CN113065375B - Cup sealing film positioning label identification method and system - Google Patents
Cup sealing film positioning label identification method and system Download PDFInfo
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- CN113065375B CN113065375B CN202110379213.XA CN202110379213A CN113065375B CN 113065375 B CN113065375 B CN 113065375B CN 202110379213 A CN202110379213 A CN 202110379213A CN 113065375 B CN113065375 B CN 113065375B
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- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
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Abstract
The invention relates to a method and a system for identifying a cup sealing film positioning label, wherein the method comprises the steps of firstly sampling and digitally filtering an optoelectronic signal to obtain a transmission aperture index Ft and a reflection aperture index Fr; then comparing the transmission aperture index Ft with the reflection aperture index Fr to determine the type of the cup sealing film; judging whether the transmission aperture index Ft or the reflection aperture index Fr is equal to the preset aperture index value Fs, if so, directly entering a positioning label identification process, otherwise, regulating and modifying the modulation degree of the SPWM signal by using PI, calculating the pulse width, outputting the SPWM signal, and sampling and digitally filtering the current photoelectric signal again until the transmission aperture index Ft or the reflection aperture index Fr is equal to the preset aperture index value Fs; then, carrying out real-time sampling and digital filtering processing on the photoelectric signal to obtain a real-time fundamental wave amplitude value; and comparing the real-time fundamental wave amplitude value with the positioning label threshold value so as to determine whether the positioning label is identified.
Description
Technical Field
The invention relates to the field of detection of cup sealing film positioning labels, in particular to a method and a system for identifying cup sealing film positioning labels.
Background
In real life, a cup sealing machine is generally used for plastically sealing a layer of cup sealing film on the tops of milk tea cups, soybean milk cups and the like. However, when the cup sealing machine seals a cup, the positioning label on the cup sealing film needs to be identified through an electric eye first, so as to ensure that the pattern on the film is complete and the position is accurate after the cup is sealed.
The electric eye comprises an infrared light emitter and an infrared light receiver. The light emitted by the infrared light emitter is divided into three parts, one part is reflected by the cup sealing film, the other part is absorbed by the cup sealing film, the rest part penetrates through the cup sealing film to be received by the infrared light receiver, and finally the positioning label identification is carried out through an electric eye signal processing program.
The cup sealing film mainly comprises a plastic film and an aluminum film. Most plastic films are transparent and have poor reflectance, and therefore predominate in identifying transmittance. While the aluminum film is opaque and has poor transmittance, and thus is mainly recognized as a reflectance.
However, the existing electric eye is only of a transmission type and a reflection type, the transmission type electric eye cannot identify the positioning label of the opaque aluminum film, when the opaque aluminum film is identified, the transmission type electric eye can be replaced by the reflection type electric eye, meanwhile, the reflection type electric eye is difficult to identify the positioning label of the transparent plastic film, and when the transparent plastic film is identified, the transmission type electric eye needs to be replaced, so that the electric eye is troublesome to use, and the identification efficiency of the positioning label of the cup sealing film is reduced. In addition, the transmissivity and reflectivity of plastic films and aluminum films of different manufacturers and batches are greatly different, so that the threshold value of the electric eye identification positioning label cannot adapt to various cup sealing films and needs to be manually adjusted, the detection result is often misjudged, and the identification precision is low.
Therefore, a method and a system for identifying a cup sealing film positioning label integrating two detection modes of transmission and reflection are needed.
Disclosure of Invention
The invention aims to provide a method and a system for identifying a positioning label of a cup sealing film, which combine two photoelectric detection modes of transmission and reflection to form a dual-mode identification mode of transmission and reflection, automatically adjust by utilizing signal characteristics and identify by adopting a corresponding identification mode, so that the identification range can cover a whole-class film from full transparency to non-transparency. Meanwhile, the concept of the aperture index is provided, the aperture index of the electric eye detection cup sealing film can be adjusted by the microprocessor, the microprocessor adjusts the size of the modulation degree of the SPWM signal to realize the adjustment of the aperture index, so that the aperture index is kept constant, the transmission film or the reflection film can be effectively detected, the resolution, consistency and stability of the electric eye detection are ensured, the electric eye detection cup sealing film can be suitable for cup sealing films of different manufacturers and different batches, and the detection range, accuracy and reliability are improved.
A cup sealing film positioning label identification method comprises the following steps:
synchronously sampling the photoelectric signal of the transmission receiver and the photoelectric signal of the reflection receiver;
respectively carrying out digital filtering processing on the photoelectric signals obtained by sampling to obtain a transmission aperture index Ft and a reflection aperture index Fr;
comparing the transmission aperture index Ft and the reflection aperture index Fr, and determining the type of the cup sealing film;
judging whether the transmission aperture index Ft or the reflection aperture index Fr is equal to an aperture index preset value Fs or not according to the type of the cup sealing film, if so, identifying a positioning label by using the current transmission aperture index Ft or the reflection aperture index Fr, otherwise, adjusting and modifying the modulation degree of the SPWM signal by using PI, calculating the pulse width of the current SPWM signal, outputting the adjusted SPWM signal, and sampling and digitally filtering the current photoelectric signal of the transmission receiver or the reflection receiver again until the transmission aperture index Ft or the reflection aperture index Fr is equal to the aperture index preset value Fs;
sampling the photoelectric signal of the transmission receiver or the photoelectric signal of the reflection receiver in real time;
carrying out digital filtering processing on the photoelectric signal obtained by sampling to obtain a real-time fundamental wave amplitude value;
and comparing the real-time fundamental wave amplitude value with the positioning label threshold value, and determining whether the positioning label is identified according to the comparison result.
Optionally, the digital filtering processing is performed on the sampled photoelectric signals respectively to obtain a transmission aperture index Ft and a reflection aperture index Fr, and the method specifically includes:
when the microprocessor carries out digital filtering processing on the photoelectric signal of the transmission receiver, the transmissivity of the transmission receiver is 100% under the condition that the modulation degree a is 50%, and the microprocessor carries out filtering processing on the fundamental wave amplitude A according to the photoelectric signal of the transmission receiverTBCalibrating the transmission aperture index Ft as
In the measurement process, the transmissivity of the transmission receiver is less than 100%, and the fundamental wave amplitude A after the filtering processing of the photoelectric signal of the transmission receiver is obtained at the momentTThen the transmission aperture index Ft is
Wherein A isTBRepresenting the value of the fundamental amplitude after filtering processing of the photoelectric signal of the transmission receiver under the condition that the modulation degree a is 50 percent, ATRepresenting the fundamental wave amplitude value after filtering processing of the photoelectric signal of the transmission receiver during actual measurement;
when the microprocessor carries out digital filtering processing on the photoelectric signal of the reflection receiver, under the condition that the modulation degree a is 50%, the reflectivity of the reflection receiver is 100%, and the microprocessor carries out filtering processing on the fundamental wave amplitude A according to the photoelectric signal of the reflection receiverRBThe reflection aperture index Fr is calibrated to
In the measuring process, the reflectivity of the reflection receiver is less than 100%, and the fundamental wave amplitude A of the reflection receiver after the filtering processing of the photoelectric signal is obtained at the momentRThen the reflection aperture index Fr is
Wherein A isRBRepresenting the value of the fundamental amplitude after filtering processing of the photoelectric signal of the reflection receiver with a modulation degree a of 50%RAnd the value of the fundamental wave amplitude after the filtering processing of the photoelectric signal of the reflection receiver during actual measurement is represented.
Optionally, the comparing the transmission aperture index Ft and the reflection aperture index Fr and determining the type of the cup sealing film specifically include:
when the transmission aperture index Ft is smaller than the reflection aperture index Fr, judging that the cup sealing film is an aluminum film mainly reflecting;
and when the transmission aperture index Ft is larger than the reflection aperture index Fr, judging that the cup sealing film is a plastic film mainly based on transmission.
Optionally, the comparing the real-time fundamental wave amplitude value with the positioning tag threshold value, and determining whether the positioning tag is identified according to the comparison result specifically includes:
binarizing the real-time fundamental wave amplitude value, and taking a middle value after the real-time fundamental wave amplitude value is binarized as the positioning label threshold value;
smoothing the real-time fundamental wave amplitude value to obtain a smoothed fundamental wave amplitude value;
comparing the smoothed fundamental wave amplitude value with the positioning label threshold value;
when the smoothed fundamental wave amplitude value is larger than or equal to the positioning label threshold value, outputting an unidentified positioning label;
and when the smoothed fundamental wave amplitude value is smaller than the positioning label threshold value, outputting and identifying a positioning label.
Optionally, before the synchronous sampling of the photoelectric signal of the transmission receiver and the photoelectric signal of the reflection receiver, the method further includes the steps of:
initializing parameters of a microprocessor, and setting specific frequency of a modulation signal of the microprocessor, frequency of an SPWM signal and PWM related register values;
setting the initial modulation degree of the SPWM signal, and calculating the pulse width of each sampling point;
and outputting the SPWM signal to enable the transmission receiver and the reflection receiver to receive photoelectric signals.
Optionally, the setting of the initial modulation degree of the SPWM signal and the calculation of the pulse width of each sampling point specifically include:
setting the modulation degree a to be 50%, and calculating the pulse width of each sampling point by the formula:
wherein, deltanThe pulse width is shown, a is the modulation degree, n is the serial number of sampling points, 128 sampling points are totally arranged, n is larger than or equal to 1 and smaller than or equal to 128, and Tc is the sampling period.
Optionally, outputting the SPWM signal to enable the transmissive receiver and the reflective receiver to receive the photoelectric signal specifically includes:
outputting the SPWM signal by a microprocessor, wherein the SPWM signal drives an LED infrared emission tube to emit an optical signal to the transmission receiver and the reflection receiver;
and the photoelectric signal is received by the transmission receiver and the reflection receiver, and the photoelectric signal is sampled by the microprocessor.
Optionally, after comparing the real-time fundamental wave amplitude value with the positioning tag threshold value and determining whether the positioning tag is identified according to the comparison result, the method further includes the steps of:
the method comprises the following steps of' sampling the photoelectric signal of the transmission receiver or the photoelectric signal of the reflection receiver in real time; carrying out digital filtering processing on the photoelectric signal obtained by sampling to obtain a real-time fundamental wave amplitude value; and comparing the real-time fundamental wave amplitude value with the positioning label threshold value, determining whether the positioning label is identified according to the comparison result, and continuously identifying different cup sealing film positioning labels.
The invention also provides a system for identifying the cup sealing film positioning label, which comprises the following components:
the photoelectric signal sampling module is used for synchronously sampling the photoelectric signal of the transmission receiver and the photoelectric signal of the reflection receiver;
the aperture index acquisition module is used for respectively carrying out digital filtering processing on the sampled photoelectric signals to obtain a transmission aperture index Ft and a reflection aperture index Fr;
the cup sealing film type determining module is used for comparing the transmission aperture index Ft with the reflection aperture index Fr and determining the type of the cup sealing film;
an aperture constant control module, configured to determine whether the transmission aperture index Ft or the reflection aperture index Fr is equal to an aperture preset value Fs according to the type of the cup sealing film, if so, perform location tag identification using the current transmission aperture index Ft or the reflection aperture index Fr, otherwise, modify the modulation degree by using PI adjustment, recalculate the pulse width of the SPWM signal, output the adjusted SPWM signal, and perform sampling and digital filtering processing on the photoelectric signal of the transmission receiver or the reflection receiver again until the transmission aperture index Ft or the reflection aperture index Fr is equal to the aperture preset value Fs;
the signal real-time sampling module is used for sampling the photoelectric signal of the transmission receiver or the photoelectric signal of the reflection receiver in real time;
the fundamental amplitude value acquisition module is used for performing digital filtering processing on the photoelectric signal obtained by sampling to obtain a real-time fundamental amplitude value;
and the positioning label identification module is used for comparing the real-time fundamental wave amplitude value with the positioning label threshold value and determining whether the positioning label is identified according to the comparison result.
Optionally, the method further includes:
the parameter initialization module is used for initializing parameters of the microprocessor, and setting the specific frequency of a modulation signal of the microprocessor, the frequency of an SPWM signal and a PWM related register value;
the modulation degree setting and pulse calculating module is used for setting the initial modulation degree of the SPWM signal and calculating the pulse width of each sampling point;
the SPWM signal output module is used for outputting the SPWM signal so that the transmission receiver and the reflection receiver receive photoelectric signals;
the cycle identification module is used for cyclically sampling the photoelectric signal of the transmission receiver or the photoelectric signal of the reflection receiver in real time; carrying out digital filtering processing on the photoelectric signal obtained by sampling to obtain a real-time fundamental wave amplitude value; and comparing the real-time fundamental wave amplitude value with the positioning label threshold value, determining whether the positioning label is identified according to the comparison result, and continuously identifying different cup sealing film positioning labels.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
1. when the type of the cup sealing film is detected, a transmission and reflection dual-mode identification mode is carried out simultaneously to obtain a transmission aperture index Ft and a reflection aperture index Fr, and the transmission rate or the reflection rate of the cup sealing film is determined by comparing the transmission aperture index Ft with the reflection aperture index Fr, so that the light transmission property of the cup sealing film is determined, and the cup sealing film is judged to be an aluminum film or a plastic film, so that the type of the cup sealing film is identified. After the type of the cup sealing film is determined to be an aluminum film or a plastic film, only one of two identification modes is needed at the time, namely, the transmission aperture index Ft or the reflection aperture index Fr is kept constant and is equal to a fixed value of the aperture index preset value Fs, so that the detection of the positioning label in the state is accurate and reliable, and the identification of the cup sealing film positioning label is realized. The transmission and reflection photoelectric detection modes are integrated into a whole, and a transmission and reflection dual-mode identification mode is formed on the same electric eye device, so that the problems that the transmission type electric eye and the reflection type electric eye need to be switched to use and are detected singly are solved, and the identification efficiency of the cup sealing film positioning label is effectively improved.
2. The invention provides a concept of aperture index, the aperture index is adjusted by a microprocessor, the microprocessor enables the transmission aperture index Ft or the reflection aperture index Fr of a sealing cup film to be constant to be a preset value Fs by adjusting the modulation degree of an SPWM signal when no positioning label exists, the preset value Fs of the aperture index is the optimal aperture index, and the electric eye is in the optimal working state at the moment, namely the difference between the aperture index of the sealing cup film when the positioning label is detected and the aperture index of the sealing cup film when the positioning label does not exist is the largest, so that whether the positioning label exists is identified more easily and more accurately, and the resolution, consistency and stability of electric eye detection are ensured by controlling the aperture index to be constant, and the accuracy and reliability of identification results are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for identifying a cup sealing film positioning label according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram of detection of an electric eye having a transmission receiver and a reflection receiver according to embodiment 1 of the present invention;
FIG. 3 is a schematic flowchart of the constant control of the aperture ratio by the microprocessor according to embodiment 1 of the present invention;
fig. 4 is a block diagram of a structure of a cup sealing film positioning label identification system according to embodiment 2 of the present invention.
Description of reference numerals:
the device comprises a transmission receiver 1, a reflection receiver 2, a cup sealing film 3, an infrared light emitter 4, a photoelectric signal sampling module 5, an aperture index acquisition module 6, a cup sealing film type determination module 7, an aperture index constant control module 8, a signal real-time sampling module 9, a fundamental wave amplitude value acquisition module 10 and a positioning label identification module 11.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method and a system for identifying a positioning label of a cup sealing film, which combine two photoelectric detection modes of transmission and reflection to form a dual-mode identification mode of transmission and reflection, automatically adjust by utilizing signal characteristics and identify by adopting a corresponding identification mode, so that the identification range can cover a full-transparent to opaque full-class film. Meanwhile, the concept of the aperture index is provided, the aperture index of the electric eye detection cup sealing film can be adjusted by the microprocessor, the microprocessor adjusts the size of the modulation degree of the SPWM signal to realize the adjustment of the aperture index, so that the aperture index is kept constant, the transmission film or the reflection film can be effectively detected, the resolution, the consistency and the stability of the electric eye detection are ensured, the electric eye detection cup sealing film can adapt to cup sealing films of different manufacturers and different batches, and the detection range, the accuracy and the reliability are improved.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1
As shown in fig. 1, the embodiment provides a method for identifying a cup sealing film positioning label, which specifically includes the following steps:
and S1, synchronously sampling the photoelectric signal of the transmission receiver 1 and the photoelectric signal of the reflection receiver 2.
Fig. 2 is a schematic diagram of a detection principle of an electric eye having a transmission receiver 1 and a reflection receiver 2 in this embodiment 1, and as can be seen from fig. 2, the electric eye for identifying a positioning label of a cup sealing film 3 provided in this embodiment includes the transmission receiver 1, the reflection receiver 2 and an infrared light emitter 4, the infrared light emitter 4 is used for emitting sine wave infrared light to the transmission receiver 1 and the reflection receiver 2, the infrared light is received by the transmission receiver 1 after passing through the cup sealing film 3, the infrared light is received by the reflection receiver 2 after being reflected by the cup sealing film 3, the infrared light photoelectric signal is synchronously sampled by using the two receivers, and then the microprocessor is used for analyzing and processing the sampled photoelectric signal data, so as to determine the light transmittance of the cup sealing film 3.
When a transparent film is detected, the photoelectric signal weight of the transmission receiver 1 is increased, when an opaque film is detected, the photoelectric signal weight of the reflection receiver 2 is increased, and whether the cup sealing film 3 is transparent or not can be detected by comparing the photoelectric signal weights of the transparent receiver and the reflection receiver 2, so that the aim of accurately identifying various thin film labels can be fulfilled.
In this embodiment, the photoelectric signal weight is a ratio of the transmitted optical electric signal to the reflected optical electric signal. For example, the total transparent film receives a photoelectric signal of 90% transmitted light + 10% reflected light, the semi-transparent film receives a photoelectric signal of 50% transmitted light + 50% reflected light, and the opaque film receives a photoelectric signal of 10% transmitted light + 90% reflected light, wherein the weight of the photoelectric signal is the percentage of the transmitted light and the reflected light. It should be noted that the specific weighting data in the embodiment, i.e. the above percentage values, are only used for illustration, and should not be used as a limitation to the scope of the present invention.
It should be noted that, in this embodiment, before synchronously sampling the photoelectric signal of the transmission receiver 1 and the photoelectric signal of the reflection receiver 2, the method further includes the following steps:
firstly, initializing the parameters of the microprocessor, which mainly includes setting the specific frequency of the modulation signal of the microprocessor, the frequency of the SPWM signal, the PWM-related register value, and the like, and these initialization contents are all the advanced settings of the parameters of the microprocessor itself, which are prepared for outputting the specific SPWM signal.
The microprocessor is a core device of the electric eye and is responsible for data calculation processing such as signal acquisition control, numerical value comparison and the like, modulation degree adjustment, signal output and control, function setting and the like in the detection process.
Secondly, setting the initial modulation degree of the SPWM signal, and calculating the pulse width of each sampling point.
The method specifically comprises the following steps:
setting the modulation degree a to 50%, and calculating the pulse width delta of each sampling point by a formulan：
Wherein, deltanThe pulse width is represented, a represents the modulation degree, n represents the serial number of sampling points, 128 sampling points are totally arranged, n is more than or equal to 1 and less than or equal to 128, and Tc represents the sampling period.
It should be noted that in the present embodiment, 128 sampling points are provided, which is a preferred value, and in fact, 256 sampling points or other values may also be provided, as the case may be.
Finally, the SPWM signal is output, so that the photoelectric signals are received by the transmission receiver 1 and the reflection receiver 2. The method specifically comprises the following steps:
outputting the SPWM signal by a microprocessor, wherein the SPWM signal drives an LED infrared emission tube of an infrared light emitter 4 to emit photoelectric signals of infrared light to the transmission receiver 1 and the reflection receiver 2;
and the photoelectric signal is received by the transmission receiver 1 and the reflection receiver 2, and the photoelectric signal is sampled by the microprocessor.
In this embodiment, microprocessor embeds there are signal amplifier and wave filter, infrared emitter 4 includes the infrared transmitting tube of LED, through the infrared light of the infrared transmitting tube transmission of LED, SPWM signal is through the filtering, enlarge the back, drive the infrared transmitting tube of LED and get into operating condition, launch the photoelectric signal of infrared light, then behind the photoelectric signal that transmission receiver 1 and reflection receiver 2 received the infrared transmitting tube transmission of infrared emitter 4, just can carry out synchronous sampling to the photoelectric signal of transmission receiver 1 and the photoelectric signal of reflection receiver 2 through microprocessor.
It should be further noted that, in this embodiment, an SPWM signal, that is, an SPWM carrier signal, is sent by the microprocessor, the microprocessor sends the SPWM signal to the infrared light emitter 4 to drive the infrared light emitter 4 to start working, an LED infrared transmitting tube of the infrared light emitter 4 transmits an infrared photoelectric signal to the transmission receiver 1 and the reflection receiver 2, and the infrared photoelectric signal transmitted by the infrared light emitter 4 is a sinusoidal signal with a specific frequency, so that the SPWM signal is used as a means for exciting and adjusting the photoelectric signal, and the microprocessor adjusts a modulation degree a of the SPWM signal to adjust the intensity of the infrared light, thereby achieving the purpose of adjusting the photoelectric signal.
And S2, respectively carrying out digital filtering processing on the photoelectric signals obtained by sampling to obtain a transmission aperture index Ft and a reflection aperture index Fr. The method specifically comprises the following steps:
s2.1, when the microprocessor carries out digital filtering processing on the photoelectric signal of the transmission receiver 1, under the condition that the modulation degree a is 50%, the transmissivity of the transmission receiver 1 is 100%, namely when the cup sealing film 3 to be detected does not exist, the microprocessor carries out filtering processing on the photoelectric signal of the transmission receiver 1 according to the fundamental wave amplitude ATBCalibrating the transmission aperture index Ft as
S2.2, in the measuring process, the transmissivity of the transmission receiver 1 is less than 100%, and the fundamental wave amplitude A after the filtering processing of the photoelectric signal of the transmission receiver 1 is obtained at the momentTThen the transmission aperture index Ft is
Wherein A isTBRepresents the value of the fundamental wave amplitude, A, after filtering processing of the photoelectric signal of the transmission receiver 1 with a modulation degree a of 50%TRepresenting the fundamental amplitude value after filtering processing of the photoelectric signal of the transmission receiver 1 in actual measurement;
s2.3, when the microprocessor carries out digital filtering processing on the photoelectric signal of the reflection receiver 2, under the condition that the modulation degree a is 50%, the reflectivity of the reflection receiver 2 is 100%, namely the cup sealing film 3 is like mirror total reflection, and the microprocessor is used for carrying out light processing according to the reflection receiver 2Fundamental wave amplitude A after electric signal filtering processingRBThe reflection aperture index Fr is calibrated to
S2.4, in the measuring process, the reflectivity of the reflection receiver 2 is less than 100%, and the fundamental wave amplitude A of the reflection receiver 2 after the photoelectric signal filtering processing is obtained at the momentRThen the reflection aperture index Fr is
Wherein A isRBRepresents the value of the fundamental wave amplitude, A, after filtering processing of the photoelectric signal of the reflection receiver 2 with a modulation degree a of 50%RAnd the value of the fundamental wave amplitude after the filtering processing of the photoelectric signal of the reflection receiver 2 in actual measurement is shown.
The present invention proposes the concept of the aperture index for the first time, but it should be noted that the aperture index here is different from that of a camera in the field of photography, and is two different concepts. In the present invention, the aperture index is a relative value reflecting the magnitude of the received infrared light, and includes a transmission aperture index and a reflection aperture index.
S3, comparing the magnitudes of the transmission aperture index Ft and the reflection aperture index Fr, and determining the type of the cup sealing film 3. The method specifically comprises the following steps:
s3.1, when the transmission aperture index Ft is smaller than the reflection aperture index Fr, judging that the cup sealing film 3 is an aluminum film mainly based on reflection;
s3.2, when the transmission aperture index Ft is larger than the reflection aperture index Fr, judging that the cup sealing film 3 is a plastic film mainly based on transmission.
It should be emphasized that, since the cup sealing film 3 commonly available on the market mainly comprises two types of plastic film and aluminum film, the plastic film is mostly used for temporarily sealing the cups of porridge, soybean milk and the like, and the aluminum film is mostly used for sealing the cups of boxed or bottled milk, yoghourt and the like. The plastic film represents a transparent film with good transmission property, the aluminum film represents an opaque film with good reflection property, and the material of the film is not limited to plastic and aluminum, and can be other materials which can be used as a sealing cup. Therefore, in practice, there may be a case where the transmission aperture index Ft is equal to the reflection aperture index Fr, that is, the reflectivity and the transmissivity are similar, and the detected cup sealing film 3 is a semi-transparent film, that is, a film between transparent and opaque and having transmission and reflection parameters, such as an impure aluminum film, an impure plastic film doped with other materials, or a special technology film, and in these cases, the transmission aperture index Ft or the reflection aperture index Fr may be used. Therefore, the present invention does not consider the above-mentioned very special case, but only the plastic film and the aluminum film which are commonly available on the market at present, and therefore, the special case that the transmission aperture index Ft is equal to the reflection aperture index Fr is not considered in the present embodiment.
In this embodiment, by comparing the transmission aperture index Ft and the reflection aperture index Fr, if the reflection aperture index Fr is large, which indicates that the detected cup sealing film 3 is an aluminum film mainly for reflection, the process proceeds to an aluminum film processing flow, and the reflection aperture index Fr is processed. If the transmission aperture index Ft is larger, the detected cup sealing film 3 is a plastic film mainly based on transmission, and the plastic film enters a plastic film processing flow to process the transmission aperture index Ft. Therefore, according to the comparison result of the transmission aperture index Ft and the reflection aperture index Fr, the property type of the cup sealing film 3 can be directly determined through simple numerical comparison, and then the cup sealing film enters an aluminum film processing flow or a plastic film processing flow respectively.
When the type of the cup sealing film 3 is detected, a transmission and reflection dual-mode identification mode is carried out simultaneously to obtain a transmission aperture index Ft and a reflection aperture index Fr, and the transmission rate or the reflection rate of the cup sealing film 3 is determined by comparing the transmission aperture index Ft with the reflection aperture index Fr, so that the light transmission property of the cup sealing film 3 is determined, and the cup sealing film 3 is judged to be an aluminum film or a plastic film, so that the type of the cup sealing film 3 is identified.
S4, judging whether the transmission aperture index Ft or the reflection aperture index Fr is equal to an aperture index preset value Fs or not according to the type of the cup sealing film 3, if so, using the current transmission aperture index Ft or the reflection aperture index Fr to identify a positioning label, otherwise, using PI to adjust and modify the modulation degree of the SPWM signal, calculating the pulse width of the current SPWM signal, outputting the adjusted SPWM signal, and sampling and digitally filtering the current photoelectric signal of the transmission receiver 1 or the reflection receiver 2 again until the transmission aperture index Ft or the reflection aperture index Fr is equal to the aperture index preset value Fs.
In this embodiment, if the transmission aperture index Ft or the reflection aperture index Fr is equal to the preset aperture index value Fs, it is verified that the transmission aperture index Ft or the reflection aperture index Fr is already at the preset constant value, the constant value is maintained, the current transmission aperture index Ft or the reflection aperture index Fr is used to directly enter the positioning tag identification process, and if the transmission aperture index Ft or the reflection aperture index Fr is not equal to the preset aperture index value Fs, the previous pulse width δ is due to the fact that the current pulse width δ is equal to the preset aperture index value FsnThe calculation formula already obtains the pulse width deltanAnd modifying the modulation degree according to the pulse width of the SPWM signal by using a PI (proportional integral) adjustment mode according to the relationship with the modulation degree a, recalculating the pulse width of the SPWM signal, outputting the adjusted SPWM signal, and performing sampling and digital filtering processing on the photoelectric signal of the transmission receiver 1 or the reflection receiver 2 again until the transmission aperture index Ft or the reflection aperture index Fr is equal to the aperture index preset value Fs.
Because the light transmittance and the reflectivity of different cup sealing films 3 are different, the aperture indexes of detection results are also different, so that the threshold value of the identification positioning label cannot be fixed, the detection application range is small, and the reliability is poor. Therefore, the invention makes the transmission aperture index or the reflection aperture index of the cup sealing film 3 constant to be a set value Fs by adjusting the modulation degree a of the SPWM signal, wherein Fs is the optimal state of the electric eye, namely, the difference between the aperture index of the cup sealing film 3 when the positioning label is detected and the aperture index of the cup sealing film 3 when the positioning label is not detected is the largest. The present embodiment sets the aperture index preset value FSSet to 0.7.
It should be noted that, in the present embodiment, the predetermined value F of the aperture indexSWith 0.7, which is a preferred value, it is also possible to setIs 0.6 or 0.8, that is, the preset value F of the aperture indexSThe value of (D) can be determined by self according to the actual situation, and any preset value F related to the aperture indexSThe setting of the values is within the scope of the present invention.
In the invention, after the type of the cup sealing film 3 is determined to be an aluminum film or a plastic film, only one of two identification modes is needed at the time, namely, the transmission identification mode or the reflection identification mode, and as long as the transmission aperture index Ft or the reflection aperture index Fr is kept constant, namely equal to a fixed value of the aperture index preset value Fs, the detection of the positioning label in the state has accuracy and reliability, so that the identification of the positioning label of the cup sealing film 3 is realized. The transmission and reflection photoelectric detection modes are integrated into a whole, and a transmission and reflection dual-mode identification mode is formed on the same electric eye device, so that the problems that the transmission type electric eye and the reflection type electric eye need to be switched to use and are detected singly are solved, and the identification efficiency of the cup sealing film 3 positioning label is effectively improved.
And the modulation degree a of the SPWM signal is modified in a PI (proportional integral) adjustment mode, so that the transmission aperture index or the reflection aperture index is kept constant, the resolution, consistency and stability of electric eye detection are further ensured, the cup sealing film can adapt to cup sealing films of different manufacturers and different batches, and the detection range, accuracy and reliability are improved.
And S5, sampling the photoelectric signal of the transmission receiver 1 or the photoelectric signal of the reflection receiver 2 in real time.
And S6, carrying out digital filtering processing on the photoelectric signal obtained by sampling to obtain a real-time fundamental wave amplitude value.
In this embodiment, after the type of the cup sealing film 3 is determined, and the transmission aperture index Ft or the reflection aperture index Fr is kept constant, that is, equal to the preset aperture index Fs, the process of identifying the positioning label of the cup sealing film 3 is performed, at this time, an aluminum film processing process or a plastic film processing process is performed according to the type of the cup sealing film 3, the microprocessor needs to perform real-time sampling and digital filtering on the photoelectric signal of the transmission receiver 1 or the reflection receiver 2 again, and a real-time fundamental wave amplitude value is obtained according to the relationship between the fundamental wave amplitude and the aperture index in step S2.
And S7, comparing the real-time fundamental wave amplitude value with the positioning label threshold value, and determining whether the positioning label is identified according to the comparison result. The method specifically comprises the following steps:
s7.1, binarizing the real-time fundamental wave amplitude value, and taking a middle value after binarization of the real-time fundamental wave amplitude value as a positioning label threshold value;
s7.2, smoothing the real-time fundamental wave amplitude value to obtain a smoothed fundamental wave amplitude value;
s7.3, comparing the smoothed fundamental wave amplitude value with the positioning label threshold value; when the smoothed fundamental wave amplitude value is larger than or equal to the positioning label threshold value, outputting an unidentified positioning label; and when the smoothed fundamental wave amplitude value is smaller than the positioning label threshold value, outputting and identifying a positioning label.
It should be noted that, in this embodiment, the processing procedures of the digital filtering processing, the binarization processing, the smoothing processing, and the like are all common knowledge in the art, and are not described in detail in the present invention. In addition, it should be noted that the aperture index in the present invention is mainly used in the stage of identifying the type of the cup sealing film 3, and is mainly used for identifying the type of the cup sealing film 3, that is, determining whether the film of the cup sealing film 3 is a transparent plastic film or an opaque aluminum film; the fundamental wave amplitude value and the positioning label threshold value are mainly used in the stage of identifying the positioning label, and are mainly used for identifying the position of the positioning label on the cup sealing film 3.
In this embodiment, after comparing the real-time fundamental wave amplitude value with the positioning tag threshold value and determining whether the positioning tag is identified according to the comparison result, the method further includes the following steps:
the circulation step is that the photoelectric signal of the transmission receiver 1 or the photoelectric signal of the reflection receiver 2 is sampled in real time; carrying out digital filtering processing on the photoelectric signal obtained by sampling to obtain a real-time fundamental wave amplitude value; and comparing the real-time fundamental wave amplitude value with the positioning label threshold value, determining whether the positioning label is identified according to the comparison result, and continuously identifying the positioning labels of different cup sealing films 3, thereby realizing continuous and accurate type identification and positioning label identification of various different cup sealing films 3.
Fig. 3 is a schematic flowchart of a process of controlling aperture index by a microprocessor according to embodiment 1 of the present invention, and as shown in fig. 3, in a stage of identifying a type of a cup sealing film 3, the microprocessor first sets a modulation a of an SPWM signal to be output to 50%, and calculates a pulse width δ of each sampling point by using a formulanThen, the microprocessor outputs the SPWM signal, and synchronously samples the photoelectric signal received by the transmission receiver 1 and the photoelectric signal received by the reflection receiver 2 at the same time (note that, in this case, the photoelectric signals received by the transmission receiver 1 and the reflection receiver 2 are synchronously sampled at the same time, when the type of the cup sealing film 3 is determined later and the transmission aperture index Ft or the reflection aperture index Fr is not equal to the preset aperture index value Fs, and the modulation degree a is modified by PI adjustment, the step of outputting the SPWM signal is returned, in this case, only a single sampling is performed on the photoelectric signal received by one of the transmission receiver 1 or the reflection receiver 2, so that "the photoelectric signal of the transmission receiver 1 'and/or' the photoelectric signal of the reflection receiver 2" is sampled in fig. 3, after the sampling is completed, the microprocessor digitally filters the photoelectric signal through the filter, and obtaining a transmission aperture index Ft and a reflection aperture index Fr, then comparing the magnitude relation between the transmission aperture index Ft and the reflection aperture index Fr by the microprocessor, if the reflection aperture index Fr is larger, indicating that the detected cup sealing film 3 is an aluminum film mainly based on reflection, entering an aluminum film processing flow, and if the transmission aperture index Ft is larger, indicating that the detected cup sealing film 3 is a plastic film mainly based on transmission, entering a plastic film processing flow. And then the microprocessor compares whether the transmission aperture index Ft or the reflection aperture index Fr is equal to the preset aperture index value Fs, and if so, the microprocessor directly identifies the positioning label by using the corresponding reflection photoelectric signal or the transmission photoelectric signal. Otherwise, the value of the modulation degree a is modified through PI regulation, and the steps of outputting SPWM signals, sampling the photoelectric signals of the transmission receiver 1 or the reflection receiver 2 are circulated until the transmission aperture index Ft or the reflected lightThe ring index Fr is equal to the preset ring index value Fs, namely the transmission ring index Ft or the reflection ring index Fr is kept to be a constant preset value, and the constant control of the ring index is realized.
In the positioning tag identification stage, under the condition that the transmission aperture index Ft or the reflection aperture index Fr is constant, the microprocessor samples the photoelectric signal received by the current transmission receiver 1 or the current reflection receiver 2 again to obtain a real-time photoelectric signal, then performs filtering processing on the real-time photoelectric signal to obtain a fundamental wave amplitude value, performs size comparison on the fundamental wave amplitude value and a positioning tag threshold value after smoothing processing, wherein the positioning tag threshold value is a binary intermediate value of all fundamental wave amplitudes, and when the fundamental wave amplitude value is greater than or equal to the positioning tag threshold value, the system outputs a detection result that the positioning tag is not identified; when the fundamental wave amplitude value is smaller than the positioning label threshold value, the system outputs a detection result for identifying the positioning label, and the current electric eye position is the position of the positioning label, so that the identification of the type of the cup sealing film 3 and the position of the positioning label is completed.
Example 2
As shown in fig. 4, the present embodiment provides a cup sealing film positioning label identification system, including:
the photoelectric signal sampling module 5 is used for synchronously sampling the photoelectric signal of the transmission receiver 1 and the photoelectric signal of the reflection receiver 2;
the aperture index acquisition module 6 is configured to perform digital filtering processing on the sampled photoelectric signals respectively to obtain a transmission aperture index Ft and a reflection aperture index Fr;
the cup sealing film type determining module 7 is used for comparing the transmission aperture index Ft and the reflection aperture index Fr and determining the type of the cup sealing film 3;
an aperture constant control module 8, configured to determine whether the transmission aperture index Ft or the reflection aperture index Fr is equal to an aperture preset value Fs according to the type of the cup sealing film 3, if so, perform location tag identification by using the current transmission aperture index Ft or the reflection aperture index Fr, otherwise, modify the modulation by using PI adjustment, recalculate the pulse width of the SPWM signal, output the adjusted SPWM signal, and perform sampling and digital filtering on the photoelectric signal of the transmission receiver 1 or the reflection receiver 2 again until the transmission aperture index Ft or the reflection aperture index Fr is equal to the aperture preset value Fs;
the signal real-time sampling module 9 is configured to sample the photoelectric signal of the transmission receiver 1 or the photoelectric signal of the reflection receiver 2 in real time;
the fundamental amplitude value acquisition module 10 is configured to perform digital filtering processing on the sampled photoelectric signal to obtain a real-time fundamental amplitude value;
and the positioning label identification module 11 is configured to compare the real-time fundamental wave amplitude value with a positioning label threshold value, and determine whether a positioning label is identified according to a comparison result.
The method can also comprise the following steps:
the parameter initialization module is used for initializing parameters of the microprocessor, and setting the specific frequency of a modulation signal of the microprocessor, the frequency of an SPWM signal and a PWM related register value;
the modulation degree setting and pulse calculating module is used for setting the initial modulation degree of the SPWM signal and calculating the pulse width of each sampling point;
the SPWM signal output module is used for outputting the SPWM signal to enable the transmission receiver 1 and the reflection receiver 2 to receive photoelectric signals;
the cycle identification module is used for carrying out cycle steps to sample the photoelectric signals of the transmission receiver 1 or the reflection receiver 2 in real time; carrying out digital filtering processing on the photoelectric signal obtained by sampling to obtain a real-time fundamental wave amplitude value; and comparing the real-time fundamental wave amplitude value with the positioning label threshold value, determining whether the positioning label is identified according to the comparison result, and continuously identifying different positioning labels of the cup sealing film 3.
When the positioning label of the cup sealing film is identified, the positioning label is automatically adjusted by utilizing the signal characteristics and a corresponding identification mode is selected for identification, so that the identification range can cover all-kind films from full transparency to non-transparency, the cup sealing film can adapt to cup sealing films of different manufacturers and different batches, the detection range is improved, manual participation is not needed, the identification accuracy is effectively improved, and the problem that misjudgment is easy to occur after the identification threshold value is manually adjusted is solved. In the identification process of the cup sealing film positioning label, the photoelectric signal detection and the control of the aperture index are completed by a microprocessor without manual regulation and the control of the cooperative action of a plurality of devices, so that the control precision is extremely stable, and the reliability and the stability of the identification result are further improved.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.
Claims (9)
1. A cup sealing film positioning label identification method is characterized by comprising the following steps:
synchronously sampling the photoelectric signal of the transmission receiver and the photoelectric signal of the reflection receiver;
respectively carrying out digital filtering processing on the photoelectric signals obtained by sampling to obtain a transmission aperture index Ft and a reflection aperture index Fr, and specifically comprising the following steps:
when the microprocessor carries out digital filtering processing on the photoelectric signal of the transmission receiver, the transmissivity of the transmission receiver is 100% under the condition that the modulation degree a is 50%, and the microprocessor carries out filtering processing on the fundamental wave amplitude A according to the photoelectric signal of the transmission receiverTBCalibrating the transmission aperture index Ft as
During the measurement, the transmission of the transmission receiver is less than 100%, at which point the transmission connection is obtainedFundamental wave amplitude A after photoelectric signal filtering processing of receiverTThen the transmission aperture index Ft is
Wherein A isTBRepresenting the value of the fundamental amplitude after filtering processing of the photoelectric signal of the transmission receiver under the condition that the modulation degree a is 50 percent, ATRepresenting the fundamental wave amplitude value after filtering processing of the photoelectric signal of the transmission receiver during actual measurement;
when the microprocessor performs digital filtering processing on the photoelectric signal of the reflection receiver, under the condition that the modulation degree a is 50%, the reflectivity of the reflection receiver is 100%, and the microprocessor performs filtering processing according to the photoelectric signal of the reflection receiver to obtain the fundamental wave amplitude ARBThe reflection aperture index Fr is calibrated to
In the measuring process, the reflectivity of the reflection receiver is less than 100%, and the fundamental wave amplitude A of the reflection receiver after the filtering processing of the photoelectric signal is obtained at the momentRThen the reflection aperture index Fr is
Wherein A isRBRepresenting the value of the fundamental amplitude after filtering processing of the photoelectric signal of the reflection receiver with a modulation degree a of 50%RRepresenting the fundamental wave amplitude value after filtering processing of the photoelectric signal of the reflection receiver during actual measurement;
comparing the transmission aperture index Ft and the reflection aperture index Fr, and determining the type of the cup sealing film;
judging whether the transmission aperture index Ft or the reflection aperture index Fr is equal to an aperture index preset value Fs or not according to the type of the cup sealing film, if so, identifying a positioning label by using the current transmission aperture index Ft or the reflection aperture index Fr, otherwise, adjusting and modifying the modulation degree of the SPWM signal by using PI, calculating the pulse width of the current SPWM signal, outputting the adjusted SPWM signal, and sampling and digitally filtering the current photoelectric signal of the transmission receiver or the reflection receiver again until the transmission aperture index Ft or the reflection aperture index Fr is equal to the aperture index preset value Fs;
sampling the photoelectric signal of the transmission receiver or the photoelectric signal of the reflection receiver in real time;
carrying out digital filtering processing on the photoelectric signal obtained by sampling to obtain a real-time fundamental wave amplitude value;
and comparing the real-time fundamental wave amplitude value with the positioning label threshold value, and determining whether the positioning label is identified according to the comparison result.
2. The method for identifying the cup sealing film positioning label of claim 1, wherein the comparing the magnitudes of the transmission aperture index Ft and the reflection aperture index Fr and determining the type of the cup sealing film specifically comprise:
when the transmission aperture index Ft is smaller than the reflection aperture index Fr, judging that the cup sealing film is an aluminum film mainly reflecting;
and when the transmission aperture index Ft is larger than the reflection aperture index Fr, judging that the cup sealing film is a plastic film mainly based on transmission.
3. The method for identifying the cup sealing film positioning label according to claim 1, wherein the comparing the real-time fundamental wave amplitude value with the positioning label threshold value and determining whether the positioning label is identified according to the comparison result specifically comprises:
binarizing the real-time fundamental wave amplitude value, and taking a middle value after the real-time fundamental wave amplitude value is binarized as the positioning label threshold value;
smoothing the real-time fundamental wave amplitude value to obtain a smoothed fundamental wave amplitude value;
comparing the smoothed fundamental wave amplitude value with the positioning label threshold value;
when the smoothed fundamental wave amplitude value is larger than or equal to the positioning label threshold value, outputting an unidentified positioning label;
and when the smoothed fundamental wave amplitude value is smaller than the positioning label threshold value, outputting and identifying a positioning label.
4. The method for identifying a cup-closing film positioning label of claim 1, characterized in that before synchronously sampling the photoelectric signal of the transmission receiver and the photoelectric signal of the reflection receiver, the method further comprises the following steps:
initializing parameters of a microprocessor, and setting the frequency of a modulation signal of the microprocessor, the frequency of an SPWM signal and a PWM related register value;
setting the initial modulation degree of the SPWM signal, and calculating the pulse width of each sampling point;
and outputting the SPWM signal to enable the transmission receiver and the reflection receiver to receive photoelectric signals.
5. The method for identifying the cup-sealing film positioning label of claim 4, wherein the setting of the initial modulation degree of the SPWM signal and the calculation of the pulse width of each sampling point specifically comprise:
setting the modulation degree a to be 50%, and calculating the pulse width of each sampling point by the formula:
wherein, deltanThe pulse width is represented, a represents the modulation degree, n represents the serial number of sampling points, 128 sampling points are totally arranged, n is more than or equal to 1 and less than or equal to 128, and Tc represents the sampling period.
6. The method for identifying a cup sealing film positioning label of claim 4, wherein the outputting the SPWM signal to enable the transmission receiver and the reflection receiver to receive the photoelectric signal comprises:
outputting the SPWM signal by a microprocessor, wherein the SPWM signal drives an LED infrared emission tube to emit an optical signal to the transmission receiver and the reflection receiver;
and the photoelectric signal is received by the transmission receiver and the reflection receiver, and the photoelectric signal is sampled by the microprocessor.
7. The method for identifying the cup sealing film positioning label according to claim 1, wherein after the comparing the real-time fundamental wave amplitude value with the positioning label threshold value and determining whether the positioning label is identified according to the comparison result, the method further comprises the steps of:
the circulation step is that the photoelectric signal of the transmission receiver or the photoelectric signal of the reflection receiver is sampled in real time; carrying out digital filtering processing on the photoelectric signal obtained by sampling to obtain a real-time fundamental wave amplitude value; and comparing the real-time fundamental wave amplitude value with the positioning label threshold value, determining whether the positioning label is identified according to the comparison result, and continuously identifying different cup sealing film positioning labels.
8. A cup sealing film positioning label identification system based on the cup sealing film positioning label identification method according to any one of claims 1 to 7, comprising:
the photoelectric signal sampling module is used for synchronously sampling the photoelectric signal of the transmission receiver and the photoelectric signal of the reflection receiver;
the aperture index acquisition module is used for respectively carrying out digital filtering processing on the sampled photoelectric signals to obtain a transmission aperture index Ft and a reflection aperture index Fr;
the cup sealing film type determining module is used for comparing the transmission aperture index Ft with the reflection aperture index Fr and determining the type of the cup sealing film;
an aperture constant control module, configured to determine whether the transmission aperture index Ft or the reflection aperture index Fr is equal to an aperture preset value Fs according to the type of the cup sealing film, if so, perform location tag identification using the current transmission aperture index Ft or the reflection aperture index Fr, otherwise, modify the modulation degree by using PI adjustment, recalculate the pulse width of the SPWM signal, output the adjusted SPWM signal, and perform sampling and digital filtering processing on the photoelectric signal of the transmission receiver or the reflection receiver again until the transmission aperture index Ft or the reflection aperture index Fr is equal to the aperture preset value Fs;
the signal real-time sampling module is used for sampling the photoelectric signal of the transmission receiver or the photoelectric signal of the reflection receiver in real time;
the fundamental amplitude value acquisition module is used for performing digital filtering processing on the photoelectric signal obtained by sampling to obtain a real-time fundamental amplitude value;
and the positioning label identification module is used for comparing the real-time fundamental wave amplitude value with a positioning label threshold value and determining whether a positioning label is identified according to a comparison result.
9. The cup sealing film positioning label identification system of claim 8, further comprising:
the parameter initialization module is used for initializing parameters of the microprocessor, and setting the frequency of a modulation signal of the microprocessor, the frequency of an SPWM signal and a PWM related register value;
the modulation degree setting and pulse calculating module is used for setting the initial modulation degree of the SPWM signal and calculating the pulse width of each sampling point;
the SPWM signal output module is used for outputting the SPWM signal so that the transmission receiver and the reflection receiver receive photoelectric signals;
the cycle identification module is used for cyclically sampling the photoelectric signal of the transmission receiver or the photoelectric signal of the reflection receiver in real time; carrying out digital filtering processing on the photoelectric signal obtained by sampling to obtain a real-time fundamental wave amplitude value; and comparing the real-time fundamental wave amplitude value with the positioning label threshold value, determining whether the positioning label is identified according to the comparison result, and continuously identifying different cup sealing film positioning labels.
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Application publication date: 20210702 Assignee: WENZHOU CHENG XIN ELECTRONICS Co.,Ltd. Assignor: Wenzhou University Contract record no.: X2022330000814 Denomination of invention: A method and system for identification of cup sealing film location tag Granted publication date: 20220614 License type: Common License Record date: 20221221 |
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