WO2013029267A1

WO2013029267A1 - Method for measuring height of center of mass of object and measuring apparatus

Info

Publication number: WO2013029267A1
Application number: PCT/CN2011/079260
Authority: WO
Inventors: 曾光; 付玲; 王维金; 涂宏斌
Original assignee: 长沙中联重工科技发展股份有限公司; 湖南中联重科专用车有限责任公司
Priority date: 2011-09-01
Filing date: 2011-09-01
Publication date: 2013-03-07

Abstract

A method for measuring the height of the center of mass of an object and a measuring apparatus utilizing the measuring method. The measuring method comprises: arranging on one side of the object an image capturing device (1); using a conveyor belt to form an incline (2) having a protruding inflection point (A), where the object moves on the incline (2) along with the conveyor belt, and using the image capturing device (1) to acquire a first image and a second image at moments of inflection at two instances when the object passes the inflection point (A); selecting from the first image a first vertical line (l₁) passing through the inflection point, and selecting from the second image a second vertical line (l₂) passing through the inflection point; by comparison, acquiring a point of intersection (G) of the first vertical line (l₁) and the second vertical line (l₂); and, from the point of intersection (G), calculating the height of the center of mass of the object on the basis of a proportional relation between the images and physical object.

Description

Method for measuring the height of the body's body weight and measuring equipment:

Technical field

The present invention relates to a method for measuring the height of the center of gravity of an object, and more particularly to a method for measuring the non-contact of the height of the center of gravity of the object. The invention also relates to a determination using the above determination method

Background technique

The position of the center of gravity of an object has an important influence on the transportation and use of the object. In particular, for large objects such as containers, since their own bulk and mass are large and they are not actively movable, it is more difficult to measure the center of gravity.

At present, methods for determining the height of the center of gravity of an object include weighing method, suspension method, compound pendulum method, and platform weighing method. The above method is a well-known method in the art. For the sake of brevity, the above method is not described here. Only the most commonly used suspension method and ground counterexample method are taken as an example for detailed introduction. In Fig. 1 and Fig. 2, the conventional method is introduced by taking an object of a flat bottom structure as an example, but the method is not limited to an object of a flat bottom structure, and is applicable to objects of various shapes.

As shown in Figure 1 and Figure 2, first attach a rigid reticle on one side of the object; then measure the mass M of the object using the weighbridge; place the first end of the object on the weighbridge, and hang the sling at the second end Up, and the sling is perpendicular to the horizontal plane, the grounding point of the object is on the BB'line; the reaction force R of the grounding point on the weighbridge is measured; the horizontal distance between the sling and the grounding point of the object is determined. Calculate the horizontal distance C=Rd/M between the sling and the weight of the object; draw a vertical line of C from the sash fixed to the side of the object, the vertical line is passed a straight line of the weight of the object; then place the second end of the object on the weighbridge, the first end is lifted with a sling, and the sling is perpendicular to the horizontal plane, and the grounding point of the grounding end of the object is on the BB'line; The reaction force R' of the grounding point on the floor scale _; the horizontal distance d' between the sling and the grounding point of the object is determined _; that is, the horizontal distance between the sling and the weight of the object is calculated by the torque formula C'=R'd'/M ; draw a horizontal distance from the sling on the scribe plate fixed to the side of the object C 'vertical line _12, the vertical line ₁₂ through another line that is a center of gravity; and the two vertical lines, and ^ is the intersection ₁₂ of the center of gravity, measured at the center of gravity from the floor object is on the ground The height is the height h of the object's center of gravity.

Note that the reticle should be large enough so that the vertical lines and ₁₂ can be extended in the reticle and intersect at a point.

In addition, an auxiliary device can be placed on the weighbridge to limit the grounding point when the object is suspended, and to prevent the grounding end of the object from slipping during suspension, resulting in an error in the measurement result.

There are many problems in determining the height of the body weight center by the above method.

First, the above measurement method has certain risks. Since the above measurement process requires lifting one end of the object with a sling, it is easy to cause the object to roll sideways.

Second, the above method is inefficient in measurement. More equipment is needed in the measurement process, and the process is complex. Miscellaneous, including large equipment such as weighbridges and cranes, the measurement process lasts for a long time. In addition, the most important thing is that the accuracy of the measurement results is difficult to control. Since the sling must be perpendicular to the horizontal plane during the measurement process, the grounding points at both ends of the object must be in a straight line (the BB' line in the figure), so repeated debugging is required, and it is difficult to meet the accuracy requirements. Moreover, the two vertical lines ^ and ^ which determine the center of gravity are manually drawn, so there is an artificial error. These errors will directly affect and not only the measurement methods described in detail above, but the various methods in the prior art are mostly applicable to lighter objects, and the weight of large objects such as containers or large workpieces is usually It is much heavier, and therefore, some traditional methods of measuring the height of the body are not even usable. Moreover, although the height of the center of gravity of a large object can be measured by the above-described measuring method, the problem is more prominent. Summary of the invention

SUMMARY OF THE INVENTION An object of the present invention is to provide a method for measuring the height of the center of gravity of an object which can more accurately find the center of gravity of the object by simple and non-contact operation.

In order to achieve the above object, the present invention provides a method for measuring the height of the center of gravity of an object, wherein the measuring method comprises the following steps:

(a) providing an image capturing device on one side of the object;

(b) forming a slope having an outwardly projecting inflection point by a conveyor belt, the bottom surface of the object being in contact with the conveyor belt, and the object moving in a straight line along the conveyor belt on the slope surface, During the movement, the first image and the second image of the turning moment when the object passes the inflection point are acquired by the image capturing device;

(c) selecting a first vertical line passing through the inflection point in the first image, and selecting a second perpendicular line passing through the inflection point in the second image;

(d) comparing the first image and the second image to obtain an intersection of the first vertical line and the second vertical line;

(e) Calculating the height of the center of gravity of the object from the intersection point (G) based on the proportional relationship between the image and the object.

Preferably, in step (b), during the movement of the object along the conveyor belt on the slope surface, the image capturing device is used to capture the object passing through the inflection point to obtain a set of images. The image or the continuous image, the first image and the second image are selected from the set of images or continuous images.

Preferably, the turning moment includes a starting moment of the object turning process.

Preferably, a third straight line is selected in the first image, a positional relationship between the third straight line and the object is the same as a positional relationship between a second vertical line and the object in the second image And intersecting the third line with a first perpendicular in the first image to obtain the intersection.

Preferably, the slope surface comprises a first plane at an angle Θ i from the horizontal plane and a second plane at an angle θ ₂ from the horizontal plane, the first plane and the second plane intersecting the inflection point, Among them, 9 i < 45 ° and θ ₂ < 45 °.

Preferably, the slope surface includes a first plane at an angle Θ i from the horizontal plane and a second plane parallel to the horizontal plane, the first plane and the second plane intersecting the inflection point,

Where θ , < 45 ° .

Preferably, in step (b), the conveyor belt has an operating speed of V = l-15 m/s.

Preferably, in step (b), the forward and backward movement speeds of the conveyor belt are equal. Preferably, in step (d), an original point is first taken on a second vertical line in the second image, and a corresponding point corresponding to the position of the original point is found in the first image, The corresponding point is made to be the third straight line corresponding to the second perpendicular.

Preferably, the original point on the second vertical line in the second image is the inflection point of the slope in the second image.

Preferably, in step (d), the equations of the first vertical line and the third straight line are first obtained, including:

??? detecting a coordinate of the edge contour point of the slope surface and the bottom surface of the object in the first image;

Fitting an edge contour point of the slope surface and the bottom surface of the object to obtain a curve equation of the slope surface and the bottom surface, and determining the intersection point of the slope surface and the bottom surface in parallel, that is, the coordinates of the inflection point; Describe the coordinates of the corresponding point;

The equation of the vertical first vertical line of the intersection point is determined, and the third line passing the corresponding point is determined.

Preferably, the coordinates of extracting the edge contour points of the slope surface and the bottom surface include:

Reading the first image in a computer;

Detecting the complete shape of the object and the slope surface including the inflection point;

Removing the object and unwanted images around the slope;

The first image is smoothed by etching, and then the edge of the binary image is found; the coordinates of the edge contour points of the bottom surface and the slope surface are extracted.

Preferably, a reference that is stationary relative to the object is placed on one side of the object.

Preferably, a scribing plate is attached to one side of the object, and the marking is marked on the scribing plate. Preferably, the image and the object are determined by the actual size of the reference object and the size on the image. The size ratio relationship.

Preferably, the image capturing device is a camera or a camera.

Preferably, the object is attached with a tilt sensor connected to the controller, and the controller controls the time when the image capturing device starts shooting.

Preferably, the object is attached with a tilt sensor, which is connected to the recording device, and the recording device is activated simultaneously with the image capturing device.

Preferably, a pressure sensor is provided below the conveyor belt at the inflection point, the pressure sensor being coupled to a controller that controls the time at which the image capture device begins to take a picture. Preferably, a pressure sensor is provided below the conveyor belt at the inflection point, the pressure sensor being coupled to a recording device that is activated simultaneously with the image capture device.

Preferably, the tracked vehicle advances and retreats in a straight line on the slope surface, and the first image and the second image are photographed during the forward and reverse steps, respectively.

Further, the present invention provides a measuring apparatus for measuring the height of the center of gravity of an object, which can accurately measure the height of the center of gravity of the object with a simple structure.

In order to achieve the above object, the present invention also provides a measuring device for measuring the height of the center of gravity of an object, wherein the device comprises:

a conveyor belt that forms a slope having an inwardly projecting inflection point; and

An image capturing device is disposed on one side of the slope.

Preferably, the slope surface comprises a first plane at an angle Θ i from the horizontal plane and a second plane at an angle of 9 ₂ with the horizontal plane, the first plane and the second plane intersecting at the inflection point,

Among them, 9 i < 45 ° and θ ₂ < 45 °.

Preferably, the slope surface comprises a first plane at an angle Θ i from the horizontal plane and a second plane parallel to the horizontal plane, the first plane and the second plane intersecting at the inflection point,

Where θ , < 45 ° .

Preferably, the measuring device further comprises a reference object disposed on one side of the slope.

Preferably, the measuring device further comprises a scribing plate attached to one side of the slope surface, the reference object being marked on the scribing plate.

Preferably, the image capturing device is a camera or a camera.

Preferably, the measuring device further includes a tilt sensor attached to the object and a controller, the tilt sensor being coupled to the controller, the controller controlling a time at which the image capturing device starts shooting.

Preferably, the measuring device further comprises a tilt sensor attached to the object and a recording device, the tilt sensor being coupled to the recording device, the recording device being activated simultaneously with the image capturing device.

Preferably, the assay device further includes a controller and a pressure sensor disposed below the conveyor belt at the inflection point, the pressure sensor being coupled to a controller that controls a time at which the image capture device begins to photograph.

Preferably, the measuring device further comprises a recording device and a pressure sensor disposed under the conveyor belt at the inflection point, the pressure sensor being coupled to the recording device, the recording device being activated simultaneously with the image capturing device.

Preferably, the measuring device further comprises a computer, and the image capturing device is connected to the computer.

Through the above technical solution, using the image processing method and a simple physical principle, the perpendicular lines of the center of gravity of the two passing objects are mapped onto the same image, and the intersection of the two perpendicular lines is the center of gravity, and the measuring device and operation are simple. Simple measurement methods enable non-contact measurement, which not only improves work efficiency, but also greatly improves accuracy. Other features and advantages of the invention will be described in detail in the detailed description which follows. DRAWINGS

The drawings are intended to provide a further understanding of the invention, and are in the In the drawing:

1 is a schematic view of a prior art method for measuring a body weight height;

Figure 2 is a plan view of the method for measuring the weight of the object according to Figure 1;

Figure 3 is a schematic illustration of an object moving with a conveyor belt in accordance with a preferred embodiment of the present invention; Figure 4 is a schematic illustration of an object moving with a conveyor belt in accordance with a preferred embodiment of the present invention; Figure 5 is a second image in accordance with a preferred embodiment of the present invention. Schematic diagram, wherein the second plane is not parallel to the horizontal plane;

Figure 6 is a schematic illustration of a first image in accordance with a preferred embodiment of the present invention, wherein the second plane is parallel to the horizontal plane;

Figure 7 is a schematic illustration of a preferred embodiment in accordance with the present invention. Description of the reference numerals

1 image capture device 2 slope

21 first plane 22 second plane

3 reticle li first vertical line

1 ₂ second vertical line 1 ₃ third straight line

C original point C corresponding point

A inflection point 0: first target point

0 ₂ second target point r reference distance

Hey! First plane and horizontal plane θ ₂ second plane and horizontal plane

The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are intended to be illustrative and not restrictive.

In the drawings of the present invention, the direction indicated by the arrow is the direction of movement of the conveyor belt, that is, the direction of movement of the object.

In the present invention, in order to describe in a language as concise as possible, while at the same time facilitating the understanding of those skilled in the art, some terms in the text need to be briefly explained, but the explanation and description here and the term itself are in the technical field. The usual meaning in the comparison does not create contradictions and ambiguities. The "inflection point" of the slope surface herein refers to the intersection of two planes formed by the conveyor belt. Since the technical solution of the present invention processes the image, the "inflection point" refers to the slope. In the image taken on one side of the face, the side is simplified to a point; "flip" refers to the process in which the center of gravity of the object moves from one face of the slope to the other, and the bottom surface of the object comes into contact with one face to the other face. That is, the center of gravity of the object crosses the "inflection point", and the "flip time" refers to the moment when the center of gravity of the object crosses the "inflection point".

Before the detailed description of the technical solution of the present invention, the physics principle on which the present invention is based will first be described. According to the principle of statics, the magnitude and direction of the action of the slope 2 on the object (including the supporting force perpendicular to the pressure of the slope 2 and the friction along the slope 2) when the object is traveling along the slope 2 Contrary to the gravity direction of the object, so that the object is balanced by force, that is, the force of the slope 2 should be on the vertical line of the support point of the over-slope 2 to the object. When the bottom surface of the object is in contact with a surface, The parts that are in contact support the object, so there is no single support point, but in any case, the direction of action of the force should pass the center of gravity of the object. When we know that an object is only subjected to gravity and force and is in equilibrium, if we know the position of the center of gravity, we can know the direction and magnitude of the force. The present invention is the principle of reverse application, when the object is only subjected to The action of gravity and force is in equilibrium, and the point of action and the direction of action are known. Then the center of gravity should be on the vertical line passing the support point. Then only two over-support points meeting the above conditions need to be found. The vertical lines determine the position of the center of gravity through their intersections.

The invention provides a method for measuring the height of the center of gravity of an object, wherein the measuring method comprises the following steps:

(a) providing an image capturing device 1 on one side of the object;

(b) forming a slope 2 having an outwardly projecting inflection point A with the conveyor belt, the object moving along a straight line on the slope surface 2 with the conveyor belt, during the movement of the object, using the image to capture The device 1 acquires a first image and a second image of the turning moment when the object passes through the inflection point A twice;

(c) selecting a first perpendicular line passing through the inflection point A in the first image, and selecting a second perpendicular line 1 ₂ passing through the inflection point A in the second image _;

(d) comparing the first image and the second image to obtain an intersection G of the first vertical line and the second vertical line 1 ₂ ;

(e) Calculating the center of gravity of the object from the intersection point G based on the proportional relationship between the image and the object.

As shown in FIG. 3 and FIG. 4, the above describes a method for determining the height of the center of gravity of an object by means of image processing, which uses image processing and the above-described physical principle, the object moves with the conveyor belt on the slope 2, respectively. Capture the two images of the object crossing the inflection point A, and then map the perpendicular lines of the two weights to the same image. The intersection of the two perpendicular lines is the position of the center of gravity in the image, just use the image size and actual size. The relationship between the two can get the actual height of the center of gravity. The above measuring device has a simple structure, and the operation method of the measuring method is simple, which not only reduces the complexity of the measuring device and the measuring method, but also greatly improves the precision.

It should be noted here that the conveyor belt can be laid on the actual surface to form the slope 2, that is to say It is said that the conveyor belt is provided with the same actual plane as the slope 2 to support the conveyor belt, or a support member may be provided at some point below the slope surface 2 formed by the conveyor belt, thereby supporting the slope surface 2 formed by the conveyor belt, and It is possible to maintain the shape of the slope 2 while the conveyor is running. Regardless of the form described above, at least the inflection point A has support.

Preferably, in step (b), during the movement of the object along the conveyor belt on the slope 2, the image capturing apparatus 1 is used to capture the object passing through the inflection point A. A set of images or continuous images, the first image and the second image being selected from the set of images or continuous images.

Since the object is traveling on the slope 2 and the inversion at the inflection point A is a dynamic process, it is impossible to directly capture the image of the moment of the flipping moment. The above-mentioned set of images is, for example, a group of consecutive images taken in the continuous shooting mode of the camera, or a group of images taken by the photographer himself to continuously press the shutter, and the continuous images are taken by the camera. A video image from which the frame of the frame at the time of the flip is selected.

When the object moves to the inflection point A with the conveyor belt and starts to rotate around the inflection point A, it seems that only the inflection point A supports the object, but at this time the center of gravity is not on the vertical line passing through the inflection point A, which belongs to the research field of motion mechanics, and Does not meet the above physical principles, we will not discuss here. Moreover, before the object is turned over, although it is supported by the slope 2, the only support point cannot be found, and the center of gravity is not in the vertical line of the support point during the inversion of the object. When the object just starts to flip, only the inflection point A serves as the support point for the object on the slope surface 2, and the object has not started the rotation motion, and the center of gravity is still on the vertical line of the support point, which is consistent with the conditions of the above physical principle; At the moment when the object crosses the inflection point A so that the inversion ends, the portion of the bottom surface of the object crossing the inflection point A is all pressed against the other plane, so that the object is not supported by one supporting point at this time. Therefore, the inversion time referred to in the technical solution of the present invention includes the start timing of the inversion process, as shown in Figs. 5 and 6.

Preferably, a third straight line 1 ₃ is selected in the first image, a positional relationship between the third straight line ₁₃ and the object, and a second perpendicular line 1 ₂ and the object in the second image The positional relationship between them is the same, and the third straight line 1 ₃ intersects with the first vertical line ^ in the first image to obtain the intersection point 0.

As shown in FIG. 7, an important point of the technical solution of the present invention is that the straight lines of the overweight centers in the two images are correspondingly projected into the same image, thereby finding the intersection of the two straight lines, that is, the center of gravity G. In the present preferred embodiment, do the corresponding third straight line ₁₂ and the second vertical line in the first image _13, ₁₃ and the first point of intersection is the third straight line perpendicular to the center of gravity G.

Preferably, the slope 2 includes a first plane 21 at an angle Θ i from the horizontal plane and a second plane 22 at an angle θ ₂ from the horizontal plane, the first plane 21 and the second plane 22 intersecting the Inflection point A,

Among them, 9 i < 45 ° and θ ₂ < 45 °.

In addition, preferably, the slope surface 2 includes a first plane 21 that is at an angle Θ i from the horizontal plane and a second plane 22 parallel to the horizontal plane, the first plane 21 and the second plane 22 intersecting the inflection point A,

Where θ , < 45 ° .

As shown in Fig. 5, in order to make the slope 2 formed by the conveyor belt have an inflection point A, the preferred embodiment of the present invention forms the slope surface 2 by setting the conveyor belt to two intersecting planes, so that the slope surface 2 has the inflection point A. Theoretically, the smaller the angle between the two planes, that is, the larger the angle between the two planes and the horizontal plane, the higher the measurement accuracy, but if the slope of the plane is too large, the object will be in the direction of the conveyor. The frictional force is reduced, and the gravity component of the object in the direction of the conveyor belt is increased, thereby causing difficulty for the object to move along the conveyor belt on the slope surface, so the angle between the two planes and the horizontal plane is preferably less than 45 °. Further, as shown in Fig. 6, it is more preferable to set one plane to be at an angle to the horizontal plane, and the other plane is parallel to the horizontal plane, so that the angle value involved is small, and it is convenient to calculate the angle of the image processing.

However, according to the principle of measurement, when the object crosses the inflection point A, the angle between the two planes that intersect to form the inflection point A is smaller, that is, the angle between the two planes and the horizontal plane is larger, and the measurement result is theoretically The more precise it will be, but the greater the angle of inclination of the first plane 21 and/or the second plane 22 relative to the horizontal plane, the greater the reduction of the friction of the object along the conveyor belt and the increased gravity of the object along the conveyor belt, thereby increasing The difficulty of climbing an object, and the angle between the two planes at the inflection point A causes the object to be violently flipped, which may affect the accuracy of the measurement result due to the excessively large flipping action. Therefore, it is necessary to reasonably select the inclination angles of the first plane 21 and/or the second plane 22. In a preferred embodiment of the invention, the first plane 21 has an angle of 15 with the horizontal plane. The second plane 22 is parallel to the horizontal plane.

Preferably, in the step (b), the running speed of the conveyor belt is V = l-15 m/s. According to the technical solution of the present invention, the lower the running speed of the conveyor belt, the higher the accuracy, and the lower speed running is not only easier for continuous image or continuous image shooting, but also more accurately finding the turning support point on the object.

Preferably, in step (b), the speed of each movement of the conveyor belt is equal. This is to make the two images taken at the time of the flip of each movement of the object the same, so that the final measured height of the center of gravity is more accurate.

Preferably, in step (d), the original point C is first taken on the second perpendicular 1 ₂ in the second image, and then the position corresponding to the original point C is found in the first image. The corresponding point C', past the corresponding point C, makes the third straight line 1 ₃ corresponding to the second perpendicular 1 ₂ .

For those skilled in the art, there are various methods for projecting a line on two images onto the same image correspondingly, for example, two lines are respectively made on two images, and then two images are taken based on the object. Overlap, align the objects in the upper and lower images, directly find the intersection or draw a line correspondingly on another image to find the intersection of the two lines. A preferred embodiment of the technical solution of the present invention is provided. As shown in FIG. 5 to FIG. 7, first, an original point C of the second perpendicular 1 ₂ in the second image is found, and the original point C is found in the first image. The corresponding point C corresponding to the position, and then the third straight line 1 ₃ is determined according to the inclination of the second perpendicular 1 ₂ in the second image. In The inclination angle in the first image, by using the corresponding point C' and the inclination angle, makes a third straight line 1 ₂ corresponding to the second vertical line 1 ₂ .

For a preferred embodiment in which the angle between the first plane 21 and the horizontal plane is θ, and the angle between the second plane 22 and the horizontal plane is Θ ₂ , when the first plane 21 and the second plane 22 form a triangle with the horizontal plane, the inflection point A is a triangle when a vertex, i.e., where the slope of the line, and a second plane opposite to the first plane 22 plus or minus 21, made by the method of geometric mapping phase ₁₂ and the second image in the first image a second vertical Correspondingly, the third straight line 1 ₃ shows that the angle between the third straight line ₁₃ and the vertical direction is θ ₁₊ Θ _2; when the first plane 21 and the second plane 22 and the horizontal plane cannot form a triangle, that is, the first plane 21 When the slope of the line where the second plane 22 is located is the same, the third line 1 ₃ corresponding to the second perpendicular line 1 ₂ in the second image is made in the first image by the method of geometric drawing. The angle between the third straight line 1 ₃ and the vertical direction is I 9 ^ 9 .

Generally, the first plane 21 and the second plane 22 of the slope 2 adopt the first case described above, that is, when the inflection point A is a vertex of the triangle, that is, the slope of the line where the first plane 21 and the second plane 22 are located is positive. When the negative is reversed, as shown in Figures 3 to 7.

Preferably, the original point C on the second perpendicular 1 ₂ in the second image is the inflection point A of the slope 2 in the second image.

As shown in Figures 5 to 7, in order to project the second perpendicular 1 ₂ onto the first image, it is first necessary to select the original point C on the second perpendicular 1 ₂ , the selection of which should be easy to identify. In general, the common point of the selected object and the second perpendicular 1 ₂ is most suitable because there are more references on the object, it is convenient to find the corresponding point C' in the first image, and the second perpendicular 1 _{2 is} projected to the first image. The projection rule on the object is based on the object, that is, the objects in the first image and the second image are combined to find a third line 1 ₃ corresponding to the second perpendicular 1 ₂ in the first image. The original point C mentioned here is the inflection point of the slope in the second image, which actually means that the inflection point A can be regarded as the object and the inflection point A because the object is on the slope surface and the bottom surface of the object is in close contact with the slope surface. The point of close contact. It should be noted that, under the image projection rule of the technical solution of the present invention, any suitable point may be selected as the original point C, and the comparison of the present invention is not limited.

Incidentally, the above rule from the second projection ₁₂ perpendicular to the straight line ₁₃ of the third aspect of the present invention were introduced, and to achieve the above rules so that the second vertical projection ₁₂ and a first vertical The easiest way to project a line onto the first image is to overlap the two images to align the objects on the two images. The use of this method is not limited to direct comparison of the first image and the second image on paper or other suitable material, but can also be processed in a computer, for example by placing two images in two Comparisons in layers are more accurate.

Preferably, in step (d), first obtains the equation of the first and the third straight line perpendicular _13, comprising:

??? detecting a coordinate of the edge contour point of the slope surface 2 and the bottom surface of the object in the first image;

Fitting the edge contour point of the slope surface 2 and the bottom surface of the object to obtain a curve equation of the slope surface 2 and the bottom surface, and determining the intersection point of the slope surface 2 and the bottom surface in parallel, that is, the inflection point A Coordinate

Measure the coordinates of the corresponding point C';

The equation of the vertical vertical line of the intersection point A and the third line 1 _{3 of} the corresponding point C are obtained.

In addition to the method of directly comparing images by the above, the present invention also provides another method of obtaining a third line 1 ₃ on the first image, establishing a coordinate system in the image, using curve fitting obtain the original point C corresponding to the point C 'and the coordinates perpendicular to the first equation, then the use of C, point coordinates, and the third equation of the straight line ₁₃ and the third straight line ₁₃ of the horizontal angle is obtained. Thus, using the first equation and the equation of the third straight line perpendicular ₁₃ on the intersections can be obtained, i.e., the coordinates of the center of gravity G.

The operation of the above method is usually performed on a computer, which can increase the processing speed and improve the accuracy of the result. Moreover, the method is suitable for batch processing on a computer, which greatly improves the efficiency of measurement.

Reading the first image in a computer;

The complete shape of the object and the slope 2 including the inflection point A is detected;

Removing the object and the unwanted image around the slope 2;

The first image is smoothed by etching, and then the edge of the binary image is found; the coordinates of the edge contour points of the bottom surface and the slope 2 are extracted.

The method of the above-described preferred embodiments of the curve fitting equation to obtain a first perpendicular and the third straight line _13, the present invention also provides the coordinates of the bottom surface of the edge profile points and how to use the computer to extract the object of the slope Method, the above processing method is based on image processing of a computer platform.

Preferably, a reference that is stationary relative to the object is placed on one side of the object. It is obvious to the first reference image and the second captured image as a reference, so as to facilitate a second vertical line and the third straight line ₁₃ projected onto the same image.

Preferably, a scribing plate 3 is attached to one side of the object, and the reference object is marked on the scribing plate 3. As shown in Figs. 5 to 7, it should be noted here that the reference object can be used not only in the image processing method of a computer but also in a method of manually performing image processing. Here, the scribe plate 3 is provided for the purpose of facilitating manual image processing, and any reference object of any size can be directly marked at any position on the scribe plate 3.

Preferably, the dimensional relationship of the image to the object is determined by the actual size of the reference and the size on the image. Since there is a certain proportional relationship between the object size and the actual size in the image, the proportional relationship can be determined by the actual size of the reference object and the size on the image. For example, two points, or a cross, a circle, etc., are marked anywhere on the reticle 3, and their respective sizes are recorded.

It should be noted that the reference object may be intentionally provided, or the fixed portion of the object or the fixed portion on the slope 2 may be selected as a reference without additional selection or setting.

Preferably, the image capturing device 1 is a camera or a camera. Shooting through the above image The device captures a continuous image or a continuous image, and the camera and camera can be stored using a digital device or can be stored using other media such as film. For digital storage image capture devices, it is easy to process on a computer, or can be printed or made into a picture for manual processing; for image capture devices stored in other media such as film, the film can be washed out for manual use. The way of processing.

Preferably, the object is attached with a tilt sensor connected to the controller, and the controller controls the time when the image capturing device 1 starts shooting. The method for capturing a set of images or continuous images by the image capturing apparatus 1 to obtain the first image and the second image is described above. In order to ensure that the turning moment of the object can be photographed by the image capturing apparatus 1, it is also possible to use The sensor detects the movement state of the object along with the conveyor belt, thereby better controlling the time at which the image capturing apparatus 1 starts shooting. The present invention is preferably attached to the object using a tilt sensor, and when the tilt sensor detects an angle change, the image pickup device 1 is activated to start photographing.

Preferably, the object is attached with a tilt sensor which is connected to the recording device, and the recording device is activated simultaneously with the image capturing device 1. This is another embodiment in which the present invention utilizes a sensor to control an image recording apparatus to perform photographing. On the one hand, the recording apparatus is activated simultaneously with the image capturing apparatus 1, and on the other hand, the tilting angle sensor sends a signal to the recording apparatus when the tilt angle of the object changes. And recorded by the recording device. Finally, when the first image and the second image are selected, they can be selected in accordance with the change in the inclination angle recorded by the recording device. It should be noted that the content recorded by the recording device may be the time when the recording tilt angle changes, or the change of the tilt angle during the entire motion of the object, so that the tilt angle may be selected in the corresponding continuous image or motion image. The image corresponding to the moment is taken as the desired first image and/or second image.

Preferably, a pressure sensor is provided below the conveyor belt at the inflection point A, the pressure sensor being coupled to a controller that controls the time at which the image capturing device 1 starts photographing. In addition to the above-described tilting sensor to assist in determining the turning moment of the object, a pressure sensor can also be utilized. In particular, it has been explained above that under the conveyor belt at the inflection point A there is usually only a support for supporting the point or a support surface supporting the entire conveyor belt, so that a pressure sensor can be provided on the support or support surface instead of The pressure sensor is placed on a conveyor belt. When the object is turned over at the inflection point A, pressure is applied to the inflection point A, and the pressure sensor detects the pressure to judge that the object starts to flip, thereby better controlling the timing at which the image capturing apparatus 1 starts shooting.

Further, preferably, a pressure sensor is provided below the conveyor belt at the inflection point A, the pressure sensor being connected to a recording device which is activated simultaneously with the image capturing device 1. This is another embodiment in which the present invention utilizes a pressure sensor to control the image recording apparatus to perform photographing. On the one hand, the recording apparatus is activated simultaneously with the image capturing apparatus 1, and on the other hand, when the pressure sensor detects the pressure, it signals the recording apparatus. And recorded by the recording device. Finally, when the first image and the second image are selected, they can be selected in accordance with the change in the inclination angle recorded by the recording device. It should be noted that the content recorded by the recording device may be recorded. The time of the raw pressure signal may also be the change of the pressure at the inflection point A during the operation of the entire conveyor belt, so that the image corresponding to the moment when the pressure is abrupt may be selected as the required first in the corresponding continuous image or motion image. Image and / or second image.

Preferably, the tracked vehicle advances and retreats in a straight line on the slope 2, the first image and the second image being photographed during the forward and reverse steps, respectively.

The present invention does not limit the number of slopes 2, that is, the above measurement method can be performed on a plurality of slope surfaces or on one slope surface. When the above measurement is performed on a plurality of slopes, a set of image capturing devices 1 can be provided for each slope, and the posture of the tracked vehicle when traveling across the inflection point is different, that is, in the first image and the second image. In the image, the inclination angles of the two slopes that the tracked vehicle travels before crossing the inflection point twice are different, or the direction of travel of the tracked vehicles is different (for example, the first time is forward and the second is backward). Preferably, however, in order to facilitate the implementation of the above-described measuring method, and in order to improve the accuracy of the measurement, the tracked vehicle is generally linearly advanced and retracted along the slope on one slope, and the inflection point is crossed twice during the advancement and retreat. As shown in the preferred embodiment of the invention as shown in Figures 1 through 6, this greatly reduces the amount of auxiliary equipment required, and facilitates control of the measurement process, saving a significant amount of work and time.

In addition, the present invention also provides an apparatus for determining a height of a center of gravity of an object, wherein the apparatus includes:

a conveyor belt that forms a slope 2 having an outwardly projecting inflection point; and

Image capturing device 1, the image capturing device 1 is disposed on the slope 2 side.

According to FIG. 3 and FIG. 4, the measuring device of the present invention is applied to the above measuring method, and uses the image processing technology and the above physical principle (the above has been described in detail, and will not be described herein) to the height of the center of gravity of the object. Measurements are made, and highly accurate measurements can be obtained with simple structure and operation. Moreover, the measurement is performed by the above measurement method by using the measuring device, and details are not described herein again.

Preferably, the slope 2 comprises a first plane 21 at an angle Θ i to the horizontal plane and a second plane 22 at an angle θ _{2 to} the horizontal plane, the first plane 21 and the second plane 22 intersecting at the inflection point A , where 9 i < 45 ° and θ ₂ < 45 °.

Further, preferably, the slope surface 2 includes a first plane 21 at an angle Θ i from the horizontal plane and a second plane 22 parallel to the horizontal plane, the first plane 21 and the second plane 22 intersecting at the inflection point A,

Where θ , < 45 ° .

Figures 3 and 4 show these two preferred embodiments, respectively. In order for the slope 2 formed by the conveyor belt to have an inflection point A, a preferred embodiment of the invention forms the slope surface 2 by forming two intersecting planes with a conveyor belt, so that the slope surface 2 has an inflection point. Theoretically, the smaller the angle between the two planes, that is, the larger the angle between the two planes and the horizontal plane, the higher the measurement accuracy, but if the slope of the plane is too large, the object will be sloped. Driving on the surface is difficult, so the angle between the two planes and the horizontal plane is preferably less than 45 °. Moreover, another preferred way is to set one plane at an angle to the horizontal plane and the other plane to be parallel to the horizontal plane, thus The angle value is small, and it is convenient to calculate the angle of the image processing.

Preferably, the measuring device further comprises a reference object disposed on one side of the slope surface 2. It is obvious to the first reference image and the second captured image as a reference, so as to facilitate a second vertical line and the third straight line ₁₃ projected onto the same image.

Preferably, the measuring device further comprises a reticle 2 attached to the side of the slope 2, the reference being marked on the reticle 2. As shown in Figs. 5 to 7, it should be noted here that the reference object can be used not only in the image processing method of a computer but also in a method of manually performing image processing. Here, the scribing plate 3 is provided for the purpose of facilitating manual image processing, and any reference object of any size can be directly marked at any position on the scribing plate 3. For example, mark two points, or crosses, circles, etc., anywhere on the reticle 3, and record their respective sizes.

Preferably, the image capturing device 1 is a camera or a camera. The continuous image or the continuous image is captured by the image capturing apparatus described above, and the camera and the camera may be stored using a digital device or may be stored using other media such as film. For digital storage image capture devices, it is easy to process on a computer, or can be printed or made into a picture for manual processing; for image capture devices stored in other media such as film, the film can be washed out for manual use. The way of processing.

Preferably, the measuring device further includes a tilt sensor attached to the object and a controller, the tilt sensor being coupled to the controller, the controller controlling a time at which the image capturing device 1 starts photographing. The method for capturing a set of images or continuous images by the image capturing apparatus 1 to obtain the first image and the second image is described above. In order to ensure that the turning moment of the object can be photographed by the image capturing apparatus 1, it is also possible to use The sensor detects the movement state of the object with the conveyor belt, thereby better controlling the time at which the image capturing apparatus 1 starts shooting. The present invention is preferably attached to the object using a tilt sensor, and when the tilt sensor detects an angle change, the image capturing device 1 is activated to start photographing.

Preferably, the measuring device further comprises a tilt sensor attached to the object and a recording device, the tilt sensor being coupled to the recording device, the recording device being activated simultaneously with the image capturing device 1. This is another embodiment in which the present invention utilizes a sensor to control an image recording apparatus to perform photographing. On the one hand, the recording apparatus is activated simultaneously with the image capturing apparatus 1, and on the other hand, the tilting angle sensor sends a signal to the recording apparatus when the tilt angle of the object changes. And recorded by the recording device. Finally, when the first image and the second image are selected, they can be selected in accordance with the change in the inclination of the recording recorded by the recording device. It should be noted that the content recorded by the recording device may be the time when the recording tilt angle changes, or the change of the tilt angle during the whole motion of the object, so that the tilt angle may be selected in the corresponding continuous image or motion image. The image corresponding to the time is taken as the desired first image and/or second image.

Preferably, the measuring device further comprises a controller and a pressure sensor disposed under the conveyor belt at the inflection point A, the pressure sensor is connected to a controller, and the controller controls the time when the image capturing device 1 starts shooting. . In addition to the above, the tilt sensor is used to assist the judgment In addition to the time of inversion of the body, the measuring device of the present invention can also utilize a pressure sensor. In particular, it has been explained above that under the conveyor belt at the inflection point A there is usually only a support for supporting the point or a support surface supporting the entire conveyor belt, so that a pressure sensor can be provided on the support or support surface instead of The pressure sensor is placed on a conveyor belt. When the object starts to invert at the inflection point A, pressure is applied to the inflection point A, and the pressure is detected by the pressure sensor to judge that the object starts to be reversed, thereby better controlling the timing at which the image capturing apparatus 1 starts photographing.

Further, preferably, the measuring device further includes a recording device and a pressure sensor disposed under the conveyor belt at the inflection point A, the pressure sensor being coupled to the recording device, the recording device being simultaneously activated with the image capturing device 1 . This is another embodiment in which the measuring device of the present invention uses a pressure sensor to control the image recording device to perform photographing. On the one hand, the recording device is activated simultaneously with the image capturing device 1, and on the other hand, when the pressure sensor detects the pressure, the recording is performed. The device signals and is recorded by the recording device. Finally, when the first image and the second image are selected, they can be selected in accordance with the change in the inclination angle recorded by the recording device. It should be noted that the content recorded by the recording device may be the time when the pressure signal is generated, or the change of the pressure at the inflection point A during the operation of the entire conveyor belt, so that the pressure may be selected in the corresponding continuous image or motion image. The image corresponding to the moment of the mutation occurs as the desired first image and/or second image.

Preferably, the measuring device further comprises a computer, and the image capturing device 1 is connected to the computer. Thus, the image or image captured by the image capturing apparatus 1 can be directly transferred and stored in the computer for further processing thereof.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring now to Figures 5 through 7, a preferred embodiment of the present invention which is both convenient for manual processing and convenient for computer image processing is described. As shown in the figure, the first target point and the second target point 0 ₂ are two points marked on the reticle 3, and the first target point to the inflection point A (ie, the original point C) is measured in the second image. The reference distance r, then in the first image, with the first target point as the center and the reference distance r as the radius, the intersection of the circle and the lower edge of the track of the object is the corresponding point C', and then the corresponding point C, make the slope ₁₂ and the second vertical line corresponding to the third line _13, perpendicular to the first and the third straight line to obtain the intersection G _13, namely the center of gravity G. Finally measuring the distance between the center of gravity G and the horizontal plane on the first image, with reference to the actual value of the distance r and the reference distance r on the reticle, or between the first target and the second target 0 ₂ The distance between the image and the actual distance determines the scale relationship between the image and the object.

The preferred embodiment of the present invention has been described by way of example only, and is not intended to limit the invention.

By the above-described measuring device and measuring method, non-contact measurement of the height of the center of gravity of the object can be easily realized, the working efficiency is high, and the accuracy of the measurement result is high. The error range of the measurement result is analyzed below. The following error analysis is for illustrative purposes only. Therefore, for ease of calculation, the first plane 21 is at an angle with the horizontal plane Θ the second plane 22 is at an angle Θ ₂ to the horizontal plane, and the first plane 21 And the second plane 22 forms a triangle with the horizontal plane, and when the inflection point A is a vertex of the triangle, That is, the embodiment in which the slopes of the straight lines of the first plane 21 and the second plane 22 are opposite to each other is an example of calculation.

Assuming that the conveyor belt is operated at a certain speed V, the shooting time interval or frame interval of the image capturing apparatus 1 is At, and the angle between the first vertical line and the second perpendicular line 1 ₂ is θ _{1 +} Θ ₂ , the first vertical The maximum offset of the line or the second perpendicular 1 ₂ is vXAt. According to the geometric relationship, the maximum offset of the height of the center of gravity on the first perpendicular 1 is Ah^vXAt/tg Θ = _v XAt/tg ( θ ₁₊ θ ₂ ), the maximum offset of the height of the center of gravity at the second perpendicular 1 ₂ Ah ₂ = vX At / sin Θ = _V X At / sin ( θ _{1 +} θ ₂ ), therefore, the maximum deviation of the height of the center of gravity of the final measurement result The shift amount Ah = Ah _{1 +} Ah ₂ = vXAtX (l / tg ( θ _{1 +} θ ₂ ) + l / sin ( θ _{1 +} θ ₂ ) ).

When the object moves with the conveyor belt at a speed of v=15 m/s at a first plane 21 at an angle of 9^15° from the horizontal plane and a second plane 22 at an angle of Θ ₂ = 5° with the horizontal plane for testing Using a 14.2 megapixel camera that shoots 15 photos per second (ie shutter speed l/15s), the maximum height of the center of gravity is measured to be 6.076mm.

When the object moves with the conveyor belt at a speed of v=15 m/s at a first plane 21 at an angle of 9^15° from the horizontal plane and a second plane 22 at an angle of Θ ₂ = 5° with the horizontal plane for testing , using a resolution of 1920X1080, 20 frames per second camera shooting test, measured the maximum height of the center of gravity is 4.477mm.

When the object moves with the conveyor belt at a speed of v=15 m/s at a first plane 21 at an angle of 9^15° from the horizontal plane and a second plane 22 at an angle of Θ ₂ = 5° with the horizontal plane for testing Using a resolution of 1624X1224, a camera shooting process of 30 frames per second, the maximum deviation of the center of gravity height is 2.933mm.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments, and various simple modifications of the technical solutions of the present invention may be made within the scope of the technical idea of the present invention. These simple variations are within the scope of the invention.

It should be further noted that the specific technical features described in the above specific embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention has various possibilities. The combination method will not be described separately.

In addition, any combination of various embodiments of the invention may be made, as long as it does not deviate from the idea of the invention, and should also be regarded as the disclosure of the invention.

Claims

Rights request

A method for measuring a height of a center of gravity of an object, wherein the measuring method comprises the following steps:

(a) providing an image capturing device (1) on one side of the object;

(b) forming a slope (2) having an outwardly projecting inflection point (A) by means of a conveyor belt, the bottom surface of the object being in contact with the conveyor belt, and the object following the conveyor belt on the slope surface (2) Moving upward in a straight line, during the movement of the object, using the image capturing device (1) to acquire a first image and a second image of the turning moment when the object passes the inflection point (A) twice;

(c) selecting, in the first image, a first perpendicular through the inflection point (A) to select a second perpendicular (1 ₂ ) passing through the inflection point (A) in the second image _;

(d) comparing the first image and the second image to obtain an intersection (G) of the first vertical line and the second vertical line (1 ₂ );

2. The method according to claim 1, wherein

In step (b), during the movement of the object along the conveyor belt on the slope (2), the image capturing device (1) is used to capture the object passing through the inflection point (A) The process results in a set of images or continuous images, the first image and the second image being selected from the set of images or continuous images.

The measuring method according to claim 1 or 2, characterized in that

The turning moment includes a starting moment of the object turning process.

4. The method according to claim 1, wherein

Selecting a third straight line (1 ₃ ) in the first image, a positional relationship between the third straight line (1 ₃ ) and the object, and a second perpendicular line (1 ₂ ) in the second image The positional relationship between the objects is the same, and the third straight line ( ₁₃ ) intersects with the first vertical line in the first image to obtain the intersection point (G).

The measuring method according to claim 4, wherein the slope surface (2) comprises a first plane (21) at an angle θ with the horizontal plane and a second plane at an angle θ ₂ from the horizontal plane

(22), the first plane (21) and the second plane (22) intersect at the inflection point (A),

Among them, 9 i < 45 ° and θ ₂ < 45 °.

The measuring method according to claim 4, wherein the slope surface (2) comprises a first plane (21) at an angle of 9 i with the horizontal plane and a second plane (22) parallel to the horizontal plane, The first plane (21) and the second plane (22) intersect at the inflection point (A), where θ , < 45 ° .

7. The measuring method according to claim 1, wherein in the step (b), the running speed of the conveyor belt is V = l-15 m/s.

8. The measuring method according to claim 7, wherein in the step (b), the speed of each movement of the conveyor belt is equal.

The measuring method according to claim 5 or 6, wherein in the step (d), the original point (C) is first taken on the second perpendicular line (1 ₂ ) in the second image, Retrieving a corresponding point (C') corresponding to the position of the original point (C) in the first image, past the corresponding point

(C) making the third straight line (1 ₃ ) corresponding to the second perpendicular (1 ₂ ).

10. The measuring method according to claim 9, wherein said original point (C) on the second image a second vertical line ₍₁₂₎ to said second image The inflection point (A) of the slope (2).

11. The measuring method according to claim 9, wherein, in step (d), first obtains the equation of the first and the third straight line perpendicular _(13), comprising:

Detecting coordinates of the edge contour point of the slope surface (2) and the bottom surface of the object in the first image;

Fitting the edge contour point of the slope surface (2) and the bottom surface of the object to obtain a curve equation of the slope surface (2) and the bottom surface, and determining the intersection point of the slope surface (2) and the bottom surface in parallel The coordinates of the inflection point (A);

Measuring the coordinates of the corresponding point (C');

Obtaining the vertical through the intersection (A) perpendicular to the first equation, and through the corresponding point (C,) a third straight line _(13).

12. The method according to claim 11, wherein extracting coordinates of edge contour points of the slope surface and the bottom surface comprises:

Reading the first image in a computer;

Detecting the complete shape of the object and the slope surface (2) within the inflection point (A); removing unnecessary images of the object and the slope surface (2);

The first image is smoothed by etching, and then the edge of the binary image is found; the coordinates of the edge contour points of the bottom surface and the slope surface (2) are extracted.

13. The method according to claim 1, wherein one of the objects The side sets a reference that is stationary relative to the object.

14. The measuring method according to claim 13, wherein a scribing plate (3) is attached to one side of the object, and the reference object is marked on the scribing plate (3).

The measuring method according to claim 13 or 14, wherein the size ratio of the image to the object is determined by the actual size of the object and the size on the image.

The measuring method according to claim 1, wherein the image capturing device (1) is a camera or a camera.

The measuring method according to claim 1, wherein a tilt sensor is attached to the object, and the tilt sensor is connected to a controller that controls a timing at which the image capturing device (1) starts shooting.

The measuring method according to claim 1, characterized in that the object is attached with a tilt sensor which is connected to the recording device, and the recording device is activated simultaneously with the image capturing device (1).

The measuring method according to claim 1, wherein a pressure sensor is disposed under the conveyor belt at the inflection point (A), and the pressure sensor is connected to a controller that controls the image capturing device (1) ) The time to start shooting.

The measuring method according to claim 1, wherein a pressure sensor is disposed under the conveyor belt at the inflection point (A), and the pressure sensor is connected to a recording device, and the recording device and the image capturing device (1) ) Start at the same time.

The measuring method according to claim 1, wherein the crawler vehicle advances and retreats in a straight line with the conveyor belt on the slope surface (2), wherein the first image and the second image are respectively in the Shooting during forward and backward.

22. An apparatus for determining a height of a center of gravity of an object, the apparatus comprising:

a conveyor belt that forms a slope with an outwardly projecting inflection point (2); and

The image capturing device (1) is disposed on the side of the slope (2).

The measuring device according to claim 22, wherein the slope surface (2) comprises a first plane (21) at an angle Θ i from the horizontal plane and a second plane at an angle θ ₂ from the horizontal plane (22), the first plane (21) and the second plane (22) intersect at an inflection point (A),

Among them, 9 i <45° and θ ₂ <45°.

24. The assay device according to claim 22, wherein the slope surface (2) comprises a first plane (21) at an angle θ to the horizontal plane and a second plane (22) parallel to the horizontal plane, The first plane (21) and the second plane (22) intersect at an inflection point (Α),

Where θ , <45°.

The measuring device according to claim 22, wherein the measuring device further comprises a reference object disposed on one side of the slope surface (2).

The measuring device according to claim 25, wherein the measuring device further comprises a scribing plate (2) attached to the side of the slope surface (2), wherein the reference object is marked in the On the reticle (2).

The measuring device according to claim 22, wherein the image capturing device (1) is a camera or a camera.

The measuring device according to claim 22, wherein the measuring device further comprises a tilt sensor attached to the object and a controller, the tilt sensor is connected to the controller, and the controller controls The time at which the image capturing device (1) starts shooting.

The measuring device according to claim 22, wherein the measuring device further comprises a tilt sensor attached to the object and a recording device, the tilt sensor being connected to the recording device, the recording device and The image capturing device (1) is simultaneously activated.

30. The assay device according to claim 22, wherein the measuring device further comprises a controller and a pressure sensor disposed under the conveyor belt at the inflection point, the pressure sensor is connected to the controller The controller controls the time at which the image capturing device (1) starts shooting.

The measuring device according to claim 22, wherein the measuring device further comprises a recording device and a pressure sensor disposed under the conveyor belt at the inflection point, the pressure sensor is connected to the recording device The recording device is activated simultaneously with the image capturing device (1).

The measuring device according to claim 22, wherein the measuring device further comprises a computer, and the image capturing device (1) is connected to the computer.