CN104570934A - Product machining part detection method and system - Google Patents
Product machining part detection method and system Download PDFInfo
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- CN104570934A CN104570934A CN201310477720.2A CN201310477720A CN104570934A CN 104570934 A CN104570934 A CN 104570934A CN 201310477720 A CN201310477720 A CN 201310477720A CN 104570934 A CN104570934 A CN 104570934A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
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Abstract
The invention provides a product machining part detection method. The method comprises the following steps: obtaining a template gray value line chart of a machining part, detecting whether the machining part is machined according to a detection gray value line chart of the machining part and the template gray value line chart of the machining part, obtaining a template contour graph of the machining part when the machining part is machined, computing the standard deviation of shortest distances between all detection contour points of the machining part and the template contour graph, detecting whether the machining part is properly machined according to the standard deviation of the shortest distances between all the detection contour points of the machining part and the template contour graph, and confirming that the machining part meets machining requirements when the machining part is properly machined. The invention further provides a product machining part detection system. By adopting the method and the system, whether the machining part of a product meets the machining requirements can be rapidly detected.
Description
Technical field
The present invention relates to a kind of product inspection method and system, particularly about a kind of detection method and system of Product processing position.
Background technology
The numerically-controlled machine manufacture field of prior art; man-hour is being added to product; because the impact of the factors such as the wearing and tearing of job sequence, process tool, processing environment, the working position of product often there will be and leaks processing, processes the situation not meeting processing request such as not in place.Whether meet processing request to detect working position, product, after completing processing, generally needs scheduling job person manually to carry out visual examination to working position, occurs to judge whether Lou processing or to process the situation not meeting processing request such as not in place.Visual examination easily because problems such as the inspection generation of high strength is undetected, false retrievals, thus causes detecting the working position not meeting processing request.This working position not meeting processing request can cause the damage of the assembly that product cannot be assembled, other cooperations are assembled or damage the mould etc. of next process.Such as, when punching press and Mold for Plastics matched moulds, when the public part of leakage processing feature die, can mold damage during matched moulds.This generates resource and waste of time, add production cost, reduce production efficiency.
Summary of the invention
In view of above content, be necessary to provide a kind of Product processing location detection method and system, can detect the working position of product in process equipment, to judge whether working position meets processing request, thus guarantee the crudy of product.
A kind of Product processing location detection method, be applied in computing machine, this computing machine is connected with process equipment and image capturing device.The method comprising the steps of: utilize the acquisition of described image capturing device to need to carry out the two dimensional image of the working position detected; The detection gray-scale value broken line graph of described working position and the detection point of described working position is determined according to the two dimensional image of described working position; Obtain the template gray value broken line graph of described working position; Detect described working position according to the detection gray-scale value broken line graph of described working position and the template gray value broken line graph of described working position and whether have processing; Add man-hour when described working position has, obtain the template contours figure of described working position; After the detection point of described working position is alignd with the template contours figure of described working position, calculate the minimum distance of each detection point to template contours figure of described working position, and calculate the standard deviation of each detection point to the minimum distance of template contours figure of described working position; Detect described working position according to each detection point of described working position to the standard deviation of the minimum distance of template contours figure whether to process and put in place; And when described working position processing puts in place, determine that described working position meets processing request.
A kind of Product processing location detection system, run in computing machine, this computing machine is connected with process equipment and image capturing device.This system comprises: image processing module, obtaining the two dimensional image needing to carry out the working position detected for utilizing described image capturing device, determining the detection gray-scale value broken line graph of described working position and the detection point of described working position according to the two dimensional image of described working position; Whether with or without detection module, for obtaining the template gray value broken line graph of described working position, detecting described working position according to the detection gray-scale value broken line graph of described working position and the template gray value broken line graph of described working position has processing; Computing module, for adding man-hour when described working position has, obtain the template contours figure of described working position, after the detection point of described working position is alignd with the template contours figure of described working position, calculate the minimum distance of each detection point to template contours figure of described working position, and calculate the standard deviation of each detection point to the minimum distance of template contours figure of described working position; Whether put in place detection module, process put in place for detecting described working position according to each detection point of described working position to the standard deviation of the minimum distance of template contours figure; And determination module, for when described working position processing puts in place, determine that described working position meets processing request.
Compared to prior art, described Product processing location detection method and system, image capturing device can be utilized in process equipment to obtain the two dimensional image of the working position of product, and the detection data of working position are obtained according to this two dimensional image, these detection data and template data are compared to judge whether working position meets processing request, thus saved detection time, and improve production efficiency.
Accompanying drawing explanation
Fig. 1 is the running environment schematic diagram of Product processing location detection system of the present invention preferred embodiment.
Fig. 2 is the process equipment schematic diagram of the better embodiment of Product processing location detection system of the present invention.
Fig. 3 is the functional block diagram of the better embodiment of Product processing location detection system of the present invention.
Fig. 4 is the process flow diagram of Product processing location detection method of the present invention preferred embodiment.
Fig. 5 is the schematic diagram of the corresponding relation of gray-scale value and pixel number in the two dimensional image of the working position of product of the present invention.
Fig. 6 is the schematic diagram of the gray-scale value broken line graph of the working position of product of the present invention.
Fig. 7 and Fig. 8 is the template contours figure of the working position of product of the present invention and the schematic diagram detecting the point obtained.
Main element symbol description
Computing machine 100
Product processing location detection system 10
Image processing module 11
With or without detection module 12
Computing module 13
Put in place detection module 14
Determination module 15
Display device 20
Processor 30
Memory storage 40
Process equipment 200
Image capturing device 300
Main shaft 50
Workbench 60
Following embodiment will further illustrate the present invention in conjunction with above-mentioned accompanying drawing.
Embodiment
Consulting shown in Fig. 1, is the running environment figure of the better embodiment of Product processing location detection system of the present invention.Described Product processing location detection system 10 is applied in computing machine 100.In this better embodiment, described computing machine 100 is connected with process equipment 200 and image capturing device 300 communication.Described computing machine 100 can also be server, main frame or other device.Described process equipment 200 can be all kinds of lathes that can carry out Product processing, such as, and computer digital control machine tool (computer numerical control, CNC) etc.
Described image capturing device 300 can be the independent device of of being connected with described computing machine 100, also can be mounted in charge coupled cell (CCD, the Charge-coupled Device) imageing sensor on described process equipment 200.Described image capturing device 300 is installed on the main shaft 50(of process equipment 200 as shown in Figure 2) on, the workbench 60(being placed on described process equipment 200 for shooting is as shown in Figure 2) on needs carry out the image of the working position of the product detected, and captured all kinds of images are sent to described computing machine 100 to carry out follow-up process.
In the present embodiment, the image of described Product processing location detection system 10 for utilizing the shooting of described image capturing device 300 to need to carry out the working position of the product detected, identify that the image of this shooting is to the detection point of the detection gray-scale value broken line graph and described working position of determining described working position, and according to the detection gray-scale value broken line graph of this working position and the template gray value broken line graph of this working position, detect this working position and whether have processing, man-hour is added when this working position has, further according to the detection point of this working position and the template contours figure of this working position, detect this working position whether to process and put in place, to realize the judgement whether working position meets processing request.
Described computing machine 100 comprises display device 20, processor 30 and memory storage 40.Whether described display device 20 meets the information of processing request for showing working position.Described processor 30 such as, for performing described Product processing location detection system 10 and all kinds of softwares of installation in described computing machine 100, operating system etc.Described memory storage 40 can be hard disk, or the storage card of other types or memory device.Described memory storage 40 for storing Various types of data, such as, the information such as video, audio frequency, image, file, and data that are set for Product processing location detection system described in memory 10, that receive.
As shown in Figure 2, be the process equipment schematic diagram of better embodiment of Product processing location detection system of the present invention.Described process equipment 200 comprises main shaft 50 as described above and workbench 60.Described image capturing device 300 is installed on the main shaft 50 of process equipment 200, when mounted, the axis (as shown in dashed line in figure 2) of the imaging plane of this image capturing device 300 and the plane orthogonal at described workbench 60 place, and verticality is less than a preset vertical degree.This preset vertical degree by user or Operation system setting, such as 0.1mm(millimeter).
Element included in various kinds of equipment shown in Fig. 1 and Fig. 2 and annexation each other and attaching relation are only example, are not limited thereto in practical application.
As shown in Figure 3, be the functional block diagram of better embodiment of Product processing location detection system of the present invention.In the present embodiment, described Product processing location detection system 10 comprises multiple functional module, respectively: image processing module 11, with or without detection module 12, computing module 13, put in place detection module 14 and determination module 15.
Module alleged by the present invention has been the program segment of a specific function, is more suitable for describing the implementation of software in described computing machine 100 than program.The concrete function of each module is described below with reference to Fig. 4.
As shown in Figure 4, be the process flow diagram of better embodiment of Product processing location detection method of the present invention.
First, step S2, described image processing module 11 controls the working position of described image capturing device 300 to the product that the needs be positioned on described workbench 60 detect and takes, and obtains the two dimensional image of this working position from described image capturing device 300.Such as, described image processing module 11 by sending predetermined command to described image capturing device 300, thus controls the shooting that this image capturing device 300 carries out image.Described predetermined command can comprise shooting time and for contents such as the center point coordinates that identifies described working position present position.
Step S4, described image processing module 11 determines the detection gray-scale value broken line graph of described working position and the detection point of described working position according to the two dimensional image of described working position.
The pixel value of the pixel in the two dimensional image of described working position is carried out binary conversion treatment by described image processing module 11, (such as white to black according to the change of pixel value, or black is to the change of white) calculate the two-dimensional coordinate of the detection point in the two dimensional image of described working position, thus obtain all two-dimensional detection point of working position.
Described image processing module 11 is after carrying out binary conversion treatment by the pixel value of the pixel in the two dimensional image of described working position, calculate the number presetting the pixel in gray-scale value corresponding to each default gray-scale value at a group according to the gray-scale value of the pixel in two dimensional image, and generate the detection gray-scale value broken line graph of described working position according to the corresponding relation of described default gray-scale value and pixel number.Consult shown in Fig. 5 and Fig. 6, according to the corresponding relation of the gray-scale value shown in Fig. 5 form and pixel number, described image processing module 11 generates detection gray-scale value broken line graph as shown in Figure 6.Described default gray-scale value is arranged by system or user, as being 35 in Fig. 5,64,92 etc.
Step S6, the described template gray value broken line graph obtaining described working position with or without detection module 12.The template gray value broken line graph of described working position can be stored in advance in described memory storage 40, or utilizes data cube computation or network connection to obtain from other database by described computing machine 100.The template gray value broken line graph of described working position can be determined according to the standard calibration part of described working position, and every processing request of the standard calibration part of this working position is all qualified.
Step S8, describedly detects described working position with or without detection module 12 according to the template gray value broken line graph of the detection gray-scale value broken line graph of described working position and described working position and whether has processing.Add man-hour when described working position has, perform step S10.When described working position does not add man-hour, perform step S18.
In this preferred embodiment, the described number obtaining in the detection gray-scale value broken line graph of described working position corresponding to each default gray-scale value pixel with or without detection module 12, and the number of the pixel corresponding to each default gray-scale value in the detection gray-scale value broken line graph of described working position is formed one and detect pixel number array.Consult shown in Fig. 6, described detection pixel number array is: [1023,1035,1241,569,477,1334,1947,6469,7673,2733,344].The number of the described pixel corresponding to each default gray-scale value also obtained with or without detection module 12 in the template gray value broken line graph of described working position, and the number of the pixel corresponding to each default gray-scale value in the template gray value broken line graph of described working position is formed a template pixel number array.Afterwards, describedly calculate standard deviation between described detection pixel number array and template pixel number array with or without detection module 12, and judge whether the standard deviation between described detection pixel number array and template pixel number array is less than a pre-set threshold value.This pre-set threshold value is arranged by system or user, as being 25.When standard deviation between described detection pixel number array and template pixel number array is less than described pre-set threshold value, describedly judge that described working position has processing with or without detection module 12.When standard deviation between described detection pixel number array and template pixel number array is not less than described pre-set threshold value, describedly judge that described working position is not processed with or without detection module 12.
Step S10, described computing module 13 obtains the template contours figure of described working position.The template contours figure of described working position can be stored in advance in described memory storage 40, or utilizes data cube computation or network connection to obtain from other database by described computing machine 100.The detection point of described standard calibration part after the detection point determining described standard calibration part according to the standard calibration part of described working position, can be fitted to curve and obtains by the template contours figure of described working position.
Step S12, after described computing module 13 utilizes mathematical method the detection point (spaced point such as shown in Fig. 7) of described working position to be alignd with the template contours figure (straight line such as shown in Fig. 7) of described working position, calculate the minimum distance of each detection point to template contours figure of described working position, and calculate the standard deviation of each detection point to the minimum distance of template contours figure of described working position.
In the present embodiment, this mathematical method is least square method, and its formula is:
Wherein, the point on the template contours figure that (X1, Y1) is described working position, (X2, Y2) detection point of described working position for calculating.All detection point on the described working position calculated reach minimum to the mean value of the quadratic sum of the distance of template contours figure, then show that all detection point of the described working position calculated and the theoretical profile figure of described working position reach best alignment (consulting shown in Fig. 7).
With reference to schematic diagram as shown in Figure 8, each detection point of described working position calculated to the air line distance of described template contours line for described computing module 13 from spaced point is to the minimum distance of template contours figure.
Step S14, described in the detection module 14 that puts in place detect described working position according to each detection point of described working position to the standard deviation of the minimum distance of template contours figure and whether process and put in place.When described working position processing puts in place, perform step S16.When described working position do not process put in place time, perform step S18.
In this preferred embodiment, described in the detection module 14 that puts in place judge whether each detection point of described working position is less than a reservation threshold to the standard deviation of the minimum distance of template contours figure.This reservation threshold is arranged, as being 0.1mm by system or user.When each detection point of described working position is less than described reservation threshold to the standard deviation of the minimum distance of template contours figure, described in the detection module 14 that puts in place judge that the processing of described working position puts in place.When each detection point of described working position is not less than described reservation threshold to the standard deviation of the minimum distance of template contours figure, described in the detection module 14 that puts in place judge that described working position is not processed and put in place.
Step S16, described determination module 15 determines that described working position meets processing request, and returns described working position and meet the information of processing request on display device 20.
Step S18, described determination module 15 determines that described working position does not meet processing request, and returns described working position and do not meet the information of processing request on display device 20.The described information not meeting processing request comprises described working position and not to process or described working position does not process the information to put in place etc.
Image capturing device 300 is installed on the main shaft 50 of process equipment 200 by the present invention, after the working position of described product machines, the detection whether working position meets processing request can being completed, without the need to moving described product in testing process, thus reaching time-saving object.Detect described working position and whether have processing, need the detection time of cost shorter, and detect described working position and whether process and put in place, need the detection time of cost long.Whether the present invention first detects described working position has processing, to obtain rapidly a rough result, and after detecting that described working position has processing, detect working position more whether to process and put in place, can avoid in the unprocessed situation of working position, the waste plenty of time carries out the shortcoming detected, thus improves detection efficiency.
Above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to above preferred embodiment to invention has been detailed description, those of ordinary skill in the art should be appreciated that and can modify to technical scheme of the present invention or be equal to the spirit and scope of replacing and should not depart from technical solution of the present invention.
Claims (14)
1. a Product processing location detection method, is applied in computing machine, and this computing machine is connected with process equipment and image capturing device, it is characterized in that, the method comprising the steps of:
The acquisition of described image capturing device is utilized to need to carry out the two dimensional image of the working position detected;
The detection gray-scale value broken line graph of described working position and the detection point of described working position is determined according to the two dimensional image of described working position;
Obtain the template gray value broken line graph of described working position;
Detect described working position according to the detection gray-scale value broken line graph of described working position and the template gray value broken line graph of described working position and whether have processing;
Add man-hour when described working position has, obtain the template contours figure of described working position;
After the detection point of described working position is alignd with the template contours figure of described working position, calculate the minimum distance of each detection point to template contours figure of described working position, and calculate the standard deviation of each detection point to the minimum distance of template contours figure of described working position;
Detect described working position according to each detection point of described working position to the standard deviation of the minimum distance of template contours figure whether to process and put in place; And
When described working position processing puts in place, determine that described working position meets processing request.
2. Product processing location detection method as claimed in claim 1, it is characterized in that, the method also comprises:
When described working position is not processed, or when the processing of described working position is not in place, determine that described working position does not meet processing request.
3. Product processing location detection method as claimed in claim 1, is characterized in that, the detection point of described working position is determined according to such as under type:
The pixel value of the pixel in the two dimensional image of described working position is carried out binary conversion treatment, and according to the change calculations of pixel value working position two dimensional image in the two-dimensional coordinate of detection point.
4. Product processing location detection method as claimed in claim 1, it is characterized in that, the detection gray-scale value broken line graph of described working position is determined according to under type:
The pixel value of the pixel in the two dimensional image of described working position is carried out binary conversion treatment, calculate the number presetting the pixel in gray-scale value corresponding to each default gray-scale value at a group according to the gray-scale value of the pixel in two dimensional image, and generate the detection gray-scale value broken line graph of described working position according to the corresponding relation of described default gray-scale value and pixel number.
5. Product processing location detection method as claimed in claim 1, it is characterized in that, whether described working position is processed by is detected with under type:
Obtain the number of the pixel corresponding to each default gray-scale value in the detection gray-scale value broken line graph of described working position, and the number of the pixel corresponding to each default gray-scale value in the detection gray-scale value broken line graph of described working position is formed a detection pixel number array;
Obtain the number of the pixel corresponding to each default gray-scale value in the template gray value broken line graph of described working position, and the number of the pixel corresponding to each default gray-scale value in the template gray value broken line graph of described working position is formed a template pixel number array;
Calculate the standard deviation between described detection pixel number array and template pixel number array, and judge whether the standard deviation between described detection pixel number array and template pixel number array is less than a pre-set threshold value;
When standard deviation between described detection pixel number array and template pixel number array is less than described pre-set threshold value, judge that described working position has processing; And
When standard deviation between described detection pixel number array and template pixel number array is not less than described pre-set threshold value, judge that described working position is not processed.
6. Product processing location detection method as claimed in claim 1, it is characterized in that, whether whether described working position is processed to put in place is less than a reservation threshold by the standard deviation of each detection point to the minimum distance of template contours figure that judge described working position and detects.
7. Product processing location detection method as claimed in claim 1, it is characterized in that, described image capturing device is installed on the main shaft of process equipment, the plane orthogonal at the axis of the imaging plane of this image capturing device and the workbench place of described process equipment, and verticality is less than a preset vertical degree.
8. a Product processing location detection system, runs in computing machine, and this computing machine is connected with process equipment and image capturing device, it is characterized in that, this system comprises:
Image processing module, obtaining the two dimensional image needing to carry out the working position detected for utilizing described image capturing device, determining the detection gray-scale value broken line graph of described working position and the detection point of described working position according to the two dimensional image of described working position;
Whether with or without detection module, for obtaining the template gray value broken line graph of described working position, detecting described working position according to the detection gray-scale value broken line graph of described working position and the template gray value broken line graph of described working position has processing;
Computing module, for adding man-hour when described working position has, obtain the template contours figure of described working position, after the detection point of described working position is alignd with the template contours figure of described working position, calculate the minimum distance of each detection point to template contours figure of described working position, and calculate the standard deviation of each detection point to the minimum distance of template contours figure of described working position;
Whether put in place detection module, process put in place for detecting described working position according to each detection point of described working position to the standard deviation of the minimum distance of template contours figure; And
Determination module, for when described working position processing puts in place, determines that described working position meets processing request.
9. Product processing location detection system as claimed in claim 8, is characterized in that, described reminding module also for not processing when described working position, or when the processing of described working position is not in place, determines that described working position does not meet processing request.
10. Product processing location detection system as claimed in claim 8, it is characterized in that, described image processing module determines the detection point of described working position in the following way:
The pixel value of the pixel in the two dimensional image of described working position is carried out binary conversion treatment, and according to the change calculations of pixel value working position two dimensional image in the two-dimensional coordinate of detection point.
11. Product processing location detection systems as claimed in claim 8, is characterized in that, described image processing module determines the detection gray-scale value broken line graph of described working position in the following way:
The pixel value of the pixel in the two dimensional image of described working position is carried out binary conversion treatment, calculate the number presetting the pixel in gray-scale value corresponding to each default gray-scale value at a group according to the gray-scale value of the pixel in two dimensional image, and generate the detection gray-scale value broken line graph of described working position according to the corresponding relation of described default gray-scale value and pixel number.
12. working position detection systems as claimed in claim 8, is characterized in that, describedly detect described working position in the following manner with or without detection module and whether have processing:
Obtain the number of the pixel corresponding to each default gray-scale value in the detection gray-scale value broken line graph of described working position, and the number of the pixel corresponding to each default gray-scale value in the detection gray-scale value broken line graph of described working position is formed a detection pixel number array;
Obtain the number of the pixel corresponding to each default gray-scale value in the template gray value broken line graph of described working position, and the number of the pixel corresponding to each default gray-scale value in the template gray value broken line graph of described working position is formed a template pixel number array;
Calculate the standard deviation between described detection pixel number array and template pixel number array, and judge whether the standard deviation between described detection pixel number array and template pixel number array is less than a pre-set threshold value;
When standard deviation between described detection pixel number array and template pixel number array is less than described pre-set threshold value, judge that described working position has processing; And
When standard deviation between described detection pixel number array and template pixel number array is not less than described pre-set threshold value, judge that described working position is not processed.
13. working position detection systems as claimed in claim 8, it is characterized in that, described in the detection module that puts in place also whether be less than a reservation threshold for the standard deviation of each detection point to the minimum distance of template contours figure by judging described working position and detect described working position and whether process and put in place.
14. working position detection systems as claimed in claim 8, it is characterized in that, described image capturing device is installed on the main shaft of process equipment, the plane orthogonal at the axis of the imaging plane of this image capturing device and the workbench place of described process equipment, and verticality is less than a preset vertical degree.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310477720.2A CN104570934A (en) | 2013-10-14 | 2013-10-14 | Product machining part detection method and system |
| TW102137396A TW201523178A (en) | 2013-10-14 | 2013-10-16 | Method and system for detecting manufacturing areas of a product |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310477720.2A CN104570934A (en) | 2013-10-14 | 2013-10-14 | Product machining part detection method and system |
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| CN104570934A true CN104570934A (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310477720.2A Pending CN104570934A (en) | 2013-10-14 | 2013-10-14 | Product machining part detection method and system |
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| CN (1) | CN104570934A (en) |
| TW (1) | TW201523178A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111230593A (en) * | 2020-03-02 | 2020-06-05 | 西南交通大学 | Milling cutter abrasion loss visual measurement method based on dynamic image sequence |
| CN112304243A (en) * | 2020-11-12 | 2021-02-02 | 北京机电研究所有限公司 | Contour detection device and detection method for plate stamping part |
| CN112774173A (en) * | 2021-01-28 | 2021-05-11 | 深圳市瑞驰文体发展有限公司 | Billiard ball box with billiard ball detection function |
-
2013
- 2013-10-14 CN CN201310477720.2A patent/CN104570934A/en active Pending
- 2013-10-16 TW TW102137396A patent/TW201523178A/en unknown
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111230593A (en) * | 2020-03-02 | 2020-06-05 | 西南交通大学 | Milling cutter abrasion loss visual measurement method based on dynamic image sequence |
| CN112304243A (en) * | 2020-11-12 | 2021-02-02 | 北京机电研究所有限公司 | Contour detection device and detection method for plate stamping part |
| CN112774173A (en) * | 2021-01-28 | 2021-05-11 | 深圳市瑞驰文体发展有限公司 | Billiard ball box with billiard ball detection function |
| CN112774173B (en) * | 2021-01-28 | 2022-05-17 | 深圳市瑞驰文体发展有限公司 | Billiard ball box with billiard ball detection function |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201523178A (en) | 2015-06-16 |
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Application publication date: 20150429 |