Concrete distributing device based on visual identification

Abstract

This utility model discloses a concrete placing device based on visual recognition, relating to the field of precast component production technology. It includes a placing hopper with an inlet and an outlet at its top and bottom, respectively, a placing assembly mounted on the hopper, and a spray assembly for cleaning the interior of the hopper. The spray assembly includes a liquid supply pipe located outside the hopper and a drive component for providing flow to the liquid within the supply pipe. Multiple spray nozzles, each extending to one end into the inlet, are connected to the supply pipe and arranged in a circumferential array around the inlet, with the spray direction pointing towards the inner wall of the hopper. This utility model, through its hopper design with a top inlet and bottom outlet, combined with the circumferentially arrayed spray nozzles, can efficiently clean the inner wall of the placing hopper. The spray assembly, composed of a liquid supply pipe and a drive component, allows liquid to cover the entire inner wall of the hopper through multi-angle spraying, improving cleaning efficiency, avoiding manual climbing operations, and reducing safety hazards.

Description

Technical Field

[0001] This utility model relates to the field of precast component production technology, specifically to a concrete placement device based on visual recognition. Background Technology

[0002] Concrete placement refers to the process in building construction where mixed concrete is evenly and efficiently laid on formwork or the pouring area using mechanical or manual methods. This step directly affects the density, smoothness, and overall quality of the concrete structure.

[0003] Traditional concrete placement methods, such as manual placement or the use of simple mechanical placement equipment, have many shortcomings. Manual placement is labor-intensive, inefficient, and struggles to guarantee uniformity and accuracy, easily leading to inconsistent concrete pouring quality. With the continuous expansion of modern construction projects and the increasing complexity of construction techniques, higher demands are placed on the quality, efficiency, and automation of concrete placement. Precise control of the concrete pouring volume and location is required to ensure the strength and stability of the structure. Simultaneously, to improve construction efficiency and shorten the construction period, more automated and efficient placement equipment is also needed.

[0004] A search revealed a patent document with authorization announcement number CN220241894U that discloses a concrete placing machine. The placing machine includes a placing mechanism for placing concrete onto a formwork; a mixing mechanism connected to the placing mechanism for mixing the concrete within the placing mechanism; and a heating mechanism connected to the placing mechanism, which includes multiple heating components extending into the placing mechanism for heating the concrete within the placing mechanism in a low-temperature environment.

[0005] The aforementioned concrete placing machine achieves automated material placement through the setup of an open-top hopper, mixing shaft, mixing motor, drive belt, and conveying spiral blades. However, it has significant drawbacks in the cleaning process. Specifically, due to the large size of the hopper, workers must climb onto a side scaffold to clean it by holding the spray pipes from above and rinsing the interior. This method not only requires working at height but also necessitates frequent bending to adjust the rinsing angle to cover different areas, making the operation cumbersome and posing safety hazards, thus requiring urgent improvement.

[0006] To address these issues, we propose a visual recognition-based concrete placement device. Utility Model Content

[0007] The purpose of this invention is to solve the problems in the prior art by proposing a concrete placing device based on visual recognition. This device, through the setting of a spray component, can efficiently and conveniently clean the inside of the placing hopper, achieving high cleaning efficiency while avoiding manual climbing operations and reducing safety hazards.

[0008] To solve the above problems, this utility model provides the following technical solution:

[0009] A concrete placing device based on vision recognition includes a placing hopper with an inlet and an outlet at the top and bottom respectively, a placing assembly on the placing hopper, and a spraying assembly for cleaning the inside of the placing hopper. The spraying assembly includes a liquid supply pipe outside the placing hopper and a driving component for providing flow to the liquid in the liquid supply pipe. Multiple spray nozzles, one end of which extends into the inlet, are connected to the liquid supply pipe. The multiple spray nozzles are arranged in a circumferential array along the inlet, and the spraying direction of the spray nozzles is directed towards the inner wall of the placing hopper.

[0010] As a further embodiment of this utility model, the fabric device also includes a baffle net covering the feed inlet. The baffle net has multiple transverse and longitudinal ribs arranged so that a mesh is formed between any two adjacent sets of transverse ribs and any two adjacent sets of longitudinal ribs.

[0011] As a further embodiment of this utility model: protective plates are provided around the baffle, the material drop space formed by the multiple protective plates is smaller than the space enclosed by the multiple spray nozzles, and the baffle is set above the multiple spray nozzles so that the material drop space formed by the multiple protective plates is located above the space enclosed by the multiple spray nozzles.

[0012] As a further embodiment of this utility model: the fabric assembly includes a spiral conveyor disposed at the discharge port, the spiral conveyor includes a storage bin fixedly disposed at the discharge port, and the top of the storage bin is provided with a receiving port connected to the discharge port, the spiral conveyor rod is rotatably disposed inside the storage bin, and a discharge port is provided on the storage bin along the axial position of the spiral conveyor rod, a blocking plate is movably disposed at the discharge port, the blocking plate has a retracted state and a working state, when the blocking plate is in the retracted state, the blocking plate covers and seals the discharge port; when the blocking plate is in the working state, the blocking plate opens the discharge port.

[0013] As a further embodiment of this utility model: the storage bin consists of a bin body with an open bottom and an opening / closing plate hinged to the bottom of the bin body for opening and closing its opening.

[0014] As a further embodiment of this utility model: the spiral conveyor rods are configured in multiple sets and evenly distributed in parallel within the storage bin.

[0015] As a further embodiment of this utility model: a conveying motor is provided on the fabric hopper, and the output shaft of the conveying motor is connected to the screw conveyor rod for transmission.

[0016] As a further embodiment of this utility model: a first cylinder is provided on the fabric hopper, and the output end of the first cylinder is movably connected to the blocking plate, so as to realize the switching of the blocking plate between the storage state and the working state by relying on the first cylinder.

[0017] As a further embodiment of this utility model: a second cylinder is provided on the fabric hopper, and the output end of the second cylinder is movably connected to the opening and closing plate, so as to open or close the bottom opening of the hopper body by means of the second cylinder.

[0018] As a further embodiment of this utility model: the fabric feeding device also includes a stirring assembly disposed on the fabric hopper, the stirring assembly including a stirring shaft rotatably disposed inside the fabric hopper and a stirring motor disposed outside the fabric hopper and drivenly connected to the stirring shaft.

[0019] As a further embodiment of this utility model, the fabric device also includes a two-dimensional motion track for the fabric hopper to move in two dimensions, a servo walking system for driving the fabric hopper to move, and a vision camera located beside the two-dimensional motion track.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The material hopper design, featuring a top inlet and a bottom outlet, combined with a circumferentially arrayed spray nozzle, enables efficient cleaning of the hopper's inner wall. The spray assembly consists of a liquid supply pipe and a drive unit. Liquid is sprayed at multiple angles to cover the entire inner wall of the hopper, significantly improving cleaning efficiency while eliminating the need for manual climbing and reducing safety hazards. This application boasts a compact structure and a high degree of automation, making it suitable for the rapid cleaning needs of large hoppers.

[0022] 2. The mesh structure formed by the transverse and longitudinal ribs of the baffle net can intercept large-diameter aggregates or lumps during the feeding process, preventing them from entering the placing hopper and ensuring the uniformity of the concrete. The mesh design can both divide the concrete flow and reduce the risk of segregation, and suppress material splashing during mixing, thus balancing functionality and construction quality assurance.

[0023] 3. The material drop space formed by the protective plate surrounding the mesh is smaller than the area between multiple spray nozzles, which limits the range of concrete drop. In addition, the upper and lower layered layout of the mesh and spray nozzles optimizes the coordination of the cleaning and material placement process and reduces operational interference.

[0024] 4. The screw conveyor achieves precise control of concrete discharge through a storage bin and a switchable blocking plate. When the blocking plate is in the retracted state, it closes the discharge port to prevent leakage; when in operation, it opens the discharge port, working in conjunction with the screw conveyor rod to deliver material evenly. This design simplifies the flow rate adjustment process and is suitable for the flexible needs of different construction scenarios.

[0025] 5. The storage silo adopts a structure with an open bottom and hinged hinged plates, which facilitates the quick emptying of residual concrete or cleaning and maintenance. The hinged plates open and close flexibly, and can be operated manually or automatically, significantly improving equipment maintenance efficiency and reducing downtime.

[0026] 6. Multiple sets of parallel-distributed screw conveyors enhance the continuity and stability of concrete conveying, avoiding the risk of single-point blockage. The coordinated operation of multiple screws improves conveying efficiency under high-flow conditions while ensuring uniform concrete distribution, making it suitable for high-strength construction needs.

[0027] 7. The mixing assembly continuously agitates the concrete in the hopper via the mixing shaft, preventing it from solidifying or segregating and ensuring uniform distribution. The mixing motor is independently controlled, allowing adjustment of the mixing intensity according to construction needs, extending the workable time of the concrete, and is especially suitable for long-cycle or intermittent operation scenarios.

[0028] 8. By setting up a two-dimensional motion track and a vision camera, the vision camera can identify the mold table and the concrete placement boundary (side mold, opening, notch) during the concrete placement operation. It calculates the area and volume of the placement range, automatically converts it into the required concrete weight, provides data for precise control of the placement position, improves placement uniformity, and avoids concrete waste caused by pouring outside the boundary. This design reduces manual intervention, saves labor costs, enhances the intelligence of the entire concrete placement operation process, and significantly improves placement efficiency. Attached Figure Description

[0029] The present invention will be further described below with reference to the accompanying drawings.

[0030] Figure 1 This is a schematic diagram of the three-dimensional structure of this utility model. Figure 1 ;

[0031] Figure 2 yes Figure 1 A top-view structural diagram in this configuration;

[0032] Figure 3 This is a schematic diagram of the three-dimensional structure of this utility model. Figure 2 ;

[0033] Figure 4 yes Figure 3 A three-dimensional structural diagram showing the removal of the barrier net in the current state;

[0034] Figure 5 This is a front view structural diagram of the present invention;

[0035] Figure 6 yes Figure 5 A schematic diagram of the cross-sectional structure along line AA.

[0036] Figure 7 yes Figure 6 A schematic diagram of a local structure in the image;

[0037] Figure 8 This is a three-dimensional structural diagram of the spiral conveyor component in this utility model;

[0038] Figure 9 This is a schematic diagram of the three-dimensional structure of the fabric hopper of this utility model, which is set on a two-dimensional motion track. Figure 1 ;

[0039] Figure 10 This is a schematic diagram of the three-dimensional structure of the fabric hopper of this utility model, which is set on a two-dimensional motion track. Figure 2 .

[0040] In the diagram: 1. Cloth hopper; 2. Liquid supply pipe; 3. Spray nozzle; 4. Baffle net; 5. Protective plate; 6. Storage bin; 601. Bin body; 602. Opening and closing plate; 7. Material receiving port; 8. Screw conveyor rod; 9. Discharge port; 10. Blocking plate; 11. Conveyor motor; 12. First cylinder; 13. Second cylinder; 14. Stirring shaft; 15. Stirring motor; 16. Two-dimensional motion track; 17. Vision camera; a. First vertical line; b. Second vertical line. Detailed Implementation

[0041] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0042] like Figures 1-8 As shown, a concrete placing device based on visual recognition includes a placing hopper 1. The top and bottom of the placing hopper 1 are respectively provided with an inlet and an outlet. Under normal circumstances, the outlet is closed and the outlet is open, and the concrete enters the placing hopper 1 through the inlet and is stored therein. When placing concrete into the mold below using the placing hopper 1, the outlet is opened so that the concrete can fall onto the mold.

[0043] like Figures 1-5 As shown, to achieve accurate concrete placement, this application also provides a concrete placement assembly on the concrete placement hopper 1. The concrete placement assembly includes a screw conveyor located at the discharge port, which conveys the concrete from the discharge port to a designated downward position. Specifically, the screw conveyor includes a storage bin 6 fixedly installed at the discharge port. The top of the storage bin 6 has a receiving port 7 connected to the discharge port, allowing subsequent concrete from the discharge port to fall into the storage bin 6 through the receiving port 7. A conveying motor 11 is installed on the storage bin 6, and a screw conveyor rod 8 is rotatably installed inside the storage bin 6. The output end of the conveying motor 11 is connected to the screw conveyor rod 8. Correspondingly, a discharge port 9 is provided on the storage bin 6 along the axial position of the screw conveyor rod 8. The rotation of the screw conveyor rod 8 can convey the concrete in the storage bin 6 to the discharge port 9, and then drop it to the corresponding position through the discharge port 9.

[0044] like Figure 1 and Figure 5 As shown, to prevent a small amount of concrete from overflowing from the discharge port 9 in the storage bin 6 when the screw conveyor 8 is not working, a blocking plate 10 is movably installed at the discharge port 9. A first cylinder 12 is installed outside the material hopper 1, and the output end of the first cylinder 12 is movably connected to the blocking plate 10. The blocking plate 10 has a retracted state and a working state. When the blocking plate 10 is in the retracted state, it covers and seals the discharge port 9, and the concrete temporarily stored in the storage bin 6 will not overflow from the discharge port 9. When the first cylinder 12 drives the blocking plate 10 to rotate, the blocking plate 10 opens the discharge port 9. This state can be adapted to the conveying operation of the screw conveyor 8, so that the concrete in the storage bin 6 can be discharged through the discharge port 9.

[0045] like Figures 3-5 As shown, in order to enable the concrete hopper 1 to perform concrete pouring operations on molds of different lengths or widths, this application sets multiple sets of spiral conveyor rods 8 and distributes them evenly in parallel within the storage bin 6. Each set of spiral conveyor rods 8 corresponds to multiple discharge ports 9. Each discharge port 9, spiral conveyor rod 8, blocking plate 10, and first cylinder 12 together form a conveying structure. Each conveying structure is set independently and does not interfere with each other. Furthermore, when the length of multiple conveying structures is greater than the length or width of the mold to be poured, only a few sets of conveying structures opposite the mold can be used for material conveying.

[0046] like Figure 1 and Figure 6 As shown, furthermore, to prevent the concrete in the placing hopper 1 from hardening and accumulating, this application also provides a mixing assembly on the placing hopper 1. The mixing assembly includes a mixing shaft 14 rotatably disposed inside the placing hopper 1 and a mixing motor 15 disposed outside the placing hopper 1 and drivenly connected to the mixing shaft 14. Of course, in order to achieve a better mixing effect, mixing blades of a corresponding shape can also be provided on the mixing shaft 14.

[0047] like Figures 1-6As shown, to facilitate efficient cleaning of the interior of the concrete hopper 1, this application includes a spray assembly on the hopper 1. After the concrete placement work is completed, the interior of the hopper 1 can be cleaned using the spray assembly. Specifically, the spray assembly includes a liquid supply pipe 2 surrounding the exterior of the hopper 1. The liquid supply pipe 2 is supplied with liquid (clean water or cleaning fluid) by an external liquid supply connector. The liquid in the liquid supply pipe 2 is driven to flow by a drive component. A spray nozzle 3 is connected to the inner side of the liquid supply pipe 2, extending to the inlet. Multiple spray nozzles 3 are arranged in a circumferential array along the inlet, and the spray direction of the spray nozzles 3 is adjustable. Preferably, the spray direction of the spray nozzles 3 is directed towards the inner wall of the hopper 1. During subsequent cleaning, the drive component can be activated to drive the liquid in the liquid supply pipe 2 to flow until it is sprayed onto the inner wall of the hopper 1 through the multiple spray nozzles 3, achieving efficient and rapid cleaning of the interior of the hopper 1. It should be noted that the number of multiple spray nozzles 3 is not necessarily better the more there are. Instead, the number should be set according to the size of the feed inlet. It is only necessary to ensure that the total spray range of the multiple spray nozzles 3 covers all parts of the inner wall of the cloth hopper 1.

[0048] The aforementioned driving component can be any component with water-driving function in the prior art, such as a water pump, or a derivative thereof. This is a conventional setting in the prior art, and will not be elaborated further here to avoid unnecessary complexity.

[0049] like Figure 6 and Figure 8 As shown, furthermore, after the fabric is laid, in order to facilitate the cleaning of the screw conveyor, the storage bin 6 in this application is configured to consist of a bin body 601 with an open bottom and an opening / closing plate 602 hinged to the bottom of the bin body 601 for opening and closing its opening. The top of the bin body 601 is fixedly connected to the bottom of the fabric hopper 1. A second cylinder 13 is provided on the fabric hopper 1, and the output end of the second cylinder 13 is movably connected to the opening / closing plate 602, so that the opening or closing of the bottom opening of the bin body 601 can be achieved by relying on the second cylinder 13. Under normal fabric laying conditions, such as Figure 6 As shown, the opening plate 602 closes the opening at the bottom of the silo 601, and the entire silo 601 is in a sealed state. Only the material receiving port 7 at the top is connected to the material discharge port. When the material is distributed, the first cylinder 12 drives the blocking plate 10 to flip, which can open the discharge port 9. With the rotation of the screw conveyor rod 8, the concrete can be output.

[0050] When the fabric is finished and the spiral conveyor rod 8 needs cleaning, the second cylinder 13 can be used to drive the opening and closing plate 602 downwards until the spiral conveyor rod 8 is exposed. At this time, multiple spray nozzles 3 can be used to spray cleaning fluid into the fabric hopper 1 to clean the inside of the fabric hopper 1. During this process, the cleaning fluid will flow downwards through the discharge port into the hopper body 601 and flow sequentially to the multiple spiral conveyor rods 8, rinsing the spiral conveyor rods 8 to a certain extent. Under the inclined guidance of the opening and closing plate 602, the cleaning fluid will carry the dirt downwards, achieving the initial cleaning of the spiral conveyor rod 8. Subsequently, the spiral conveyor rod 8 is rinsed manually using a cleaning spray pipe, which is the final secondary cleaning.

[0051] like Figures 1-3 and Figure 6 As shown, based on the above-mentioned spray assembly, this application also provides a set of baffles 4 at the feed inlet. The baffles 4 are located above the spray nozzles 3. The baffles 4 have multiple transversely and longitudinally arranged ribs, so that mesh openings are formed between any two adjacent sets of transverse ribs and any two adjacent sets of longitudinal ribs. The size of the mesh openings can be designed according to the positions of the transverse and longitudinal ribs, and the mesh size is mainly selected and manufactured according to the type of concrete. When concrete raw materials pass through the baffles 4, large-diameter aggregates or agglomerated portions in the concrete raw materials are intercepted, preventing them from entering the placing hopper 1 and ensuring the uniformity of the concrete.

[0052] like Figures 6-7 As shown, since the spray nozzles 3 are located below the baffle 4, multiple protective plates 5 are installed around the baffle 4 to prevent damage to the spray nozzles 3 during the process of feeding concrete materials into the baffle 4. The area enclosed by the multiple protective plates 5 forms a material drop space, where concrete materials can be directly fed into the material drop space and temporarily stored in the feeding hopper 1 by the "cutting" action of the baffle 4 on concrete lumps or large aggregates. Preferably, the material drop space is smaller than the area enclosed between the multiple spray nozzles 3. Therefore, during the process of feeding concrete materials, the spray nozzles 3 are not located within the falling path of the concrete materials, thus providing a certain degree of protection for the spray nozzles 3. This state can be achieved by... Figure 7 To illustrate, in the figure, 'a' represents the first vertical line attached to the end of the baffle 4, and 'b' represents the second vertical line attached to the end of the spray nozzle 3. The area between the two sets of 'a' can be represented as a cross-section of the material drop space, and the area between the two sets of 'b' can be represented as a cross-section of the area enclosed by the multiple spray nozzles 3. Obviously, the area between the two sets of 'b' is larger than the area between the two sets of 'a'.

[0053] like Figures 9-10As shown, in actual use, the placing hopper 1 is set on a two-dimensional motion track 16. Under the action of the servo walking system, the placing hopper 1 can perform two-dimensional motion (X and Y directions) on the two-dimensional motion track 16 to realize the placing operation on the mold table below the placing hopper 1. At the same time, it can also be equipped with a vision camera 17 located next to the two-dimensional motion track 16, a controller for controlling various systems, a motion planning system, and a precision weighing system for monitoring the overall weight of the placing hopper 1. Among them, the weighing sensor of the precision weighing system is equipped with a DPM large screen display for intuitive display. The camera bracket is fixed on the side of the track, and the vision camera 17 is mounted on the camera bracket to take pictures and identify the mold table. During the placing operation, the vision camera 17 can identify the mold table, identify the placing boundary (side mold, opening, notch), calculate the area and volume of the placing range, automatically calculate the required concrete weight, provide data for placing, accurately control the placing position, improve the uniformity of placing, and avoid concrete waste caused by pouring out of the boundary. Meanwhile, during this process, deep learning target recognition algorithm models can be used to continuously accumulate mold, notch, and opening tooling data to form a fabric process sample library, thereby continuously improving the recognition accuracy.

[0054] The above description provides a detailed account of one embodiment of the present invention. However, this description is merely a preferred embodiment and should not be construed as limiting the scope of the present invention. All equivalent variations and improvements made within the scope of the claims of the present invention should still fall within the patent coverage of the present invention.

Claims

1. A vision recognition based concrete distribution device, characterized in that, The device includes a cloth hopper (1) with an inlet and an outlet at the top and bottom respectively, a cloth assembly on the cloth hopper (1), and a spray assembly for cleaning the inside of the cloth hopper (1). The spray assembly includes a liquid supply pipe (2) outside the cloth hopper (1) and a drive component for providing flow to the liquid in the liquid supply pipe (2). The liquid supply pipe (2) is connected to a plurality of spray nozzles (3) with one end extending into the inlet. The plurality of spray nozzles (3) are arranged in a circumferential array along the inlet, and the spraying direction of the spray nozzles (3) points towards the inner wall of the cloth hopper (1).

2. The vision recognition based concrete distribution device according to claim 1, characterized in that, The fabric device also includes a baffle (4) covering the feed inlet. The baffle (4) has multiple transverse and longitudinal ribs arranged so that a mesh is formed between any two adjacent sets of transverse ribs and any two adjacent sets of longitudinal ribs.

3. A vision recognition based concrete distribution device according to claim 2, characterized in that, The baffle (4) is surrounded by protective plates (5). The material drop space formed by the multiple protective plates (5) is smaller than the space enclosed by the multiple spray nozzles (3). The baffle (4) is set above the multiple spray nozzles (3) so that the material drop space formed by the multiple protective plates (5) is located above the space enclosed by the multiple spray nozzles (3).

4. The vision-identification-based concrete distribution device according to claim 3, characterized in that, The fabric assembly includes a spiral conveyor located at the outlet. The spiral conveyor includes a storage bin (6) fixedly located at the outlet. The top of the storage bin (6) is provided with a receiving port (7) connected to the outlet. A spiral conveyor rod (8) is rotatably arranged inside the storage bin (6). A discharge port (9) is provided on the storage bin (6) along the axial position of the spiral conveyor rod (8). A blocking plate (10) is movably arranged at the discharge port (9). The blocking plate (10) has a retracted state and a working state. When the blocking plate (10) is in the retracted state, the blocking plate (10) covers and seals the discharge port (9). When the blocking plate (10) is in the working state, the blocking plate (10) opens the discharge port (9).

5. A vision recognition based concrete distribution device according to claim 4, characterized in that The storage bin (6) consists of a bin body (601) with an open bottom and an opening plate (602) hinged to the bottom of the bin body (601) for opening and closing its opening.

6. A vision recognition based concrete distribution device according to claim 4, characterized in that, The spiral conveyor rods (8) are arranged in multiple sets and are evenly distributed in parallel within the storage bin (6).

7. The vision recognition based concrete distribution device according to claim 5, wherein, The fabric hopper (1) is equipped with a conveyor motor (11), and the output shaft of the conveyor motor (11) is connected to the screw conveyor rod (8) for transmission.

8. The vision recognition based concrete distribution device according to claim 6, wherein, The fabric hopper (1) is equipped with a first cylinder (12), the output end of the first cylinder (12) is movably connected to the blocking plate (10), so that the blocking plate (10) can be switched between the storage state and the working state by relying on the first cylinder (12).

9. The vision recognition based concrete distribution device according to claim 7, wherein, The fabric hopper (1) is equipped with a second cylinder (13), the output end of which is movably connected to the opening and closing plate (602) so as to open or close the bottom opening of the hopper (601) by means of the second cylinder (13).

10. A vision recognition based concrete distribution device according to any one of claims 1-9, characterized in that, The fabric device also includes a two-dimensional motion track (16) for the fabric hopper (1) to make two-dimensional movements on it, a servo walking system for driving the fabric hopper (1) to move, and a vision camera (17) located beside the two-dimensional motion track (16).

Images