Machine vision-based automotive part size inspection system and method and process

1. The field to which the present invention belongs is the field of vision inspection technology for automotive parts products, specifically a machine vision-based automotive parts size inspection system, and a machine vision-based automotive parts size inspection method.

Background technology:

2. The kind of units that constitute the car as a whole, as well as a product that serves the car is called auto parts, auto parts for a narrow range, usually for a certain type of fixed models, so in the auto parts processing, the size of the more stringent requirements.

3. In the automotive parts to carry out visual inspection, the existing automotive parts size inspection system, the machine acquired image repair effect is not good, resulting in the repair of the image is different from the standard image, which results in the detection of the size of the car parts there is an error, improve the recycling rate of automotive parts product circulation. Moreover, the existing auto parts size detection system, the auto parts size detection, can not calculate the error between the auto parts to be tested and the standard auto parts, the detection of the size does not meet the standard will be directly redone, which further adds to the production cost. In addition, the existing auto parts size inspection system, the detection of auto parts size, generally on the car parts of each point of the position of the test again, the detection of the content of the complexity of the calculation is also large, which leads to the auto parts size inspection system to reduce the efficiency of the work.

Technology Enabling Elements:

4. machine vision based automotive part size inspection system and method, is to be provided by the present invention, in order to solve the above mentioned problems raised in the background technology.

5. In order to solve the above mentioned technical aspects, the present invention gives the following solutions for these technical aspects, which cover an image acquisition module, an image processing module, a calculation module and a size measurement module.

6. Among the relevant modules, the said image acquisition module, its role is, first of all, the image acquisition angle to be adjusted, so that it meets the standard, and then, the acquisition of light will also be adjusted to meet the standard state, and after that, for the car parts to be measured, to carry out the image acquisition work, and then, the acquisition of the car parts image, transmitted to the image processing module.

7. The part known as the image processing module is used to receive the captured image transmitted by the image acquisition module, then to carry out greyscale processing of the captured image, then to carry out denoising processing, then to carry out restoration processing, and, finally, to transmit the image after these processes to the calculation module.

8. said calculation module, for receiving the image transmitted by the image processing module, mapping the image vertically in the coordinate system, based on the type of structure of the auto part to be tested, selecting the coordinates of three points in the coordinate system, constructing an equation model, based on the equation model, the error between the auto part to be tested and the standard auto part is analysed, and then theerror analysisThe results as well as the equation model are transferred to the dimensional measurement module.

9. The dimensional measurement module receives the content transmitted by the calculation module and, based on the equation model, calculates the dimensions of the car part to be measured according to the type of structure of the car part to be measured.

10. Further, that image acquisition module covers the acquisition angle adjustment unit, and the acquisition light adjustment unit, and the image acquisition unit.

11. said collecting angle adjustment unit, the angle between the cmos camera and the car part to be tested is adjusted, so that the centre line of the cmos camera and the centre line of the car part to be tested are in the same plumb line, if the centre line of the two are in the same plumb line, then the angle adjustment information is transmitted to the collecting light adjustment unit, otherwise, the angle between the cmos camera and the car part to be tested is adjusted again, so as to ensure that the centre line of the cmos camera is in the same plumb line as the centre line of the car part to be tested. Otherwise, the angle between the cmos camera and the car part to be measured will be adjusted again to ensure that the centre line of the cmos camera and the centre line of the car part to be measured are on the same vertical line.

On top of that, it is used to prevent the cmos camera from acquiring images of automotive parts to be measured, because of angular deviation, resulting in the measurement of the size and the actual value does not match, and it is necessary to carry out corrective processing of the image to obtain the accurate value, which prolongs the time required for measurement and reduces the accuracy of the measurement of the size.

12. The acquisition light adjustment unit receives the angle adjustment information from the acquisition angle adjustment unit, adjusts the angle of the light source irradiated on the automobile parts to be tested, adjusts the brightness, and adjusts the dispersion range, and then transmits the adjustment results to the image acquisition unit. If the angle of the light source, the brightness and the dispersion range are not adjusted appropriately, a large number of defective images will appear in the image captured by the cmos camera, which increases the time for subsequent image restoration and reduces the accuracy of the image capture.

13. The stated image acquisition unit receives the adjustment results transmitted by the light acquisition adjustment unit. Then, based on the adjustment result, the operating state of the cmos camera is controlled, and the image of the car part to be measured captured by the cmos camera at the time of operation is transmitted to the image processing module.

14. Further, that image processing module covers an image greyscaling processing unit, and also contains an image denoising processing unit, and has an image restoration unit.

15. The image of the car part to be tested, captured by the image acquisition unit, will be received by the said image greying processing unit, after which the unit will carry out image greying processing of the received image, and after the processing is completed, the processed image will be transmitted to the image denoising processing unit.

16. The image denoising processing unit receives the processed image transmitted by the image greying processing unit, uses Gaussian filtering to do denoising on the image, and then transmits the denoised image to the image restoration unit.

17. The image transmitted by the image denoising unit is received by said image restoration unit, which then carries out a restoration operation on the received image on the basis of a standard car part image, and after the restoration is completed, transmits the restored image to the calculation module.

18.Further, said image restoration unit restores an image in a specific way as:

19. According to the standard image of the car parts to carry out extraction, the image after denoising process, the characteristic position and the boundary position of the defective pixels there, if there is no defects that do not need to carry out the following actions, otherwise in accordance with the order of the steps to be done, the size of the car parts measured first for the implementation of the distance between the boundary position of the point and the point of the measurement, followed by the characteristics of the position of the distance between the point and the point to be measured. Measurement to ensure that the customised auto parts meet the production requirements, so there is no need to consider the defects in other positions of the auto parts.

20. (2) The defective pixels in (1) are filled with the average value of the pixels at the feature positions or boundary positions in the standard image of the automotive part to be tested, and the defective pixels are filled by applying the average value of the pixels, which is useful for filling in the exposure positions of the image, and for giving an initial appearance to the captured image.

21. Collect all the pixel values on the standard car part image and put them into one data set, collect all the pixel values on the car part image to be tested and put these pixel values into another data set, construct a regression equation based on the standard car part data set, if there is an object that contains null values in the car part data set to be tested, then bring the known values in the car part data set to be tested If there are objects containing null values in the car part dataset, then the known values in the car part dataset to be tested are brought into the regression equation to estimate the predicted values and fill them with the predicted values. The regression equation is constructed to fill the defective pixels near the pixel mean on the car part image to be tested to ensure that no defective image exists in the image of the car part to be tested after the filling, which is conducive to the measurement of the size of the car part to be tested.

22. Moreover, the calculation module contains a coordinate system construction unit, a coordinate point collection unit, an equation model construction unit, and an error analysis unit.

23. The coordinate system construction unit receives the processed image of the car part transmitted by the image processing module. If the car part is a symmetrical structure, then the centre point of the received image is used as the origin to construct the coordinate system. If the car part is an irregular structure, the coordinate system is constructed using any point on the received image as the origin. The constructed coordinate system and the coordinates of the image of the car part to be measured vertically mapped to the coordinate system are transmitted to the coordinate point acquisition unit.

24. said coordinate point acquisition unit, receives the coordinate system transmitted by the coordinate system construction unit, and the coordinates of the car part image to be measured vertically mapped to the coordinate system, according to the size of the absolute value of the coordinates, determines whether or not the car part meets the symmetry, if it meets the symmetry, selects any three-point coordinates on the coordinate axes, if it doesn't meet the symmetry, selects the three-point coordinates in the coordinate system that indicate the characteristic position of the car part, and the three-point coordinates If the symmetry is not satisfied, select the coordinates of three points in the coordinate system that represent the characteristic position of the auto part and the coordinates of the three points are located on a straight line, and transfer the selected coordinates of the three points to the equation model construction unit.

25. The equation model construction unit receives the three-point coordinates collected by the coordinate point acquisition unit, builds an equation model based on these three-point coordinates, and then compares the constructed equation model with the standard equation model. If the two equation models are the same, then the dimensions of the automotive part are judged to be in accordance with the standard, and then the constructed equation model is transferred to the dimensional measurement module. If the two equation models are not the same, then it is determined that the dimensions of the automotive part do not meet the standard, and then the equation model representing the automotive part and the standard equation model are transferred to the error analysis unit.

26. The error analysis unit receives the equation model of the automobile part and the standard equation model transmitted from the equation model construction unit, and then analyses the error between the automobile part and the standard part based on the received content, and then decides whether to discard the automobile part or to carry out secondary processing according to the results of the error analysis.

27. Further, that said equation modelling unit, when constructing an equation model on the basis of three-point coordinates, adopts a specific method as follows:

28. Step 1: Let the equation model of a car part belonging to a symmetric structure be y

12

is equal to two times p one times x one plus c. The coordinates of the three points are, respectively, zero versus n, zero versus negative n, and negative m versus zero. Let the model of the equation of a car part belonging to an irregular structure be y two equal to a one times x two plus b one, and the coordinates of the three points are, respectively, m one versus n one, m two versus n two, and m three versus n three.

29. Step 2: Based on the parameters set in step 1, the coordinates of the three points are brought into the equation model one by one, so:

30. The equation model y1 of a car part belonging to a symmetric structure is:

In the equation model of the car part to be tested, which belongs to the symmetric structure, is represented by the parabolic equation, which is conducive to the distribution of as many coordinate points on the car part to be tested on the equation model as possible, in order to facilitate the initial determination of the dimensions of the car part to be tested and the standard car part.

The equation model y2 of a car part belonging to an irregular structure is:

In particular, the irregular structures in the equation model of the car part are represented by linear equations, which helps to ensure that the characteristic elements of the car part to be measured are on the same straight line, thus making the dimensions of the produced car part comply with the preliminary decision.

In step 3, let, standard car parts belonging to different structural types with standard equation models, be y, respectively.

12

= 2p1x

′1+c, y

′2 = a1x

′2+b1;

Step 4: Compare the equation model calculated in Step 2 with the standard equation model in Step 3, and choose to transfer the calculated equation model and the standard equation model to the dimensional measurement module or the error analysis unit based on the comparison results.

Further, the error analysis unit analyses errors in automotive parts and standard parts in the following manner:

Step 1: Construct the error model between the car part and the standard car part based on the least squares method, the specific error model equation is:

Wherein, there exists an error model that represents the error model between the car part equation model belonging to an irregular structure and the standard car part equation model, and another error model that represents the error model between the car part equation model with a symmetric structure and the standard car part equation model, and wherein i denotes the number of co-ordinate points in the e1 equation model and g denotes the number of co-ordinate points in the e2 equation model.

Step 2: With the help of the error model, the part equation model corresponding to the standard car part, and the part equation model corresponding to the car part to be tested, both of them are fitted, and the corresponding fitting functions are respectively:

In this case, there is a fit function between the car part equation model with irregular structure and the standard car part equation model, and a fit function between the car part equation model with symmetric structure and the standard car part equation model, and the least squares solution of the error equation can be solved by solving the fit function.

Step 3: Based on the size of the obtained fit function solution, to compare the standard car parts and car parts to be tested coordinate absolute value of the difference between the two, if the difference is greater than or equal to the obtained fit function solution, then the car parts to be tested to carry out secondary processing, on the contrary, then the car parts to be tested to be discarded.

Further, said dimensioning module receives the equation model transmitted by the error analysis unit and, on the basis of what it receives, calculates the dimensions of the automotive part to be measured.

Furthermore, a particular step regarding the carrying out of dimensional calculations by said dimensional measurement module for automotive parts to be dimensioned is:

Set the coordinates, for a point owned by the equation model, then the car part belonging to the symmetric structure with dimensions d1, is:

In this, given that the car part to be tested presents a symmetrical structure, the resulting dimension between the two points is one half of the dimension of the car part to be tested.

Assuming that there exists a point whose coordinates are above the equation model, the dimension d2 of a car part belonging to the kind of car that is not of regular structure is:

The beneficial effects achieved by the present invention compared to the prior art are:

1. The present invention extracts the defective pixels in the feature positions and boundary positions on the image after denoising, and the extraction process does not take into account the defective situations of pixels in other positions, which reduces the image restoration time, and then initially fills in the defective pixels in the image through the pixel average, and then fills in the pixels after the initial filling by constructing regression equations, which ensures that there are no defective pixels in the filled image, and the image restoration effect is good. This ensures that there are no defective pixels in the filled image and that the image restoration is effective, which avoids errors in the inspection of the dimensions of the automotive parts and further reduces the recovery rate of the automotive parts in circulation.

2. The present invention firstly constructs the error equation based on the constructed equation model, and then derives the fitting function by virtue of the error equation, and then solves the fitting function to derive the error between the auto parts to be tested and the standard auto parts, and then compares the difference between the absolute values of the coordinates of the standard auto parts and the auto parts to be tested with the error value, so as to judge whether the auto parts to be tested are to be re-done or whether they need to be secondary processing.

3. By constructing the equation model, the present invention expresses the various characteristic positions of the auto parts when they are in the situation to be tested, and the boundary position can also be described, abandoning the description of other position points, thus reducing the relevant contents of the detection, and the amount of arithmetic is reduced significantly to ensure that the dimensions of the characteristic positions of the auto parts as well as the boundary position are in accordance with the standard auto part dimensions, which can make the detection of the auto part dimensions to be accomplished. This will enable the inspection of automotive part dimensions to be completed, which further improves the final efficiency of the automotive part size inspection system.

illustrate

The accompanying drawings give a deeper understanding of the present invention and form part of the specification and are used, together with the embodiments of the invention, to illustrate the invention and do not limit the invention. In the accompanying drawings:

Among other things, Fig. 1 shows such a schematic diagram, which is presented with respect to the structure of the working principle of the system as well as the method based on machine vision for dimensional inspection of automotive parts inside the present invention.

practical way of doing sth.

The technical solutions in the embodiments will be clearly and completely described as follows in combination with the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments, based on which all other embodiments obtained by a person of ordinary skill in the field without carrying out creative labour are within the scope of protection of the present invention.

Please go to Fig. 1, where the present invention gives a technical solution, this solution covers an image acquisition module s1, and also contains an image processing module s2, and has a calculation module s3 as well as a size measurement module s4.

The role of the image acquisition module s1 is to adjust the image acquisition angle so that it meets the standard together with the acquisition light, and then start the acquisition of the auto parts image to be measured, and transmit the acquired auto parts image to the image processing module s2; the image acquisition module s1 contains.

There is an acquisition angle adjustment unit s11, an acquisition light adjustment unit s12 and an image acquisition unit s13. The acquisition angle adjustment unit s11 adjusts the angle between the cmos camera and the automotive part to be tested, so that the centre line of the cmos camera and the centre line of the automotive part to be tested are on the same vertical line. If the two centre lines are on the same vertical line, then the angle adjustment information will be transmitted to the acquisition light adjustment unit s12, or else the angle between the cmos camera and the automotive part to be tested will have to be re-adjusted to ensure that the centre line of the cmos camera and the centre line of the automotive part to be tested are on the same vertical line, which is intended to prevent that, when the cmos camera acquires images of the automotive part to be tested, the size of the measurement will be reduced due to angular deviation. This is to prevent the cmos camera image acquisition of the car parts to be measured, due to angular deviation resulting in the measurement of the size and the actual value does not match, have to correct the image processing to get the accurate value, which prolongs the measurement time, but also reduces the size of the measurement accuracy. The acquisition light adjustment unit s12 receives the angle adjustment information transmitted by the acquisition angle adjustment unit s11, and then adjusts the angle, brightness and dispersion range of the light source irradiated on the automobile parts to be measured according to the received information, and transmits the adjustment results to the image acquisition unit s13. When the angle, brightness and dispersion range of the light source are not adjusted appropriately, a large number of defective images will appear in the images acquired by the cmos camera. When the light source angle, brightness and dispersion range are not properly adjusted, the image captured by the cmos camera will have a large number of defective images, which increases the subsequent image repair time and also reduces the image acquisition accuracy. The image acquisition unit s13 receives the adjustment results transmitted by the acquisition light adjustment unit s12, and then controls the working state of the cmos camera according to the adjustment results, and transmits the images of the automobile parts to be tested captured by the cmos camera when it is working to the image processing module s2.

The image acquisition module s1 transmits the captured image, and the image processing module s2 receives the captured image, then does grey-scale, denoising, and restoration processing on the captured image, and then transmits the processed image to the computation module s3; the image processing module s2 has an image grey-scale processing unit s21, an image denoising processing unit s22, and an image restoration unit s23; the image grey-scale processing unit s21 Receive image acquisition unit s13 collected to be measured car parts image, and then receive the image to do image grey scale processing, and then the processed image transmitted to the image denoising processing unit s22; image denoising processing unit s22 receives image grey scale processing unit s21 transmitted processing image, through the Gaussian filtering method of image denoising, and then denoising the processed image transmitted to the image restoration unit s23.

The image transmitted by the image denoising processing unit s22 can be received by the image restoration unit s23, after which the image restoration unit s23 is required to carry out restoration work on the received image based on the standard automobile part image, and the restored image will be transmitted to the computing module s3, and the specific manner in which the image restoration unit s23 restores the image is mentioned:

(1) For automotive parts based on the standard image, after denoising the image, to extract the defective pixels belonging to the feature position and the boundary position, if there are no defects, then there is no need to carry out the following operations, or else in accordance with the order of the steps to be operated, automotive parts dimensional measurements are mainly to measure the distance between the points on the boundary position, but also to measure the distance between the points on the feature position, as a means of ensuring that the manufacture of auto parts meet the production requirements, so do not have to consider the other positions of the auto parts. Ensure that the manufacture of automotive parts in line with production requirements, so the defects of other positions of the car parts do not have to consider.

(2) Fill the defective pixels mentioned in (1) based on the average value of the pixels at the location of the feature or the boundary in the image of the standard automotive part to be tested, and use the average value of the pixels to fill the defective pixels, which will help to fill in the exposure positions of the image, so that the acquired image will start to form an initial appearance.

(3) Collect all the pixel values on the standard auto parts image and put them into one data set, collect all the pixel values on the auto parts image to be tested and put these pixel values into another data set, construct the regression equation based on the standard auto parts data set, if there is an object containing null values in the auto parts data set to be tested, then take the known values in the auto parts data set to be tested and bring them into the regression equation to estimate the predicted values, and then take the predicted values to be filled. The regression equation is used to estimate the predicted values, and then the predicted values are filled in. The regression equation is constructed to fill in the defective pixels near the pixel mean value of the auto part image to be tested, to ensure that no defective image exists in the image of the auto part to be tested after filling in, which is conducive to the measurement of the dimensions of the auto part to be tested.

The calculation module s3, used to receive the image transmitted by the image processing module s2, maps the image vertically in the coordinate system, based on the type of structure of the car part to be tested, selects the coordinates of the three points in the coordinate system, and constructs the equation model, based on the equation model.

The error between the car part to be measured and the standard car part is analysed for the model, and the result of the error analysis and the equation model are transmitted to the dimension measurement module s4, and the computation module s3 covers the coordinate system construction unit s31, the coordinate point acquisition unit s32, the equation model construction unit s33, and the error analysis unit s34, and the coordinate system construction unit s31 receives the processed car part image transmitted by the image processing module s2, and if the car part has a symmetrical structure, the coordinate system is constructed by taking the centre point of the received image as the origin. If the automobile part is a symmetrical structure, the centre point of the received image is taken as the origin to construct the coordinate system, if the automobile part is an irregular structure, any point on the received image is taken as the origin to construct the coordinate system, and the constructed coordinate system and the coordinates of the image of the automobile part to be measured vertically mapped to the coordinate system are transmitted to the coordinate point acquisition unit s32, which receives the data transmitted from the coordinate system construction unit s31, the equation model construction unit s33, and the error analysis unit s34. The coordinate point acquisition unit s32 receives the coordinates of the coordinate system constructed by the coordinate system construction unit s31 and the coordinates of the image of the automobile part to be measured vertically mapped onto the coordinate system, determines whether the automobile part conforms to the symmetry based on the size of the absolute value of the coordinates, and selects any three-point coordinates on the coordinate axes if it conforms to the symmetry, and selects the coordinates of the three points in the coordinate system that indicate the characteristic position of the automobile part and that the three-point coordinates are in a straight line if it does not conform to the symmetry and then transmits the selected three-point coordinates to the equation s32. Then the selected three-point coordinates are transferred to the equation model construction unit s33.

Equation model construction unit s33 receives the three-point coordinates collected by coordinate point acquisition unit s32, constructs the equation model according to the three-point coordinates, compares the constructed equation model with the standard equation model, if the two equation models are the same, it will be judged that the dimensions of this auto part meet the standard, and also passes the constructed equation model to the dimension measurement module s4, if the two equation models are different, it will be judged that the dimensions of this auto part do not meet the standard, and passes the equation model and the standard equation model to the error analysis unit s34. If the two equation models are not the same, the size of the automobile part is judged to be not in accordance with the standard, and the equation model representing the automobile part and the standard equation model are transmitted to the error analysis unit s34, and the equation model constructing unit s33 constructs the equation model in accordance with the three-point coordinates in a specific way:

Step 1: Let the equation model of a car part belonging to a symmetric structure be y

12

= 2p1x1 + c, the coordinates of the three points were (0, n), (0, -n) and (-m, 0), set belongs to the irregular structure of the car parts equation model for y2 = a1x2 + b1, the coordinates of the three points were (m1, n1), (m2, n2) and (m3, n3);

In step 2, the coordinates of the three points are brought into the equation model one by one based on the parameters set in step 1, and this is what happens:

The equation model y1 of a car part belonging to a symmetric structure is:

In this case, the equation model of the car part to be tested, which has a symmetrical structure, is represented by a parabolic equation, which is conducive to the distribution of as many co-ordinate points as possible on the equation model, and facilitates the preliminary determination of the dimensions of the car part to be tested and the standard car part;

The equation model y2 of a car part belonging to an irregular structure is:

In this case, the equation model of the car part with irregular structure is represented by a linear equation, which helps to ensure that the characteristic elements of the car part to be measured are on the same straight line, thus ensuring that the dimensions of the produced car part comply with the preliminary decision;

Step 3: Let the standard equation models of standard car parts belonging to different structural types be y

12

= 2p1x

′1+c, y

′2 = a1x

′2+b1;

Step 4: The equation model calculated in step 2 is compared with the standard equation model in step 3, and based on the comparison result, the calculated equation model and the standard equation model are selected to be transferred to the dimensional measurement module s4, or the error analysis unit s34.

The car part equation model, as well as the standard equations, are transferred from the equation model building unit s33 to the error analysis unit s34.

The model receives and analyses the error between the car part and the standard part based on the received content, and then determines whether to discard the car part or to carry out secondary processing according to the results of the error analysis, and the error analysis unit s34 analyses the error between the car part and the standard part in a specific way:

Step1: Construct the error model between the car part and the standard car part based on the least squares method, and the specific error model formula is as follows:

Where, denotes the error model between the car part equation model with irregular structure and the standard car part equation model, i denotes the number of coordinate points in the e1 equation model, denotes the error model between the car part equation model with symmetric structure and the standard car part equation model, and g denotes the number of coordinate points in the e2 equation model;

Step2: Fit the part equation model obtained from the standard car part to the part equation model obtained from the car part to be tested through the error model, then the corresponding fitting functions are as follows:

In this case, it means the fitting function between the car part equation model with irregular structure and the standard car part equation model, and the fitting function between the car part equation model with symmetric structure and the standard car part equation model, and the least squares solution of the error equation can be solved by solving the fitting function;

step3: Based on the size of the obtained fitting function solution, compare the difference between the absolute values of the coordinates of the standard auto part and the auto part to be tested, if the difference is greater than or equal to the obtained fitting function solution, the auto part to be tested can be processed for secondary processing, otherwise, the auto part to be tested will be discarded.

The dimensional measurement module s4 receives the formula model transmitted by the error analysing unit s34 and calculates the dimensions of the vehicle part to be tested on the basis of the received contents, and the dimensional measurement module s4 calculates the dimensions of the vehicle part to be tested in the following steps:

Let the coordinates be a point on the equation model, then the car belonging to the symmetric structure has zero

Piece size d1 is:

The dimensions between the two points are half of the dimensions of the car part to be tested, since the car part to be tested is symmetrical;

Let the coordinate be a point on the equation model, then The dimensions d2 of the car part belonging to the irregular structure are:

It should be noted that this expression refers to the fact that, within the context of the present text, relational terms of similar form, such as the first and the second, are used only to distinguish one entity or operation from another, but do not necessarily require, or imply, the existence of any such actual relationship or order between them. Moreover, the term “includes”, as well as “comprises”, or any other variant thereof, is intended to encompass non-exclusive inclusion, such that a process, as well as a method, or an article or apparatus, comprising a set of elements, includes not only those elements but also other elements not expressly listed. but also other elements that are not explicitly listed, or that are inherent to the process, method, article or equipment.

Finally, it should be noted that the above is only an example of the preferred embodiment of the present invention, and is not intended to limit the present invention, although a detailed description of the present invention has been given with reference to the examples of the embodiment mentioned above, the technical personnel in the field will still be able to make changes and adjustments or exchange parts of the technical aspects with the same effect for some of the parts with the respective characteristics of the technical aspects. However, those skilled in the art are still able to use their wisdom to make changes and adjustments to the technical solutions recorded in the preceding examples, or to exchange and replace some of the technical aspects with their respective characteristics with the same effect. As long as the spirit and principles of the present invention are within the scope of the present invention, any changes, substitutions, improvements, etc. made within the scope of the present invention shall be covered by the scope of protection of the present invention.