Visual positioning and conveying system for circuit board

Abstract

The utility model relates to the technical field of circuit board conveying systems, and particularly discloses a circuit board visual positioning conveying system which comprises a visual positioning device used for detecting the position of a circuit board; the adjusting device comprises an adsorption device for fixing the circuit board and a multi-axis moving device, and the multi-axis moving device is used for correcting the position of the circuit board; and the placing table is arranged on the adjusting device and is used for placing the circuit board. According to the utility model, the problem that the placement position of the circuit board is random and inaccurate due to manual placement of the circuit board is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a circuit board conveying system technical field especially a circuit board visual positioning conveying system. BACKGROUND

[0002] With the rapid development of electronic manufacturing industry, the production and assembly precision requirement of circuit board is higher and higher, therefore circuit board needs to be positioned and conveyed accurately in the manufacturing and assembly process to ensure the accuracy of subsequent processing and assembly process.

[0003] In the prior art, the circuit board is usually placed by manual operation first, and then the automatic feeding of PCB is realized by automatic equipment such as mechanical hand. However, the process of placing circuit board by manual operation has many uncertainties, which leads to the random and inaccurate placement position of circuit board, and further makes it difficult for automatic equipment such as mechanical hand to accurately perform the feeding operation. SUMMARY

[0004] In order to solve the problem of random and inaccurate placement position of circuit board caused by manual placement of circuit board, the utility model provides a circuit board visual positioning conveying system.

[0005] In order to solve the above problems, the utility model adopts the following technical scheme:

[0006] The embodiment of the utility model provides a circuit board visual positioning conveying system, which comprises:

[0007] Visual positioning device, the visual positioning device is used for detecting the position of circuit board;

[0008] Adjusting device, the adjusting device comprises adsorption device for fixing circuit board and multi-axis moving device, the multi-axis moving device is used for correcting the position of circuit board;

[0009] Placement table, the placement table is arranged on the adjusting device and is used for placing circuit board.

[0010] According to some embodiments of the utility model, the multi-axis moving device comprises front and back moving device that can move along front and back direction, left and right moving device that can move along left and right direction and rotating device that can rotate on the plane parallel to the placement table.

[0011] According to some embodiments of the utility model, the front and back moving device is connected with the left and right moving device, the left and right moving device is connected with the rotating device, the rotating device is connected with the placement table, the front and back moving device is used to drive the left and right moving device to move along front and back direction, the left and right moving device is used to drive the rotating device to move along left and right direction, and the rotating device is used to drive the placement table to rotate.

[0012] According to some embodiments of the present invention, the front and rear moving device includes front and rear guide rails, front and rear sliders and a first driving member, the front and rear sliders slide in cooperation with the front and rear guide rails, the first driving member is connected to the front and rear sliders and is used to drive the front and rear sliders to slide along the front and rear guide rails, and the left and right moving device is arranged on the front and rear sliders.

[0013] According to some embodiments of the present invention, the left and right moving device includes left and right guide rails, left and right sliders and a second driving member. The left and right sliders slide in cooperation with the left and right guide rails. The second driving member is connected to the left and right sliders and is used to drive the left and right sliders to slide along the left and right guide rails. The rotating device is arranged on the left and right sliders.

[0014] According to some embodiments of the present invention, a vacuum hole is provided on the placement table, and the adsorption device includes a vacuum adsorption device that cooperates with the vacuum hole.

[0015] According to some embodiments of the present invention, the vacuum adsorption device includes a vacuum suction nozzle and a vacuum joint connected to the vacuum suction nozzle.

[0016] According to some embodiments of the present invention, the rotating device is a hollow rotating platform.

[0017] According to some embodiments of the present invention, a top surface of the placement table is provided with a plurality of blocks, and the plurality of blocks are used to define a placement area for the circuit board.

[0018] According to some embodiments of the present invention, the visual positioning device includes a CCD visual camera, a CCD light source and a light-transmitting plate, the light-transmitting plate is arranged on one side of the placement table, the CCD light source is arranged below the light-transmitting plate, and the CCD visual camera is arranged above the light-transmitting plate.

[0019] The present invention has at least the following beneficial effects: First, the circuit board is fixed by an adsorption device. Next, the system uses a visual positioning device to detect the precise position of the circuit board. Subsequently, the adjustment device adjusts the position and orientation of the circuit board via a multi-axis motion device according to the system's instructions. The multi-axis motion device can achieve precise linear movement and rotation, ensuring that the circuit board is correctly positioned. The circuit board visual positioning and conveying system of the present invention can effectively correct the position of the circuit board, achieving high-precision positioning and conveying, thereby improving production efficiency and product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural diagram of an embodiment of the utility model;

[0021] Figure 2This is a structural schematic diagram of another angle of an embodiment of the present invention with a portion of the mounting frame removed;

[0022] Figure 3 This is a structural diagram of a placement table according to an embodiment of the present invention;

[0023] Figure 4 This is a bottom view of a placement table according to an embodiment of the present invention;

[0024] Figure 5 This is a bottom view of an embodiment of the utility model with the mounting frame removed. DETAILED DESCRIPTION

[0025] The following description of the present invention, with reference to the accompanying drawings, is provided to facilitate a more comprehensive understanding of the various embodiments of the present invention as defined in the claims and their equivalents. The description includes various specific details to assist understanding, but these details should be construed as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the various embodiments described herein without departing from the scope and spirit of the present invention.

[0026] In the description of the present invention, descriptions of directions, such as up, down, front, back, left, right, etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as a limitation on the present invention.

[0027] It will be understood that when one element (e.g., a first element) is “connected” to another element (e.g., a second element), the element may be directly connected to the other element or an intervening element (e.g., a third element) may be present between the element and the other element.

[0028] The embodiment of the present utility model provides a circuit board visual positioning and conveying system, such as Figure 1-5 Shown, including:

[0029] A visual positioning device 100 is used to detect the position of a circuit board;

[0030] An adjusting device 200 includes an adsorption device 201 for fixing the circuit board and a multi-axis moving device 202 for correcting the position of the circuit board;

[0031] The placement platform 300 is provided on the adjustment device 200 and is used for placing the circuit board.

[0032] The main function of the visual positioning device 100 is to detect the position of the circuit board. It includes one or more cameras and image processing software to capture images of the circuit board and analyze its position. The visual positioning device 100 can identify specific marks or features on the circuit board to determine its exact position. For example, the visual positioning device 100 can capture the edges and intersections of the two front corners of the circuit board to determine the position of the circuit board. The adjustment device 200 consists of an adsorption device 201 and a multi-axis motion device 202, which work together to correct the position of the circuit board. The adsorption device 201 can be a vacuum suction cup or other form of mechanism to fix the position of the circuit board. The adsorption device 201 can achieve contactless fixation of the position of the circuit board. The multi-axis motion device 202 allows the circuit board to move and rotate in multiple directions to correct its position. The multi-axis motion device 202 may include a servo motor and precision guide rails to achieve precise positioning. The placement table 300 is used to support and place the circuit board.

[0033] The working principle of this utility model is as follows:

[0034] After the circuit board is manually placed on the placement table 300, the adsorption device 201 first fixes the circuit board to ensure that the circuit board does not move or slide during the adjustment process. The system then uses the visual positioning device 100 to detect the position of the circuit board. After the adjustment device 200 receives the system's instructions, it adjusts the position and direction of the circuit board through the multi-axis moving device 202. The multi-axis moving device 202 can achieve precise linear movement and rotation to ensure that the circuit board is correctly positioned. When the circuit board is adjusted to the correct position, the adsorption device 201 will release the circuit board, and then move the circuit board to the next process through the multi-axis moving device 202 or other devices. The circuit board visual positioning and conveying system of the utility model can perform contactless correction on the circuit board, achieve high-precision circuit board positioning and conveying, and improve production efficiency and product quality.

[0035] In some embodiments, the multi-axis moving device 202 includes a forward and backward moving device 203 capable of moving in the forward and backward directions, a left and right moving device 204 capable of moving in the left and right directions, and a rotating device 205 capable of rotating on a plane parallel to the placement table 300 .

[0036] like Figure 1As shown, the direction in which the human standing device places the circuit board is the front-to-back direction. The front-to-back moving device 203 allows the placement table 300 to move in the front-to-back direction. The front-to-back moving device 203 may include guide rails, sliders, and a drive mechanism (such as a motor and a lead screw) to achieve smooth and precise movement. The left-right moving device 204 is similar to the front-to-back moving device 203, and the left-right moving device 204 enables the placement table 300 to move in the left-to-right direction. The design of the left-to-right moving device 204 may also include guide rails, sliders, and a drive mechanism to ensure the accuracy and stability of the movement. The rotating device 205 allows the placement table 300 to rotate on a plane parallel to the placement table 300. The rotating device 205 may include a rotating platform or rotating arm, and a corresponding drive mechanism (such as a servo motor) to achieve precise angle adjustment. The combination of these multi-axis moving devices 202 provides a high degree of flexibility and precision, enabling the circuit board visual positioning and conveying system to handle circuit boards of various sizes and shapes and ensure that they are accurately positioned and corrected. Through the coordinated operation of these devices, the system can achieve complex three-dimensional spatial adjustments to meet high-precision positioning requirements.

[0037] Furthermore, the front-to-back moving device 203 is connected to the left-to-right moving device 204, the left-to-right moving device 204 is connected to the rotating device 205, and the rotating device 205 is connected to the placement table 300. The front-to-back moving device 203 is used to drive the left-to-right moving device 204 to move in the front-to-back direction, the left-to-right moving device 204 is used to drive the rotating device 205 to move in the left-to-right direction, and the rotating device 205 is used to drive the placement table 300 to rotate.

[0038] The front-to-back moving device 203 is responsible for movement in the front-to-back direction. It is connected to the left-to-right moving device 204, which is mounted on the mobile platform of the former. When the front-to-back moving device 203 moves, it drives the entire left-to-right moving device 204 to move in the front-to-back direction. This design allows the left-to-right moving device 204 and all its components (including the rotating device 205 and the placement platform 300) to be adjusted in the front-to-back direction. The left-to-right moving device 204 is mounted on the front-to-back moving device 203 and is responsible for movement in the left-to-right direction. It is connected to the rotating device 205, which is mounted on the mobile platform of the left-to-right moving device 204. When the left-to-right moving device 204 moves, it drives the rotating device 205 to move in the left-to-right direction. This design allows the rotating device 205 and the placement platform 300 thereon to be adjusted in the left-to-right direction. The rotating device 205 is mounted on the left-to-right moving device 204 and is responsible for rotational motion around an axis. The placement platform 300 is connected to the rotating device 205 and is mounted on the rotating platform of the rotating device 205. When the rotating device 205 is activated, it drives the placement table 300 to rotate. This design allows the placement table 300 and the circuit board on it to be oriented to meet specific positioning requirements. This connection method forms a coordinated kinematic chain, allowing the placement table 300 and the circuit board on it to be precisely positioned and oriented in three dimensions. Through this design, the system can achieve complex three-dimensional adjustments to meet high-precision positioning requirements. The movement of each moving device directly affects the next device, thereby achieving precise control and adjustment.

[0039] Furthermore, the front and rear moving device 203 includes front and rear guide rails 206, front and rear sliders 207 and a first driving member 208. The front and rear sliders 207 slide with the front and rear guide rails 206. The first driving member 208 is connected to the front and rear sliders 207 and is used to drive the front and rear sliders 207 to slide along the front and rear guide rails 206. The left and right moving device 204 is set on the front and rear sliders 207.

[0040] The front and rear guide rails 206 guide the movement of the front and rear sliders 207. Guide rails are typically made of a hard material to ensure stability and durability. The guide rail design must ensure smooth movement of the sliders while reducing friction and wear. The front and rear sliders 207 slide in contact with the front and rear guide rails 206 and are responsible for moving along the guide rails. The sliders are typically equipped with bearings or other friction-reducing materials to reduce friction between the sliders and the guide rails. The design of the front and rear sliders 207 must ensure that they can move smoothly and accurately along the guide rails while withstanding the driving force from the first drive member 208. The first drive member 208 is connected to the front and rear sliders 207 and is used to drive the front and rear sliders 207 to slide along the front and rear guide rails 206. The first drive member 208 may include a motor, a screw, a gear, or other mechanical transmission mechanism. The design of the first drive member 208 must ensure that it can provide sufficient driving force and control accuracy to achieve precise movement of the front and rear sliders 207. The left and right movement device 204 is disposed on the front and rear sliders 207, which means that the movement of the left and right movement device 204 is dependent on the position of the front and rear sliders 207. When the front and rear slider 207 moves, it drives the left and right moving device 204 to move along the front-back direction. This design allows the left and right moving device 204 and the rotating device 205 thereon and the placement platform 300 to carry out position adjustment in the front-back direction.

[0041] Furthermore, the left and right moving device 204 includes left and right guide rails 209, left and right sliders 210 and a second driving member 211. The left and right sliders 210 slide in cooperation with the left and right guide rails 209. The second driving member 211 is connected to the left and right sliders 210 and is used to drive the left and right sliders 210 to slide along the left and right guide rails 209. The rotating device 205 is arranged on the left and right sliders 210.

[0042] The left and right guide rails 209 are used to guide the movement of the left and right sliders 210. The guide rails are usually made of hard materials to ensure their stability and durability. The design of the guide rails needs to ensure the smooth movement of the sliders while reducing friction and wear. The left and right sliders 210 slide in conjunction with the left and right guide rails 209 and are responsible for moving on the guide rails. The sliders are usually equipped with bearings or other friction-reducing materials to reduce friction with the guide rails. The design of the left and right sliders 210 needs to ensure that they can move smoothly and accurately on the guide rails while withstanding the driving force from the second drive member 211. The second drive member 211 is connected to the left and right sliders 210 and is used to drive the left and right sliders 210 to slide along the left and right guide rails 209. The second drive member 211 may include a motor, a lead screw, a gear or other mechanical transmission mechanism. The design of the second drive member 211 needs to ensure that it can provide sufficient driving force and control accuracy to achieve precise movement of the left and right sliders 210.

[0043] The rotating device 205 is arranged on the left-right slider 210, which means that the movement of the rotating device 205 depends on the position of the left-right slider 210. When the left-right slider 210 moves, it drives the rotating device 205 to move along the left-right direction. This design allows the rotating device 205 and the placement table 300 placed thereon to adjust the position in the left-right direction. Through this design, the left-right moving device 204 not only provides the movement ability in the left-right direction, but also provides support and driving for the rotating device 205. The design of this structure ensures the coordination and accuracy of the entire system, so that the circuit board visual positioning and conveying system can efficiently and accurately process various circuit boards. Combined with the front-back moving device 203 and the rotating device 205, the entire system forms a complex three-dimensional motion platform, which can realize accurate positioning and correction of the circuit board.

[0044] In some embodiments, the placement table 300 is provided with vacuum holes 310, and the suction device 201 includes vacuum suction devices 212 matched with the vacuum holes 310.

[0045] The vacuum holes 310 on the placement table 300 are used to create a local vacuum environment to help fix the circuit board. When the vacuum system is started, these holes will suck away the air to form a low-pressure area, so that the circuit board is firmly adsorbed on the placement table 300. This design not only helps to maintain the stability of the circuit board during visual positioning and position correction, but also prevents the circuit board from moving during conveying. The suction device 201 includes vacuum suction devices 212 matched with the vacuum holes 310 on the placement table 300. The vacuum suction devices 212 can include one or more suction cups connected to the vacuum system and capable of forming sufficient suction force when adsorbing the circuit board. This vacuum suction method not only improves the accuracy of adsorption and placement, but also reduces physical contact with the surface of the circuit board, thereby reducing the risk of damage.

[0046] When the circuit board is placed on the placement table 300, the vacuum suction devices 212 are first started to fix the circuit board. Then, the visual positioning device 100 detects the position, and the adjusting device 200 corrects as needed. When the circuit board needs to be moved, the vacuum suction devices 212 ensure that the circuit board remains stable during movement. Through this design, the circuit board visual positioning and conveying system can more efficiently process various circuit boards, ensuring high precision and high stability during positioning, correction, and conveying. The implementation of this system not only improves production efficiency, but also reduces errors and damage that may occur during operation.

[0047] Further, the vacuum suction devices 212 include vacuum nozzles 213 and vacuum connectors 214 connected to the vacuum nozzles 213.

[0048] The vacuum connector 214 connects the vacuum nozzle 213 and a vacuum source (not shown). The vacuum connector 214 is responsible for transmitting vacuum pressure so that the vacuum nozzle 213 can generate enough suction force to grab the circuit board.

[0049] In some embodiments, the rotating device 205 is a hollow rotating platform.

[0050] Hollow rotary platforms typically consist of a central shaft and a rotating disk that rotates around the shaft. The platform's hollow design allows other mechanical components or cables to pass through the shaft, saving space and simplifying wiring. The hollow section can also be used to mount sensors or other small devices that rotate with the platform to meet specific inspection or processing needs.

[0051] In some embodiments, a top surface of the placement platform 300 is provided with a plurality of stoppers 320 , and the plurality of stoppers 320 are used to define a placement area for the circuit board.

[0052] Stoppers 320 define the placement area for circuit boards on the placement platform 300. They ensure that the circuit boards are aligned in a specific position during placement, thereby reducing the burden on the vision alignment system. The design of stoppers 320 can be adjusted according to the size and shape of the circuit boards to ensure optimal positioning. There can be three stoppers, located on both sides and the top of the placement platform 300, or four stoppers, located around the perimeter of the placement platform 300. They may be adjustable to accommodate different types of circuit boards. Stoppers 320 can be placed at specific locations on the placement platform 300 to form a frame or boundary, limiting the placement area for the circuit boards. The layout of stoppers 320 can also be designed to be replaceable or adjustable to accommodate different production line requirements and circuit board specifications. By placing stoppers 320 on the placement platform 300, the circuit board vision alignment conveying system can more efficiently handle a variety of circuit boards, ensuring stability and accuracy during positioning, alignment, and transport. This design not only improves production efficiency but also reduces the potential for errors and damage during operation.

[0053] Furthermore, in the direction of manual board placement, stoppers 320 are provided on both sides of the placement platform 300 and on the top of the placement platform 300 .

[0054] Stoppers 320 are provided on both sides of the placement platform 300 to provide the operator with clear placement boundaries. This helps ensure that the circuit board does not deviate from the intended position during placement. The stops 320 on both sides can be designed to be adjustable to accommodate circuit boards of varying widths, thereby increasing the flexibility and adaptability of the system. Stoppers 320 are provided at the top of the placement platform 300 to provide a clear front stop for the circuit board. This helps the operator have a clear reference point when placing the circuit board, ensuring that the front end of the circuit board is aligned.

[0055] The top stopper 320 can be fixed or adjustable, depending on the production line's requirements and the board's specifications. The side and top stops 320 work together to form a semi-enclosed placement area, helping operators quickly and accurately place boards. This layout of stops 320 not only improves placement accuracy but also reduces the need for operators to make adjustments during placement, thereby increasing production efficiency.

[0056] In some embodiments, the visual positioning device 100 includes a CCD vision camera 110, a CCD light source 120 and a light-transmitting plate 130. The light-transmitting plate 130 is arranged on one side of the placement table 300, the CCD light source 120 is arranged below the light-transmitting plate 130, and the CCD vision camera 110 is arranged above the light-transmitting plate 130.

[0057] The CCD vision camera 110 is the core component of the visual positioning device 100, used to capture images of the circuit board. It is typically equipped with a high-resolution sensor to ensure image clarity and detail. The camera is positioned above the light-transmitting plate 130 to capture images of the circuit board on the placement table 300 from above. The CCD light source 120 provides uniform and sufficient illumination to ensure that the CCD vision camera 110 can clearly capture images of the circuit board. Good illumination is crucial for image processing and feature recognition. Light source 120 is positioned below the light-transmitting plate 130, illuminating the circuit board through the plate to reduce shadows and reflections, thereby improving image quality. Light-transmitting plate 130 is positioned on one side of the placement table 300 to guide the light from the CCD light source 120 evenly onto the circuit board. Light-transmitting plate 130 is typically made of a transparent or translucent material to ensure light transmittance and uniformity. During the visual positioning process, the CCD light source 120 is first activated, illuminating the circuit board through the light-transmitting plate 130. The CCD vision camera 110 then captures an image of the circuit board from above. The captured image is transmitted to the image processing system for feature extraction and position calculation. Based on the calculation results, the system adjusts the multi-axis motion device 202 to correct the position of the circuit board. With this configuration, the visual positioning device 100 is capable of achieving high-precision circuit board positioning. The collaborative operation of the CCD vision camera 110, CCD light source 120, and light-transmitting plate 130 ensures image clarity and positioning accuracy, thereby improving the performance and efficiency of the entire system. This design is particularly suitable for applications requiring high-precision positioning, such as automated assembly lines and precision machining equipment.

[0058] The terms and words used in the above description and claims are not limited to their literal meanings, but are merely used by the applicant to enable a clear and consistent understanding of the present invention. Therefore, it should be clear to those skilled in the art that the above description of various embodiments of the present invention is provided for illustration only and is not intended to limit the present invention as defined in the appended claims and their equivalents.

Claims

1. A circuit board visual positioning and conveying system, characterized in that: include: A visual positioning device (100), the visual positioning device (100) being used to detect the position of a circuit board; An adjusting device (200), the adjusting device (200) comprising an adsorption device (201) for fixing a circuit board and a multi-axis moving device (202), the multi-axis moving device (202) being used to correct the position of the circuit board; A placement platform (300) is provided on the adjustment device (200) and is used for placing a circuit board.

2. A circuit board visual positioning and conveying system according to claim 1, characterized in that: The multi-axis moving device (202) includes a forward and backward moving device (203) capable of moving in the forward and backward directions, a left and right moving device (204) capable of moving in the left and right directions, and a rotating device (205) capable of rotating on a plane parallel to the placement table (300).

3. A circuit board visual positioning and conveying system according to claim 2, characterized in that: The front-back moving device (203) is connected to the left-right moving device (204), the left-right moving device (204) is connected to the rotating device (205), and the rotating device (205) is connected to the placement platform (300). The front-back moving device (203) is used to drive the left-right moving device (204) to move in the front-back direction, the left-right moving device (204) is used to drive the rotating device (205) to move in the left-right direction, and the rotating device (205) is used to drive the placement platform (300) to rotate.

4. A circuit board visual positioning and conveying system according to claim 3, characterized in that: The front-to-back moving device (203) comprises front-to-back guide rails (206), front-to-back sliders (207) and a first driving member (208); the front-to-back sliders (207) are in sliding cooperation with the front-to-back guide rails (206); the first driving member (208) is connected to the front-to-back sliders (207) and is used to drive the front-to-back sliders (207) to slide along the front-to-back guide rails (206); and the left-to-right moving device (204) is arranged on the front-to-back sliders (207).

5. A circuit board visual positioning and conveying system according to claim 4, characterized in that: The left-right moving device (204) comprises left-right guide rails (209), left-right sliders (210) and a second driving member (211); the left-right sliders (210) are in sliding cooperation with the left-right guide rails (209); the second driving member (211) is connected to the left-right sliders (210) and is used to drive the left-right sliders (210) to slide along the left-right guide rails (209); and the rotating device (205) is arranged on the left-right sliders (210).

6. A circuit board visual positioning and conveying system according to any one of claims 1 to 5, characterized in that: The placement table (300) is provided with a vacuum hole (310), and the adsorption device (201) includes a vacuum adsorption device (212) matched with the vacuum hole (310).

7. A circuit board visual positioning and conveying system according to claim 6, characterized in that: The vacuum adsorption device (212) comprises a vacuum suction nozzle (213) and a vacuum joint (214) connected to the vacuum suction nozzle (213).

8. A circuit board visual positioning and conveying system according to any one of claims 2 to 5, characterized in that: The rotating device (205) is a hollow rotating platform.

9. A circuit board visual positioning and conveying system according to any one of claims 1 to 5, characterized in that: The top surface of the placement platform (300) is provided with a plurality of stoppers (320), and the plurality of stoppers (320) are used to define a placement area for the circuit board.

10. A circuit board visual positioning and conveying system according to any one of claims 1 to 5, characterized in that: The visual positioning device (100) comprises a CCD visual camera (110), a CCD light source (120) and a light-transmitting plate (130), wherein the light-transmitting plate (130) is arranged on one side of the placement table (300), the CCD light source (120) is arranged below the light-transmitting plate (130), and the CCD visual camera (110) is arranged above the light-transmitting plate (130).

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