviation value;
when the central processor selects parameters in the Si matrix as the detection standard of the detection, the central processor controls the first camera 31 to detect the shape of the capsule, controls the second camera 32 and the third camera 33 to detect the maximum scratch length l and the scratch number n on the surface of the capsule, and controls the fourth camera 34 to detect the color of the capsule, the central processor calculates the deviation value c between the actual shape and the preset shape of the capsule and the deviation value r between the actual color and the preset color in sequence and compares the parameters with the corresponding parameters in the Si matrix:
when c is larger than ci, the central control processor judges that the capsule does not meet the standard;
when l is more than li, the central control processor judges that the capsule does not meet the standard;
when n is larger than ni, the central processor judges that the capsule does not meet the standard;
when r is larger than ri, the central control processor judges that the capsule does not meet the standard;
when c is less than or equal to ci, l is less than or equal to li, n is less than or equal to ni and r is less than or equal to ri, the central control processor judges that the capsule meets the standard.
Specifically, a preset photographing interval matrix group F0(F1, F2, F3, F4) is further provided in the central processing unit, where F1 is a first preset photographing interval matrix, F2 is a second preset photographing interval matrix, F3 is a third preset photographing interval matrix, and F4 is a fourth preset photographing interval matrix;
when the capsule is conveyed by the conveyor belt, the central control processor selects a corresponding preset photographing interval matrix according to the comparison result of various parameters in the V and V0 matrixes:
when V is less than or equal to V1, the central control processor selects a first preset photographing interval matrix F1 from the F0 matrix group and sequentially adjusts the photographing interval of each camera according to parameters in the F1 matrix;
when V is more than V1 and less than or equal to V2, the central control processor selects a second preset photographing interval matrix F2 from the F0 matrix group and sequentially adjusts the photographing interval of each camera according to parameters in the F2 matrix;
when V is more than V2 and less than or equal to V3, the central control processor selects a third preset photographing interval matrix F3 from the F0 matrix group and sequentially adjusts the photographing interval of each camera according to parameters in the F3 matrix;
when V is more than V3 and less than or equal to V4, the central control processor selects a fourth preset photographing interval matrix F4 from the F0 matrix group and sequentially adjusts the photographing interval of each camera according to parameters in the F4 matrix.
Specifically, for the ith preset photographing interval matrix Fi, Fi (Fi1, Fi2, Fi3, Fi4), where Fi1 is the ith preset photographing interval matrix first interval duration, Fi2 is the ith preset photographing interval matrix second interval duration, Fi3 is the ith preset photographing interval matrix third interval duration, Fi4 is the ith preset photographing interval matrix fourth interval duration, and the values of the interval durations gradually increase in sequence;
when the central control processor sequentially adjusts the photographing interval of each camera according to the parameters in the ith preset photographing interval matrix Fi, the central control processor selects the corresponding photographing interval duration from the Fi matrix according to the comparison result of the capsule size C and each parameter in the C0 matrix:
when C is less than or equal to C1, the central control processor selects the first interval duration Fi1 of the ith preset photographing interval matrix from the Fi matrix and sets the photographing interval duration of each camera to Fi 1;
when C is more than C1 and less than or equal to C2, the central control processor selects the second interval duration Fi2 of the ith preset photographing interval matrix from the Fi matrix and sets the photographing interval duration of each camera to Fi 2;
when C is more than C2 and less than or equal to C3, the central control processor selects the third interval duration Fi3 of the ith preset photographing interval matrix from the Fi matrix and sets the photographing interval duration of each camera to Fi 3;
and when C3 is more than C and less than or equal to C4, the central control processor selects the ith preset photographing interval matrix fourth interval duration Fi4 from the Fi matrix and sets the photographing interval duration of each camera to Fi 4.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A multi-camera multi-light-source capsule defect detection online image acquisition detection system is characterized by comprising:
the box body is used for loading components in the device and comprises a detection inlet and a detection outlet, the box body is arranged at the appointed position of the capsule conveying device, a conveying belt in the conveying device conveys the capsules into the box body through the detection inlet so as to enable the image acquisition unit to acquire the images of the capsules, and after the acquisition is finished, the conveying belt conveys the capsules to the outside of the box body through the detection outlet; a speed detector is arranged in the box body and used for detecting the moving speed of the conveyor belt;
the lighting unit is arranged in the box body and used for providing corresponding light sources for different cameras;
the image acquisition unit comprises a plurality of cameras which are arranged in the box body and positioned on the top wall of the box body and is used for acquiring the image information of the capsule;
the partition plates are respectively arranged at the designated positions in the box body and are used for separating the corresponding cameras in the image acquisition units and the light sources corresponding to the cameras;
the central control processor is respectively connected with the speed detector, each light source in the lighting unit and each camera in the image acquisition unit and used for determining the brightness of each light source according to the moving speed of the conveyor belt and determining the photographing interval of each camera according to the moving speed of the conveyor belt and the size of the capsule transported by the conveyor belt; the central control processor is provided with a preset speed matrix, a preset size matrix, a preset detection standard matrix group, a preset brightness matrix group and a preset photographing interval matrix group, the central control processor compares the moving speed value of the conveyor belt detected by the speed detector with each parameter in the preset speed matrix, selects the parameter in the preset brightness matrix group according to the comparison result to adjust the brightness of each light source, compares the size of the capsule with each parameter in the preset size matrix, and selects a corresponding detection standard from the preset detection standard matrix group according to the comparison result; and the central control processor also selects corresponding parameters from the preset photographing interval matrix group according to the comparison result of the moving speed value of the conveyor belt and each parameter in a preset speed matrix and the comparison result of the capsule size and each parameter in the preset size matrix so as to sequentially set the photographing interval of each camera in the image acquisition unit.
2. The multi-camera multi-light-source capsule defect detection online image acquisition detection system according to claim 1, wherein the image acquisition unit comprises:
the first camera is arranged on the inner top wall of the box body and is positioned in the middle of one side close to the detection inlet, and the first camera is a black-and-white camera and is used for detecting the shape of the capsule on the conveying belt;
the second camera is arranged on the inner top wall of the box body and is positioned on one side, away from the detection inlet, of the first camera, and the second camera is a black-and-white camera and is used for detecting the surface of the capsule on the conveying belt;
the third camera is arranged on the inner top wall of the box body and is positioned on one side, far away from the first camera, of the second camera, and the third camera is a black-and-white camera and is used for detecting the surface of the capsule on the conveyor belt;
and the fourth camera is arranged on the inner top wall of the box body and is positioned on one side of the third camera far away from the second camera, and the fourth camera is a color camera and is used for detecting the color of the surface of the capsule.
3. The multi-camera multi-light-source capsule defect detection online image acquisition detection system according to claim 2, wherein the partition plate comprises:
a first partition disposed within the case and between the first camera and the second camera;
a second partition plate disposed in the case and between the third and fourth cameras;
and the third partition plate is arranged in the box body and is positioned between the fourth camera and the box body detection outlet.
4. The multi-camera multi-light-source capsule defect detection online image acquisition detection system according to claim 3, wherein the light irradiation unit comprises:
the first light source is positioned between the detection inlet and the first partition plate and comprises parallel light sources arranged on two side walls of the box body, and the first light source irradiates the capsule so that the first camera can clearly acquire the outer contour of the capsule and the shape of the capsule is acquired by the first camera;
the second light source is positioned between the first partition plate and the second partition plate and comprises an LED infrared light source arranged at the bottom of the conveyor belt, and the second light source irradiates the capsules so that the second camera and the third camera can clean and collect the surfaces of the capsules;
and the third light source is positioned between the second partition plate and the third partition plate and comprises common LED array light sources arranged on the third partition plate, the fourth partition plate and two side walls of the case, and the common LED array light sources irradiate the capsule so that the fourth camera can acquire the real color of the capsule.
5. The multi-camera multi-light-source capsule defect detection online image acquisition detection system as claimed in claim 4, wherein a preset speed matrix V0 and a preset brightness matrix L0 are provided in the central control unit; for the preset speed matrix V0, V0(V1, V2, V3, V4), where V1 is a first preset moving speed, V2 is a second preset moving speed, V3 is a third preset moving speed, and V4 is a fourth preset moving speed, the preset moving speeds are gradually increased in sequence; for the preset brightness matrix groups L0, L0(L1, L2, L3, L4), where L1 is a first preset brightness matrix, L2 is a second preset brightness matrix, L3 is a third preset brightness matrix, and L4 is a fourth preset brightness matrix;
when the conveying belt conveys the capsules into the box body, the speed detector detects the moving speed V of the conveying belt and conveys a detection value to the central control processor, and the central control processor compares the V with each parameter in the V0 matrix:
when V is less than or equal to V1, the central control processor selects a first preset brightness matrix L1 from the L0 matrix group and sequentially adjusts the brightness of each light source in the lighting unit according to parameters in an L1 matrix;
when V is more than V1 and less than or equal to V2, the central control processor selects a second preset brightness matrix L2 from the L0 matrix group and sequentially adjusts the brightness of each light source in the lighting unit according to parameters in the L2 matrix;
when V is more than V2 and less than or equal to V3, the central control processor selects a third preset brightness matrix L3 from the L0 matrix group and sequentially adjusts the brightness of each light source in the lighting unit according to parameters in the L3 matrix;
when V is more than V3 and less than or equal to V4, the central control processor selects a fourth preset brightness matrix L4 from the L0 matrix group and sequentially adjusts the brightness of each light source in the lighting unit according to parameters in the L4 matrix;
when the brightness adjustment of each light source is completed, the conveyor belt starts to convey the capsules.
6. The multi-camera multi-light-source capsule defect detection online image acquisition detection system according to claim 5, wherein for the ith preset luminance matrix Li, i is 1, 2, 3, 4, Li (Lia, Lib, Lic), where Lia is the ith preset luminance of the first light source, Lib is the ith preset luminance of the second light source, and Lic is the ith preset luminance of the third light source;
when the central control processor selects the parameters in the ith preset brightness matrix Li to sequentially adjust the brightness of each light source in the lighting unit, the central control processor adjusts the brightness of the first light source to Lia, the brightness of the second light source to Lib and the brightness of the third light source to Lic.
7. The multi-camera multi-light-source capsule defect detection online image acquisition detection system according to claim 6, wherein a preset size matrix C0 and a preset detection standard matrix set S0 are further provided in the central processor; for the preset size matrix C0, C0(C1, C2, C3, C4), where C1 is a first preset capsule size, C2 is a second preset capsule size, C3 is a third preset capsule size, and C4 is a fourth preset capsule size, the preset sizes are gradually increased in order; for the preset detection standard matrix groups S0, S0(S1, S2, S3, S4), wherein S1 is a first preset detection standard matrix, S2 is a second preset detection standard matrix, S3 is a third preset detection standard matrix, and S4 is a fourth preset detection standard matrix;
when the capsule is conveyed by the conveyor belt, the first camera acquires an image of the capsule and conveys image information to the central processor, and the central processor detects the capsule size C in the image information and compares C with various parameters in the C0 matrix:
when C is less than or equal to C1, the central control processor selects a first preset detection standard matrix S1 from the S0 matrix group and sets the parameters in the S1 matrix as the detection standard of the detection;
when C1 is more than C and less than or equal to C2, the central control processor selects a second preset detection standard matrix S2 from the S0 matrix group and sets parameters in the S2 matrix as the detection standard of the detection;
when C2 is more than C and less than or equal to C3, the central control processor selects a third preset detection standard matrix S3 from the S0 matrix group and sets parameters in the S3 matrix as the detection standard of the detection;
when C3 is more than C and less than or equal to C4, the central control processor selects a fourth preset detection standard matrix S4 from the S0 matrix group and sets the parameters in the S4 matrix as the detection standard of the detection.
8. The multi-camera multi-light-source capsule defect detection online image acquisition detection system according to claim 7, wherein for the ith preset detection standard matrix Si, Si (ci, li, ni, ri), wherein ci is an ith preset shape maximum deviation value, li is an ith preset maximum scratch length, ni is an ith preset maximum scratch number, and ri is an ith preset color maximum deviation value;
when the central processor selects parameters in the Si matrix as the detection standard of the detection, the central processor controls the first camera to detect the shape of the capsule, controls the second camera and the third camera to detect the maximum scratch length l and the scratch number n on the surface of the capsule and controls the fourth camera to detect the color of the capsule, the central processor calculates the deviation value c of the actual shape and the preset property of the capsule and the deviation value r of the actual color and the preset color in turn and compares the parameters with the corresponding parameters in the Si matrix:
when c is larger than ci, the central control processor judges that the capsule does not meet the standard;
when l is more than li, the central control processor judges that the capsule does not meet the standard;
when n is larger than ni, the central processor judges that the capsule does not meet the standard;
when r is larger than ri, the central control processor judges that the capsule does not meet the standard;
when c is less than or equal to ci, l is less than or equal to li, n is less than or equal to ni and r is less than or equal to ri, the central control processor judges that the capsule meets the standard.
9. The multi-camera multi-light-source capsule defect detection online image acquisition detection system of claim 8, wherein a preset photographing interval matrix set F0(F1, F2, F3, F4) is further provided in the central processor, wherein F1 is a first preset photographing interval matrix, F2 is a second preset photographing interval matrix, F3 is a third preset photographing interval matrix, and F4 is a fourth preset photographing interval matrix;
when the capsule is conveyed by the conveyor belt, the central control processor selects a corresponding preset photographing interval matrix according to the comparison result of various parameters in the V and V0 matrixes:
when V is less than or equal to V1, the central control processor selects a first preset photographing interval matrix F1 from the F0 matrix group and sequentially adjusts the photographing interval of each camera according to parameters in the F1 matrix;
when V is more than V1 and less than or equal to V2, the central control processor selects a second preset photographing interval matrix F2 from the F0 matrix group and sequentially adjusts the photographing interval of each camera according to parameters in the F2 matrix;
when V is more than V2 and less than or equal to V3, the central control processor selects a third preset photographing interval matrix F3 from the F0 matrix group and sequentially adjusts the photographing interval of each camera according to parameters in the F3 matrix;
when V is more than V3 and less than or equal to V4, the central control processor selects a fourth preset photographing interval matrix F4 from the F0 matrix group and sequentially adjusts the photographing interval of each camera according to parameters in the F4 matrix.
10. The multi-camera multi-light-source capsule defect detection online image acquisition detection system according to claim 9, wherein for the ith preset photographing interval matrix Fi, Fi (Fi1, Fi2, Fi3, Fi4), Fi1 is the ith preset photographing interval matrix first interval duration, Fi2 is the ith preset photographing interval matrix second interval duration, Fi3 is the ith preset photographing interval matrix third interval duration, Fi4 is the ith preset photographing interval matrix fourth interval duration, and the values of the interval durations gradually increase in order;
when the central control processor sequentially adjusts the photographing interval of each camera according to the parameters in the ith preset photographing interval matrix Fi, the central control processor selects the corresponding photographing interval duration from the Fi matrix according to the comparison result of the capsule size C and each parameter in the C0 matrix:
when C is less than or equal to C1, the central control processor selects the first interval duration Fi1 of the ith preset photographing interval matrix from the Fi matrix and sets the photographing interval duration of each camera to Fi 1;
when C is more than C1 and less than or equal to C2, the central control processor selects the second interval duration Fi2 of the ith preset photographing interval matrix from the Fi matrix and sets the photographing interval duration of each camera to Fi 2;
when C is more than C2 and less than or equal to C3, the central control processor selects the third interval duration Fi3 of the ith preset photographing interval matrix from the Fi matrix and sets the photographing interval duration of each camera to Fi 3;
and when C3 is more than C and less than or equal to C4, the central control processor selects the ith preset photographing interval matrix fourth interval duration Fi4 from the Fi matrix and sets the photographing interval duration of each camera to Fi 4.
CN202010913865.2A 2020-09-03 2020-09-03 Capsule defect detection online image acquisition and detection system with multiple cameras and multiple light sources Pending CN112129769A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113359372A (en) * 2021-06-04 2021-09-07 贵州大学 Automatic focusing and light supplementing device and method of camera for uniaxial compressive strength test
CN113984764A (en) * 2021-10-28 2022-01-28 四川科伦药业股份有限公司 Detection device and automatic observation system suitable for disintegration tester

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113359372A (en) * 2021-06-04 2021-09-07 贵州大学 Automatic focusing and light supplementing device and method of camera for uniaxial compressive strength test
CN113359372B (en) * 2021-06-04 2023-05-12 贵州大学 Automatic focusing and light supplementing device and method for camera for uniaxial compressive strength test
CN113984764A (en) * 2021-10-28 2022-01-28 四川科伦药业股份有限公司 Detection device and automatic observation system suitable for disintegration tester

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