Internet live broadcast green screen original color judgment system

By detecting and analyzing the color channel values ​​of the green screen plan structure in the live broadcast screen, the problem of difficult to identify the nuances of green screen color and primary color in the prior art is solved, and high-precision green screen color abnormality analysis is achieved to ensure the consistency and quality of the color of the live broadcast screen.

CN119110104BActive Publication Date: 2025-03-14SHANGHAI YINGFENG NETWORK TECHNOLOGY CO LTD
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Patent Information

Application Number
CN202411179001.7
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-08-27
Publication Date
2025-03-14
Estimated Expiration
2044-08-27

AI Technical Summary

Technical Problem

The prior art lacks an identification mechanism for the nuances between the green screen plan structure and the primary color, resulting in the overall color of the live broadcast screen being unsatisfactory.

Method used

By detecting the individual pixel rows occupied by the green screen plan structure in the sequential operation screen, the color channel value on each pixel row is obtained, and the mean value is calculated to obtain the reference color channel value. When the standard deviation is greater than or equal to the set standard deviation limit, it is judged that the entity of the green screen plane structure has a color abnormality, otherwise it is judged that its color matches the primary color.

Benefits of technology

It provides a high-precision green screen color abnormality analysis mechanism to ensure that the overall color of the live broadcast picture is not distorted and improves the quality of the live broadcast picture.

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Patent Text Reader

Abstract

The present invention relates to a green screen primary color judgment system for Internet live broadcast, comprising: a time-sharing acquisition device, used to complete an acquisition operation of a live broadcast screen of a commodity for sale at set time intervals to obtain a corresponding current acquisition image; a last-layer capture mechanism, used to determine that the entity of the green screen plane structure has a color anomaly when the standard deviation of the reference color channel values ​​corresponding to each pixel row occupied by the green screen plane structure in the sequential operation screen is greater than or equal to the set standard deviation limit. The Internet live broadcast green screen primary color judgment system of the present invention is intelligently designed and widely used. Since the entity of the green screen plane structure is judged to have a color anomaly by using the various visualization contents obtained by targeted screening of the green screen plane structure, it is used to determine whether the entity color of the green screen plane structure matches the primary color corresponding to the green screen plane structure, thereby ensuring that the overall color of the live broadcast screen is not distorted.
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Description

Technical Field

[0001] The present invention relates to the field of live broadcast control, and in particular to a green screen primary color judgment system for Internet live broadcast. Background Art

[0002] For many cities featuring live broadcasting, it is necessary to rely on the Internet and digital technology to innovate and promote the integrated development of the real economy and the digital economy. As an important part of the digital economy, live broadcasting is a concrete manifestation of the integrated development of the two economies entering the fast lane.

[0003] During the live broadcast process, whether the physical color of the green screen plane structure matches the primary color corresponding to the green screen plane structure is one of the key factors that determine whether the color of the live broadcast screen meets expectations. Since the various green screen plane structures may have slight differences in physical color from the primary color corresponding to the green screen plane structure, and the prior art lacks a targeted identification mechanism for such slight differences, the overall color of the live broadcast screen is often unsatisfactory. Summary of the invention

[0004] In order to solve the above problems, the present invention provides an Internet live broadcast green screen primary color judgment system, which detects each pixel row occupied by a green screen plane structure in a sequential operation picture, and for each pixel row occupied by the green screen plane structure in the sequential operation picture, obtains each color channel value corresponding to each pixel point covered by the green screen plane structure on the pixel row, and for each pixel row occupied by the green screen plane structure in the sequential operation picture, averages each color channel value corresponding to each pixel point covered by the green screen plane structure on the pixel row to obtain a reference color channel value corresponding to the pixel row, and when the standard deviation of each reference color channel value corresponding to each pixel row occupied by the green screen plane structure in the sequential operation picture is greater than or equal to a set standard deviation limit, it is judged that the entity of the green screen plane structure has a color abnormality, otherwise, it is judged that the entity color of the green screen plane structure matches the primary color corresponding to the green screen plane structure, thereby providing a high-precision identification mechanism for abnormal analysis of green screen color in the live broadcast picture.

[0005] According to the present invention, a green screen primary color judgment system for Internet live broadcast is provided, the system comprising:

[0006] A time-sharing acquisition device is used to complete an acquisition operation of the live broadcast picture of the sold goods every set time to obtain a corresponding current acquisition image, wherein the value of the set time is positively correlated with the resolution of the live broadcast picture, and a green screen plane structure exists in the live broadcast environment corresponding to the live broadcast picture of the sold goods;

[0007] A sequential operation device, connected to the time-sharing acquisition device and comprising a first operation device, a second operation device and a third operation device, wherein the second operation device is connected to the first operation device and the third operation device respectively, and is used to sequentially perform a sharpening process based on a USM filter, an image content enhancement process based on an exponential transformation, and a single point image restoration process on the received current acquisition image, so as to obtain and output a corresponding sequential operation screen;

[0008] The first-layer capture mechanism is connected to the sequential operation device and is used to receive the sequential operation picture, detect each pixel row occupied by the green screen plane structure in the sequential operation picture, and for each pixel row occupied by the green screen plane structure in the sequential operation picture, obtain each color channel value corresponding to each pixel point covered by the green screen plane structure on the pixel row;

[0009] A secondary layer grabbing mechanism connected to the primary layer grabbing mechanism is used to calculate the average of each color channel value corresponding to each pixel point covered by the green screen plane structure on each pixel row occupied by the green screen plane structure in the sequential operation picture, so as to obtain a reference color channel value corresponding to the pixel row;

[0010] The last-layer grabbing mechanism is connected to the second-layer grabbing mechanism, and is used to judge that the entity of the green screen plane structure has color anomaly when the standard deviation of the reference color channel values ​​corresponding to each pixel row occupied by the green screen plane structure in the sequential operation picture is greater than or equal to the set standard deviation limit; otherwise, it is judged that the entity color of the green screen plane structure matches the primary color corresponding to the green screen plane structure;

[0011] Among them, the time-sharing acquisition device is used to complete an acquisition operation on the live broadcast picture of the sold goods every set time period to obtain the corresponding current acquired image. The value of the set time period is positively correlated with the resolution of the live broadcast picture, including: using a numerical conversion function to represent the numerical conversion relationship of the positive correlation between the value of the set time period and the resolution of the live broadcast picture.

[0012] It can be seen that the present invention has at least the following significant substantive features:

[0013] First, each pixel row occupied by the green screen plane structure in the sequential operation picture is detected, and for each pixel row occupied by the green screen plane structure in the sequential operation picture, each color channel value corresponding to each pixel point covered by the green screen plane structure on the pixel row is obtained, and for each pixel row occupied by the green screen plane structure in the sequential operation picture, each color channel value corresponding to each pixel point covered by the green screen plane structure on the pixel row is averaged to obtain a reference color channel value corresponding to the pixel row;

[0014] Second, when the standard deviation of the reference color channel values ​​corresponding to each pixel row occupied by the green screen plane structure in the sequential operation screen is greater than or equal to the set standard deviation limit, it is determined that the entity of the green screen plane structure has a color anomaly; otherwise, it is determined that the entity color of the green screen plane structure matches the primary color corresponding to the green screen plane structure;

[0015] The third point: introducing a sequential operation device with a customized structure, the sequential operation device includes a first operation device, a second operation device and a third operation device, the second operation device is connected to the first operation device and the third operation device respectively, and the sequential operation device is used to sequentially perform a sharpening process based on a USM filter, an image content enhancement process based on an exponential transformation, and a single point image restoration process on the current acquired image, thereby completing a targeted step-by-step optimization process on the current acquired image, and providing a better quality image for the subsequent green screen color abnormality analysis.

[0016] The Internet live broadcast green screen primary color judgment system of the present invention is intelligently designed and widely used. Since the various visual contents obtained by targeted screening of the green screen plane structure are used to judge whether the entity color of the green screen plane structure matches the primary color corresponding to the green screen plane structure, the overall color of the live broadcast picture is ensured to be undistorted. DETAILED DESCRIPTION

[0017] The implementation scheme of the Internet live broadcast green screen primary color judgment system of the present invention will be described in detail below.

[0018] The Internet live broadcast green screen primary color judgment system shown in the first embodiment of the present invention includes:

[0019] A time-sharing acquisition device is used to complete an acquisition operation of the live broadcast picture of the sold goods every set time to obtain a corresponding current acquisition image, wherein the value of the set time is positively correlated with the resolution of the live broadcast picture, and a green screen plane structure exists in the live broadcast environment corresponding to the live broadcast picture of the sold goods;

[0020] For example, a time-sharing acquisition device is used to complete an acquisition operation of a live broadcast screen of a commodity for sale at a set time interval to obtain a corresponding current acquisition image, wherein the value of the set time is positively correlated with the resolution of the live broadcast screen, and the existence of a green screen plane structure in the live broadcast environment corresponding to the live broadcast screen of the commodity for sale includes: using a numerical mapping function to represent a numerical mapping relationship of a positive correlation between the value of the set time and the resolution of the live broadcast screen;

[0021] A sequential operation device, connected to the time-sharing acquisition device and comprising a first operation device, a second operation device and a third operation device, wherein the second operation device is connected to the first operation device and the third operation device respectively, and is used to sequentially perform a sharpening process based on a USM filter, an image content enhancement process based on an exponential transformation, and a single point image restoration process on the received current acquisition image, so as to obtain and output a corresponding sequential operation screen;

[0022] The first-layer capture mechanism is connected to the sequential operation device and is used to receive the sequential operation picture, detect each pixel row occupied by the green screen plane structure in the sequential operation picture, and for each pixel row occupied by the green screen plane structure in the sequential operation picture, obtain each color channel value corresponding to each pixel point covered by the green screen plane structure on the pixel row;

[0023] A secondary layer grabbing mechanism connected to the primary layer grabbing mechanism is used to calculate the average of each color channel value corresponding to each pixel point covered by the green screen plane structure on each pixel row occupied by the green screen plane structure in the sequential operation picture, so as to obtain a reference color channel value corresponding to the pixel row;

[0024] The last-layer grabbing mechanism is connected to the second-layer grabbing mechanism, and is used to judge that the entity of the green screen plane structure has color anomaly when the standard deviation of the reference color channel values ​​corresponding to each pixel row occupied by the green screen plane structure in the sequential operation picture is greater than or equal to the set standard deviation limit; otherwise, it is judged that the entity color of the green screen plane structure matches the primary color corresponding to the green screen plane structure;

[0025] For example, the last-layer grabbing mechanism is connected to the second-layer grabbing mechanism, and is used to judge that the entity of the green screen plane structure has color anomaly when the standard deviation of each reference color channel value corresponding to each pixel row occupied by the green screen plane structure in the sequential operation picture is greater than or equal to the set standard deviation limit, otherwise, judging that the entity color of the green screen plane structure matches the primary color corresponding to the green screen plane structure includes: the last-layer grabbing mechanism has a built-in storage unit, which is used to pre-store the set standard deviation limit;

[0026] The time-sharing acquisition device is used to complete an acquisition operation of the live broadcast picture of the sold goods every set time to obtain a corresponding current acquisition image, and the value of the set time is positively correlated with the resolution of the live broadcast picture, including: using a numerical conversion function to represent the numerical conversion relationship of the positive correlation between the value of the set time and the resolution of the live broadcast picture;

[0027] The time-sharing acquisition device is used to complete an acquisition operation of the live broadcast picture of the sold goods every set time to obtain a corresponding current acquisition image, and the value of the set time is positively correlated with the resolution of the live broadcast picture, and further includes: in the numerical conversion function, the resolution of the live broadcast picture is used as the input parameter of the numerical conversion function, and the value of the set time is used as the output parameter of the numerical conversion function;

[0028] Among them, the sequential operation device is connected to the time-sharing acquisition device and includes a first operation device, a second operation device and a third operation device, the second operation device is connected to the first operation device and the third operation device respectively, and is used to sequentially perform sharpening processing based on a USM filter, image content enhancement processing based on an exponential transformation, and single point image restoration processing on the received current acquisition image to obtain and output a corresponding sequential operation screen, including: using different programmable logic devices to implement the first operation device, the second operation device and the third operation device respectively.

[0029] Different from the first embodiment of the present invention, the Internet live broadcast green screen primary color judgment system shown in the second embodiment of the present invention may also include:

[0030] A data monitoring device, comprising a plurality of monitoring cameras facing the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism respectively, for monitoring the real-time status of the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism in a time-sharing manner;

[0031] Wherein, the data monitoring device comprises a plurality of monitoring cameras facing the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism respectively, and is used for time-sharing monitoring of the real-time status of the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism, including: the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism are respectively connected to the data monitoring device using different CSI interfaces;

[0032] Wherein, the data monitoring device includes a plurality of monitoring cameras facing the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism respectively, and is used for time-sharing monitoring of the real-time status of the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism. The data monitoring device also includes: the plurality of monitoring cameras facing the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism respectively have the same structure;

[0033] Wherein, the data monitoring device includes a plurality of monitoring cameras facing the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism respectively, and is used for time-sharing monitoring of the real-time status of the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism; and further includes: a plurality of monitoring cameras facing the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism respectively, with built-in image sensing units;

[0034] And wherein, a plurality of monitoring cameras facing the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism respectively have built-in image sensing units: the image sensing units are CMOS sensing units or CCD sensing units.

[0035] Different from the first embodiment of the present invention, the Internet live broadcast green screen primary color judgment system shown in the third embodiment of the present invention may also include:

[0036] A content display device is connected to the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism respectively, and is used to simultaneously display various status information of the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism. The content display device also includes: a liquid crystal display screen or an LED display array;

[0037] Wherein, the quartz oscillator device is respectively connected to the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism, and is used to simultaneously provide the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism with the working clock pulses they need;

[0038] And wherein, the quartz oscillator device is respectively connected to the sequential operation device, the first-layer grasping mechanism, the second-layer grasping mechanism and the last-layer grasping mechanism, and is used to simultaneously provide the sequential operation device, the first-layer grasping mechanism, the second-layer grasping mechanism and the last-layer grasping mechanism with the working clock pulses they need, including: the working clock pulses required by the sequential operation device, the first-layer grasping mechanism, the second-layer grasping mechanism and the last-layer grasping mechanism are all square wave waveforms.

[0039] In addition, in the Internet live broadcast green screen primary color judgment system, the time-sharing acquisition device is used to complete a collection operation of the live broadcast screen of the selling goods every set time to obtain the corresponding current collection image, and the value of the set time is positively correlated with the resolution of the live broadcast screen. It also includes: the time-sharing acquisition device has a built-in timing trigger component and a collection execution component connected to the timing trigger component, which is used to collaboratively complete a collection operation of the live broadcast screen of the selling goods every set time to obtain the corresponding current collection image data processing process;

[0040] The time-sharing acquisition device is used to complete a collection operation of the live broadcast picture of the sold goods every set time to obtain the corresponding current collected image, and the value of the set time is positively correlated with the resolution of the live broadcast picture, and further includes: a programmable logic device can be selected to implement the time-sharing acquisition device;

[0041] And wherein, the time-sharing acquisition device is used to complete a collection operation of the live broadcast picture of the selling commodity every set time to obtain the corresponding current collected image, and the value of the set time is positively correlated with the resolution of the live broadcast picture, and further comprises: using a numerical conversion formula to express the numerical conversion relationship of the positive correlation between the value of the set time and the resolution of the live broadcast picture;

[0042] Specifically, in the numerical conversion formula, the resolution of the live broadcast image is the input parameter of the numerical conversion formula, and the corresponding value of the set duration is the output parameter of the numerical conversion formula.

[0043] In summary, many benefits resulting from utilizing the principles of the present invention have been described. One or more embodiments of the present invention have been described for purposes of explanation and illustration. This is not intended to be an exhaustive description of the present invention or to limit the present invention to the exact form disclosed. Obvious modifications and changes may be made in light of the above teachings. One or more embodiments are selected and described in order to better explain the principles and applications of the present invention, thereby enabling one of ordinary skill in the art to better apply the present invention in different embodiments and in a variety of modified forms suitable for particular applications. The claims appended hereto define the scope of the present invention.

Claims

1. A green screen primary color judgment system for Internet live broadcast, characterized in that: The system comprises: A time-sharing acquisition device is used to complete an acquisition operation of the live broadcast picture of the sold goods every set time to obtain a corresponding current acquisition image, wherein the value of the set time is positively correlated with the resolution of the live broadcast picture, and a green screen plane structure exists in the live broadcast environment corresponding to the live broadcast picture of the sold goods; A sequential operation device, connected to the time-sharing acquisition device and comprising a first operation device, a second operation device and a third operation device, wherein the second operation device is connected to the first operation device and the third operation device respectively, and is used to sequentially perform a sharpening process based on a USM filter, an image content enhancement process based on an exponential transformation, and a single point image restoration process on the received current acquisition image, so as to obtain and output a corresponding sequential operation screen; The first-layer capture mechanism is connected to the sequential operation device and is used to receive the sequential operation picture, detect each pixel row occupied by the green screen plane structure in the sequential operation picture, and for each pixel row occupied by the green screen plane structure in the sequential operation picture, obtain each color channel value corresponding to each pixel point covered by the green screen plane structure on the pixel row; A secondary layer grabbing mechanism connected to the primary layer grabbing mechanism is used to calculate the average of each color channel value corresponding to each pixel point covered by the green screen plane structure on each pixel row occupied by the green screen plane structure in the sequential operation picture, so as to obtain a reference color channel value corresponding to the pixel row; The last-layer grabbing mechanism is connected to the second-layer grabbing mechanism, and is used to judge that the entity of the green screen plane structure has color anomaly when the standard deviation of the reference color channel values ​​corresponding to each pixel row occupied by the green screen plane structure in the sequential operation picture is greater than or equal to the set standard deviation limit; otherwise, it is judged that the entity color of the green screen plane structure matches the primary color corresponding to the green screen plane structure; Among them, the time-sharing acquisition device is used to complete an acquisition operation on the live broadcast picture of the sold goods every set time period to obtain the corresponding current acquired image. The value of the set time period is positively correlated with the resolution of the live broadcast picture, including: using a numerical conversion function to represent the numerical conversion relationship of the positive correlation between the value of the set time period and the resolution of the live broadcast picture.

2. The Internet live broadcast green screen primary color judgment system as claimed in claim 1, characterized in that: A time-sharing acquisition device is used to complete an acquisition operation of the live broadcast picture of the selling commodity every set time to obtain a corresponding current acquisition image, and the value of the set time is positively correlated with the resolution of the live broadcast picture, and further includes: in the numerical conversion function, the resolution of the live broadcast picture is used as an input parameter of the numerical conversion function, and the value of the set time is used as an output parameter of the numerical conversion function; Among them, the sequential operation device is connected to the time-sharing acquisition device and includes a first operation device, a second operation device and a third operation device, the second operation device is connected to the first operation device and the third operation device respectively, and is used to sequentially perform sharpening processing based on a USM filter, image content enhancement processing based on an exponential transformation, and single point image restoration processing on the received current acquisition image to obtain and output a corresponding sequential operation screen, including: using different programmable logic devices to implement the first operation device, the second operation device and the third operation device respectively.

3. The Internet live broadcast green screen primary color judgment system as claimed in claim 2, characterized in that: The system further comprises: A data monitoring device, comprising a plurality of monitoring cameras facing the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism respectively, for monitoring the real-time status of the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism in a time-sharing manner; Among them, the data monitoring device includes multiple monitoring cameras facing the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism respectively, and is used to time-sharingly monitor the real-time status of the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism, including: the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism are respectively connected to the data monitoring device using different CSI interfaces.

4. The Internet live broadcast green screen primary color judgment system as claimed in claim 3, characterized in that: The data monitoring device includes a plurality of monitoring cameras respectively facing the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism, and is used for time-sharing monitoring of the real-time status of the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism. It also includes: the structures of the plurality of monitoring cameras respectively facing the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism are the same.

5. The Internet live broadcast green screen primary color judgment system as claimed in claim 4, characterized in that: The data monitoring device includes a plurality of monitoring cameras respectively facing the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism, and is used for time-sharing monitoring of the real-time status of the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism. It also includes: a plurality of monitoring cameras respectively facing the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism, and having built-in image sensing units.

6. The Internet live broadcast green screen primary color judgment system as claimed in claim 5, characterized in that: A plurality of monitoring cameras facing the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism respectively have built-in image sensing units: the image sensing units are CMOS sensing units or CCD sensing units.

7. The Internet live broadcast green screen primary color judgment system as claimed in claim 2, characterized in that: The system further comprises: The content display device is respectively connected to the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism, and is used to simultaneously display various status information of the sequential operation device, the first-layer grabbing mechanism, the second-layer grabbing mechanism and the last-layer grabbing mechanism, and also includes: the content display device is a liquid crystal display screen or an LED display array.

8. The Internet live broadcast green screen primary color judgment system as claimed in claim 7, characterized in that: A quartz oscillator device is respectively connected to the sequential operation device, the first layer grabbing mechanism, the second layer grabbing mechanism and the last layer grabbing mechanism, and is used to simultaneously provide the sequential operation device, the first layer grabbing mechanism, the second layer grabbing mechanism and the last layer grabbing mechanism with the working clock pulses they need.

9. The Internet live broadcast green screen primary color judgment system as claimed in claim 8, characterized in that: A quartz oscillator device is respectively connected to the sequential operation device, the first-layer grasping mechanism, the second-layer grasping mechanism and the last-layer grasping mechanism, and is used to simultaneously provide the sequential operation device, the first-layer grasping mechanism, the second-layer grasping mechanism and the last-layer grasping mechanism with the working clock pulses they need, including: the working clock pulses provided to the sequential operation device, the first-layer grasping mechanism, the second-layer grasping mechanism and the last-layer grasping mechanism at the same time are all square wave waveforms.

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