CN115942121B - Self-adaptive angle image acquisition system - Google Patents
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Abstract
The invention relates to the technical field of image acquisition, in particular to a self-adaptive angle image acquisition system, which comprises: the image acquisition module comprises a first camera used for acquiring an image of the surface of the object and a rotating assembly arranged above the first camera and used for adjusting the vertical inclination angle of the first camera; the auxiliary module is used for acquiring corresponding parameters of the surface to be shot of the object; the object adjusting module is arranged below the image acquisition module and comprises a lifting mechanism for adjusting the inclination angle of an object; the central control module is used for adjusting the vertical inclination angle of the first camera to be higher than the corresponding vertical inclination angle according to gray scale influence scoring of the object to be shot under the preset second scoring condition. The invention realizes the improvement of the image acquisition accuracy of partial irregular objects.
Description
Technical Field
The invention relates to the technical field of image acquisition, in particular to a self-adaptive angle image acquisition system.
Background
In the prior art, an image of an object is generally acquired by an image acquisition device, but objects with different shapes and irregular surfaces of the objects have influence on the accuracy of image acquisition in the process of image acquisition.
Chinese patent publication No.: CN101601047B discloses an image acquisition system for acquiring images, comprising at least two optical devices for acquiring images, each optical device comprising a respective linear camera adapted to acquire images from at least one object passing over a conveying surface; at least one illumination device associated with each of said at least two cameras and adapted to illuminate said object in an area of said object from which said image may be acquired, characterized in that said illumination devices illuminate said object with pulses of light, said pulses of light being synchronized such that light generated by said at least one illumination device associated with a camera does not interfere with the acquisition of the other of said at least two cameras, said camera acquiring said image only when the respective at least one illumination device is active. It follows that the image acquisition system for acquiring images has the following problems: image acquisition accuracy is degraded due to the presence of multiple corners in the surface of a portion of the irregular object.
Disclosure of Invention
Therefore, the invention provides an adaptive angle image acquisition system, which is used for solving the problem of image acquisition accuracy degradation caused by the existence of a plurality of edges and corners in the surface of a part of irregular object in the prior art.
In order to achieve the above object, the present invention provides an adaptive angle image acquisition system, including: the image acquisition module comprises a first camera used for acquiring an image of the surface of the object and a rotating assembly arranged above the first camera and used for adjusting the vertical inclination angle of the first camera; the auxiliary module is arranged below the image acquisition module and used for acquiring corresponding parameters of the surface to be shot of the object; the camera comprises a second camera and a third camera, wherein the second camera is arranged below the first camera and is used for acquiring the number of edges and corners of the surface to be shot of an object and the average interval between a plurality of groups of adjacent edges and corners, and the third camera is arranged below the first camera and is far away from one side of the second camera and is used for acquiring the average height difference between a plurality of groups of adjacent edges and the average inclination angle between a plurality of groups of edges; the object adjusting module is arranged below the image acquisition module and comprises a lifting mechanism for adjusting the inclination angle of an object; the central control module is respectively connected with the image acquisition module, the auxiliary module and the object adjustment module and is used for adjusting the vertical inclination angle of the first camera to be corresponding to the vertical inclination angle according to the gray scale influence score of an object to be shot under a preset second scoring condition, adjusting the single-side lifting height of the lifting mechanism to be corresponding to the lifting height according to the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle under a preset third inclination angle condition, and adjusting the cleaning frequency of the bottom surface of the object storage platform to be corresponding to the cleaning frequency according to the difference value between the average gradient of a plurality of object bottom surface images in historical data and the preset first average gradient, wherein the preset second scoring condition is that the gray scale influence score of the object to be shot is larger than the preset gray scale influence score; the preset third inclination angle condition is that the inclination angle of the surface of the object to be shot is larger than the preset second inclination angle.
Further, the central control module determines whether the influence of the object surface characteristics on the image acquisition accuracy is within an allowable range according to the gray scale influence score of the object to be shot, wherein,
the first type of judgment mode is that the central control module judges that the influence of the surface features of the object on the image acquisition accuracy is in an allowable range under a preset first scoring condition;
the second type of judgment mode is that the central control module judges that the influence of the object surface characteristics on the image acquisition accuracy exceeds an allowable range under a preset second grading condition, and the vertical inclination angle of the first camera is increased to a corresponding vertical inclination angle by calculating the difference value between the gray scale influence grading of the object to be shot and the preset gray scale influence grading;
the preset first grading condition is that the gray scale influence grading of the object to be shot is smaller than or equal to the preset gray scale influence grading; the preset second grading condition is that the gray scale influence grading of the object to be shot is larger than the preset gray scale influence grading.
Further, the gray scale impact score is calculated by the following formula:
wherein H is the average height difference between a plurality of groups of adjacent edges, R is the number of edges on the surface of the object to be photographed, C is the average inclination angle between a plurality of edges, and L is the average interval between a plurality of groups of adjacent edges.
Further, the central control module determines three types of one-time adjustment modes aiming at the vertical inclination angle of the first camera according to the difference value of the gray scale influence score of the object to be shot and the preset gray scale influence score under the preset second scoring condition, wherein,
the first type of primary adjustment mode is that the central control module adjusts the vertical inclination angle of the first camera to a preset vertical inclination angle under a preset first grading difference condition;
the second type of primary adjustment mode is that the central control module uses a preset first inclination angle adjustment coefficient to adjust the vertical inclination angle of the first camera to be higher than the first vertical inclination angle under the condition of a preset second grading difference value;
the third type of one-time adjustment mode is that the central control module uses a preset second inclination angle adjustment coefficient to adjust the vertical inclination angle of the first camera to a second vertical inclination angle under the condition of presetting a third grading difference value;
wherein the preset first inclination angle adjustment coefficient is smaller than the preset second inclination angle adjustment coefficient.
Further, the preset first grading difference condition is that the difference between the gray scale influence grading of the object to be shot and the preset gray scale influence grading is smaller than or equal to the preset first gray scale influence grading difference;
The preset second grading difference condition is that the difference between the gray scale influence grading of the object to be shot and the preset gray scale influence grading is larger than the preset first gray scale influence grading difference and smaller than the preset gray scale influence grading difference;
the preset third grading difference condition is that the difference between the gray scale influence grading of the object to be shot and the preset gray scale influence grading is larger than the preset gray scale influence grading difference;
the preset first gray scale influence score difference value is smaller than the preset gray scale influence score difference value.
Further, the central control module determines whether the error of the object image acquired by the first camera is within the allowable range according to the inclination angle of the surface to be shot of the object when the adjustment of the vertical inclination angle of the first camera is completed, wherein,
the first type of error judging mode is that the central control module judges that the error of an object image acquired by a first camera is in an allowable range under the condition of presetting a first inclination angle;
the second type of error judging mode is that the central control module judges that the error of the object image acquired by the first camera exceeds an allowable range under the condition of a preset second inclination angle, preliminarily judges that the roughness of the bottom surface of the object storage platform arranged above the lifting mechanism exceeds the allowable range, and judges whether the roughness of the bottom surface of the object storage platform exceeds the allowable range or not secondarily through the average gradient of a plurality of object bottom surface images in the historical data;
The third type of error judging mode is that the central control module judges that the error of the object image acquired by the first camera exceeds an allowable range under the condition of a preset third inclination angle, and the single-side lifting height of the lifting mechanism is adjusted to be corresponding lifting height by calculating the difference value between the inclination angle of the object surface to be shot and the preset first inclination angle;
the preset first inclination angle condition is that the inclination angle of the surface of the object to be shot is smaller than or equal to the preset first inclination angle; the preset second inclination angle condition is that the inclination angle of the surface of the object to be shot is larger than the preset first inclination angle and smaller than or equal to the preset second inclination angle; the condition of the preset third inclination angle is that the inclination angle of the surface of the object to be shot is larger than the preset second inclination angle;
the preset first inclination angle is smaller than the preset second inclination angle.
Further, the central control module determines three types of adjustment modes aiming at the single-side lifting height of the lifting mechanism according to the difference value between the inclination angle of the surface to be photographed of the object and the preset first inclination angle under the preset third inclination angle condition, wherein,
the first type of lifting height adjusting mode is that the central control module adjusts the lifting height of one side of the lifting mechanism to a preset lifting height under the condition of a preset first inclination angle difference value;
The second type of lifting height adjusting mode is that the central control module uses a preset first lifting height adjusting coefficient to adjust the single-side lifting height of the lifting mechanism to be the first lifting height under the condition of a preset second inclination angle difference value;
the third type of lifting height adjusting mode is that the central control module uses a preset second lifting height adjusting coefficient to adjust the Shan Cedi lifting height of the lifting mechanism to a second lifting height under the condition of a preset third inclination angle difference value;
the preset first lifting height adjusting coefficient is smaller than the preset second lifting height adjusting coefficient.
Further, the preset first inclination angle difference condition is that the difference value between the inclination angle of the surface of the object to be shot and the preset first inclination angle is smaller than or equal to the preset first inclination angle difference value;
the preset second inclination angle difference value condition is that the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle is larger than the preset first inclination angle difference value and smaller than or equal to the preset second inclination angle difference value;
the preset third inclination angle difference value condition is that the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle is larger than the preset second inclination angle difference value;
The preset first inclination angle difference value is smaller than the preset second inclination angle difference value.
Further, the central control module determines three secondary judging modes of whether the roughness of the bottom surface of the object storage platform exceeds an allowable range according to the average gradient of a plurality of object bottom surface images in the historical data under the preset second inclination angle condition, wherein,
the first secondary judging mode is that the central control module secondarily judges that the roughness of the bottom surface of the object storage platform is in an allowable range under a preset first average gradient condition;
the second secondary judgment mode is that the central control module secondarily judges that the roughness of the bottom surface of the object storage platform exceeds an allowable range under the condition of a preset second average gradient, and the cleaning frequency of the bottom surface of the object storage platform is adjusted to be corresponding to the cleaning frequency by calculating the difference value between the average gradient of a plurality of object bottom surface images and the preset first average gradient;
the third type of secondary judgment mode is that the central control module judges that equipment faults exist in the first camera and sends out fault maintenance notification under the preset third average gradient condition;
the preset first average gradient condition is that average gradients of the bottom surface images of the plurality of objects are smaller than or equal to the preset first average gradient; the preset second average gradient condition is that the average gradient of the bottom surface images of the plurality of objects is larger than the preset first average gradient and smaller than or equal to the preset second average gradient; the preset third average gradient condition is that the average gradient of the bottom surface images of a plurality of objects is larger than the preset second average gradient;
Wherein the preset first average gradient is less than the preset second average gradient.
Further, the central control module adjusts the cleaning frequency of the bottom surface of the object storage platform to the corresponding cleaning frequency according to the difference value between the average gradient of the images of the bottom surface of a plurality of objects and the preset first average gradient under the preset second average gradient condition, and determines three types of adjustment modes aiming at the cleaning frequency,
the first type of frequency adjustment mode is that the central control module adjusts the cleaning frequency of the bottom surface of the object storage platform to a preset cleaning frequency under a preset first average gradient difference value condition;
the second type of frequency adjustment mode is that the central control module uses a preset first cleaning frequency adjustment coefficient to adjust the cleaning frequency of the bottom surface of the object storage platform to a first cleaning frequency under the condition of a preset second average gradient difference value;
the third type of frequency adjustment mode is that the central control module uses a preset second cleaning frequency adjustment coefficient to adjust the cleaning frequency of the bottom surface of the object storage platform to a second cleaning frequency under the condition of a preset third average gradient difference value;
the preset first average gradient difference value condition is that the difference value between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is smaller than or equal to the preset first average gradient difference value;
The second average gradient difference value condition is that the difference value between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is larger than the preset first average gradient difference value and smaller than or equal to the preset second average gradient difference value;
the preset third average gradient difference value condition is that the difference value between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is larger than the preset second average gradient difference value;
the preset first average gradient difference value is smaller than the preset second average gradient difference value.
Compared with the prior art, the system has the beneficial effects that through the image acquisition module, the auxiliary module, the object adjustment module and the central control module, through the second camera, the third camera and the rotating assembly which are arranged in the auxiliary module, the vertical inclination angle of the first camera is adjusted to be corresponding to the vertical inclination angle according to the gray scale influence score of the object to be shot under the preset second scoring condition, and the influence of the reduction of the image accuracy in the image acquisition process caused by inaccurate calculation of the gray scale influence parameter of the surface of the object to be shot is reduced; the single-side lifting height of the lifting mechanism is adjusted to the corresponding lifting height according to the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle under the preset third inclination angle condition, so that the influence on the image acquisition accuracy due to the overlarge inclination degree of the surface to be shot of the object is reduced; the cleaning frequency of the bottom surface of the object storage platform is adjusted to be corresponding to the cleaning frequency according to the difference value between the average gradient of the plurality of object bottom surface images in the historical data and the preset first average gradient, so that the influence on the gradient value obtained by the bottom surface image due to the overlarge roughness of the bottom surface of the object storage platform reflected by the inclination degree of the surface to be shot of the object is reduced, and the improvement of the image acquisition accuracy of partial irregular surface objects is realized.
Further, the system determines whether the influence of the object surface characteristics on the image acquisition accuracy is within an allowable range or not according to the set preset gray scale influence score, and adjusts the vertical inclination angle of the first camera to be corresponding to the vertical inclination angle by calculating the difference value between the gray scale influence score of the object to be shot and the preset gray scale influence score under the preset second scoring condition, so that the influence of poor image acquisition accuracy caused by inaccuracy in adjustment of the vertical inclination angle is reduced, and the improvement of the image acquisition accuracy of partial surface irregular objects is further realized.
Furthermore, the system can accurately describe the influence of the image acquisition gray level of the surface to be shot of the object to be shot through the set gray level influence scoring calculation formula, through the set average height difference between a plurality of groups of adjacent edges, the number of edges of the surface to be shot of the object, the average inclination angle between a plurality of edges and the average interval between a plurality of groups of adjacent edges, and further realize the improvement of the image acquisition accuracy of partial surface irregular objects.
Further, the system of the invention reduces the influence of lower image acquisition accuracy caused by incomplete image acquisition due to inaccurate adjustment of the vertical inclination angle of the first camera by setting three types of one-time adjustment modes for the vertical inclination angle of the first camera and adjusting the vertical inclination angle of the first camera to be corresponding to the vertical inclination angle according to the difference value between the gray scale influence score of the object to be shot and the preset gray scale influence score, and further realizes the improvement of the image acquisition accuracy of partial surface irregular objects.
Furthermore, the system improves the accuracy of adjusting the vertical inclination angle by setting the preset first scoring difference value condition, the preset second scoring difference value condition and the preset third scoring difference value condition and by accurately dividing the scoring difference value range, and further improves the image acquisition accuracy of partial irregular objects on the surface.
Further, according to the device, through three judging modes of whether the error of the object image acquired by the first camera is within the allowable range or not, through judging whether the inclination degree of the surface to be shot of the object exceeds the range or not, the influence on the acquisition accuracy of the object image caused by inaccurate judgment of the inclination degree is reduced, and the improvement of the acquisition accuracy of the image of the irregular object on the part of the surface is further realized.
Further, the system adjusts the single-side lifting height of the lifting mechanism to the corresponding lifting height according to the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle under the preset third inclination angle condition through the preset first lifting height adjustment coefficient and the preset second lifting height adjustment coefficient, so that the accurate adjustment of the single-side lifting height of the lifting mechanism is reduced, and the improvement of the image acquisition accuracy of partial irregular objects on the surface is further realized.
Furthermore, the system of the invention sets the preset first inclination angle difference value and the preset second inclination angle difference value, and more accurately adjusts the lifting mechanism through the set inclination angle difference value, thereby further realizing the improvement of the image acquisition accuracy of partial irregular objects on the surface.
Furthermore, the system of the invention reduces the influence of the reduction of the image acquisition precision caused by inaccurate judgment of the roughness of the bottom surface of the object storage platform and further realizes the improvement of the image acquisition precision of partial irregular objects on the surface by setting the preset first average gradient and the preset second average gradient and determining whether the roughness of the bottom surface of the object storage platform exceeds the allowable range according to the average gradients of a plurality of object bottom surface images in the historical data.
Furthermore, the system adjusts the cleaning frequency of the bottom surface of the object storage platform to the corresponding cleaning frequency according to the difference value between the average gradient of the images of the bottom surface of a plurality of objects and the preset first average gradient under the preset second average gradient condition by setting the preset first average gradient difference value and the preset second average gradient difference value, thereby reducing the influence on the image acquisition precision of the bottom surface of the object caused by inaccurate adjustment of the cleaning frequency and further realizing the improvement on the image acquisition accuracy of partial irregular objects on the surface.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an adaptive angle image acquisition system according to an embodiment of the present invention;
FIG. 2 is a block diagram of the overall structure of an adaptive angle image acquisition system according to an embodiment of the present invention;
FIG. 3 is a block diagram of a connection structure between an image acquisition module and a central control module of the adaptive angle image acquisition system according to an embodiment of the present invention;
fig. 4 is a block diagram of a connection structure between an auxiliary module and a central control module of the adaptive angle image acquisition system according to an embodiment of the present invention.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
Fig. 1, fig. 2, fig. 3, and fig. 4 show an overall structure diagram, an overall structure block diagram, a connection structure block diagram of an image acquisition module and a central control module 1, and a connection structure block diagram of an auxiliary module and the central control module 1 of the adaptive angle image acquisition system according to the embodiment of the invention. The embodiment of the invention provides a self-adaptive angle image acquisition system, which comprises the following components:
the image acquisition module comprises a first camera 4 used for acquiring an image of the surface of an object and a rotating assembly 3 arranged above the first camera and used for adjusting the vertical inclination angle of the first camera 4;
the auxiliary module is arranged below the image acquisition module and used for acquiring corresponding parameters of the surface to be shot of the object; the camera comprises a second camera 2 arranged below the first camera to obtain the number of the edges and corners of the surface to be shot of the object and the average interval between a plurality of groups of adjacent edges and a third camera 5 arranged below the first camera and far away from one side of the second camera 2 to obtain the average height difference between a plurality of groups of adjacent edges and the average inclination angle between a plurality of edges;
The object adjusting module is arranged below the image acquisition module and comprises a lifting mechanism 6 used for adjusting the inclination angle of an object;
the central control module 1 is respectively connected with the image acquisition module, the auxiliary module and the object adjustment module, and is used for adjusting the vertical inclination angle of the first camera 4 to be higher to a corresponding vertical inclination angle according to the gray scale influence score of an object to be shot under a preset second scoring condition, adjusting the single-side lifting height of the lifting mechanism 6 to be corresponding lifting height according to the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle under a preset third inclination angle condition, and adjusting the cleaning frequency of the bottom surface of the object storage platform 7 to be corresponding cleaning frequency according to the difference value between the average gradient of a plurality of bottom surface images of the object in historical data and the preset first average gradient,
the preset second grading condition is that the gray scale influence grading of the object to be shot is larger than the preset gray scale influence grading;
the preset third inclination angle condition is that the inclination angle of the surface of the object to be shot is larger than the preset second inclination angle.
According to the system, through the image acquisition module, the auxiliary module, the object adjustment module and the central control module 1, through the second camera 2, the third camera 5 and the rotating assembly 3 which are arranged in the auxiliary module, the vertical inclination angle of the first camera 4 is adjusted to be corresponding to the vertical inclination angle according to the gray scale influence score of an object to be shot under the preset second scoring condition, so that the influence of the reduction of image accuracy in the image acquisition process caused by inaccurate calculation of gray scale influence parameters of the surface of the object to be shot is reduced; the single-side lifting height of the lifting mechanism 6 is adjusted to the corresponding lifting height according to the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle under the preset third inclination angle condition, so that the influence on the image acquisition accuracy due to the overlarge inclination degree of the surface to be shot of the object is reduced; the cleaning frequency of the bottom surface of the object storage platform 7 is adjusted to be corresponding to the cleaning frequency according to the difference value between the average gradient of the plurality of object bottom surface images in the historical data and the preset first average gradient, so that the influence on the gradient value obtained by the bottom surface image due to the overlarge roughness of the bottom surface of the object storage platform 7 reflected on the inclination degree of the surface to be shot of the object is reduced, and the improvement of the image acquisition accuracy of partial irregular objects on the surface is realized.
With continued reference to fig. 1 and 2, the central control module 1 determines whether the influence of the object surface features on the image acquisition accuracy is within the allowable range according to the gray scale influence score of the object to be photographed, wherein,
the first type of judgment mode is that the central control module 1 judges that the influence of the surface features of the object on the image acquisition accuracy is in an allowable range under a preset first scoring condition;
the second type of judgment mode is that the central control module 1 judges that the influence of the object surface characteristics on the image acquisition accuracy exceeds an allowable range under a preset second grading condition, and the vertical inclination angle of the first camera 4 is increased to a corresponding vertical inclination angle by calculating the difference value between the gray scale influence grading of the object to be shot and the preset gray scale influence grading;
the preset first grading condition is that the gray scale influence grading of the object to be shot is smaller than or equal to the preset gray scale influence grading; the preset second grading condition is that the gray scale influence grading of the object to be shot is larger than the preset gray scale influence grading.
Further, the system determines whether the influence of the object surface characteristics on the image acquisition accuracy is within the allowable range according to the set preset gray scale influence score, and adjusts the vertical inclination angle of the first camera 4 to be corresponding to the vertical inclination angle by calculating the difference value between the gray scale influence score of the object to be shot and the preset gray scale influence score under the preset second scoring condition, so that the influence of poor image acquisition accuracy caused by inaccuracy in adjustment of the vertical inclination angle is reduced, and the improvement of the image acquisition accuracy of partial surface irregular objects is further realized.
With continued reference to fig. 1 and 2, the gray scale impact score is calculated by the following formula:
wherein H is the average height difference between a plurality of groups of adjacent edges, R is the number of edges on the surface of the object to be photographed, C is the average inclination angle between a plurality of edges, and L is the average interval between a plurality of groups of adjacent edges.
Furthermore, the system can accurately describe the influence of the image acquisition gray level of the surface to be shot of the object to be shot through the set gray level influence scoring calculation formula, through the set average height difference between a plurality of groups of adjacent edges, the number of edges of the surface to be shot of the object, the average inclination angle between a plurality of edges and the average interval between a plurality of groups of adjacent edges, and further realize the improvement of the image acquisition accuracy of partial surface irregular objects.
With continued reference to fig. 1 and 2, the central control module 1 determines three types of primary adjustment modes for the vertical tilt angle of the first camera 4 according to the difference between the gray scale impact score of the object to be photographed and the preset gray scale impact score under the preset second scoring condition, wherein,
the first type of primary adjustment mode is that the central control module 1 adjusts the vertical inclination angle of the first camera 4 to a preset vertical inclination angle under a preset first scoring difference condition;
The second type of primary adjustment mode is that the central control module 1 uses a preset first inclination angle adjustment coefficient to adjust the vertical inclination angle of the first camera 4 to a first vertical inclination angle under the condition of a preset second grading difference value;
the third type of one-time adjustment mode is that the central control module 1 uses a preset second inclination angle adjustment coefficient to adjust the vertical inclination angle of the first camera 4 to a second vertical inclination angle under the condition of presetting a third grading difference value;
wherein the preset first inclination angle adjustment coefficient is smaller than the preset second inclination angle adjustment coefficient.
Specifically, the preset first inclination angle adjustment coefficient is denoted as α1, the preset second inclination angle adjustment coefficient is denoted as α2, the preset gray scale influence score is denoted as S0, the preset first gray scale influence score difference is denoted as Δs1, the preset gray scale influence score difference is denoted as Δs2, the preset vertical inclination angle is denoted as A0, wherein 1 < α1 < α2, Δs1 < [ Δs2 ], the adjusted vertical inclination angle of the first camera 4 is denoted as a ', a' =a0+αi×aa is set, aa is a unit adjustment angle, αi is a preset i-th inclination angle adjustment coefficient, and i=1, 2 is set.
Further, by setting three types of one-time adjustment modes for the vertical inclination angle of the first camera 4, the system of the invention adjusts the vertical inclination angle of the first camera 4 to be corresponding to the vertical inclination angle according to the difference between the gray scale influence score of the object to be shot and the preset gray scale influence score, thereby reducing the influence of lower image acquisition accuracy caused by incomplete image acquisition due to inaccurate adjustment of the vertical inclination angle of the first camera 4 and further realizing the improvement of the image acquisition accuracy of partial irregular objects on the surface.
Referring to fig. 1 and fig. 3, the preset first scoring difference condition is that a difference between the gray scale impact score of the object to be photographed and the preset gray scale impact score is less than or equal to the preset first gray scale impact score difference;
the preset second grading difference condition is that the difference between the gray scale influence grading of the object to be shot and the preset gray scale influence grading is larger than the preset first gray scale influence grading difference and smaller than the preset gray scale influence grading difference;
the preset third grading difference condition is that the difference between the gray scale influence grading of the object to be shot and the preset gray scale influence grading is larger than the preset gray scale influence grading difference;
the preset first gray scale influence score difference value is smaller than the preset gray scale influence score difference value.
Furthermore, the system improves the accuracy of adjusting the vertical inclination angle by setting the preset first scoring difference value condition, the preset second scoring difference value condition and the preset third scoring difference value condition and by accurately dividing the scoring difference value range, and further improves the image acquisition accuracy of partial irregular objects on the surface.
With continued reference to fig. 1 and 2, the central control module 1 determines whether the error of the object image acquired by the first camera 4 is within the allowable range according to the inclination angle of the surface to be photographed of the object when the adjustment of the vertical inclination angle of the first camera 4 is completed, wherein,
The first type of error judging mode is that the central control module 1 judges that the error of the object image acquired by the first camera is in an allowable range under the condition of presetting a first inclination angle;
the second type of error determination method is that the central control module 1 determines that the error of the object image acquired by the first camera exceeds the allowable range under the condition of a preset second inclination angle, primarily determines that the roughness of the bottom surface of the object storage platform 7 arranged above the lifting mechanism 6 exceeds the allowable range, and secondarily determines whether the roughness of the bottom surface of the object storage platform 7 exceeds the allowable range or not through average gradients of a plurality of object bottom surface images in historical data;
the third type of error determination mode is that the central control module 1 determines that the error of the object image acquired by the first camera 4 exceeds the allowable range under the condition of a preset third inclination angle, and adjusts the single-side lifting height of the lifting mechanism 6 to the corresponding lifting height by calculating the difference value between the inclination angle of the surface of the object to be photographed and the preset first inclination angle;
the preset first inclination angle condition is that the inclination angle of the surface of the object to be shot is smaller than or equal to the preset first inclination angle; the preset second inclination angle condition is that the inclination angle of the surface of the object to be shot is larger than the preset first inclination angle and smaller than or equal to the preset second inclination angle; the condition of the preset third inclination angle is that the inclination angle of the surface of the object to be shot is larger than the preset second inclination angle;
The preset first inclination angle is smaller than the preset second inclination angle.
Further, according to the device, through three judging modes of whether the error of the object image acquired by the first camera 4 is in the allowable range or not, through judging whether the inclination degree of the surface to be shot of the object exceeds the range or not, the influence on the acquisition accuracy of the object image caused by inaccurate judgment of the inclination degree is reduced, and the improvement of the acquisition accuracy of the image of the irregular object on part of the surface is further realized.
With continued reference to fig. 1, the central control module 1 determines three types of adjustment modes for the single-side lifting height of the lifting mechanism 6 according to the difference between the inclination angle of the surface to be photographed of the object and the preset first inclination angle under the preset third inclination angle condition, wherein,
the first type of lifting height adjusting mode is that the central control module 1 adjusts the single-side lifting height of the lifting mechanism 6 to a preset lifting height under the condition of a preset first inclination angle difference value;
the second type of lifting height adjusting mode is that the central control module 1 uses a preset first lifting height adjusting coefficient to adjust the single-side lifting height of the lifting mechanism 6 to be the first lifting height under the condition of a preset second inclination angle difference value;
The third type of lifting height adjusting mode is that the central control module 1 uses a preset second lifting height adjusting coefficient to adjust the lifting height of one side of the lifting mechanism 6 to a second lifting height under the condition of a preset third inclination angle difference value;
the preset first lifting height adjusting coefficient is smaller than the preset second lifting height adjusting coefficient.
Specifically, the preset first inclination angle is denoted as P1, the preset second inclination angle is denoted as P2, the preset first inclination angle difference is denoted as Δp1, the preset second inclination angle difference is denoted as Δp2, the preset first elevation height adjustment coefficient is denoted as β1, the preset second elevation height adjustment coefficient is denoted as β2, the preset elevation height is denoted as Ha0, wherein P1 < P2, Δp1 < [ Δp2 ], 1 < β1 < β2, the single-side elevation height of the adjusted elevating mechanism 6 is denoted as Ha0', ha0' =ha0× (1+βj)/2 is set, wherein βj is the preset j-th elevation height adjustment coefficient, and j=1, 2 is set.
Further, the system adjusts the single-side lifting height of the lifting mechanism 6 to the corresponding lifting height according to the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle under the preset third inclination angle condition through the preset first lifting height adjustment coefficient and the preset second lifting height adjustment coefficient, so that the accurate adjustment of the single-side lifting height of the lifting mechanism 6 is reduced, and the improvement of the image acquisition accuracy of partial irregular objects on the surface is further realized.
With continued reference to fig. 1 and fig. 3, the preset first inclination angle difference condition is that a difference between the inclination angle of the surface to be photographed of the object and the preset first inclination angle is smaller than or equal to a preset first inclination angle difference;
the preset second inclination angle difference value condition is that the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle is larger than the preset first inclination angle difference value and smaller than or equal to the preset second inclination angle difference value;
the preset third inclination angle difference value condition is that the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle is larger than the preset second inclination angle difference value;
the preset first inclination angle difference value is smaller than the preset second inclination angle difference value.
Furthermore, the system of the invention further realizes the improvement of the image acquisition accuracy of the irregular object on part of the surface by setting the preset first inclination angle difference value and the preset second inclination angle difference value and more accurately adjusting the lifting mechanism 6 by the set inclination angle difference value.
With continued reference to fig. 1 and 4, the central control module 1 determines whether the roughness of the bottom surface of the object storage platform 7 exceeds the allowable range according to the average gradient of the images of the bottom surface of the object in the history data under the preset second inclination angle condition, wherein,
The first secondary judgment mode is that the central control module 1 secondarily judges that the roughness of the bottom surface of the object storage platform 7 is within an allowable range under a preset first average gradient condition;
the second secondary judgment mode is that the central control module 1 secondarily judges that the roughness of the bottom surface of the object storage platform 7 exceeds an allowable range under the condition of a preset second average gradient, and the cleaning frequency of the bottom surface of the object storage platform 7 is adjusted to be corresponding to the cleaning frequency by calculating the difference value between the average gradient of a plurality of object bottom surface images and the preset first average gradient;
the third type of secondary judgment mode is that the central control module 1 judges that the first camera 4 has equipment faults and sends out fault maintenance notification under the preset third average gradient condition;
the preset first average gradient condition is that average gradients of the bottom surface images of the plurality of objects are smaller than or equal to the preset first average gradient; the preset second average gradient condition is that the average gradient of the bottom surface images of the plurality of objects is larger than the preset first average gradient and smaller than or equal to the preset second average gradient; the preset third average gradient condition is that the average gradient of the bottom surface images of a plurality of objects is larger than the preset second average gradient;
Wherein the preset first average gradient is less than the preset second average gradient.
Furthermore, the system of the invention reduces the influence of the reduction of the image acquisition precision caused by inaccurate judgment of the roughness of the bottom surface of the object storage platform 7 by setting the preset first average gradient and the preset second average gradient and determining whether the roughness of the bottom surface of the object storage platform 7 exceeds the allowable range according to the average gradients of a plurality of object bottom surface images in the historical data, thereby further realizing the improvement of the image acquisition precision of partial surface irregular objects.
With continued reference to fig. 1, the central control module 1 adjusts the cleaning frequency of the bottom surface of the object storage platform 7 to a corresponding cleaning frequency according to the difference between the average gradient of the images of the bottom surface of the plurality of objects and the preset first average gradient under the preset second average gradient condition, and determines three adjustment modes for the cleaning frequency,
the first type of frequency adjustment mode is that the central control module 1 adjusts the cleaning frequency of the bottom surface of the object storage platform 7 to a preset cleaning frequency under a preset first average gradient difference value condition;
the second type of frequency adjustment mode is that the central control module 1 uses a preset first cleaning frequency adjustment coefficient to adjust the cleaning frequency of the bottom surface of the object storage platform 7 to a first cleaning frequency under a preset second average gradient difference value condition;
The third type of frequency adjustment mode is that the central control module 1 uses a preset second cleaning frequency adjustment coefficient to adjust the cleaning frequency of the bottom surface of the object storage platform 7 to a second cleaning frequency under a preset third average gradient difference value condition;
the preset first average gradient difference value condition is that the difference value between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is smaller than or equal to the preset first average gradient difference value;
the second average gradient difference value condition is that the difference value between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is larger than the preset first average gradient difference value and smaller than or equal to the preset second average gradient difference value;
the preset third average gradient difference value condition is that the difference value between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is larger than the preset second average gradient difference value;
the preset first average gradient difference value is smaller than the preset second average gradient difference value.
Specifically, the preset first average gradient is denoted as F1, the preset second average gradient is denoted as F2, the preset first cleaning frequency adjustment coefficient is denoted as γ1, the preset second cleaning frequency adjustment coefficient is denoted as γ2, the preset first average gradient difference is denoted as Δf1, the preset second average gradient difference is denoted as Δf2, the preset cleaning frequency is denoted as G0, wherein 1 < γ1 < γ2, F1 < F2, Δf1 < Δf2, the cleaning frequency of the bottom surface of the adjusted object storage platform 7 is denoted as G ', G' =g0×γk is set, and k=1, 2.
Furthermore, the system of the invention adjusts the cleaning frequency of the bottom surface of the object storage platform 7 to the corresponding cleaning frequency according to the difference value between the average gradient of the images of the bottom surface of a plurality of objects and the preset first average gradient under the preset second average gradient condition by setting the preset first average gradient difference value and the preset second average gradient difference value, thereby reducing the influence on the image acquisition precision of the bottom surface of the object caused by inaccurate adjustment of the cleaning frequency and further realizing the improvement on the image acquisition precision of partial irregular objects on the surface.
Example 1
In this embodiment 1, the central control module determines three types of primary adjustment modes for the vertical tilt angle of the first camera according to the difference between the gray scale influence score and the preset gray scale influence score of the object to be photographed under the preset second scoring condition, where the central control module is provided with a preset first tilt angle adjustment coefficient α1, a preset second tilt angle adjustment coefficient α2, a preset gray scale influence score S0, a preset first gray scale influence score difference Δs1 and a preset gray scale influence score difference Δs2, and the preset vertical tilt angle is denoted as A0, where α1=1.1, α2=1.3, Δs1=1.2, Δs2=2, s0=5, and the adjusted vertical tilt angle is denoted as a' =a0+αi×aa, where a0=5°, aa=2 ° in this embodiment.
In the embodiment, the central control module determines that DeltaS=1.3 is < DeltaS < DeltaS2 and adjusts the vertical tilt angle of the first camera to a first vertical tilt angle S 'by using a preset first tilt angle adjustment coefficient alpha 1, calculated a' =5° +1.1×2° =7.2°.
Further, in the system according to this embodiment 1, three types of primary adjustment modes for the vertical inclination angle of the first camera are set, and the vertical inclination angle of the first camera is adjusted to be corresponding to the vertical inclination angle according to the difference between the gray scale influence score of the object to be photographed and the preset gray scale influence score, so that the improvement of the image acquisition accuracy of the irregular object on the part of the surface is further realized.
Example 2
In this embodiment 2, the central control module determines three types of primary adjustment modes for the vertical tilt angle of the first camera according to the difference between the gray scale influence score and the preset gray scale influence score of the object to be photographed under the preset second scoring condition, where the central control module is provided with a preset first tilt angle adjustment coefficient α1, a preset second tilt angle adjustment coefficient α2, a preset gray scale influence score S0, a preset first gray scale influence score difference Δs1 and a preset gray scale influence score difference Δs2, and the preset vertical tilt angle is denoted as A0, where α1=1.1, α2=1.3, Δs1=1.2, Δs2=2, s0=5, and the adjusted vertical tilt angle is denoted as a' =a0+αi×aa, where a0=5°, aa=2 ° in this embodiment.
In this embodiment, Δs=2.1 is obtained, the central control module determines Δs > - Δs2 and adjusts the vertical tilt angle of the first camera to the first vertical tilt angle S 'using the preset second tilt angle adjustment coefficient α2, and a' =5° +1.3×2° =7.6°.
Further, in the system according to the embodiment, three types of one-time adjustment modes for the vertical inclination angle of the first camera are set, and by adjusting the vertical inclination angle, the influence of lower image acquisition accuracy caused by incomplete image acquisition due to inaccurate adjustment of the vertical inclination angle of the first camera is reduced, and the improvement of the image acquisition accuracy of partial surface irregular objects is further realized.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An adaptive angle image acquisition system, comprising:
the image acquisition module comprises a first camera used for acquiring an image of the surface of the object and a rotating assembly arranged above the first camera and used for adjusting the vertical inclination angle of the first camera;
the auxiliary module is arranged below the image acquisition module and used for acquiring corresponding parameters of the surface to be shot of the object; the camera comprises a second camera and a third camera, wherein the second camera is arranged below the first camera and is used for acquiring the number of edges and corners of the surface to be shot of an object and the average interval between a plurality of groups of adjacent edges and corners, and the third camera is arranged below the first camera and is far away from one side of the second camera and is used for acquiring the average height difference between a plurality of groups of adjacent edges and the average inclination angle between a plurality of groups of edges;
the object adjusting module is arranged below the image acquisition module and comprises a lifting mechanism for adjusting the inclination angle of an object;
The central control module is respectively connected with the image acquisition module, the auxiliary module and the object adjustment module and is used for adjusting the vertical inclination angle of the first camera to be higher than the corresponding vertical inclination angle according to the gray scale influence score of the object to be shot under the preset second scoring condition, adjusting the single-side lifting height of the lifting mechanism to be corresponding lifting height according to the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle under the preset third inclination angle condition, and adjusting the cleaning frequency of the bottom surface of the object storage platform to be corresponding cleaning frequency according to the difference value between the average gradient of a plurality of object bottom surface images in the historical data and the preset first average gradient,
the preset second grading condition is that the gray scale influence grading of the object to be shot is larger than the preset gray scale influence grading;
the preset third inclination angle condition is that the inclination angle of the surface of the object to be shot is larger than the preset second inclination angle.
2. The system of claim 1, wherein the central control module determines two types of determination modes for determining whether the influence of the object surface features on the image acquisition accuracy is within an allowable range according to the gray scale influence score of the object to be photographed, wherein,
The first type of judgment mode is that the central control module judges that the influence of the surface features of the object on the image acquisition accuracy is in an allowable range under a preset first scoring condition;
the second type of judgment mode is that the central control module judges that the influence of the object surface characteristics on the image acquisition accuracy exceeds an allowable range under a preset second grading condition, and the vertical inclination angle of the first camera is increased to a corresponding vertical inclination angle by calculating the difference value between the gray scale influence grading of the object to be shot and the preset gray scale influence grading;
the preset first grading condition is that the gray scale influence grading of the object to be shot is smaller than or equal to the preset gray scale influence grading; the preset second grading condition is that the gray scale influence grading of the object to be shot is larger than the preset gray scale influence grading.
3. The adaptive angle image acquisition system of claim 2, wherein the gray scale impact score is calculated by the formula:
4. The system of claim 3, wherein the central control module determines three types of primary adjustment modes for the vertical tilt angle of the first camera according to a difference between a gray scale impact score of an object to be photographed and a preset gray scale impact score under a preset second scoring condition,
the first type of primary adjustment mode is that the central control module adjusts the vertical inclination angle of the first camera to a preset vertical inclination angle under a preset first grading difference condition;
the second type of primary adjustment mode is that the central control module uses a preset first inclination angle adjustment coefficient to adjust the vertical inclination angle of the first camera to be higher than the first vertical inclination angle under the condition of a preset second grading difference value;
the third type of one-time adjustment mode is that the central control module uses a preset second inclination angle adjustment coefficient to adjust the vertical inclination angle of the first camera to a second vertical inclination angle under the condition of presetting a third grading difference value;
wherein the preset first inclination angle adjustment coefficient is smaller than the preset second inclination angle adjustment coefficient.
5. The adaptive angle image capturing system according to claim 4, wherein the preset first scoring difference condition is that a difference between the gray scale impact score of the object to be captured and the preset gray scale impact score is less than or equal to a preset first gray scale impact score difference;
The preset second grading difference condition is that the difference between the gray scale influence grading of the object to be shot and the preset gray scale influence grading is larger than the preset first gray scale influence grading difference and smaller than the preset gray scale influence grading difference;
the preset third grading difference condition is that the difference between the gray scale influence grading of the object to be shot and the preset gray scale influence grading is larger than the preset gray scale influence grading difference;
the preset first gray scale influence score difference value is smaller than the preset gray scale influence score difference value.
6. The system of claim 5, wherein the central control module determines whether an error of the object image acquired by the first camera is within an allowable range according to the inclination angle of the surface to be photographed of the object when the adjustment of the vertical inclination angle of the first camera is completed, wherein,
the first type of error judging mode is that the central control module judges that the error of an object image acquired by a first camera is in an allowable range under the condition of presetting a first inclination angle;
the second type of error judging mode is that the central control module judges that the error of the object image acquired by the first camera exceeds an allowable range under the condition of a preset second inclination angle, preliminarily judges that the roughness of the bottom surface of the object storage platform arranged above the lifting mechanism exceeds the allowable range, and judges whether the roughness of the bottom surface of the object storage platform exceeds the allowable range or not secondarily through the average gradient of a plurality of object bottom surface images in the historical data;
The third type of error judging mode is that the central control module judges that the error of the object image acquired by the first camera exceeds an allowable range under the condition of a preset third inclination angle, and the single-side lifting height of the lifting mechanism is adjusted to be corresponding lifting height by calculating the difference value between the inclination angle of the object surface to be shot and the preset first inclination angle;
the preset first inclination angle condition is that the inclination angle of the surface of the object to be shot is smaller than or equal to the preset first inclination angle; the preset second inclination angle condition is that the inclination angle of the surface of the object to be shot is larger than the preset first inclination angle and smaller than or equal to the preset second inclination angle; the condition of the preset third inclination angle is that the inclination angle of the surface of the object to be shot is larger than the preset second inclination angle;
the preset first inclination angle is smaller than the preset second inclination angle.
7. The system of claim 6, wherein the central control module determines three types of adjustment modes for the single-side lifting height of the lifting mechanism according to a difference value between the inclination angle of the surface to be photographed of the object and the preset first inclination angle under the preset third inclination angle condition,
The first type of lifting height adjusting mode is that the central control module adjusts the lifting height of one side of the lifting mechanism to a preset lifting height under the condition of a preset first inclination angle difference value;
the second type of lifting height adjusting mode is that the central control module uses a preset first lifting height adjusting coefficient to adjust the single-side lifting height of the lifting mechanism to be the first lifting height under the condition of a preset second inclination angle difference value;
the third type of lifting height adjusting mode is that the central control module uses a preset second lifting height adjusting coefficient to adjust the Shan Cedi lifting height of the lifting mechanism to a second lifting height under the condition of a preset third inclination angle difference value;
the preset first lifting height adjusting coefficient is smaller than the preset second lifting height adjusting coefficient.
8. The adaptive angle image capturing system according to claim 7, wherein the preset first inclination angle difference condition is that a difference between an inclination angle of the object to be photographed surface and the preset first inclination angle is equal to or smaller than a preset first inclination angle difference;
the preset second inclination angle difference value condition is that the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle is larger than the preset first inclination angle difference value and smaller than or equal to the preset second inclination angle difference value;
The preset third inclination angle difference value condition is that the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle is larger than the preset second inclination angle difference value;
the preset first inclination angle difference value is smaller than the preset second inclination angle difference value.
9. The system of claim 8, wherein the central control module determines whether the roughness of the bottom surface of the object storage platform exceeds the allowable range in three secondary determination modes according to the average gradient of the images of the bottom surface of the plurality of objects in the historical data under the preset second inclination angle condition,
the first secondary judging mode is that the central control module secondarily judges that the roughness of the bottom surface of the object storage platform is in an allowable range under a preset first average gradient condition;
the second secondary judgment mode is that the central control module secondarily judges that the roughness of the bottom surface of the object storage platform exceeds an allowable range under the condition of a preset second average gradient, and the cleaning frequency of the bottom surface of the object storage platform is adjusted to be corresponding to the cleaning frequency by calculating the difference value between the average gradient of a plurality of object bottom surface images and the preset first average gradient;
The third type of secondary judgment mode is that the central control module judges that equipment faults exist in the first camera and sends out fault maintenance notification under the preset third average gradient condition;
the preset first average gradient condition is that average gradients of the bottom surface images of the plurality of objects are smaller than or equal to the preset first average gradient; the preset second average gradient condition is that the average gradient of the bottom surface images of the plurality of objects is larger than the preset first average gradient and smaller than or equal to the preset second average gradient; the preset third average gradient condition is that the average gradient of the bottom surface images of a plurality of objects is larger than the preset second average gradient;
wherein the preset first average gradient is less than the preset second average gradient.
10. The system of claim 9, wherein the central control module adjusts the cleaning frequency of the bottom surface of the object storage platform to a corresponding cleaning frequency according to a difference between an average gradient of the images of the bottom surface of the plurality of objects and a preset first average gradient under a preset second average gradient condition, and determines three types of adjustment modes for the cleaning frequency,
the first type of frequency adjustment mode is that the central control module adjusts the cleaning frequency of the bottom surface of the object storage platform to a preset cleaning frequency under a preset first average gradient difference value condition;
The second type of frequency adjustment mode is that the central control module uses a preset first cleaning frequency adjustment coefficient to adjust the cleaning frequency of the bottom surface of the object storage platform to a first cleaning frequency under the condition of a preset second average gradient difference value;
the third type of frequency adjustment mode is that the central control module uses a preset second cleaning frequency adjustment coefficient to adjust the cleaning frequency of the bottom surface of the object storage platform to a second cleaning frequency under the condition of a preset third average gradient difference value;
the preset first average gradient difference value condition is that the difference value between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is smaller than or equal to the preset first average gradient difference value;
the second average gradient difference value condition is that the difference value between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is larger than the preset first average gradient difference value and smaller than or equal to the preset second average gradient difference value;
the preset third average gradient difference value condition is that the difference value between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is larger than the preset second average gradient difference value;
the preset first average gradient difference value is smaller than the preset second average gradient difference value.
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Denomination of invention: An adaptive angle image acquisition system Effective date of registration: 20231115 Granted publication date: 20230519 Pledgee: Weifang rural commercial bank Limited by Share Ltd. hi tech sub branch Pledgor: WEIFANG WANLONG ELECTRIC LLC Registration number: Y2023980065817 |
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