JPH03232613A - Article accumulating state detecting method and device - Google Patents
Article accumulating state detecting method and deviceInfo
- Publication number
- JPH03232613A JPH03232613A JP2028478A JP2847890A JPH03232613A JP H03232613 A JPH03232613 A JP H03232613A JP 2028478 A JP2028478 A JP 2028478A JP 2847890 A JP2847890 A JP 2847890A JP H03232613 A JPH03232613 A JP H03232613A
- Authority
- JP
- Japan
- Prior art keywords
- screen
- image
- article
- luminance signal
- signal group
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 11
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 14
- 230000015654 memory Effects 0.000 claims abstract description 7
- 238000007689 inspection Methods 0.000 claims description 5
- 239000000284 extract Substances 0.000 claims description 4
- 238000009825 accumulation Methods 0.000 abstract 1
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 238000012544 monitoring process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Landscapes
- Image Processing (AREA)
- Closed-Circuit Television Systems (AREA)
- Image Analysis (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Control Of Conveyors (AREA)
- Filling Or Emptying Of Bunkers, Hoppers, And Tanks (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、貯槽等に投入される物品を撮影装置で撮影し
、その映像信号を利用して投入される物品の停滞を検出
する方法および装置に関する。[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a method and method for photographing articles to be placed in a storage tank or the like with a photographing device and detecting stagnation of the articles to be placed by using the video signal. Regarding equipment.
ホッパ、ポケット等の貯槽や、破砕機、粉砕機等の処理
装置に物品を投入している場合、貯槽等に物品が充満し
、または詰まりが発生すると、物品が連続的または断続
的に停滞する。貯槽が充満した場合には物品の投入を停
止してこぼれを防止する必要があり、処理装置の充満や
詰まりの場合にはすでにトラブルが発生したことや、以
後にトラブルが発生することが予想されるのでその処置
を必要とする。こうした状態を検出するため、人間が直
接に、あるいはＩＴＶカメラ等で撮影した画面をモニタ
テレビで監視したり、機械式や電極式のレベル検出装置
を使用することなどが行なわれている。When items are being put into a storage tank such as a hopper or pocket, or into a processing device such as a crusher or crusher, if the storage tank is full or clogged, the items will stagnate continuously or intermittently. . If the storage tank is full, it is necessary to stop loading items to prevent spillage, and if the processing equipment is full or clogged, it may mean that trouble has already occurred or that trouble may occur in the future. Therefore, treatment is necessary. In order to detect such a state, methods such as monitoring a screen shot directly by a person or using an ITV camera or the like on a monitor television, or using a mechanical or electrode type level detection device are used.
人間による直接あるいは間接的な監視は、人手を要する
こと、見落としが生ずること等で、確実性に欠けまた安
全衛生面等にも問題がある。Direct or indirect monitoring by humans requires human labor, may cause oversight, and lacks reliability, and also poses problems in terms of safety and health.
一方、機械式や電極式のレベル検出装置を使用すること
は、物品が検出部に当たって破損や摩耗が生じるため故
障や誤動作が多くなったり、また物品の電気的性質によ
っては検出できないことがあるなど、確実性、設備の寿
命や点検保守等の問題がある。On the other hand, using a mechanical or electrode-type level detection device can cause damage or wear when the object hits the detection section, leading to more breakdowns or malfunctions, or it may not be possible to detect the object depending on the electrical properties of the object. There are problems with reliability, equipment lifespan, inspection and maintenance, etc.
加えて、取扱う物品が高・温や発しん性の物体である場
合には、耐熱、防じん等の対策が必要となり、設備の選
定や点検保守上で十分な対応が困難となることが多く、
これらの問題の解決が待たれていた。In addition, if the items being handled are high/temperature or emitting, heat-resistant, dust-proofing, and other measures are required, which often makes it difficult to take adequate measures in equipment selection, inspection, and maintenance.
A solution to these problems has been awaited.
本発明は、このような事情に鑑みてなされたもので、貯
槽等に投入される物品が充満や詰まりの発生によって連
続的または断続的に停滞したときに、その状態を早期か
つ確実に検出して無用のトラブルを未然に防止するため
の、物品の停滞検出方法およびその装置を提供すること
を目的とする。The present invention has been made in view of the above circumstances, and is a method for early and reliable detection of the condition when articles placed in a storage tank or the like are continuously or intermittently stagnant due to filling or clogging. An object of the present invention is to provide a method for detecting stagnation of articles and a device therefor to prevent unnecessary troubles.
上記目的は１次の構成により達成される。 The above object is achieved by a first-order configuration.
請求項１の発明になる方法は、貯槽等に投入される物品
をＩＴＶカメラ等の撮影装置で撮影する。In the method according to the first aspect of the invention, articles placed in a storage tank or the like are photographed using a photographing device such as an ITV camera.
撮影した画面内で、移動する物品の映像は動像消去手段
により消去し、移動しない物品と背景の映像だけを残す
。次に、この画面内で物品の停滞を検出すべき位置と、
物品の停滞に影響されにくい位置を適宜定めて撮影対象
の面積が等しい一対のエリアを設定する。設定したエリ
ア内の信号はそれぞれ光量信号として抽出する。この２
つの光量信号の差をとって、それが一定値以上となった
ときに、物品停滞の検出信号を発する。こうして、貯槽
等に投入される物品の停滞を検出する方法である。In the photographed screen, the image of the moving object is erased by the moving image erasing means, leaving only the image of the object that is not moving and the background. Next, the position in this screen where the stagnation of the article should be detected,
A pair of areas having the same area to be photographed is set by appropriately determining a position that is not easily affected by stagnation of articles. Each signal within the set area is extracted as a light amount signal. This 2
When the difference between the two light intensity signals exceeds a certain value, an article stagnation detection signal is issued. This is a method of detecting stagnation of articles placed in a storage tank or the like.
請求項２の発明になる装置は、貯槽等に投入される物品
を撮影する撮影装置と、撮影した画面内で移動する物品
の映像を消去するとともに移動しない物品と背景の映像
だけを残すための動像消去手段と、この画面内の任意の
位置に撮影対象の面積が等しい一対のエリアを設定する
とともに、設定エリア内の信号をそれぞれ光量信号とし
て抽出する信号処理回路と、抽出した光量信号の差を演
算する演算回路と、演算回路からの光量差信号と前もっ
て設定した基準値とを絶対値で比較して光量差信号が基
準値以上になったときに物品停滞の検出信号を発する比
較回路と１点検調整のための画像モニタとを有する物品
の停滞検出装置である。The device according to claim 2 includes a photographing device for photographing an article being put into a storage tank or the like, and a device for erasing the image of the article moving within the photographed screen and leaving only the image of the article that does not move and the background. A moving image erasing means, a signal processing circuit that sets a pair of areas having the same photographic subject area at any position within the screen, and extracts each signal within the set area as a light amount signal, and a signal processing circuit that extracts each signal within the set area as a light amount signal; An arithmetic circuit that calculates the difference, and a comparison circuit that compares the light intensity difference signal from the arithmetic circuit with a preset reference value in absolute value and issues an article stagnation detection signal when the light intensity difference signal exceeds the reference value. and an image monitor for one-time inspection and adjustment.
貯槽等に投入される物品をＩＴＶカメラ等の撮影装置で
撮影する。撮影した画面内で移動している物品の映像は
動像消去手段により消去され、移動しない物品と背景の
映像だけが残る０次に、信号処理回路によってこの画面
内で物品の停滞を検出すべき位置と、物品の停滞の影響
を受けにくい位置を適宜定めて撮影対象の面積が等しい
一対のエリアを設定し、設定したエリア内の信号をそれ
ぞれ光量信号として抽出する。この２つの光量信号の差
を演算回路により演算する。比較回路は、この光量差信
号と前もって設定した基準値とを絶対値で比較し、物品
の停滞が生じて光量差信号が基準値以上となったときに
、物品停滞の検出信号を発する。The articles to be put into a storage tank or the like are photographed using a photographing device such as an ITV camera. The image of the object moving within the photographed screen is erased by the moving image erasing means, leaving only the image of the object not moving and the background.Next, the stagnation of the object within this screen should be detected by the signal processing circuit. A pair of areas having the same area to be photographed is set by appropriately determining a position and a position that is less susceptible to the effects of stagnation of articles, and signals within the set areas are extracted as light intensity signals. A calculation circuit calculates the difference between these two light amount signals. The comparison circuit compares this light amount difference signal with a reference value set in advance in absolute value, and issues an article stagnation detection signal when the light amount difference signal exceeds the reference value due to stagnation of the article.
第１図は本発明の一実施例を示す図であるが、本発明は
この実施例に限定されるものではない。Although FIG. 1 is a diagram showing one embodiment of the present invention, the present invention is not limited to this embodiment.
ホッパ１に連続して投入されている物品２を撮影装置３
で撮影し、その映像信号Ｖは動像消去回路４に送られる
。この撮影装置３としては、ＩＴＶカメラ、家庭用ビデ
オカメラ等が使用できる。The photographing device 3 captures the articles 2 that are continuously being thrown into the hopper 1.
The video signal V is sent to the moving image erasing circuit 4. As this photographing device 3, an ITV camera, a home video camera, etc. can be used.
また、物品２が高温の物体や発しん性の物体などであっ
た場合には、前記各カメラに対し長焦点レンズを使用し
て物品２と撮影装置３との距離を大きくとったり、必要
により防熱、防じん等の対策をしておくことが好ましい
。In addition, if the article 2 is a high-temperature object or an emitting object, a long focal length lens may be used for each of the cameras to increase the distance between the article 2 and the photographing device 3, or if necessary, thermal insulation may be used. It is preferable to take measures such as dust prevention.
動像消去回路４は、例えば第３図に示す画面内で移動す
る物品の像を消去して移動しない物品と背景の像だけを
残すための回路で、３つの演算回路５，６および８と１
組のメモリ７によって構成されている。映像信号Ｖの輝
度信号は、演算回路５により画素ごとに１／Ｎ倍されて
輝度信号群Ｙ２となり演算回路６に送られる。メモリ７
には前回画面の輝度信号群Ｙ０が記憶されており、読出
した輝度信号群Ｙ０は、演算回路８により（Ｎ−１）／
Ｎ倍されて輝度信号群Ｙ１となる。The moving image erasing circuit 4 is a circuit for erasing the image of an object that moves within the screen shown in FIG. 3, leaving only the image of the object that does not move and the background. 1
It is constituted by a set of memories 7. The luminance signal of the video signal V is multiplied by 1/N for each pixel by the arithmetic circuit 5 to form a luminance signal group Y2 and sent to the arithmetic circuit 6. memory 7
The luminance signal group Y0 of the previous screen is stored in , and the read luminance signal group Y0 is converted to (N-1)/by the arithmetic circuit 8.
The signal is multiplied by N to form a luminance signal group Y1.
演算回路６は、輝度信号群Ｙ□と輝度信号群Ｙ２の２つ
の画面の対応する画素ごとに加算して、今回画面の輝度
信号群Ｙとする。この輝度信号群Ｙはメモリ７に記憶さ
れ、かつ信号処理回路９に送られる。The arithmetic circuit 6 adds the luminance signal group Y□ and the luminance signal group Y2 for each corresponding pixel of the two screens to obtain the luminance signal group Y of the current screen. This luminance signal group Y is stored in the memory 7 and sent to the signal processing circuit 9.
ここで、Ｎは動像消去定数を示し、Ｎ＞１である。この
Ｎが大きいほど動像消去効果が大きいが、電源投入時に
画面に像が現れる時間、あるいは画面内で停止していた
物品が移動したり、移動していた物品が停止したときに
、その像が消えたり現れたりするまでの時間もＮにより
決定されることになるので、検出する条件等により適宜
室める。Here, N represents a moving image cancellation constant, and N>1. The larger N is, the greater the moving image erasing effect is. The time it takes for the symbol to disappear or appear is also determined by N, so the time can be adjusted as appropriate depending on the detection conditions and the like.
本発明を日本の標準テレビ方式に適用した場合。When the present invention is applied to the Japanese standard television system.
停止していた物品が急に移動したときに物品の像が１％
残る（９９％消失する）時間、あるいは移動していた物
品が急に停止したときに物品の像が９９％現れる時間は
、Ｎが１０のとき約１．５秒、Ｎが１００のとき約１５
秒である。When a stationary item suddenly moves, the image of the item decreases by 1%.
The remaining time (99% disappears), or the time when 99% of the image of the object appears when the moving object suddenly stops, is approximately 1.5 seconds when N is 10, and approximately 15 seconds when N is 100.
Seconds.
こうして輝度信号群Ｙの内容には、画面内で移動する物
品の像がしだいに薄くなって行き、移動しない物品と背
景の像だけが残ることになる。In this way, in the contents of the luminance signal group Y, the image of the object moving within the screen gradually becomes fainter, leaving only the image of the object that does not move and the background.
信号処理回路９は、輝度信号群Ｙによる画面内の任意の
位置に撮影対象の面積が等しい一対のエリアを設定し、
設定したエリアは第２図に示すようにマーカａ、ｂをそ
れぞれ表示させる。ここで設定される一対のエリアは、
物品２の停滞を検出すべき位置と、これと対比できる位
置、例えばホッパ１内で物品２が存在しない位置や物品
２の停滞が時間的に遅れて発生する位置から選ばれ、そ
の大きさおよび形状は検出すべき物品２の投入されてい
る状態に応じて適宜決定されるが、２つのエリア内の光
量信号の差が、物品２が移動状態にあるときにはなるべ
く小さく、停滞状態にあるときにはなるべく大きくなる
ようにすることが好ましい。また前記の決定においては
、信号処理回路９の信号を画像モニタ１０によって監視
することにより容易に実施することができる。さらに信
号処理回路９は、設定したエリア内の信号を光量信号Ａ
、Ｂとしてそれぞれ抽出し、演算回路１１に送る。この
光量信号Ａ、Ｂは電圧信号であっても、電流信号であっ
てもよく、また一画面ごとあるいは一画素ごとの信号で
あっても、数画面あるいは数画素の信号を平均した信号
であってもよい。The signal processing circuit 9 sets a pair of areas having the same area to be photographed at any position within the screen using the luminance signal group Y,
The set areas are displayed with markers a and b, respectively, as shown in FIG. The pair of areas set here are
The position where the stagnation of the article 2 should be detected and the position that can be compared with this, such as a position where the article 2 does not exist in the hopper 1 or a position where the stagnation of the article 2 occurs after a time delay, are selected, and the size and The shape is determined as appropriate depending on the state in which the article 2 to be detected is placed, but the difference between the light intensity signals in the two areas is as small as possible when the article 2 is in a moving state, and as small as possible when the article 2 is in a stationary state. It is preferable to make it larger. Further, the above determination can be easily carried out by monitoring the signal from the signal processing circuit 9 using the image monitor 10. Further, the signal processing circuit 9 converts the signal within the set area into a light amount signal A.
, B, and sent to the arithmetic circuit 11. The light amount signals A and B may be voltage signals or current signals, and may be signals for each screen or pixel, or signals obtained by averaging signals of several screens or pixels. It's okay.
演算回路１１は、光量信号Ａ、Ｂの差を演算し、その結
果を光量差信号Ｓとして比較回路１２に送る。The arithmetic circuit 11 calculates the difference between the light amount signals A and B, and sends the result as a light amount difference signal S to the comparison circuit 12.
比較回路１２は、光量差信号Ｓとあらかじめ設定した基
準値Ｓｔとを絶対値で比較する。物品２が検出すべき位
置まで溜まってきて停滞状態となると光量差信号Ｓが大
きくなり警報信号ＡＬを発する。この基準値Ｓｔは、物
品２が移動している状態にあるときの光量差信号Ｓによ
って、比較回路１２が警報信号ＡＬを発しないようにす
る不感帯レベルに相当し、物品２の投入されている状態
により適宜決定する。この警報信号ＡＬによって、警報
装置や異常処理装置などを作動させることができる。The comparison circuit 12 compares the light amount difference signal S with a preset reference value St in absolute value. When the articles 2 accumulate to the position to be detected and become stagnant, the light amount difference signal S increases and an alarm signal AL is issued. This reference value St corresponds to a dead zone level that prevents the comparator circuit 12 from emitting the alarm signal AL due to the light amount difference signal S when the article 2 is in a moving state. Determine as appropriate depending on the situation. This alarm signal AL can activate an alarm device, an abnormality processing device, and the like.
なお１画像モニタ１０は、点検調整のみならず、必要に
より物品２の投入状態の監視にも使用できる。Note that the single image monitor 10 can be used not only for inspection and adjustment, but also for monitoring the loading state of the articles 2 if necessary.
本発明をより効果的に実施するためには、撮影場所や範
囲、物品を照明する設備の量、位置、および角度、また
設定エリアの位置、大きさ、および形状などを考慮して
、設定エリア内の光量差信号が、物品が移動状態にある
ときと停滞状態にあるときとで、できるだけ大きく変化
するようにして、誤動作を防ぐことが好ましい。In order to implement the present invention more effectively, it is necessary to take into consideration the shooting location and range, the amount, position, and angle of equipment that illuminates the article, and the position, size, and shape of the setting area. It is preferable to prevent malfunctions by making the light amount difference signal in the image change as much as possible between when the article is in a moving state and when it is in a stationary state.
本発明の方法および装置におれば、ホッパ、ポケット等
の貯槽や、破砕機、粉砕機等の処理装置に投入される物
品が、貯槽等に充満し、または詰まりが発生して連続的
または断続的に停滞したことを確実にかつ早期に検出で
きるので、物品の充満や詰まりによるライントラブルの
対処や、以後に発生が予想される無用のトラブルを未然
に防止することができる。さらに、撮影装置のレンズを
適宜選択することにより撮影距離を大きくとることもで
きるので、物品が高温の物体や発じん性の物体であって
も、防熱、防じん等の対策が必要に応じて容易に実施で
き、検出の信頼性を向上することができること、また物
品のレベル検出装置としても使用できるなど、その工業
的価値は大なるものがある。According to the method and apparatus of the present invention, articles input into a storage tank such as a hopper or a pocket, or a processing device such as a crusher or a crusher, may be continuously or intermittently filled with the storage tank or clogged. Since it is possible to detect stagnation reliably and early on, it is possible to deal with line troubles due to fullness or clogging of goods, and to prevent unnecessary troubles that are expected to occur in the future. Furthermore, by selecting the lens of the photographing device appropriately, the photographing distance can be increased, so even if the object is a high-temperature object or a dust-emitting object, it is easy to take measures such as heat insulation and dust prevention as necessary. It has great industrial value, as it can be carried out to improve detection reliability and can also be used as a level detection device for articles.
第１図は制御回路をブロック図で示す本発明の一実施例
、第２図は第１図の画像モニタの表示例、第３図は第２
図において本発明を実施しなかった場合の画像モニタ表
示例である。
１・・・・・・ホッパ ２・・・・・・物品３・
・・・・・撮影装置 ４・・・・・・動像消去回路
５・・・・・・演算回路 ６・・・・・・演算回路
７・・・・・・メモリ
９・・・・・・信号処理回路
１１・・・・・・演算回路FIG. 1 is a block diagram of a control circuit according to an embodiment of the present invention, FIG. 2 is an example of a display on the image monitor shown in FIG. 1, and FIG.
The figure is an example of an image monitor display when the present invention is not implemented. 1...Hopper 2...Goods 3.
...Photographing device 4...Moving image erasure circuit 5...Arithmetic circuit 6...Arithmetic circuit 7...Memory 9...・Signal processing circuit 11... Arithmetic circuit
Claims (3)
の映像信号を利用して投入される物品の停滞を検出する
方法において、撮影装置で撮影した画面内で移動する物
品の映像を消去して移動しない物品と背景の映像だけを
残し、次にこの画面内の任意の位置に撮影対象の面積が
等しい一対のエリアを設定し、設定したエリア内の信号
をそれぞれ光量信号として抽出し、これらの光量信号の
差が一定値以上となったときに物品停滞の検出信号を発
することを特徴とする、物品の停滞検出方法。(1) In a method of photographing articles being thrown into a storage tank etc. with a photographing device and using the video signal to detect stagnation of the articles being thrown, a video of the articles moving within the screen photographed by the photographing device is used. After erasing and leaving only the images of objects and background that do not move, set a pair of areas with the same area to be photographed at any position on this screen, and extract the signals within the set areas as light intensity signals. A method for detecting stagnation of an article, characterized in that a detection signal for detecting article stagnation is generated when the difference between these light amount signals exceeds a certain value.
の映像信号を利用して投入される物品の停滞を検出する
装置において、投入される物品を撮影する撮影装置と、
撮影した画面内で移動する物品の映像を消去するととも
に移動しない物品と背景の影像だけを残すための動像消
去手段と、この画面内の任意の位置に撮影対象の面積が
等しい一対のエリアを設定し、かつ設定エリア内の信号
をそれぞれ光量信号として抽出する信号処理回路と、抽
出した光量信号の差を演算する演算回路と、演算回路か
らの光量差信号と前もって設定した基準値とを絶対値で
比較して、光量差信号が基準値以上になったときに物品
停滞の検出信号を発する比較回路と、点検調整のための
画像モニタとを有することを特徴とする、物品の停滞検
出装置。(2) In a device that photographs an article being thrown into a storage tank or the like with a photographing device and uses the video signal to detect stagnation of the article, a photographing device that photographs the article being thrown;
A moving image erasing means for erasing the image of the object moving within the photographed screen and leaving only the image of the object that does not move and the background, and a pair of areas having the same area to be photographed at any position within the screen. A signal processing circuit that extracts each signal within the setting area as a light intensity signal, an arithmetic circuit that calculates the difference between the extracted light intensity signals, and an absolute An article stagnation detection device characterized by having a comparison circuit that compares values and issues an article stagnation detection signal when a light amount difference signal exceeds a reference value, and an image monitor for inspection and adjustment. .
ごとに１／Ｎ倍（ただし、Ｎは動像消去定数）して輝度
信号群Ｙ＿２とする演算回路と、メモリから読出した前
回画面の輝度信号群Ｙ＿０を画素ごとに（Ｎ−１）／Ｎ
倍して輝度信号群Ｙ＿１とする演算回路と、輝度信号群
Ｙ＿１と輝度信号群Ｙ＿２とを画面の対応する画素ごと
に加算して今回画面の輝度信号群Ｙとする演算回路と、
輝度信号群Ｙを記憶するためのメモリとからなる、請求
項２記載の物品の停滞検出装置。(3) The moving image erasing means includes an arithmetic circuit that multiplies the luminance signal of the photographed screen by 1/N (however, N is a moving image erasing constant) for each pixel to form a luminance signal group Y_2, and the previous image read from the memory. Screen brightness signal group Y_0 for each pixel (N-1)/N
an arithmetic circuit that multiplies the luminance signal group Y_1 to obtain a luminance signal group Y_1; an arithmetic circuit that adds the luminance signal group Y_1 and the luminance signal group Y_2 for each corresponding pixel of the screen to obtain a luminance signal group Y of the current screen;
3. The article stagnation detection device according to claim 2, further comprising a memory for storing the luminance signal group Y.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2028478A JP2523916B2 (en) | 1990-02-09 | 1990-02-09 | Method and apparatus for detecting stagnation of articles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2028478A JP2523916B2 (en) | 1990-02-09 | 1990-02-09 | Method and apparatus for detecting stagnation of articles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03232613A true JPH03232613A (en) | 1991-10-16 |
| JP2523916B2 JP2523916B2 (en) | 1996-08-14 |
Family
ID=12249760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2028478A Expired - Lifetime JP2523916B2 (en) | 1990-02-09 | 1990-02-09 | Method and apparatus for detecting stagnation of articles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2523916B2 (en) |
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-
1990
- 1990-02-09 JP JP2028478A patent/JP2523916B2/en not_active Expired - Lifetime
Cited By (8)
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|---|---|---|---|---|
| US10597234B2 (en) | 2016-10-20 | 2020-03-24 | Intelligrated Headquarters, Llc | Carton unloader tool for jam recovery |
| US10597235B2 (en) | 2016-10-20 | 2020-03-24 | Intelligrated Headquarters, Llc | Carton unloader tool for jam recovery |
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| WO2019028482A1 (en) * | 2017-08-11 | 2019-02-14 | Intelligrated Headquarters Llc | Carton unloader tool for jam recovery |
| CN110997530A (en) * | 2017-08-11 | 2020-04-10 | 因特利格雷特总部有限责任公司 | Carton unloading tool for jam recovery |
| CN110997530B (en) * | 2017-08-11 | 2022-01-18 | 因特利格雷特总部有限责任公司 | Carton unloading tool for jam recovery |
| CN110053944A (en) * | 2019-05-22 | 2019-07-26 | 合肥市信同信息科技有限公司 | A kind of coal conveyer belt feed opening drop point detection system of view-based access control model and laser |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2523916B2 (en) | 1996-08-14 |
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