CN104748684A - Visual detection method and device for crankshaft shoulder back chipping - Google Patents
Visual detection method and device for crankshaft shoulder back chipping Download PDFInfo
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Abstract
The invention provides a visual inspection method for crankshaft shoulder back chipping, which comprises the following steps in sequence: step [1] image acquisition; step [2] fitting the image edge; step [3] image straight line feature recognition processing; step [4] identifying and extracting functional information; and (5) detecting the removal amount of the shaft shoulder root. The invention also provides a visual detection device for crankshaft shoulder back chipping, which comprises a case and an industrial control host, wherein a bottom plate is arranged on the bottom surface in the case, a light source is arranged on the left side of the bottom plate, and a V-shaped iron objective table is arranged on the right side of the light source; the right side of V type iron objective table is provided with the slide rail, is provided with the camera mounting panel on the slide rail, is provided with the industry camera on the camera mounting panel, the industry camera links to each other with the industrial control host computer. The invention can efficiently finish non-contact visual detection on crankshaft shoulder back chipping, greatly reduces the time consumed in the detection process and improves the production efficiency; the detection device is simple in structure and convenient to use.
Description
Technical field
The present invention relates to industrial part detection technique field, particularly a kind of visible detection method of shoulder of crank back chipping and device.
Background technology
As everyone knows, detecting machined part is a modern manufacturing industry necessary links on a production line, so improve detection efficiency, minimizing detection time, is the important channel of enhancing productivity.
Industrial crankshaft part application of the present invention is wide and number of applications is many, and as common engine, pressing machine bent axle, two locating shaft shoulder end face needs to closely cooperate with two bearing faces, just meets product requirement.For this kind of crankshaft part needing precision-fit, after completing roughing, also need further finishing, processing site often claims this operation for " back chipping process " (hereinafter referred to as " back chipping ").The object of back chipping mainly contains two aspects: one is the finishing to bent axle curved surface, with meet with bearing inner race coordinate requirement; Two is remove the processing such as root swelling, burr redundancy material, normally carries out a certain amount of material removing to shaft shoulder root, to ensure closely cooperating of shaft shoulder end face and bearing face.
At present, whether industry spot detects thoroughly to bent axle two shaft shoulder back chippings, the equipment such as slide calliper rule, three coordinate measuring machine of normal employing contact completes, there is the shortcomings such as measuring process length consuming time, efficiency is low, and testing cost is higher, such as contact equipment, it costly, easy to wear, the life-span is short, easily cause unnecessary equipment expense, and bent axle application is wide, turnout is large, manufacturing line often needs a large amount of workman to go at detection-phase, and this materially increases cost, also reduces production efficiency.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of visible detection method and device of shoulder of crank back chipping, solving that accuracy of detection in prior art is not high, the long and testing cost detection time problem such as high.
The technical solution adopted for the present invention to solve the technical problems is: a kind of visible detection method of shoulder of crank back chipping, comprises the following steps of carrying out in order:
Step [1] Image Acquisition: crankshaft part is positioned on v block objective table, adjustment v block and camera light source position, make part be in video camera obtain scope and be presented on clearly in field of view, gather crankshaft part contour images clear, present black through the irradiation of back side white light source;
Step [2] image border matching: carry out edge fitting to the image obtained in step [1], obtains the crankshaft part image with sharp edge feature;
Step [3] graph line feature identifying processing: by the edge fitting image of step [2] gained, straight-line detection mode is adopted to detect its edge line feature, obtain some straight lines, and be straight line by many fitting a straight lines wherein with similar linear feature, final acquisition six function straight lines;
Step [4] function information identification is extracted: adopt following method to extract straight line and shaft shoulder root straight-line intersection information:
(1) utilize slope to limit and identify horizontal linear section and vertical straight line segment;
(2) after accomplish linear type judges, straight-line segment extreme coordinates value is utilized to obtain straight line relative position in the picture;
(3) calculate and store each linear position information and extract shaft shoulder root straight-line intersection coordinate;
Step [5] shaft shoulder root clearing amount detects: step is as follows:
(1) locate above-mentioned gained four function points, according to the equation of gained six function straight lines, shaft shoulder root is divided into four functional areas, area size is determined by self-defined threshold value;
(2) when under the irradiation being in back side white light source, above-mentioned four functional areas, if having certain clearing amount, then remove region and are shown as white in the picture, otherwise be then the black of presentation-entity entirely; Put pixel value analysis identification in four functional areas successively, store its white pixel contained and count out;
(3) judge that described white pixel is counted, if it is zero or lower than being judged to be during threshold value 1 that shaft shoulder root clearing amount is defective that above-mentioned steps gained white pixel is counted out; If white pixel is counted out and is less than threshold value 2 higher than threshold value 1, judge that shaft shoulder root clearing amount is qualified.
Preferably, in step [2] to the concrete steps that matching is carried out in image border be:
(1) central entities part larger for gray scale is set to function region-of-interest;
(2) functional area is transformed into domain space by time domain, obtains the spectrogram of image under domain space, can statistical picture frequency data by spectrum information;
(3) mean value getting frequency data, as criterion, finds the series of points that frequency change is the most violent, and these points are scape cut-point, i.e. entity edge before and after image;
(4) point of reserve frequency sudden change, remove the point that frequency change is mild, inverse transformation, to time domain space, obtains image outline image;
(5) matching closed outline image: by the shortest pixel distance connecting sealed between non-conterminous pixel, to the black connected domain being positioned at extra-regional black pixel point and existence, adopt area threshold as criterion, edge image in traversing graph picture, connected domain area be less than setting threshold value time as noise regional processing, transfer white to;
(6) in region, point transfers black to, obtains the crankshaft part image with sharp edge feature.
Preferably, in step [3] to the step that many fitting a straight lines of similar linear feature are straight line be:
(1) identify linear feature, calculate and store gained rectilinear end point coordinate and straight slope;
(2) in image coordinate system, to the described linear feature information identification of two conditions below be met and extract: first, slope differences is at certain threshold range, slope is greater than to the straight line of 1, slope value amplitude of variation is larger, so get inverse to this kind of slope, separately establish containers store, and slope differences threshold value is set separately; Secondly, X-coordinate difference and Y-coordinate difference are at certain threshold range;
(3) analyze satisfied (2) the data obtained, adopt best intermediate value to ask for mode, matching normalizing straight slope and rectilinear end point coordinate.
(4) show the linear feature after matching, complete graph line feature detection.
Tradition shaft shoulder back chipping detects and just judges for shaft shoulder root clearing amount, finds through commercial Application investigation, occurs that the factor of defective bent axle also has axial burr projection, shaft shoulder end face burr projection, diminished shaft, tapered end face etc. after back chipping.The present invention is directed to above problem concurrent development and gone out corresponding detection method, further increase the actual application ability of detection system.That is, the visible detection method of a kind of shoulder of crank back chipping described above, can also comprise the following steps:
Step [6] is to the judgement of axial burr projection: identify in four certain pixel coverages in axial outer normal direction (as (0 ~ 20pixel) respectively, in image range, outside identification range is larger, it is more accurate to detect, but increase operation time simultaneously) black pixel point that has, if its quantity is greater than certain threshold value (as 8pixel), then judge the jagged projection of this part axial, back chipping is defective.
Step [7] is to the judgement of shaft shoulder end face burr projection: identify the black pixel point that the outer normal direction of two shaft shoulder end face straight lines has, if its quantity is greater than certain threshold value (as 8pixel), then judge the jagged projection of this shaft parts shoulder end face, back chipping is defective.
Step [8] is to the judgement of diminished shaft: poor respectively to two straight slopes on same axle, if slope differences absolute value is greater than certain threshold value (as 0.05), then judge that this shaft parts is as diminished shaft, on bent axle, for diminished shaft, one of main shaft and pitman shaft all represent that back chipping is defective.
Step [9] is to the judgement of tapered end face: the judgement of tapered end face is based upon on the judgement of diminished shaft, if without diminished shaft, then carry out this step, obtain axial horizontal line, shaft shoulder end face straight line and theoretical water horizontal line angulation Θ 1, Θ 2, judge axial and shaft shoulder direction linear position relation, when the absolute value of angulation and 90 ° (namely || Θ 1-Θ 2|-90 ° |) is greater than certain threshold value (as 0.5 °), then judge that this shaft shoulder end face is as tapered end face, back chipping is defective.
The present invention also provides a kind of vision inspection apparatus of shoulder of crank back chipping, comprise cabinet and industrial control host, described industrial control host is arranged on cabinet, cabinet is provided with part entrance, cabinet inside bottom surface is provided with base plate, be provided with on the left of base plate be arranged on light source installing plate can the white light source of up-down adjustment, be provided with the v block objective table be made up of the adjustable outer v block of interval location and interior v block on the right side of light source, detected part can be placed on described v block objective table; On described base plate, the right side of v block objective table is provided with slide rail, and slide rail is provided with can along the camera installing plate of slide rail movement, and camera installing plate is provided with industrial camera adjustable up and down, described industrial camera is connected with industrial control host.
Described industrial control host comprises draws together control module, image acquisition unit, graphics processing unit and result display unit.
Good effect of the present invention: by the method for the invention step, the noncontact vision-based detection to shoulder of crank back chipping can be completed efficiently, the method successfully solves the deficiency of traditional detection mode, and tool has the following advantages: first, recognition detection fast and efficiently can be carried out to shaft shoulder back chipping, significantly reduce testing process spent time, enhance productivity; Secondly, adopt non-contact detecting mode, significantly reduce testing cost, be mainly reflected in noncontact vision system reliable and stable, long service life; By non-contacting vision detection system, workman just can complete the Detection task with the first two or four workmans, reduces human resources spending.In addition, for pick-up unit of the present invention, the setting of its V-type objective table can by axial workpiece fast, stable position, ensureing the steady implementation of detection method of the present invention, is the critical component that detection method is implemented; The setting of cabinet not only increases the anti-interference of system to rugged surroundings light source, also combines the design of human aesthetic's vision simultaneously; Industrial control host to be installed on cabinet on dip plane at an angle, makes workman better complete detection operation; The each functional part of cabinet inside is all designed with adjustable slide rail, makes system can conform and detect the change of part position at any time.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of shoulder of crank back chipping detection method of the present invention;
Fig. 2 is shoulder of crank root functional area schematic diagram of the present invention;
Fig. 3 is the structural representation of shoulder of crank back chipping pick-up unit of the present invention;
Fig. 4 is the structural representation of cabinet inside of the present invention.
Embodiment
Below in conjunction with accompanying drawing to a preferred embodiment of the present invention will be described in detail.
Crankshaft part on engine, its location shaft shoulder needs to be close to bearing face, just meets product requirement.Such bent axle is powerful, and every machined parameters requires high, is the vital part of composition engine.After roughing operation completes, the special emery wheel of general use carries out the process of grinding back chipping to bent axle.Mainly contain following two aspect effects: first remove the processing such as root swelling, burr amount of redundancy, and further remove a certain amount of material of root, to ensure closely cooperating of shaft shoulder end face and bearing face.Next is the finishing to bent axle curved surface, with meet with bearing inner race coordinate requirement.
Through industry spot investigation, concluding the principal element obtaining being formed shoulder of crank back chipping defective problem has: defective, the axial burr projection of shaft shoulder root clearing amount is more, more, the tapered axle of shaft shoulder end face burr projection and tapered end face etc.Traditional detection mainly adopts contact slide calliper rule and three coordinate measuring engine measurement axle and shaft shoulder root diameter (RD) to carry out contrast and reaches a conclusion, and this detection mode exists testing process length consuming time, efficiency is low, the problem such as the high and contact of checkout equipment cost is easy to wear.
In view of the above problems, see figures.1.and.2, the preferred embodiment of the present invention provides a kind of visible detection method of shoulder of crank back chipping, comprises the following steps of carrying out in order:
Step [1] Image Acquisition: crankshaft part is positioned on v block objective table, adjustment v block and camera light source position, make part be in video camera obtain scope and be presented on clearly in field of view, rotary crankshaft, gather multiple different angles clear, to irradiate through back side white light source and present the crankshaft part contour images of black;
Step [2] image border matching: carry out edge fitting to the image obtained in step [1], obtains the crankshaft part image with sharp edge feature; Concrete fit procedure is:
(1) central entities part larger for gray scale is set to function region-of-interest;
(2) functional area is transformed into domain space by time domain, obtains the spectrogram of image under domain space, can statistical picture frequency data by spectrum information;
(3) mean value getting frequency data, as criterion, finds the series of points that frequency change is the most violent, and these points are scape cut-point, i.e. entity edge before and after image;
(4) point of reserve frequency sudden change, remove the point that frequency change is mild, inverse transformation, to time domain space, obtains image outline image;
(5) matching closed outline image: by the shortest pixel distance connecting sealed between non-conterminous pixel, to the black connected domain being positioned at extra-regional black pixel point and existence, adopt area threshold as criterion, edge image in traversing graph picture, connected domain area be less than setting threshold value time as noise regional processing, transfer white to;
(6) in region, point transfers black to, obtains the crankshaft part image with sharp edge feature.
Step [3] graph line feature identifying processing: by the edge fitting image of step [2] gained, straight-line detection mode is adopted to detect its edge line feature, obtain some straight lines, and be straight line by many fitting a straight lines wherein with similar linear feature, final acquisition six function straight lines; Concrete operation step is:
(1) identify linear feature, calculate and store gained rectilinear end point coordinate and straight slope;
(2) in image coordinate system, to the described linear feature information identification of two conditions below be met and extract: first, slope differences is at certain threshold range, slope is greater than to the straight line of 1, slope value amplitude of variation is larger, so get inverse to this kind of slope, separately establish containers store, and slope differences threshold value is set separately; Secondly, X-coordinate difference and Y-coordinate difference are at certain threshold range;
(3) analyze satisfied (2) the data obtained, adopt best intermediate value to ask for mode, matching normalizing straight slope and rectilinear end point coordinate.
(4) show the linear feature after matching, complete graph line feature detection.
Step [4] function information identification is extracted: adopt following method to extract straight line and shaft shoulder root straight-line intersection information:
(1) utilize slope to limit and identify horizontal linear section and vertical straight line segment;
(2) after accomplish linear type judges, straight-line segment extreme coordinates value is utilized to obtain straight line relative position in the picture;
(3) calculate and store each linear position information and extract shaft shoulder root straight-line intersection coordinate;
Step [5] shaft shoulder root clearing amount detects: step is as follows:
(1) locate above-mentioned gained four function points, according to the equation of gained six function straight lines, shaft shoulder root is divided into four functional areas, area size is determined by self-defined threshold value;
(2) when under the irradiation being in back side white light source, above-mentioned four functional areas (as shown in black region in Fig. 2), if having certain clearing amount, then remove region and are shown as white in the picture, otherwise be then the black of presentation-entity entirely; Put pixel value analysis identification in four functional areas successively, store its white pixel contained and count out;
(3) judge that described white pixel is counted, if above-mentioned steps gained white pixel count out be zero or lower than threshold value 1 (as 20pixel, definition threshold value 1 carrys out the noise that rejection image may be deposited, causing the generation of Error type I, has namely negated qualified part) time be judged to be that shaft shoulder root clearing amount is defective; If white pixel is counted out and is less than threshold value 2 (as 300pixel, definition threshold value 2 gets rid of excessive defective of causing bent axle rigidity to reduce of clearing amount) higher than threshold value 1, judgement shaft shoulder root clearing amount is qualified.Namely white pixel point quantity N meets: 20pixels≤N≤300pixels (this threshold range is applicable to native system hardware configuration, adjustable with camera parameter), then shaft shoulder back chipping is qualified.
Step [6] is to the judgement of axial burr projection: identify in four certain pixel coverages in axial outer normal direction (as (0 ~ 20pixel) respectively, in image range, outside identification range is larger, it is more accurate to detect, but increase operation time simultaneously) black pixel point that has, if its quantity is greater than certain threshold value (as 8pixel), then judge the jagged projection of this part axial, back chipping is defective.
Step [7] is to the judgement of shaft shoulder end face burr projection: identify the black pixel point that the outer normal direction of two shaft shoulder end face straight lines has, if its quantity is greater than certain threshold value (as 8pixel), then judge the jagged projection of this shaft parts shoulder end face, back chipping is defective.
Step [8] is to the judgement of diminished shaft: poor respectively to two straight slopes on same axle, if slope differences absolute value is greater than certain threshold value (as 0.05), then judge that this shaft parts is as diminished shaft, on bent axle, for diminished shaft, one of main shaft and pitman shaft all represent that back chipping is defective.
Step [9] is to the judgement of tapered end face: the judgement of tapered end face is based upon on the judgement of diminished shaft, if without diminished shaft, then carry out this step, obtain axial horizontal line, shaft shoulder end face straight line and theoretical water horizontal line angulation Θ 1, Θ 2, judge axial and shaft shoulder direction linear position relation, when the absolute value of angulation and 90 ° (namely || Θ 1-Θ 2|-90 ° |) is greater than certain threshold value (as 0.5 °), then judge that this shaft shoulder end face is as tapered end face, back chipping is defective.
As shown in Figure 3 and Figure 4, the preferred embodiment of the present invention also provides a kind of vision inspection apparatus of shoulder of crank back chipping, comprise cabinet 1 and industrial control host 2, described industrial control host 2 is arranged on cabinet 1, cabinet 1 is provided with part entrance 3, cabinet 1 inner bottom surface is provided with base plate 4, be provided with on the left of base plate 4 be arranged on light source installing plate 5 can the white light source 6 of up-down adjustment, be provided with the v block objective table be made up of the adjustable outer v block 7 of interval location and interior v block 8 on the right side of light source 6, detected part 9 can be placed on described v block objective table; On described base plate, the right side of v block objective table is provided with slide rail 10, and slide rail 10 is provided with can along the camera installing plate 11 of slide rail movement, and camera installing plate 11 is provided with industrial camera 12 adjustable up and down, described industrial camera is connected with industrial control host.
Described industrial control host comprises draws together control module, image acquisition unit, graphics processing unit and result display unit.
Above-describedly be only the preferred embodiments of the present invention; be understood that; the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; the protection domain be not intended to limit the present invention; all any amendments, equivalent replacement etc. made within thought of the present invention and principle, all should be included within protection scope of the present invention.
Claims (5)
1. a visible detection method for shoulder of crank back chipping, is characterized in that: comprise the following steps of carrying out in order:
Step [1] Image Acquisition: crankshaft part is positioned on v block objective table, adjustment v block and camera light source position, make part be in video camera obtain scope and be presented on clearly in field of view, gather crankshaft part contour images clear, present black through the irradiation of back side white light source;
Step [2] image border matching: carry out edge fitting to the image obtained in step [1], obtains the crankshaft part image with sharp edge feature;
Step [3] graph line feature identifying processing: by the edge fitting image of step [2] gained, straight-line detection mode is adopted to detect its edge line feature, obtain some straight lines, and be straight line by many fitting a straight lines wherein with similar linear feature, final acquisition six function straight lines;
Step [4] function information identification is extracted: adopt following method to extract straight line and shaft shoulder root straight-line intersection information:
(1) utilize slope to limit and identify horizontal linear section and vertical straight line segment;
(2) after accomplish linear type judges, straight-line segment extreme coordinates value is utilized to obtain straight line relative position in the picture;
(3) calculate and store each linear position information and extract shaft shoulder root straight-line intersection coordinate;
Step [5] shaft shoulder root clearing amount detects: step is as follows:
(1) locate above-mentioned gained four function points, according to the equation of gained six function straight lines, shaft shoulder root is divided into four functional areas, area size is determined by self-defined threshold value;
(2) when under the irradiation being in back side white light source, above-mentioned four functional areas, if having certain clearing amount, then remove region and are shown as white in the picture, otherwise be then the black of presentation-entity entirely; Put pixel value analysis identification in four functional areas successively, store its white pixel contained and count out;
(3) judge that described white pixel is counted, if it is zero or lower than being judged to be during threshold value 1 that shaft shoulder root clearing amount is defective that above-mentioned steps gained white pixel is counted out; If white pixel is counted out and is less than threshold value 2 higher than threshold value 1, judge that shaft shoulder root clearing amount is qualified.
2. the visible detection method of a kind of shoulder of crank back chipping according to claim 1, is characterized in that: in step [2] to the concrete steps that matching is carried out in image border be:
(1) central entities part larger for gray scale is set to function region-of-interest;
(2) functional area is transformed into domain space by time domain, obtains the spectrogram of image under domain space, can statistical picture frequency data by spectrum information;
(3) mean value getting frequency data, as criterion, finds the series of points that frequency change is the most violent, and these points are scape cut-point, i.e. entity edge before and after image;
(4) point of reserve frequency sudden change, remove the point that frequency change is mild, inverse transformation, to time domain space, obtains image outline image;
(5) matching closed outline image: by the shortest pixel distance connecting sealed between non-conterminous pixel, to the black connected domain being positioned at extra-regional black pixel point and existence, adopt area threshold as criterion, edge image in traversing graph picture, connected domain area be less than setting threshold value time as noise regional processing, transfer white to;
(6) in region, point transfers black to, obtains the crankshaft part image with sharp edge feature.
3. the visible detection method of a kind of shoulder of crank back chipping according to claim 1, is characterized in that: in step [3] to the step that many fitting a straight lines of similar linear feature are straight line be:
(1) identify linear feature, calculate and store gained rectilinear end point coordinate and straight slope;
(2) in image coordinate system, to the described linear feature information identification of two conditions below be met and extract: first, slope differences is at certain threshold range, slope is greater than to the straight line of 1, slope value amplitude of variation is larger, so get inverse to this kind of slope, separately establish containers store, and slope differences threshold value is set separately; Secondly, X-coordinate difference and Y-coordinate difference are at certain threshold range;
(3) analyze satisfied (2) the data obtained, adopt best intermediate value to ask for mode, matching normalizing straight slope and rectilinear end point coordinate.
(4) show the linear feature after matching, complete graph line feature detection.
4. the visible detection method of a kind of shoulder of crank back chipping according to claim 1, is characterized in that: also comprise the steps:
Step [6] is to the judgement of axial burr projection: identify in four certain pixel coverages in axial outer normal direction (as (0 ~ 20pixel) respectively, in image range, outside identification range is larger, it is more accurate to detect, but increase operation time simultaneously) black pixel point that has, if its quantity is greater than certain threshold value (as 8pixel), then judge the jagged projection of this part axial, back chipping is defective.
Step [7] is to the judgement of shaft shoulder end face burr projection: identify the black pixel point that the outer normal direction of two shaft shoulder end face straight lines has, if its quantity is greater than certain threshold value (as 8pixel), then judge the jagged projection of this shaft parts shoulder end face, back chipping is defective.
Step [8] is to the judgement of diminished shaft: poor respectively to two straight slopes on same axle, if slope differences absolute value is greater than certain threshold value (as 0.05), then judge that this shaft parts is as diminished shaft, on bent axle, for diminished shaft, one of main shaft and pitman shaft all represent that back chipping is defective.
Step [9] is to the judgement of tapered end face: the judgement of tapered end face is based upon on the judgement of diminished shaft, if without diminished shaft, then carry out this step, obtain axial horizontal line, shaft shoulder end face straight line and theoretical water horizontal line angulation Θ 1, Θ 2, judge axial and shaft shoulder direction linear position relation, when the absolute value of angulation and 90 ° (namely || Θ 1-Θ 2|-90 ° |) is greater than certain threshold value (as 0.5 °), then judge that this shaft shoulder end face is as tapered end face, back chipping is defective.
5. the vision inspection apparatus of a shoulder of crank back chipping, comprise cabinet and industrial control host, it is characterized in that: described industrial control host is arranged on cabinet, cabinet is provided with part entrance, cabinet inside bottom surface is provided with base plate, be provided with on the left of base plate be arranged on light source installing plate can the white light source of up-down adjustment, be provided with the v block objective table be made up of the adjustable outer v block of interval location and interior v block on the right side of light source, detected part can be placed on described v block objective table; On described base plate, the right side of v block objective table is provided with slide rail, and slide rail is provided with can along the camera installing plate of slide rail movement, and camera installing plate is provided with industrial camera adjustable up and down, described industrial camera is connected with industrial control host.
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| CN110108711A (en) * | 2019-04-20 | 2019-08-09 | 东莞中科蓝海智能视觉科技有限公司 | The vision detection system of annulus side wall defect |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105716540A (en) * | 2016-02-01 | 2016-06-29 | 宁德时代新能源科技股份有限公司 | Method for detecting assembling property of square shell and top cover R angle of secondary battery |
| CN105716540B (en) * | 2016-02-01 | 2018-05-29 | 宁德时代新能源科技股份有限公司 | Method for detecting assembling property of square shell and top cover R angle of secondary battery |
| CN109308708A (en) * | 2018-09-09 | 2019-02-05 | 深圳硅基仿生科技有限公司 | Image processing method, device and the retina stimulator of low pixel |
| CN110849461A (en) * | 2019-12-04 | 2020-02-28 | 江苏方天电力技术有限公司 | Phase modulator vibration signal acquisition and storage method and system |
| CN110849461B (en) * | 2019-12-04 | 2021-08-31 | 江苏方天电力技术有限公司 | Phase modulator vibration signal acquisition and storage method and system |
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