CN106645193A - On-line detection apparatus - Google Patents
On-line detection apparatus Download PDFInfo
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- CN106645193A CN106645193A CN201710111440.8A CN201710111440A CN106645193A CN 106645193 A CN106645193 A CN 106645193A CN 201710111440 A CN201710111440 A CN 201710111440A CN 106645193 A CN106645193 A CN 106645193A
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- 238000001514 detection method Methods 0.000 title claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 70
- 230000033001 locomotion Effects 0.000 claims description 27
- 230000008844 regulatory mechanism Effects 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000000087 stabilizing effect Effects 0.000 abstract 1
- 239000000047 product Substances 0.000 description 75
- 230000007547 defect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241001124569 Lycaenidae Species 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 239000006227 byproduct Substances 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 241000894007 species Species 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
- G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- Textile Engineering (AREA)
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- Biochemistry (AREA)
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- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses an on-line detection apparatus used for detecting the appearance of a product or recognizing the identification of the product. The on-line detection apparatus comprises a detection platform, a conveying mechanism used for conveying the product, a plurality of image acquisition mechanisms used for acquiring the image information of the product, a position sensor used for detecting the position of the product, a controller used for controlling the plurality of image acquisition mechanisms to simultaneously acquire the image information of the product, a processor used for analyzing the image information acquired by the image acquisition mechanisms so as to detect or recognize the product, and a rejecting mechanism used for rejecting products not meeting requirements according to the analysis results of the processor. According to the invention, since the plurality of image acquisition mechanisms are arranged on the detection platform, products running at a high speed on a production line can be detected, and the products can be detected without positioning, rotating, stabilizing and other operations on the premise of no influence on the production efficiency of production line.
Description
Technical field
The present invention relates to industrial detection technology of identification field, especially arranges a kind of for detecting product appearance or identification product
The on-line measuring device of mark.
Background technology
The background of related of the present invention is illustrated below, but these explanations might not constitute the existing of the present invention
Technology.
At present industrial site is by existing producing line due to being affected, the positioning of online product, identification and detection
As a result it is unreliable, e.g., when detecting whether product appearance is qualified, obtain outside product due to detecting that identification mechanism is unable to omnirange
See, lead to not reject the underproof product of outward appearance；For another example, detect that identification mechanism can not be to the product of any form (as placed
Orientation is different) mark be identified, so as to produce the situation of None- identified.
The content of the invention
It is an object of the invention to propose a kind of online inspection that can have to online product compared with high detection and accuracy of identification
Survey device.
For this purpose, the technical solution adopted in the present invention is：
A kind of on-line measuring device, for detecting the outward appearance of product or the mark of identification product, including：
Detection platform；
Conveying mechanism, it is used to convey the product so that the product is by the detection platform；
Multiple images collecting mechanism, it is installed in the detection platform, and described image collecting mechanism is used to gather described
The image information of product；
Position sensor, it is used to detect the position of the relatively described detection platform of the product；
Controller, it is used to obtain the positional information detected by the position sensor in real time, defeated to work as the product
When being sent to the precalculated position of the detection platform, the controller controls multiple described image collecting mechanisms and gathers the product simultaneously
The image information of product；
Processor, it is used to analyze described image collecting mechanism acquired image information to detect or recognize the product
Product；
Rejecting mechanism, it rejects the undesirable product according to the analysis result of the processor.
Preferably, the conveying mechanism includes conveyer belt, and the product is positioned on the conveyer belt, so that the product
The detection platform is transported in the way of straight-line displacement；Described image collecting mechanism is four, four described image harvesters
Structure is arranged at two-by-two respectively the both sides of the conveyer belt.
Preferably, it is covered with shade in the detection platform.
Preferably, the ring light that described image collecting mechanism includes camera and arranges with the light shaft coaxle of the camera
Source.
Preferably, the on-line measuring device also includes:
First governor motion, it is used to adjust the position of the camera in the direction perpendicular to the conveyer belt, and described the
One governor motion include the guide rail arranged in the way of perpendicular to the conveyer belt and can along the slide block of the slide,
The camera is moved with the slide block；
Second governor motion, it is used to adjust the position of the camera along the bearing of trend of the conveyer belt, and described second
Governor motion include the first leading screw being arranged in the way of perpendicular to the guide rail on the slide block and with described first
Bar coordinates with along the first screw block of the axial movement of first leading screw；
3rd governor motion, it is used to adjust the 3rd governor motion of the position of the camera in vertical direction, and described the
Three governor motions include the second leading screw being vertically arranged on the first screw block and coordinate with edge with second screw mandrel
Second screw block of the axial movement of second leading screw.
Preferably, the on-line measuring device also includes synchronous regulation mechanism, and the synchronous regulation mechanism includes：
Mounting disc, it is horizontally set on the top of the detection platform；
At least three are vertically directed post, and it is vertically arranged in the detection platform, and wear the mounting disc so that institute
Stating mounting disc can slide up and down along post is vertically directed described in three；
Four horizontally-guided posts, the angled circumference of four horizontally-guided posts is distributed on the lower section of the mounting disc, and
Can vertically move up and down with the mounting disc, four described image collecting mechanisms are separately positioned on four horizontally-guided posts
It is upper, and can be along the center closer or far from the detection platform of the horizontally-guided post radial direction.
Preferably, also including support, the detection platform is installed on the bracket, the lower end of the support be provided with to
Few 3 supporting legs, the lower end of each supporting leg is respectively provided with leg for adjusting the levelness of the detection platform.
Preferably, the rejecting mechanism is arranged at the outside of the shade and is located at the side of the conveyer belt.
Preferably, the camera in four described image collecting mechanisms is arranged in the way of making its optical axis converge at a bit.
Compared with prior art, the beneficial effect of on-line measuring device of the invention is：The present invention is due in detection platform
Upper installing multiple images collecting mechanism, such that it is able to detect the product of high-speed cruising on a production line, is not affecting to produce
Product is detected by the operation such as need not being positioned, being rotated, being stablized to product on the premise of line production efficiency.
Description of the drawings
By the specific embodiment part of offer referring to the drawings, the features and advantages of the present invention will become more
It is easy to understand, in the accompanying drawings：
The dimensional structure diagram of the on-line measuring device that Fig. 1 is provided for one embodiment of the present of invention；
The front view of the on-line measuring device that Fig. 2 is provided for one embodiment of the present of invention；
The top view of the on-line measuring device that Fig. 3 is provided for one embodiment of the present of invention；；
Fig. 4 is the structural representation of the image acquisition mechanism of the on-line measuring device that one embodiment of the present of invention is provided.
The dimensional structure diagram of the on-line measuring device that Fig. 5 is provided for an alternative embodiment of the invention；
Fig. 6 is the structural representation of the synchronous regulation mechanism of the on-line measuring device that an alternative embodiment of the invention is provided
Figure.
In figure：
10- detection platform；20- conveying mechanisms；21- conveyer belts；22- delivery platforms；23- guard booms；30- image acquisition machines
Structure；31- guide rails；32- slide blocks；The mounting seats of 33- first；The screw mandrels of 34- first；35- the first screw blocks；The mounting seats of 36- second；37-
Second leading screw；38- the second screw blocks；39- cameras；391- annular light sources；40- rejecting mechanisms；41- mesh bags；50- shades；60-
Support；61- supporting legs；62- legs；100- products；70- synchronous regulation mechanisms；71- mounting discs；72- is vertically directed post；73- levels
Lead column.
Specific embodiment
The illustrative embodiments of the present invention are described in detail with reference to the accompanying drawings.Illustrative embodiments are retouched
State merely for the sake of demonstration purpose, and be definitely not to the present invention and its application or the restriction of usage.
As depicted in figs. 1 and 2, embodiment of the invention discloses that a kind of on-line measuring device, on-line measuring device use
In the outward appearance or the mark of identification product 100 of detection product 100, the outward appearance of such as detection product 100 whether there is defect, or produce
Mark whether is pasted with product 100 and identifying whether of being attached is corresponding with product 100.The on-line measuring device includes：Inspection
Survey platform 10, conveying mechanism 20, multiple images collecting mechanism 30, position sensor, controller, processor and rejecting mechanism
40.Specifically, detection platform 10 has a mounting plane, and conveying mechanism 20 is used to convey to be detected or identification product 100,
And make the product 100 pass through detection platform 10；Multiple images collecting mechanism 30 is arranged in detection platform 10, and in product 100
During by detection platform 10, image acquisition mechanism 30 gathers the image information of product 100, and the image information includes product 100
Mark on appearance information (whether attaching the shape information of tagged information and product 100 including product 100) and product 100
Know described information；Position sensor is used to detect position of the product 100 relative to detection platform 10, and by product 100
Positional information is sent to controller, and controller is used to implement to obtain the positional information detected by position sensor, to work as product
100 be transported to detection platform 10 precalculated position when, controller controls the plurality of image acquisition mechanism 30 and gathers product simultaneously
100 image information, the precalculated position refers to that product 100 can make multiple images just relative to the position of detection platform 10
The acquired image of collecting mechanism 30 passes through the outward appearance of split envelope product 100；Processor is used for the institute of analysis of the image collecting mechanism 30
The image information of collection, to differentiate whether the outward appearance of product 100 being delivered in detection platform 10 whether there is defect, product 100
It is pasted with mark and identifies whether corresponding with product 100 etc.；Rejecting mechanism 40 is analyzed the structure for judging according to processor and is rejected
Undesirable product 100, e.g., the outward appearance existing defects, product 100 when product 100 are not pasted with mark, mark and product
100 it is inconsistent when, rejecting mechanism 40 is rejected, so that product 100 on conveying mechanism 20 by after detection platform 10, only depositing
Stay satisfactory product 100.
The structure of conveying mechanism 20 can have various, and such as conveying mechanism 20 is conveyed product 100 in circumferentially displaced mode
To in detection platform 10, in a preferred embodiment of the invention, as depicted in figs. 1 and 2, conveying mechanism 20 include through
The delivery platform 22 of detection platform 10, the conveyer belt 21 being arranged on delivery platform 22, the motor for driving conveyer belt 21 and edge
The bearing of trend of conveyer belt 21 is arranged at the both sides guard boom 23 of conveyer belt 21, and product 100 is placed on conveyer belt 21, so that producing
Product 100 are transported in detection platform 10 in the way of linear position, are the image information for being capable of comprehensive collection product 100,
As shown in figure 3, installing four image acquisition mechanisms 30 in detection platform 10, four image acquisition mechanisms 30 are arranged two-by-two respectively
In the both sides of conveyer belt 21.Thus, image acquisition mechanism 30 can gather the image information of product 100 in four direction, so as to
Make the outward appearance all standing being collected of product 100.Preferably, make four image acquisition mechanisms 30 is wired to square, from
And make the scope that each image acquisition mechanism 30 is gathered identical.
For prevent extraneous light affect shooting quality, shade 50 is covered with detection platform 10, the shade 50 by
Panel beating is spliced.
In a preferred embodiment of the invention, as shown in figure 4, image acquisition mechanism 30 includes camera 39, to prevent
During the collection image of camera 39, the reflected light produced by the inwall of shade 50 affects image acquisition effect, in the camera lens of camera 39
The annular light source 391 that front setting is arranged with its light shaft coaxle.
The purposes of on-line measuring device of the invention is different, and the species selected by camera 39 is different.Such as, when image is adopted
When collecting mechanism 30 is used to recognize the mark of product 100, two bit codes of such as identification product 100 are identified, and camera 39 can be intelligent phase
Machine 39, thus, two cameras 39 positioned at the same side of conveyer belt 21 can each be identified the bit code of part two for photographing,
Two bit codes can be recognized by integrating.Or two bit codes captured by camera 39 are recognized by decoder decoding, such as utilize four
The group field range to be photographed of camera 39 has the part of overlap, it is ensured that the phase shown in that Quick Response Code can be complete
In machine 39；The independent decoding of each camera 39, decoding OK then passes through, and NG is then rejected by rejecting mechanism 40 below.
It should be noted that：When using smart camera 39, the hardware of the identification marking of smart camera 39 is just above-mentioned
Processor, when by decoder decoding simultaneously identification marking, decoder is just a part for above-mentioned processor.
For the locus of the camera 39 of image acquisition mechanism 30 can be adjusted, the present invention two kinds of regulation cameras 39 of offer
Structure.
One kind is：As shown in figure 4, line detector includes that multiple governor motions include that the first adjustment structure, second are adjusted
Mechanism and the 3rd governor motion.Wherein, the first governor motion is used to adjust camera 39 in the direction perpendicular to conveyer belt 21
First governor motion of position, the first governor motion specifically include the guide rail 31 arranged in the way of perpendicular to conveyer belt 21 and
The slide block 32 that can be slided along guide rail 31, camera 39 is moved with slide block 32.Second governor motion is used for the extension along conveyer belt 21
Direction adjusts the position of camera 39, and the second governor motion is specifically included by way of the first mounting seat 33 is with perpendicular to guide rail 31
The first leading screw for being arranged on slide block 32 and coordinate with along the first screw of the axial movement of the first leading screw with the first screw mandrel 34
Block 35.3rd governor motion is used to adjust the position of camera 39 in vertical direction, and the 3rd governor motion includes being installed by second
Seat 36 is vertically arranged in the second leading screw 37 on the first screw block 35 and coordinates with along the axle of the second leading screw 37 with the second screw mandrel
To the second mobile screw block 38.By first, second and the 3rd governor motion, make four cameras 39 each can be in space
Optional position be adjusted, so as to be conducive to making four cameras 39 to correct position to obtain more comprehensive product 100
Appearance information, and it is more beneficial for the identification for identifying.
Another kind is：As shown in Figure 5 and Figure 6, on-line measuring device also includes synchronous regulation mechanism, synchronous regulation mechanism 70
Including：Mounting disc 71, it is horizontally set on the top of detection platform 10；Three are vertically directed post 72, and it is vertically arranged in detection
On platform 10, and mounting disc 71 is worn so that mounting disc 71 can be vertically directed post 72 along three slides up and down；Four levels are led
To post 73, four angled circumferences of horizontally-guided post 73 are distributed on the lower section of mounting disc 71, and can be with mounting disc 10 vertically
Lower movement, four image acquisition mechanisms 30 are separately positioned on the upper of four horizontally-guided posts 73, and can be along horizontally-guided post 73
The center closer or far from detection platform 10 of radial direction.Thus, the driving means drive installation such as motor or hydraulic jack can be passed through
The vertical shift of disk 71 such that it is able to while adjusting the height of four cameras 39, and make four cameras 39 in respective horizontally-guided post
Slide on 73 to adjust camera 39 to the radial distance of product 100, so that camera 39 is more fully clapped product 100
Take the photograph.
Detection platform 10 is supported by support 60, and the lower end of support 60 is provided with four supporting legs 61, under each supporting leg 61
End is respectively provided with leg 62 for adjusting the levelness of detection platform 10.Thus, working as detected product 100 for columnar product
When 100, product 100 can be maintained at vertical state.
The type of rejecting mechanism 40 can have various, and in a preferred embodiment of the invention, rejecting mechanism 40 includes
Be arranged on the outside of shade 50 and the expansion link mechanism positioned at the side of conveyer belt 21 and positioned at the opposite side of conveyer belt 21 and with stretch
The relative mesh bag 41 of rod reducing machine structure.When it is undesirable product 100 that processor determines product 100, controller control
Expansion link mechanism so that expansion link towards the side of mesh bag 41 push against product 100 so that the undesirable product 100 falls into net
In bag 41, the product 100 is disallowable.
Camera 39 to make the scope of the product 100 captured by four cameras 39 identical, in four image acquisition mechanisms 30
Arranged in the way of making its optical axis converge at a bit, the point is the center in precalculated position, is transported to so as to work as columnar product 100
During precalculated position, the scope of the product 100 taken by each camera 39 is identical.
Although with reference to illustrative embodiments, invention has been described, but it is to be understood that the present invention does not limit to
The specific embodiment that Yu Wenzhong is described in detail and illustrated, in the case of without departing from claims limited range, this
Art personnel can make various changes to the illustrative embodiments.
Claims (9)
1. a kind of on-line measuring device, for detecting the outward appearance of product or the mark of identification product, it is characterised in that include：
Detection platform；
Conveying mechanism, it is used to convey the product so that the product is by the detection platform；
Multiple images collecting mechanism, it is installed in the detection platform, and described image collecting mechanism is used to gather the product
Image information；
Position sensor, it is used to detect the position of the relatively described detection platform of the product；
Controller, it is used to obtain the positional information detected by the position sensor in real time, to be transported to when the product
During the precalculated position of the detection platform, the controller controls multiple described image collecting mechanisms and gathers the product simultaneously
Image information；
Processor, it is used to analyze described image collecting mechanism acquired image information to detect or recognize the product；
Rejecting mechanism, it rejects the undesirable product according to the analysis result of the processor.
2. on-line measuring device as claimed in claim 1, wherein, the conveying mechanism includes conveyer belt, and the product is placed
On the conveyer belt, to make the product that the detection platform is transported in the way of straight-line displacement；Described image harvester
Structure is four, and four described image collecting mechanisms are arranged at two-by-two respectively the both sides of the conveyer belt.
3. on-line measuring device as claimed in claim 2, wherein, it is covered with shade in the detection platform.
4. on-line measuring device as claimed in claim 3, wherein, described image collecting mechanism include camera and with the phase
The annular light source that the light shaft coaxle of machine is arranged.
5. on-line measuring device as claimed in claim 2, wherein, the on-line measuring device also includes:
First governor motion, it is used to adjust the position of the camera in the direction perpendicular to the conveyer belt, and described first adjusts
Section mechanism includes the guide rail arranged in the way of perpendicular to the conveyer belt and can be described along the slide block of the slide
Camera is moved with the slide block；
Second governor motion, it is used to adjust the position of the camera along the bearing of trend of the conveyer belt, and described second is adjusted
Mechanism includes the first leading screw being arranged in the way of perpendicular to the guide rail on the slide block and matches somebody with somebody with first screw mandrel
Close with along the first screw block of the axial movement of first leading screw；
3rd governor motion, it is used to adjust the 3rd governor motion of the position of the camera in vertical direction, and the described 3rd adjusts
Section mechanism includes the second leading screw being vertically arranged on the first screw block and coordinates with along described with second screw mandrel
Second screw block of the axial movement of the second leading screw.
6. on-line measuring device as claimed in claim 2, wherein, the on-line measuring device also includes synchronous regulation mechanism,
The synchronous regulation mechanism includes：
Mounting disc, it is horizontally set on the top of the detection platform；
At least three are vertically directed post, and it is vertically arranged in the detection platform, and wear the mounting disc so that the peace
Sabot can be slided up and down along post is vertically directed described in three；
Four horizontally-guided posts, the angled circumference of four horizontally-guided posts is distributed on the lower section of the mounting disc, and can
Vertically move up and down with the mounting disc, four described image collecting mechanisms are separately positioned on four horizontally-guided posts
On, and can be along the center closer or far from the detection platform of the horizontally-guided post radial direction.
7. on-line measuring device as claimed in claim 1, wherein, also including support, the detection platform is installed in described
On frame, the lower end of the support is provided with least 3 supporting legs, and the lower end of each supporting leg is respectively provided with leg for adjusting institute
State the levelness of detection platform.
8. on-line measuring device as claimed in claim 3, wherein, the rejecting mechanism is arranged at the outside of the shade simultaneously
Positioned at the side of the conveyer belt.
9. on-line measuring device as claimed in claim 2, wherein, the camera in four described image collecting mechanisms is so that its light
Axle converges at the mode of any and arranges.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710111440.8A CN106645193A (en) | 2017-02-28 | 2017-02-28 | On-line detection apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710111440.8A CN106645193A (en) | 2017-02-28 | 2017-02-28 | On-line detection apparatus |
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| CN106645193A true CN106645193A (en) | 2017-05-10 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107931159A (en) * | 2017-12-26 | 2018-04-20 | 成都睿视智能设备有限责任公司 | A kind of plastic containers automatic checkout system of view-based access control model |
| CN108226178A (en) * | 2017-12-26 | 2018-06-29 | 广东美的智能机器人有限公司 | equipment appearance detecting system |
| CN108734044A (en) * | 2018-08-13 | 2018-11-02 | 芜湖新使命教育科技有限公司 | A kind of art work mark identification equipment |
| CN110385280A (en) * | 2019-07-15 | 2019-10-29 | 杭州中久自控系统有限公司 | A kind of flat tube detection blanking machine |
| CN110567973A (en) * | 2019-09-27 | 2019-12-13 | 济南大学 | Piston detection platform and method based on image acquisition |
| CN110653175A (en) * | 2019-09-29 | 2020-01-07 | 邵东智能制造技术研究院有限公司 | Visual detection and screening equipment for outer tube of syringe |
| CN110672600A (en) * | 2018-07-02 | 2020-01-10 | 深圳市奈尔森科技有限公司 | Online optical filter detection device and method |
| CN111175305A (en) * | 2020-01-17 | 2020-05-19 | 广州祥亿玻璃制品有限公司 | Bottle body detection and cleaning integrated machine and control method thereof |
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| CN107931159A (en) * | 2017-12-26 | 2018-04-20 | 成都睿视智能设备有限责任公司 | A kind of plastic containers automatic checkout system of view-based access control model |
| CN108226178A (en) * | 2017-12-26 | 2018-06-29 | 广东美的智能机器人有限公司 | equipment appearance detecting system |
| CN107931159B (en) * | 2017-12-26 | 2019-10-01 | 成都睿视智能设备有限责任公司 | A kind of plastic containers automatic checkout system of view-based access control model |
| CN110672600A (en) * | 2018-07-02 | 2020-01-10 | 深圳市奈尔森科技有限公司 | Online optical filter detection device and method |
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| CN110385280A (en) * | 2019-07-15 | 2019-10-29 | 杭州中久自控系统有限公司 | A kind of flat tube detection blanking machine |
| CN110567973A (en) * | 2019-09-27 | 2019-12-13 | 济南大学 | Piston detection platform and method based on image acquisition |
| CN110567973B (en) * | 2019-09-27 | 2022-07-05 | 济南大学 | Piston detection platform and method based on image acquisition |
| CN110653175A (en) * | 2019-09-29 | 2020-01-07 | 邵东智能制造技术研究院有限公司 | Visual detection and screening equipment for outer tube of syringe |
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Application publication date: 20170510 |