CN106000912A - Citrus cyst foreign matter removing system based on machine vision guidance - Google Patents
Citrus cyst foreign matter removing system based on machine vision guidance Download PDFInfo
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- CN106000912A CN106000912A CN201610330791.3A CN201610330791A CN106000912A CN 106000912 A CN106000912 A CN 106000912A CN 201610330791 A CN201610330791 A CN 201610330791A CN 106000912 A CN106000912 A CN 106000912A
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- 206010011732 Cyst Diseases 0.000 title claims abstract description 52
- 208000031513 cyst Diseases 0.000 title claims abstract description 52
- 241000207199 Citrus Species 0.000 title claims abstract description 45
- 235000020971 citrus fruits Nutrition 0.000 title claims abstract description 45
- 238000001514 detection method Methods 0.000 claims abstract description 41
- 230000033001 locomotion Effects 0.000 claims abstract description 31
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 230000009471 action Effects 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 24
- 238000013519 translation Methods 0.000 claims description 16
- 239000000835 fiber Substances 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 241001672694 Citrus reticulata Species 0.000 claims 1
- 238000013481 data capture Methods 0.000 claims 1
- 238000007781 pre-processing Methods 0.000 abstract 1
- 230000000007 visual effect Effects 0.000 description 11
- 230000006872 improvement Effects 0.000 description 5
- 238000007689 inspection Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 239000002775 capsule Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 235000015203 fruit juice Nutrition 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 210000003437 trachea Anatomy 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 206010016256 fatigue Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036651 mood Effects 0.000 description 1
- 238000013386 optimize process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000012905 visible particle Substances 0.000 description 1
Classifications
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- 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
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- 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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention discloses a citrus cyst foreign matter removing system based on machine vision guidance. The citrus cyst foreign matter removing system comprises a mechanical system, a vision measurement guidance system and a control system. The mechanical system comprises a frame, a delivery device and a removing device. The removing device comprises a horizontal movement platform and a foreign matter sucking device arranged at the upper end of the horizontal movement platform. The foreign matter sucking device comprises a sucking nozzle, a vacuum generator and a telescopic air cylinder which are connected in sequence. The sucking nozzle is connected with a foreign matter collecting box through the vacuum generator. The vision measurement guidance system comprises a light source, a camera unit and an image data acquisition card. The camera unit comprises a preprocessing camera arranged in a pre-detection area and a guidance camera arranged in a detecting and removing area. The control system comprises an industrial personal computer and a programmable logic controller (PLC). The control system controls starting of the delivery device, the light source and the camera unit, movement of the horizontal movement platform, and the action of the foreign matter sucking device. Compared with manual detection, the citrus cyst foreign matter removing system is easy to operate, low in omission ratio and high in efficiency and precision and has great market value.
Description
Technical field
Patent of the present invention relates to fruit cyst foreign bodies detection field, relates to a kind of guiding based on machine vision especially and realizes Citrus cyst foreign body eliminating system.
Background technology
In recent years, China's fruit drink industry development is rapid, output value growth rate all growth rate more than GDP.Good development prospect, the most whole industry market degree is higher, has attracted international beverage giant to enter one after another, and industry competition is also abnormal fierce.But want to occupy a tiny space in this industry, the quality of product must be guaranteed.Citrus cyst is one of agricultural product making fruit juice, during we obtain cyst by processing citrus, can introduce a series of foreign bodies such as capsule clothing, orange core, hair and visible particle unavoidably.So this operation of cyst foreign body eliminating must be carried out before fruit juice tinning, the best to eat to ensure the fruit juice obtained, meet popular consumption requirement.
But, current China does not has ready-made equipment can complete this operation, and most of companies Citrus cyst foreign bodies detection line mainly uses and visually judges the artificial working method rejected.Which exists that efficiency is low, loss is high, high in cost of production is not enough, and Detection results is also easily affected by factors such as the mood of employee, conditions.Along with the day of human resources is becoming tight, these problems also day is aobvious prominent.To this end, propose a kind of automatic checkout system guided based on machine vision, to overcome the problems referred to above.
Summary of the invention
The purpose of patent of the present invention is to exist for manual detection that efficiency is low, loss is high and high in cost of production is not enough, proposes a kind of system guiding based on machine vision and realizing Citrus cyst foreign body eliminating.This system structure is simple, simple to operate, has that detection range is big, efficiency is high, precision advantages of higher.
In order to realize above-mentioned requirements, patent of the present invention by the following technical solutions:
nullA kind of guiding based on machine vision realizes Citrus cyst foreign body eliminating system，It is characterized in that: comprise mechanical system、Vision measurement guidance system and control system，Described mechanical system includes framework、For carrying the conveyer device of Citrus cyst、And for rejecting the device for eliminating of Citrus cyst foreign body，Described device for eliminating includes motion translation platform and is located at the foreign body suction means of motion translation platform upper end，Described motion translation platform can the most just move horizontally，Described foreign body suction means includes the suction nozzle being sequentially connected、Vacuum generator and telescopic cylinder，Described suction nozzle is connected with foreign matter collection case also by vacuum generator，Described vision measurement guidance system includes light source、Phase unit、Image Data Acquisition Card，Described phase unit includes pretreatment camera and guides camera，Described conveyer device is divided into pre-detection district and detection to reject district according to the Citrus cyst direction of motion，Described pretreatment camera is located at above pre-detection district，Described guiding camera and foreign body suction means are fixedly linked and are located at detection rejecting district，Described control system includes industrial computer and PLC，The signal of described pretreatment camera and guiding collected by camera accesses industrial computer after being processed by Image Data Acquisition Card，Described industrial computer controls conveyer device by PLC、Light source and the unlatching of phase unit、The motion of motion translation platform and the action of foreign body suction means.
As improvement, described conveyer device is located on framework, described conveyer device includes active roller, return idler, connection active roller and the transmission belt of return idler and drives the driving motor of active roller, and described Citrus cyst is carried by transmission belt, and described transmission belt is transparent belt.
As improvement, the shaft coupling of described active roller is provided with the rotary encoder for measuring rotating speed, and described rotary encoder detection signal is accessed PLC, can monitor active roller transmission speed in real time, and be controlled the transporting velocity of transmission belt by PLC.
As improvement, described conveyer device head and end is respectively provided with detection Citrus cyst and enters and leaves the Fibre Optical Sensor of transmission belt, described Fibre Optical Sensor signal accesses industrial computer, can judge whether Citrus cyst enters and leaves transmission belt accurately, in order to accurately Citrus cyst is detected and rejected.
As improvement, described device for eliminating has multiple, the plurality of device for eliminating linearly array distribution on transmission belt direction, the foreign body suction means of each device for eliminating described has all been fixedly linked guiding camera, multiple device for eliminating work simultaneously, accelerate foreign body eliminating speed, effectively prevent missing inspection leakage and reject.
Patent of the present invention provides the benefit that: the present invention is the system guiding based on machine vision and realizing Citrus cyst foreign body eliminating, vision measurement guidance system is utilized to gather picture, send industrial computer analysis to, by motion translation platform and the teamwork of cylinder, guide suction nozzle by foreign body eliminating.Reach Intelligent Measurement and rejected the purpose of foreign body, having overcome the shortcoming that efficiency is low, cost is high of existing manual detection.Compared with manual detection, simple to operate, loss is low, and efficiency is high and precision is high.
The speed of manual detection Citrus cyst be generally 0.6 square metre per minute, and Vision Builder for Automated Inspection detection speed per minute up to 5 square metres, the foreign body eliminating speed of Vision Builder for Automated Inspection is artificial 6 ~ 8 times, greatly improves production efficiency.
Manual detection is due to environment and physiological reason, it is impossible to carry out Citrus cyst foreign bodies detection and rejecting incessantly, uses Vision Builder for Automated Inspection detection then to become possibility.The production time of equipment can extend to greatest extent, improves the utilization rate of equipment.
Manual detection, due to vision fatiguability, is difficult to Continuous Observation Citrus cyst.Detection accuracy manually it is difficult to ensure that, the accuracy of detection of Vision Builder for Automated Inspection is higher, thus be greatly improved conforming product rate and detection quality.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is present system composition diagram block diagram；
Fig. 3 is workflow diagram of the present invention；
Fig. 4 is vision servo system based on image；
Fig. 5 is Visual servoing control flow process.
In Fig. 1,1 universal wheel, 2 frameworks, 3 active rollers, 4 transmission belts, 5 pretreatment cameras, 6 guide camera, 7, cylinder, 8 vacuum generators, 9 suction nozzles, 10 foreign matter collection casees, 11 industrial computers, 12 tracheas, 13 motion translation platforms, 14 guide rails, 15 Image Data Acquisition Cards, 16 IEEE1394B data wires, 17
PLC, 18 electromagnetic valves, 19 drivers, 20 return idlers.
Detailed description of the invention
Understand for the ease of those of ordinary skill in the art and implement patent of the present invention, below in conjunction with the accompanying drawings and patent of the present invention is described in further detail by embodiment, should be appreciated that enforcement example described herein is merely to illustrate and explains patent of the present invention, be not intended to limit the present invention patent.
Below in conjunction with embodiment and accompanying drawing, patent of the present invention is described further.
The present invention is to be applied to Citrus cyst foreign body eliminating.Mainly based on foreign bodies such as the capsule clothing being mixed in cyst, orange core, hair, fibers, it is directed to the technology of the aspects such as visual identity, visual guidance, image procossing, machine driving, sensor.Propose a kind of brand-new scheme utilizing machine vision guidance technology to realize Citrus cyst foreign body eliminating.
The purpose of native system is that instead of on production line manually carrying out the operation of Citrus cyst foreign body eliminating, because Citrus cyst foreign bodies detection and rejecting are all manually-operated at present, native system has reached Intelligent Measurement and has rejected the purpose of foreign body, overcomes the shortcoming that efficiency is low, cost is high of existing manual detection.Compared with manual detection, simple to operate, loss is low, and efficiency is high and precision is high.
As it is shown in figure 1, one guides based on machine vision realizes Citrus cyst foreign body eliminating system, comprise mechanical system, vision measurement guidance system and three major parts of control system.Wherein mechanical part mainly comprises framework 2, conveyer device, device for eliminating.Motion translation platform 13 is responsible for carrying the actuator such as cylinder 7, suction nozzle 9 and is moved to above foreign body, and cylinder 7 is responsible for driving moving up and down and foreign body absorption work of suction nozzle 9；Vision measurement guidance system is made up of light source, phase unit, Image Data Acquisition Card 15 again, undertakes the identification mission of the foreign bodies such as the capsule clothing being mixed in cyst, orange core, hair, fiber；Control system controls conveyer device, light source and the unlatching of phase unit, the motion of motion translation platform 13 and the action of foreign body suction means.
Described conveyer device is divided into pre-detection district and detection to reject district according to the Citrus cyst direction of motion, described phase unit comprises to be installed on the pretreatment camera 5 in pre-detection district and be installed on detection rejects a pair guiding camera 6 in district, pretreatment camera 5 predominantly detects whether Citrus cyst has foreign body, guiding the main real-time tracking and location of carrying out foreign body of camera 6, cooperation device for eliminating rejects foreign body；
Described Image Data Acquisition Card 15 is connected by data cable with described phase unit respectively, and Image Data Acquisition Card 15 is connected with the graphics processing unit of industrial computer 11；Described Fibre Optical Sensor is correlation Fibre Optical Sensor, and on the sensor stand of the both sides being symmetrically arranged in transmission belt, the output signal of Fibre Optical Sensor introduces PLC
17, PLC 17 are also linked into light source and phase unit.
The camera of described phase unit is all rack-mount with special fixture, size according to Citrus cyst and the area of tiling, select the focal length of camera lens, adjust the shooting shooting angle of camera, shooting distance, aperture size, time of exposure, in order to obtain and shoot image clearly；According to design, the present embodiment selects the GuppyPro 125c colorful CCD camera of AVT company of Germany, and this camera resolution is: 1292*964, Pixel size 3.75um, and the highest full width frame per second is that 31FPS. camera lens uses 16mm industry tight shot.Adjusting the height (i.e. object distance) of camera, the visual field making camera is 420*313mm region；Now, the pixel resolution of system is 0.33mm/ pixel；The highest picking rate of theory is 9.7m/s;Considering image processing time and mechanical action time, system processing speed is not less than 500mm/s.
Described conveyer device includes the transmission belt 4 between threephase asynchronous and active roller 3 and the return idler 20 that active roller 3 with return idler 20, is connected with active roller 3；Described transmission belt 4 is transparent transmission band, and material is smooth, and Citrus cyst can be allowed to be laid in transmission belt 4, wide about 50 cm of internal diameter, the fastest flow velocity 10m/min；Being provided with rotary encoder by shaft coupling on described active roller 3, monitor the speed of transmission belt in real time, the output signal of rotary encoder introduces programmable controller PLC
17。
Described device for eliminating includes motion translation platform 13, cylinder 7, electromagnetic valve 18, vacuum generator 8, suction nozzle 9 and foreign matter collection case 10, described suction nozzle 9 is connected to vacuum generator 8 times, vacuum generator 8 is relied on to give power suction of foreign body, described foreign matter collection case 10 is connected with vacuum generator 8 side by trachea, and described electromagnetic valve 18 is used for controlling cylinder 7 motion.
Described device for eliminating is linear array distribution in transmission belt 4, and its range of movement in the horizontal direction is limited in certain limit, and each device for eliminating is independent of each other when running.
Guide based on machine vision and realize the system the general frame of Citrus cyst foreign body eliminating as shown in Figure 1.When cyst successively rejects district through pre-detection district and detection with transmission belt 4 motion.In pre-detection district, after pretreatment camera 5 collects image, being transferred to industrial computer 11 by IEEE1394B data wire 16, present image is processed and analyzes by industrial computer 11, extracts foreign body feature and corresponding coordinate information.PLC 17, according to the lateral coordinates of foreign body, drives motion translation platform 13 to move to relevant position, waits the arrival of foreign body.After foreign body enters the visual field of guiding camera 6, guiding camera 6 to start to carry out foreign body real-time tracking and location, after locking foreign body, guided-moving translation stage 13 moves to the surface of foreign body, and cylinder 7 extends, and vacuum generator 8 produces negative pressure, and suction nozzle 9 rejects foreign body.
The specific works flow process of system is as shown in Figure 3: system starts, and each several part starts.Rotary encoder measures transmission belt 4 and the real-time rotating speed of active roller 3, and it is compared by PLC 17 with setting value, if do not corresponded, PLC 17 sends adjustment signal, and converter adjusts motor speed to regulate transfer strip line speed;When the Fibre Optical Sensor being arranged in conveyer belt side detects Citrus cyst entrance shooting section, produce a level signal and trigger light source stroboscopic and the image of camera shooting Citrus cyst.
By foreign body from entering pretreatment camera 5 field range, to arriving in collecting box 10 as a working cycle.The idiographic flow of each working cycle is, the image of pretreatment camera 5 picked-up is through the incoming industrial computer of Image Data Acquisition Card 15 11, a series of image procossing is carried out by the image processing software in industrial computer 11, industrial computer 11 is all of foreign body in detecting the visual field, and is input in data base by foreign body coordinate.After data in data base are optimized process, motion translation platform 13 starts action, prepares to meet the arrival of foreign body.When arriving guiding camera 6 shooting area, guide camera 6 the most constantly to gather image, and by Image Real-time Transmission to industrial computer 11, whether industrial computer 11 exists foreign body in detecting the visual field, if it does not, this working cycle terminates.If there is foreign body, then send instruction, make motion translation platform 13 follow foreign body and move together, lock onto target foreign body.Now, electromagnetic valve 18 controls cylinder 7 action, and cylinder 7 drives draw frame machine to extend, and suction nozzle 9 produces negative pressure, suction of foreign body by vacuum generator 8.After foreign body is disallowable, each reset.So circulation, does not has foreign body until guiding in camera 6 visual field.Subsequently enter the next working cycle.
Some of needs detailed description:
At detection zone, the vision servo system based on image used is as shown in Figure 4.First with the image of guiding camera Real-time Collection Citrus cyst, and extract corresponding image coordinate and movable information.And then the motion of employing visual servo technology humanized device for eliminating based on image, make target occur in all the time and guide among the visual field of camera 6, reach the locking purpose of the vision to target.Thus realize the tracking to Citrus cyst foreign body and absolute fix.
The purpose of feature teaching is to obtain suction nozzle 9 when being in expected pose, and foreign body image in guiding camera 6, in this, as the desired character of visual servo.When system is in mode of operation, owing to the current relative pose of foreign body and suction nozzle 9 is usually present deviation with expectation relative pose, therefore the image acquired in camera and desired characteristics of image there is also difference.Using this difference as the input of controller, controller real-time update image turn and inverse matrix thereof, and calculate output controlled quentity controlled variable, thus control cylinder moving by electromagnetic valve 18.So recurrence, until the departure of characteristics of image is less than tolerance scope, is finally reached accurate operating position.
Overall workflow is as shown in Figure 5.The purpose wherein carrying out souning out motion is to set up initial Jacobian matrix.
This programme, without estimating cyst foreign body pose in cartesian coordinate system, not only reduces arithmetic time delay, and can overcome calibrated error and the impact on positioning precision of the suction nozzle position sensor error of camera, even without demarcation.The image turn calculated and inverse matrix thereof, link up the change of image features with the change of suction nozzle pose.Its essence is to be placed on servo task in image features space to be described and control.Which, compared with location-based servo mode, has preferably location and tracking accuracy.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (5)
1. one kind realizes Citrus cyst foreign body eliminating system based on machine vision guiding, it is characterised in that: comprise mechanical system, regard
Feel and measure guidance system and control system, described mechanical system include framework (2), for carry Citrus cyst conveyer device,
And for rejecting the device for eliminating of Citrus cyst foreign body, described device for eliminating includes motion translation platform (13) and is located at motion and puts down
The foreign body suction means of moving stage (13) upper end, described motion translation platform (13) can the most just move horizontally, described
Foreign body suction means includes suction nozzle (9), vacuum generator (8) and telescopic cylinder (7), the described suction nozzle being sequentially connected
(9) be connected with foreign matter collection case (10) also by vacuum generator (8), described vision measurement guidance system include light source,
Phase unit, Image Data Acquisition Card (15), described phase unit includes pretreatment camera (5) and guides camera (6), described defeated
Sending device to be divided into pre-detection district and detection to reject district according to the Citrus cyst direction of motion, described pretreatment camera (5) is located at pre-detection
Above district, described guiding camera (6) and foreign body suction means are fixedly linked and are located at detection rejecting district, and described control system includes work
Control machine (11) and PLC (17), described pretreatment camera (5) and the signal guiding camera (6) to gather pass through view data
Capture card (15) process after access industrial computer (11), described industrial computer (11) by PLC (17) control conveyer device,
Light source and the unlatching of phase unit, the motion of motion translation platform (13) and the action of foreign body suction means.
2. a kind of guiding based on machine vision realizes Citrus cyst foreign body eliminating system, it is characterised in that:
Described conveyer device is located on framework (2), and described conveyer device includes active roller (3), return idler (20), connects master
Move roller (3) and the transmission belt (4) of return idler (20) and drive the driving motor of active roller (3), described Citrus chachiensis Hort.
Fructus Citri tangerinae cyst is carried by transmission belt (4), and described transmission belt (4) is transparent belt.
3. a kind of guiding based on machine vision realizes Citrus cyst foreign body eliminating system, it is characterised in that:
The shaft coupling of described active roller (3) is provided with the rotary encoder for measuring rotating speed, and described rotary encoder detection signal connects
Enter PLC (17).
4. a kind of guiding based on machine vision realizes Citrus cyst foreign body eliminating system, it is characterised in that:
Described conveyer device head and end is respectively provided with detection Citrus cyst and enters and leaves the Fibre Optical Sensor of transmission belt (4), institute
State Fibre Optical Sensor signal and access industrial computer (11).
5. a kind of guiding based on machine vision realizes Citrus cyst foreign body eliminating system, it is characterised in that:
Described device for eliminating has multiple, the plurality of device for eliminating linearly array distribution on transmission belt (4) direction, described each
The foreign body suction means of device for eliminating has all been fixedly linked guiding camera (6).
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| CN201610330791.3A CN106000912B (en) | 2016-05-18 | 2016-05-18 | One kind realizes citrus cyst foreign body eliminating system based on machine vision guiding |
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| CN201610330791.3A CN106000912B (en) | 2016-05-18 | 2016-05-18 | One kind realizes citrus cyst foreign body eliminating system based on machine vision guiding |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106733729A (en) * | 2017-01-25 | 2017-05-31 | 红塔烟草(集团)有限责任公司 | Image detection device and bar cigarette image detection device |
| CN107097395A (en) * | 2017-06-12 | 2017-08-29 | 程逸豪 | Heterochromatic glue flower is in line imaging detection device |
| CN107350173A (en) * | 2017-08-07 | 2017-11-17 | 华中农业大学 | A kind of Chinese chestnut automatic sorting device and method for sorting |
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| CN110935644A (en) * | 2019-12-27 | 2020-03-31 | 江南大学 | Bearing needle roller size detection system and method based on machine vision |
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| CN112607311A (en) * | 2020-12-22 | 2021-04-06 | 上海骄成机电设备有限公司 | Method for continuously eliminating foreign matter points by automatic eliminating machine and automatic eliminating machine |
| CN112607311B (en) * | 2020-12-22 | 2022-08-09 | 上海骄成超声波技术股份有限公司 | Method for continuously eliminating foreign matter points by automatic eliminating machine and automatic eliminating machine |
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