DK1185854T3 - Materialeinspektion - Google Patents

Materialeinspektion

Info

Publication number
DK1185854T3
DK1185854T3 DK00907893T DK00907893T DK1185854T3 DK 1185854 T3 DK1185854 T3 DK 1185854T3 DK 00907893 T DK00907893 T DK 00907893T DK 00907893 T DK00907893 T DK 00907893T DK 1185854 T3 DK1185854 T3 DK 1185854T3
Authority
DK
Denmark
Prior art keywords
mirror
matter
medium
detection
varied
Prior art date
Application number
DK00907893T
Other languages
English (en)
Inventor
Jon Henrik Tschudi
Ib-Rune Johansen
Borre Bengt Ulrichsen
Original Assignee
Titech Visionsort As
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GBGB9906326.5A external-priority patent/GB9906326D0/en
Priority claimed from GBGB9922140.0A external-priority patent/GB9922140D0/en
Application filed by Titech Visionsort As filed Critical Titech Visionsort As
Application granted granted Critical
Publication of DK1185854T3 publication Critical patent/DK1185854T3/da

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/47—Scattering, i.e. diffuse reflection
    • G01N21/4738—Diffuse reflection, e.g. also for testing fluids, fibrous materials
    • G01N21/474—Details of optical heads therefor, e.g. using optical fibres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
    • B07C5/367—Sorting apparatus characterised by the means used for distribution by means of air using a plurality of separation means
    • B07C5/368—Sorting apparatus characterised by the means used for distribution by means of air using a plurality of separation means actuated independently
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/85—Investigating moving fluids or granular solids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands

Landscapes

  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Sampling And Sample Adjustment (AREA)
DK00907893T 1999-03-19 2000-03-20 Materialeinspektion DK1185854T3 (da)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GBGB9906326.5A GB9906326D0 (en) 1999-03-19 1999-03-19 Inspection of matter
GBGB9922140.0A GB9922140D0 (en) 1999-09-20 1999-09-20 Inspection of matter
PCT/IB2000/000301 WO2000057160A2 (en) 1999-03-19 2000-03-20 Inspection of matter

Publications (1)

Publication Number Publication Date
DK1185854T3 true DK1185854T3 (da) 2007-03-26

Family

ID=26315306

Family Applications (1)

Application Number Title Priority Date Filing Date
DK00907893T DK1185854T3 (da) 1999-03-19 2000-03-20 Materialeinspektion

Country Status (11)

Country Link
US (1) US6914678B1 (da)
EP (1) EP1185854B1 (da)
JP (1) JP4949559B2 (da)
AT (1) ATE347099T1 (da)
AU (1) AU774359B2 (da)
CA (1) CA2367815C (da)
DE (1) DE60032136T2 (da)
DK (1) DK1185854T3 (da)
ES (1) ES2276670T3 (da)
NO (1) NO20014562L (da)
WO (1) WO2000057160A2 (da)

Families Citing this family (88)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002267599A (ja) * 2001-03-07 2002-09-18 Mitsubishi Heavy Ind Ltd プラスチックの材質識別システムおよびプラスチックの材質識別・分別システム
EP1483062B1 (en) * 2002-01-16 2006-09-27 Titech Visionsort As Method and apparatus for identifying and sorting objects
DE10242410A1 (de) * 2002-09-12 2004-03-25 Robert Bosch Gmbh Vorrichtung und Verfahren zum Aufbringen eines fluiden Mediums auf ein Substrat
ES2407086T3 (es) * 2002-11-21 2013-06-11 Tomra Sorting As Procedimiento para la identificación, clasificación y ordenación de artículos, objetos y materiales, así como un sistema de reconocimiento para la realización de este procedimiento
JP3901651B2 (ja) * 2003-03-13 2007-04-04 株式会社栗本鐵工所 混合廃棄物の材質識別装置
GB0322043D0 (en) 2003-09-20 2003-10-22 Qinetiq Ltd Apparatus for,and method of,classifying objects in waste stream
GB0404617D0 (en) 2004-03-02 2004-04-07 Qinetiq Ltd Sorting apparatus
JP2005334928A (ja) * 2004-05-26 2005-12-08 Yamazaki Mazak Corp レーザ加工機における焦点調整装置
US7326871B2 (en) * 2004-08-18 2008-02-05 Mss, Inc. Sorting system using narrow-band electromagnetic radiation
NO322775B1 (no) 2004-09-24 2006-12-11 Tomra Systems Asa Anordning og fremgangsmate for detektering av et medium
US7674994B1 (en) * 2004-10-21 2010-03-09 Valerio Thomas A Method and apparatus for sorting metal
JP4654022B2 (ja) * 2004-12-24 2011-03-16 株式会社サキコーポレーション 基板の外観検査装置
JP5064674B2 (ja) * 2005-01-27 2012-10-31 株式会社リコー リサイクル方法
WO2006130911A1 (en) * 2005-06-08 2006-12-14 Majek Automation Pty. Ltd. A sorting apparatus
US7379177B1 (en) * 2005-08-04 2008-05-27 Applied Vision Company, Llc System and method for performing hard glass inspection
US7659486B2 (en) * 2005-10-20 2010-02-09 Valerio Thomas A Method and apparatus for sorting contaminated glass
BRPI0617765A2 (pt) * 2005-10-24 2011-08-02 Thomas A Valerio aparelho, sistema e processo de classificação de materiais dissimilares
FR2895688B1 (fr) * 2005-12-30 2010-08-27 Pellenc Selective Technologies Procede et machine automatiques d'inspection et de tri d'objets non metalliques
WO2008085945A1 (en) * 2007-01-05 2008-07-17 Valerio Thomas A System and method for sorting dissimilar materials
US7853066B2 (en) * 2007-03-05 2010-12-14 Key Technology, Inc. Endless belt
US20080257795A1 (en) * 2007-04-17 2008-10-23 Eriez Manufacturing Co. Multiple Zone and Multiple Materials Sorting
CA2682305A1 (en) * 2007-04-18 2008-10-30 Thomas A. Valerio Method and system for sorting and processing recycled materials
WO2008150050A1 (en) * 2007-06-07 2008-12-11 Korea Institute Of Machinery & Materials High speed optical monitoring system using a rotatable mirror
JP2009204426A (ja) * 2008-02-27 2009-09-10 Sumitomo Electric Ind Ltd 食品検査システム
MX2010013578A (es) 2008-06-11 2011-03-21 a valerio Thomas Metodo y sistema para la recuperacion de metal de materiales reciclados procesados.
JP2011528635A (ja) * 2008-07-21 2011-11-24 エムティディ アメリカ リミテッド （エルエルシー） プラスチックからポリ塩化ビフェニルを除去するための方法およびシステム
GB2466621A (en) 2008-12-23 2010-06-30 Buhler Sortex Ltd Sorting matter in a flow by comparing reflectance intensities at different wavelengths
US9551575B2 (en) 2009-03-25 2017-01-24 Faro Technologies, Inc. Laser scanner having a multi-color light source and real-time color receiver
DE102009015920B4 (de) 2009-03-25 2014-11-20 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
CA2760313A1 (en) * 2009-04-28 2010-11-04 Mtd America Ltd (Llc) Apparatus and method for separating materials using air
CA2768783A1 (en) * 2009-07-21 2011-01-27 Thomas A. Valerio Method and system for separating and recovering like-type materials from an electronic waste stream
US8757523B2 (en) * 2009-07-31 2014-06-24 Thomas Valerio Method and system for separating and recovering wire and other metal from processed recycled materials
CA2769755A1 (en) * 2009-07-31 2011-02-03 Thomas A. Valerio Method and system for separating and recovering wire and other metal from processed recycled materials
DE102009050371B3 (de) * 2009-10-22 2011-04-21 Polytec Gmbh Verfahren und Vorrichtung zur spektrometrischen Vermessung eines sich in Längsrichtung bewegenden Materialstromes
DE102009057101A1 (de) 2009-11-20 2011-05-26 Faro Technologies, Inc., Lake Mary Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
US9210288B2 (en) 2009-11-20 2015-12-08 Faro Technologies, Inc. Three-dimensional scanner with dichroic beam splitters to capture a variety of signals
US9529083B2 (en) 2009-11-20 2016-12-27 Faro Technologies, Inc. Three-dimensional scanner with enhanced spectroscopic energy detector
US9113023B2 (en) * 2009-11-20 2015-08-18 Faro Technologies, Inc. Three-dimensional scanner with spectroscopic energy detector
US9607239B2 (en) 2010-01-20 2017-03-28 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
US9163922B2 (en) 2010-01-20 2015-10-20 Faro Technologies, Inc. Coordinate measurement machine with distance meter and camera to determine dimensions within camera images
WO2011090901A1 (en) 2010-01-20 2011-07-28 Faro Technologies, Inc. Integrated part temperature measurement system
US9628775B2 (en) 2010-01-20 2017-04-18 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
US9879976B2 (en) 2010-01-20 2018-01-30 Faro Technologies, Inc. Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features
DE102010020925B4 (de) 2010-05-10 2014-02-27 Faro Technologies, Inc. Verfahren zum optischen Abtasten und Vermessen einer Umgebung
NL2005216C2 (nl) * 2010-08-11 2012-02-20 Optiserve B V Sorteerinrichting en werkwijze voor het scheiden van producten in een bulkstroom van niet-homogene producten.
US9168654B2 (en) 2010-11-16 2015-10-27 Faro Technologies, Inc. Coordinate measuring machines with dual layer arm
DE102010052338A1 (de) 2010-11-25 2012-05-31 Steinert Elektromagnetbau Gmbh Verfahren und Einrichtung zur Einzelkornsortierung von Schüttgütern beliebiger Art
US8812149B2 (en) 2011-02-24 2014-08-19 Mss, Inc. Sequential scanning of multiple wavelengths
US9080987B2 (en) 2011-05-26 2015-07-14 Altria Client Services, Inc. Oil soluble taggants
US9244017B2 (en) 2011-05-26 2016-01-26 Altria Client Services Llc Oil detection process and apparatus
CA2842544C (en) 2011-08-19 2017-10-03 Industries Machinex Inc. Apparatus and method for inspecting matter and use thereof for sorting recyclable matter
NO336441B1 (no) * 2012-01-24 2015-08-17 Tomra Sorting As Anordning, system og fremgangsmåte for optisk detektering av materie
DE102012100609A1 (de) 2012-01-25 2013-07-25 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
US10900897B2 (en) 2012-05-29 2021-01-26 Altria Client Services Llc Oil detection process
ES2715606T3 (es) * 2012-06-29 2019-06-05 Douwe Egberts Bv Sistema para la detección automatizada en máquinas dispensadoras de bebidas
DE102012109481A1 (de) 2012-10-05 2014-04-10 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
US9513107B2 (en) 2012-10-05 2016-12-06 Faro Technologies, Inc. Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner
US10067231B2 (en) 2012-10-05 2018-09-04 Faro Technologies, Inc. Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner
US8809718B1 (en) 2012-12-20 2014-08-19 Mss, Inc. Optical wire sorting
DE102013102653A1 (de) 2013-03-14 2014-09-18 Finatec Holding Ag Vorrichtung und Verfahren zum Transport und zur Untersuchung von schnelllaufenden Behandlungsgütern
US9073091B2 (en) 2013-03-15 2015-07-07 Altria Client Services Inc. On-line oil and foreign matter detection system and method
US9097668B2 (en) 2013-03-15 2015-08-04 Altria Client Services Inc. Menthol detection on tobacco
CH707559A2 (de) * 2013-03-22 2014-09-30 Finatec Holding Ag Verfahren und System zur Prüfung der Farbbeschaffenheit von Preforms.
CH707705A1 (de) * 2013-03-22 2014-09-30 Finatec Holding Ag Verfahren und System zur Prüfung der Farbbeschaffenheit von Preforms.
US9863871B2 (en) * 2013-10-17 2018-01-09 Satake Corporation Illumination device for color sorter
CN103528992B (zh) * 2013-10-25 2017-01-11 北京农业智能装备技术研究中心 畜舍内甲烷分布的测量系统及测量方法
BR112016009951B1 (pt) * 2013-11-04 2020-12-01 Tomra Sorting Nv aparelho para inspecionar um fluxo de matéria; sistemas compreendendo um primeiro aparelho e um segundo aparelho; e sistemas compreendendo o aparelho
JP6335499B2 (ja) * 2013-12-13 2018-05-30 株式会社イシダ 光学検査装置
JP6187395B2 (ja) * 2014-04-11 2017-08-30 株式会社島津製作所 樹脂識別装置
DE102014105759A1 (de) * 2014-04-24 2015-10-29 Sick Ag Kamera und Verfahren zur Erfassung eines bewegten Stroms von Objekten
DE102014111871B3 (de) * 2014-08-20 2015-12-31 Unisensor Sensorsysteme Gmbh Sortieranlage und Verfahren zur Trennung von Materialfraktionen
DE102014217771B4 (de) * 2014-09-05 2023-05-04 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zur Qualitätskontrolle transparenter Objekte
JP5926351B2 (ja) 2014-10-23 2016-05-25 ファナック株式会社 射出成形システム
EP3218699A1 (en) 2014-11-11 2017-09-20 Altria Client Services LLC Method for detecting oil on tobacco products and packaging
DE102015001332B4 (de) * 2015-02-03 2017-09-28 Mühlbauer Gmbh & Co. Kg Gefäß-Inspektionseinrichtung
DE102015122844A1 (de) 2015-12-27 2017-06-29 Faro Technologies, Inc. 3D-Messvorrichtung mit Batteriepack
US10195647B2 (en) * 2016-01-15 2019-02-05 Key Technology, Inc Method and apparatus for sorting
FR3048369B1 (fr) * 2016-03-01 2018-03-02 Pellenc Selective Technologies Machine et procede d'inspection d'objets defilant en flux
EP3439799B1 (en) * 2016-08-12 2019-07-24 Amazon Technologies Inc. Object sensing and handling system
DE102017200356A1 (de) * 2017-01-11 2018-07-12 Robert Bosch Gmbh Verfahren zur Analyse eines Messbereichs und Miniaturspektrometer
US10648797B2 (en) * 2017-11-16 2020-05-12 Quality Vision International Inc. Multiple beam scanning system for measuring machine
DE102017220837A1 (de) * 2017-11-22 2019-05-23 Thyssenkrupp Ag Sortiervorrichtung mit bewegungsverfolgtem Material
EP3722745B1 (en) * 2017-12-08 2023-09-06 Nippon Steel Corporation Shape inspection device and shape inspection method
US10486199B2 (en) * 2018-01-11 2019-11-26 Key Technology, Inc. Method and apparatus for sorting having a background element with a multiplicity of selective energizable electromagnetic emitters
JP7105632B2 (ja) * 2018-06-28 2022-07-25 大王製紙株式会社 古紙梱包品からの古紙パルプ製造方法及び製造装置
US11769241B1 (en) * 2019-07-30 2023-09-26 Digimarc Corporation Information-client server built on a rapid material identification platform
EP3816857A1 (en) * 2019-11-04 2021-05-05 TOMRA Sorting GmbH Neural network for bulk sorting
WO2023282867A1 (en) * 2021-07-05 2023-01-12 Balsu Gida Sanayi Ve Ticaret Anonim Sirketi A laser line for use in hazelnut processing facilities

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3242447C2 (de) * 1982-11-16 1986-01-23 Sophokles 8062 Markt Indersdorf Papaioannou Photoelektrische Kontrollvorrichtung zur Qualitätskontrolle einer bewegten Materialbahn
JP2734293B2 (ja) * 1992-06-04 1998-03-30 松下電器産業株式会社 クリーム半田印刷外観検査装置
JP3203852B2 (ja) * 1993-01-22 2001-08-27 松下電器産業株式会社 実装済みプリント基板の検査装置
US5520290A (en) * 1993-12-30 1996-05-28 Huron Valley Steel Corporation Scrap sorting system
US6060677A (en) * 1994-08-19 2000-05-09 Tiedemanns-Jon H. Andresen Ans Determination of characteristics of material
JPH09311109A (ja) * 1996-05-22 1997-12-02 Matsushita Electric Ind Co Ltd 光を使用した欠陥検査方法、およびその装置
WO1998004435A1 (en) * 1996-07-29 1998-02-05 Liberty Gardens Limited Signalling means for a vehicle
US5770864A (en) * 1996-12-31 1998-06-23 Pitney Bowes Inc. Apparatus and method for dimensional weighing utilizing a laser scanner or sensor
BE1011076A3 (nl) * 1997-03-28 1999-04-06 Ruymen Marc Werkwijze en inrichting voor het detecteren van onregelmatigheden in een produkt.
EP1105715B1 (de) * 1999-05-14 2016-12-07 Krieg, Gunther, Prof.Dr.Ing. Verfahren und vorrichtung zur detektion und unterscheidung zwischen kontaminationen und gutstoffen sowie zwischen verschiedenen farben in feststoffpartikeln

Also Published As

Publication number Publication date
EP1185854A2 (en) 2002-03-13
WO2000057160A2 (en) 2000-09-28
JP4949559B2 (ja) 2012-06-13
DE60032136D1 (de) 2007-01-11
ATE347099T1 (de) 2006-12-15
NO20014562L (no) 2001-11-19
AU2935500A (en) 2000-10-09
AU774359B2 (en) 2004-06-24
CA2367815A1 (en) 2000-09-28
NO20014562D0 (no) 2001-09-19
EP1185854B1 (en) 2006-11-29
US6914678B1 (en) 2005-07-05
ES2276670T3 (es) 2007-07-01
JP2002540397A (ja) 2002-11-26
CA2367815C (en) 2010-04-27
WO2000057160A3 (en) 2001-02-08
DE60032136T2 (de) 2007-10-25

Similar Documents

Publication Publication Date Title
DK1185854T3 (da) Materialeinspektion
JP6668249B2 (ja) 検査装置
WO2004031854A3 (de) Beleuchtungssystem für eine wellenlänge ≤ 193 nm mit sensoren zur bestimmung der ausleuchtung
US3574469A (en) Fault-detecting surface scanner using a laser light source
WO2008067211A3 (en) Illumination device for product examination
NO20010910D0 (no) FremgangsmÕte og apparat til mÕling av filmtykkelse
EP2385363A3 (en) Optical arrangement for assay reading device
BR9805532B1 (pt) inspeção ótica de recipientes transparentes utilizando iluminação visìvel, infravermelha e polarizada.
DE60025221D1 (de) Optisches inspektionssystem für teile im subpixel bereich
WO2004079406A3 (en) Inspection apparatus for detecting defects in transparent substrates
WO2001023913A3 (en) Optical confocal device having a common light directing means
FR2783094B1 (fr) Module semiconducteur optique, film de reflexion, dispositifs laser et optique utilisant un film de reflexion et leur procede de fabrication
PT1015875E (pt) Processo para identificar materiais, impurezas, e defeitos relacionados com a dispersao difusa em objectos transparentes
TW200632311A (en) Visual inspection apparatus and visual inspection method
WO2001036940A3 (en) Turbidimeter array system
TR200103569T2 (tr) Malzemede saflìĞì bozan maddelerin tespiti i‡in aparat ve tespit içleminde uygulanan y”ntem
JP2015509194A (ja) 物質を検出する装置、システムおよび方法
WO1996027808A3 (en) Method and apparatus for detecting the presence and location of objects in a field
WO2002103332A8 (en) A method of measuring properties of dispersed particles in a container and corresponding apparatus
EP1560007A4 (en) LIGHT SOURCE UNIT, LIGHT UNIT UNIT AND MULTI-CHANNEL OPTICAL MEASURING DEVICE THEREWITH
WO2003008950A3 (de) Verfahren und vorrichtung zur erkennung von fremdstoffen in einem textilen material
JP2005037398A (ja) 連続して送られる製品の内部の異物を認識する方法及びこの方法を実施する装置
WO2002084214A8 (en) Optical apparatus for measuring objects having a rectilinear profile
EP1058111A3 (en) Optical inspection system and method
ITMI972609A1 (it) Dispositivo di trasporto di dischi ottici registrabili, per la loro registrazione-lettura-stampa.