CN207472194U - A kind of box for material circulation volume weight measuring system - Google Patents
A kind of box for material circulation volume weight measuring system Download PDFInfo
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- CN207472194U CN207472194U CN201721368026.7U CN201721368026U CN207472194U CN 207472194 U CN207472194 U CN 207472194U CN 201721368026 U CN201721368026 U CN 201721368026U CN 207472194 U CN207472194 U CN 207472194U
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- laser ranging
- ranging module
- trimming part
- box
- material circulation
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Abstract
The utility model discloses a kind of box for material circulation volume weight measuring systems, including mounting bracket and the conveyer belt being arranged on the mounting bracket, electronic scale, buphthalmos ball plate, fine-tuning stent, signal processing system, X-direction trimming part, Y-direction trimming part, Z-direction trimming part, LED bar graph light source, industrial camera and laser ranging module；The area data and input information that altitude information that signal processing system is obtained according to laser ranging module, image analysis obtain calculate box for material circulation volume, while provide its weight；The utility model can be realized while carry out real-time automatic measuring, efficiently and accurately to the volume and weight of box for material circulation on assembly line；Need not carry out Feature Points Matching compared to light curtain method or bis- (more) mesh vision measurement systems, this system, avoid the low texture of object, repeat texture, overlapping and it is discontinuous the problems such as, and substantially reduce computation complexity.
Description
Technical field
The utility model is related to non-contact intelligent observation and control technology fields, and in particular to a kind of box for material circulation volume weight measurement system
System.
Background technology
Vision measurement technology belongs to computer vision technique, is one and shoots object by camera, obtains image information, then
Image analysis is carried out, so as to obtain the engineering discipline of the information such as the pose of object and size, is divided into monocular vision and bis- (more) mesh
Vision technique；For measuring object, computer vision is not influenced by artifact, and precision is not by the objects of reference such as surveyors' staff essence
The limitation of degree compared to traditional artificial tape measure, has the advantages such as quick, accurate, non-contact and of low cost, is suitable for
The automatic measurement of batch greatly reduces cost of labor, improves production efficiency.
In monocular vision technique, without carrying out Feature Points Matching and disparity computation, reduce system operations amount, improve and be
The speed of service of uniting and system stability.But monocular vision can only obtain the location information of planar object, it is impossible to measure its depth
Information.
In binocular or multi-vision visual technology, need to carry out Feature Points Matching and disparity computation to object, the process is by optics
Distortion and noise, the mirror-reflection of smooth surface, foreshortening, perspective distortion, low texture, repeat texture, image overlapping and it is non-
The interference of the problems such as continuous so that matching precision and system stability greatly reduce, and matching process operand is big.
In addition, computer vision often using image segmentation processing method, can be used in cutting procedure fixed threshold split plot design,
The automatic threshold segmentations method such as edge split plot design, maximum between-cluster variance.And fixed threshold split plot design is illuminated by the light variation and influences seriously；
Edge split plot design is by object texture serious interference；Maximum variance between clusters can effectively inhibit the influence of illumination variation, if but object
Mirror-reflection or the gray scale of body surface and background occur for part smooth surface in gray scale of apparent 3 or 3 or more etc.
Grade state tends to cause only to come out the region segmentation of reflective or most highlighted tonal gradation, and has ignored other portions of object
Point.
Utility model content
The purpose of the utility model is to overcome, with deficiency, provide a kind of box for material circulation volume weight the shortcomings that the prior art and survey
Amount system.
The purpose of this utility model is achieved through the following technical solutions：
A kind of box for material circulation volume weight measuring system, including mounting bracket and the conveyer belt being arranged on the mounting bracket,
Electronic scale, buphthalmos ball plate, fine-tuning stent, signal processing system, X-direction trimming part, Y-direction trimming part, Z-direction fine tuning
Component, LED bar graph light source, industrial camera and laser ranging module, wherein, the conveyer belt is arranged on the buphthalmos ball plate
The left and right sides, the electronic scale are arranged on the lower section of the buphthalmos ball plate；The X-direction trimming part, Y-direction trimming part
Part, Z-direction trimming part, LED bar graph light source, industrial camera and laser ranging module are all disposed on the fine-tuning stent, and
The X-direction trimming part, Y-direction trimming part, LED bar graph light source, industrial camera and laser ranging module are arranged at institute
State the top of fine-tuning stent, the industrial camera and laser ranging module be arranged side by side and positioned at the buphthalmos ball plate just on
Side, the LED bar graph light source are arranged on the industrial camera and laser ranging module surrounding and are located at the industrial camera and swash
Below ligh-ranging module；The X-direction trimming part controls the industrial camera and laser ranging module to move left and right, the Y
Industrial camera described in directional trim component controls and laser ranging module are moved forward and backward, described in the Z-direction trimming part control
Industrial camera and laser ranging module move up and down；
The industrial camera, laser ranging module and electronic scale are connected respectively with the signal processing system；The letter
Number processing system is equipped with display screen.
Preferably, the buphthalmos ball plate is black or the metal base plate of low key tone.
Preferably, the buphthalmos ball on the buphthalmos ball plate is arranged in array.
The operation principle of the utility model：
During work, step 1 starts box for material circulation volume weight measuring system, industrial camera, laser ranging module, LED strip
Shape light source, electronic scale and signal processing system are started to work, and it is micro- to adjust X-direction trimming part, Y-direction trimming part and Z-direction
Adjust component；
Step 2, carry out the intrinsic parameter of industrial camera, the calibration of outer parameter and distortion factor and laser ranging module with
The calibration of distance between buphthalmos ball plate peak, and by above-mentioned parameter typing signal processing system, specific workflow is as follows：
(1) camera calibration：
Industrial camera meets pinhole camera model, if image coordinate vector isWherein (u, v) is target point
Pixel coordinate；Camera Intrinsic Matrix isWherein fx,fy,cx,cyRespectively x is to focal length, and y is to focal length
With optical axis center coordinate；Camera extrinsic matrix number is (R | T), and wherein R is camera photocentre coordinate system relative to the 3 of world coordinate system
× 3 spin matrixs, T are 3 × 1 translation matrix of the camera photocentre coordinate system relative to world coordinate system；World coordinates vector isWherein X, Y, Z are the world coordinates of target point；Camera imaging model meets relational expression：
Wherein zcFor scale factor；In addition, camera distortion model meets following relationship：
Wherein, (x, y) be distortion rectification before image physical coordinates, (xcor,ycor) for the image physics after distortion rectification
Coordinate, r=x2+y2,k1,k2,k3,p1,p23 coefficient of radial distortion and 2 tangential distortion coefficients for camera；
The purpose of camera calibration is to solve camera intrinsic parameter, outer parameter and distortion factor, by buphthalmos ball plate peak
Residing plane is set as zero plane, using Zhang Zhengyou chessboard plane reference methods, is opened by the position and angle shot 20 that change chessboard
Image, carries out camera calibration, and solution obtains camera intrinsic parameter, outer parameter and distortion factor；
(2) laser ranging module is demarcated：
Chessboard is positioned on buphthalmos ball plate, is measured between chessboard and laser ranging module by laser ranging module
Distance, then the thickness of chessboard is compensated, obtain distance between laser ranging module and buphthalmos ball plate peak；
Step 3 chooses ROI (Region Of Interest) region, shields in viewing field of camera other than buphthalmos ball plate
Region；
Box for material circulation is put into conveyer belt by step 4, and box for material circulation enters buphthalmos ball plate, electronic scale detection object by conveyer belt
The weight of case is flowed, when the data stabilization of electronic scale, box for material circulation weight is recorded and transfers data to signal processing system, later
Start laser ranging module, obtain the height H of box for material circulation；
Step 5 starts the box for material circulation volume recognizer flow based on nested cycle maximum between-cluster variance, specific works
Flow is as follows：
(1) input camera intrinsic parameter fx, Camera extrinsic number Tz, camera distortion coefficient, box for material circulation height H and box for material circulation image
G0；
(2) if box for material circulation height H is less than predetermined threshold value, error message is returned to signal processing system, and starting step
Six；Otherwise distortion is carried out to box for material circulation image to handle, obtain fault image G using the distortion factor of camera；
(3) first time binary conversion treatment is carried out to box for material circulation image data using maximum variance between clusters, divided
Bianry image B0In target area for highlight regions, then define intermediate bianry image Btmp=B0；
(4) by bianry image BtmpIt negates, obtains mask images M；
(5) maximum between-cluster variance is carried out for the corresponding region gone in fault image G of mask images M highlight regions
The binary conversion treatment of method obtains inter-class variance D and the bianry image of highlighted target, and the bianry image for obtaining highlighted target is assigned
To BtmpIf inter-class variance D is more than predetermined threshold value, by BtmpHighlight regions be added to bianry image B0In, and return to step
Five (4), are otherwise further processed；
(6) bianry image B is found0Largest contours, calculate simultaneously fill its convex closure profile C, and calculate convex with highlighted gray scale
Length in pixels L, the pixel wide W of the minimum enclosed rectangle of chartered steamer exterior feature C and vertex pixel coordinate P={ P1,P2,P3,P4}；
(7) it carries out box for material circulation out-of-bounds detection and Interference Detection, specific workflow is as follows：
1. C, L, W and P that ROI information and step 5 (6) that input step three obtains obtain；
2. using the boundary information of ROI, the element of out-of-bounds in the pixel coordinate P of vertex is judged and recorded；
3. if out-of-bounds number of vertices N is more than 1, and there are two more than adjacent vertex out-of-bounds, then return to error message to signal
Processing system, and starting step six；Otherwise according to the vertex of out-of-bounds and its coordinate on two neighboring vertex and ROI boundary informations,
Using similar triangles property, the area in battery limit (BL) domain is calculated, gained out-of-bounds region area isI.e.Similarly, always go out interfacial area is other boundary out-of-bounds situationsIf without top
Point out-of-bounds, then
4. carrying out Interference Detection, the area S of convex closure profile C is calculatedCIf area ratioLess than predetermined threshold value, then
Error message is returned to signal processing system, and starting step six；Otherwise starting step five (8)；
(8) if the box for material circulation out-of-bounds detection of step 5 (7) and Interference Detection pass through, box for material circulation volume is calculatedAnd box for material circulation volume information is returned into signal processing system；
Step 6, the display screen of signal processing system show that box for material circulation volume and weight information or display box for material circulation go out
The prompt message on boundary..
The utility model has following advantageous effect compared with prior art：
(1) compared to traditional artificial tape measure, the utility model has quick, accurate, non-contact and of low cost
Etc. advantages, suitable for the automatic measurement of batch, greatly reduce cost of labor, improve production efficiency；
(2) compared to binocular or multi-vision visual system, the utility model uses single camera vision system, without carrying out characteristic point
Matching and disparity computation, which reduce system operations amounts, improve system running speed and system stability, while this practicality is new
Type is introduced into the depth information that laser ranging module carries out box for material circulation in acquisition image, efficiently realizes the survey to box for material circulation volume
Amount, furthermore, ranging is stable but the unstabilized laser ranging triggering mode of weight compared to be easy to causeing, and the utility model is using weight
Amount stablizes triggering, conducive to stable and glitch-free weight and volume data are obtained；
(3) image partition method of nested cycle maximum between-cluster variance that the utility model uses, compared to fixed threshold
Split plot design, edge split plot design and maximum between-cluster variance these image partition methods, the utility model can effectively weaken illumination variation,
The influence of article surface vein and smooth surface mirror-reflection to segmentation；
(4) the utility model has carried out out-of-bounds and Interference Detection to target, effectively judge target whether out-of-bounds, and phase
Whether there are other chaff interferents to lead to measuring error in machine visual field, the out-of-bounds and Interference Detection effectively carried out measurement data
Filter is greatly lowered using wrong data accidentally as the risk of correct data, and gives specific out-of-bounds or interference prompt message,
Operating personnel is enabled quickly to adjust box for material circulation or system.
Description of the drawings
Fig. 1 is the structure diagram of the utility model；
Fig. 2 is the system identification algorithm part overall flow figure of the utility model；
Fig. 3 is the box for material circulation volume recognizer flow chart based on nested cycle maximum between-cluster variance of the utility model；
Fig. 4 is the out-of-bounds of the utility model and Interference Detection algorithm flow chart；
Fig. 5 is the computational methods schematic diagram of the right margin out-of-bounds of the utility model.
Reference numeral is in figure：1st, signal processing system；2nd, industrial camera；3rd, laser ranging module；4th, LED bar graph light
Source；5th, buphthalmos ball plate；6th, electronic scale；7th, conveyer belt；8th, fine-tuning stent；9th, Z-direction trimming part；10th, X-direction trimming part
Part；11st, Y-direction trimming part；12nd, mounting bracket.
Specific embodiment
The utility model is described in further detail with reference to embodiment and attached drawing, but the implementation of the utility model
Mode is without being limited thereto.
As shown in Fig. 1~5, a kind of box for material circulation volume weight measuring system including mounting bracket 12 and is arranged on the peace
Shelve conveyer belt 7, electronic scale 6, buphthalmos ball plate 5, fine-tuning stent 8, signal processing system 1, the X-direction trimming part on 12
10th, Y-direction trimming part 11, Z-direction trimming part 9, LED bar graph light source 4, industrial camera 2 and laser ranging module 3, wherein,
The buphthalmos ball plate 5 is black or the metal base plate of low key tone, and setting in this way can facilitate the acquisition of image；The ox simultaneously
Buphthalmos ball on eye ball plate 5 is arranged in array, and setting in this way can facilitate box for material circulation disengaging buphthalmos ball plate 5；It is described
Conveyer belt 7 is arranged on the left and right sides of the buphthalmos ball plate 5, and the electronic scale 6 is arranged under the buphthalmos ball plate 5
Side；The X-direction trimming part 10, Y-direction trimming part 11, Z-direction trimming part 9, LED bar graph light source 4, industrial camera 2
Be all disposed on the fine-tuning stent 8 with laser ranging module 3, and the X-direction trimming part 10, Y-direction trimming part 11,
LED bar graph light source 4, industrial camera 2 and laser ranging module 3 are arranged at the top of the fine-tuning stent 8, the industrial camera
2 and laser ranging module 3 be arranged side by side and right over the buphthalmos ball plate 5, the LED bar graph light source 4 is arranged on institute
It states industrial camera 2 and 3 surrounding of laser ranging module and positioned at 3 lower section of the industrial camera 2 and laser ranging module, LED is set
Strip source 4 can realize that uniform polishing obtains qualitative picture for industrial camera 2；The X-direction trimming part 10 controls institute
It states industrial camera 2 and laser ranging module 3 moves left and right, the Y-direction trimming part 11 controls the industrial camera 2 and laser
Range finder module 3 is moved forward and backward, and the Z-direction trimming part 9 controls the industrial camera 2 and laser ranging module 3 to move up and down；
The industrial camera 2, laser ranging module 3 and electronic scale 6 are connected respectively with the signal processing system 1；At the signal
Reason system 1 is equipped with display screen.
The utility model provides a kind of image partition method of nested cycle maximum between-cluster variance, and introduces to obtain object
The laser ranging module 3 of body depth information, the object two-dimensional signal with reference to acquired in monocular vision technique, is realized to box for material circulation
Length and width and high accurate non-cpntact measurement, while generate triggering and the function of weighing, final realization pair using conditional electronic scale 6
Convenient, automatic, high accuracy the measurement of the volume and weight of box for material circulation.
During work, step 1 starts box for material circulation volume weight measuring system, industrial camera 2, laser ranging module 3, LED
Strip source 4, electronic scale 6 and signal processing system 1 are started to work, and adjust X-direction trimming part 10, Y-direction trimming part 11
With Z-direction trimming part 9；
Step 2 carries out intrinsic parameter, the calibration of outer parameter and distortion factor and the laser ranging module 3 of industrial camera 2
The calibration of distance between 5 peak of buphthalmos ball plate, and by above-mentioned parameter typing signal processing system 1, specific workflow is such as
Under：
(1) camera calibration：
Industrial camera 2 meets pinhole camera model, if image coordinate vector isWherein (u, v) is target point
Pixel coordinate；Camera Intrinsic Matrix isWherein fx,fy,cx,cyRespectively x to focal length, y to focal length and
Optical axis center coordinate；Camera extrinsic matrix number is (R | T), wherein R be camera photocentre coordinate system relative to world coordinate system 3 ×
3 spin matrixs, T are 3 × 1 translation matrix of the camera photocentre coordinate system relative to world coordinate system；World coordinates vector isWherein X, Y, Z are the world coordinates of target point；Camera imaging model meets relational expression：
Wherein zcFor scale factor；In addition, camera distortion model meets following relationship：
Wherein, (x, y) be distortion rectification before image physical coordinates, (xcor,ycor) for the image physics after distortion rectification
Coordinate, r=x2+y2,k1,k2,k3,p1,p23 coefficient of radial distortion and 2 tangential distortion coefficients for camera；
The purpose of camera calibration is to solve camera intrinsic parameter, outer parameter and distortion factor, by 5 peak of buphthalmos ball plate
Residing plane is set as zero plane, using Zhang Zhengyou chessboard plane reference methods, is opened by the position and angle shot 20 that change chessboard
Image, carries out camera calibration, and solution obtains camera intrinsic parameter, outer parameter and distortion factor；
(2) laser ranging module 3 is demarcated：
Chessboard is positioned on buphthalmos ball plate 5, by laser ranging module 3 measure chessboard and laser ranging module 3 it
Between distance, then compensate the thickness of chessboard, obtain distance between 5 peak of laser ranging module 3 and buphthalmos ball plate；
Step 3 chooses ROI (Region Of Interest) region, shields in viewing field of camera other than buphthalmos ball plate 5
Region；
Box for material circulation is put into conveyer belt 7 by step 4, and box for material circulation enters buphthalmos ball plate 5 by conveyer belt 7, and electronic scale 6 is visited
The weight of box for material circulation is surveyed, when the data stabilization of electronic scale 6, box for material circulation weight is recorded and transfers data to signal processing system
1, start laser ranging module 3 later, obtain the height H of box for material circulation；
Step 5 starts the box for material circulation volume recognizer flow based on nested cycle maximum between-cluster variance, such as Fig. 3 institutes
Show, specific workflow is as follows：
(1) input camera intrinsic parameter fx, Camera extrinsic number Tz, camera distortion coefficient, box for material circulation height H and box for material circulation image
G0；
(2) if box for material circulation height H is less than predetermined threshold value, (predetermined threshold value herein is that experiment number is summarized after many experiments
According to obtained empirical value), then error message is returned to signal processing system 1, and starting step six；Otherwise the distortion of camera is utilized
Coefficient carries out distortion to box for material circulation image and handles, and obtains fault image G；
(3) first time binary conversion treatment is carried out to box for material circulation image data using maximum variance between clusters, divided
Bianry image B0In target area for highlight regions, then define intermediate bianry image Btmp=B0；
(4) by bianry image BtmpIt negates, obtains mask images M；
(5) maximum between-cluster variance is carried out for the corresponding region gone in fault image G of mask images M highlight regions
The binary conversion treatment of method obtains inter-class variance D and the bianry image of highlighted target, and the bianry image for obtaining highlighted target is assigned
To BtmpIf inter-class variance D is more than predetermined threshold value, (predetermined threshold value herein is to summarize experimental data after many experiments to obtain
Empirical value), then by BtmpHighlight regions be added to bianry image B0In, and step 5 (4) is returned to, it otherwise carries out in next step
Processing；
(6) bianry image B is found0Largest contours, calculate simultaneously fill its convex closure profile C, and calculate convex with highlighted gray scale
Length in pixels L, the pixel wide W of the minimum enclosed rectangle of chartered steamer exterior feature C and vertex pixel coordinate P={ P1,P2,P3,P4}；
(7) box for material circulation out-of-bounds detection and Interference Detection are carried out, as shown in figure 4, specific workflow is as follows：
1. C, L, W and P that ROI information and step 5 (6) that input step three obtains obtain；
2. using the boundary information of ROI, the element of out-of-bounds in the pixel coordinate P of vertex is judged and recorded；
3. if out-of-bounds number of vertices N is more than 1, and there are two more than adjacent vertex out-of-bounds, then return to error message to signal
Processing system 1, and starting step six；Otherwise according to the vertex of out-of-bounds and its coordinate on two neighboring vertex and ROI boundary informations,
Using similar triangles property, the area in battery limit (BL) domain is calculated, the computational methods of right margin out-of-bounds is illustrated in figure 5, is obtained
Boundary's region area isI.e.Other boundary out-of-bounds situations
Similarly, always going out interfacial area isIf without vertex out-of-bounds,
4. carrying out Interference Detection, the area S of convex closure profile C is calculatedCIf area ratioLess than predetermined threshold value (this
The predetermined threshold value at place is summarizes the obtained empirical value of experimental data after many experiments), then return error message to signal at
Reason system 1, and starting step six；Otherwise starting step five (8)；
(8) if the box for material circulation out-of-bounds detection of step 5 (7) and Interference Detection pass through, box for material circulation volume is calculatedAnd box for material circulation volume information is returned into signal processing system 1；
Step 6, the display screen of signal processing system 1 show that box for material circulation volume and weight information or display box for material circulation go out
The prompt message on boundary.
The utility model has quick, accurate, non-contact and of low cost etc. excellent compared to traditional artificial tape measure
Gesture suitable for the automatic measurement of batch, greatly reduces cost of labor, improves production efficiency；Compared to binocular or mostly visually
Feel system, the utility model use single camera vision system, and without carrying out Feature Points Matching and disparity computation, which reduce system fortune
Calculation amount improves system running speed and system stability, while the utility model introduces laser ranging module and carries out acquisition figure
The depth information of box for material circulation, efficiently realizes the measurement to box for material circulation volume as in, furthermore, stablize compared to ranging is be easy to cause
But the unstabilized laser ranging triggering mode of weight, the utility model stablize triggering using weight, stablize and without dry conducive to obtaining
The weight and volume data disturbed；The image partition method of the nested cycle maximum between-cluster variance of use, compared to fixed threshold point
Method, edge split plot design and maximum between-cluster variance these image partition methods are cut, the utility model can effectively weaken illumination variation, object
The influence of body surface texture and smooth surface mirror-reflection to segmentation；Out-of-bounds and Interference Detection have been carried out to target, have effectively been sentenced
Break target whether out-of-bounds, and whether there are other chaff interferents to lead to measuring error in viewing field of camera, the out-of-bounds and Interference Detection have
Effect ground is filtered measurement data, greatly lowers using wrong data accidentally as the risk of correct data, and gives specific
Out-of-bounds or interference prompt message so that operating personnel can quickly adjust box for material circulation or system.
Above-mentioned is the preferable embodiment of the utility model, but the embodiment of the utility model is not by the above
Limitation, other any Spirit Essences without departing from the utility model with made under principle change, modification, replacement, combine, letter
Change, should be equivalent substitute mode, be included within the scope of protection of the utility model.
Claims (3)
1. a kind of box for material circulation volume weight measuring system, which is characterized in that including mounting bracket and be arranged on the mounting bracket
Conveyer belt, electronic scale, buphthalmos ball plate, fine-tuning stent, signal processing system, X-direction trimming part, Y-direction trimming part,
Z-direction trimming part, LED bar graph light source, industrial camera and laser ranging module, wherein, the conveyer belt is arranged on the ox
The left and right sides of eye ball plate, the electronic scale are arranged on the lower section of the buphthalmos ball plate；The X-direction trimming part, Y side
The fine tuning branch is all disposed within to trimming part, Z-direction trimming part, LED bar graph light source, industrial camera and laser ranging module
On frame, and the X-direction trimming part, Y-direction trimming part, LED bar graph light source, industrial camera and laser ranging module are all provided with
It puts at the top of the fine-tuning stent, the industrial camera and laser ranging module are arranged side by side and positioned at the buphthalmos ball plate
Surface, the LED bar graph light source are arranged on the industrial camera and laser ranging module surrounding and positioned at the industrial cameras
With laser ranging module lower section；The X-direction trimming part controls the industrial camera and laser ranging module to move left and right, institute
Stating Y-direction trimming part controls the industrial camera and laser ranging module to be moved forward and backward, and the Z-direction trimming part controls institute
It states industrial camera and laser ranging module moves up and down；
The industrial camera, laser ranging module and electronic scale are connected respectively with the signal processing system；At the signal
Reason system is equipped with display screen.
2. box for material circulation volume weight measuring system according to claim 1, which is characterized in that the buphthalmos ball plate is black
The metal base plate of color or low key tone.
3. box for material circulation volume weight measuring system according to claim 1, which is characterized in that on the buphthalmos ball plate
Buphthalmos ball is arranged in array.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721368026.7U CN207472194U (en) | 2017-10-23 | 2017-10-23 | A kind of box for material circulation volume weight measuring system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721368026.7U CN207472194U (en) | 2017-10-23 | 2017-10-23 | A kind of box for material circulation volume weight measuring system |
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| Publication Number | Publication Date |
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| CN207472194U true CN207472194U (en) | 2018-06-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107816943A (en) * | 2017-10-23 | 2018-03-20 | 广东工业大学 | A kind of box for material circulation volume weight measuring system and its implementation |
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2017
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107816943A (en) * | 2017-10-23 | 2018-03-20 | 广东工业大学 | A kind of box for material circulation volume weight measuring system and its implementation |
| CN107816943B (en) * | 2017-10-23 | 2023-09-22 | 广东工业大学 | Logistics box volume and weight measurement system and implementation method thereof |
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