CN109883329A - A kind of detection system and method for prefabricated components outer dimension - Google Patents
A kind of detection system and method for prefabricated components outer dimension Download PDFInfo
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- CN109883329A CN109883329A CN201910294405.3A CN201910294405A CN109883329A CN 109883329 A CN109883329 A CN 109883329A CN 201910294405 A CN201910294405 A CN 201910294405A CN 109883329 A CN109883329 A CN 109883329A
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Abstract
The embodiment of the invention discloses the detection systems and method of a kind of prefabricated components outer dimension, the detection system of prefabricated components outer dimension includes die station, is set to above die station according to four corner distribution setting at least 4 image collecting devices of rectangle, it is located at image collecting device lower position in die station side and the sensing device connecting with each image collecting device is set, for when detecting prefabricated components, triggering each image acquisition device prefabricated components image.Prefabricated components image transmitting to processor, according to each corner coordinate and the distance value of each image collecting device, is calculated the outer dimension of prefabricated components in order to which processor extracts the corner coordinate of prefabricated components from each prefabricated components image by image collecting device.The apparent size of prefabricated components can be calculated without obtaining complete prefabricated components image, opposite 3D laser scanning inspection technology, which has at low cost, realizes simple, outer dimension data can handle the advantages of obtaining in real time.
Description
Technical field
The present invention relates to image identification technical field, a kind of detection system more particularly to prefabricated components outer dimension and
Method.
Background technique
In recent years, under the support energetically of country and relevant industrial department, prefabrication achieves fast development.
Prefabrication passes through the design and planning of early period, can be by secondary structure, heat preservation, door and window, decoration of exterior wall etc. prefabricated
Site operation and secondary operation is greatly reduced into prefabricated components in set when trim designs, solves many cast-in-place buildings
Quality problems.At the same time, because of factors such as industry development speed are fast, experienced operator is few, supporting industries are immature, at present pre-
Common a kind of problem is exactly whether the apparent size of prefabricated components is qualified in component production processed.
In traditional approach, size detection is carried out to prefabricated components using 3D laser scanner technique, but 3D laser scanning is deposited
It is slow in sweep time, and data processing complex, the size for spending longer time that can just detect prefabricated components is generally required,
Cause the real-time of testing result poor.
As it can be seen that how to promote the detection efficiency of prefabricated components outer dimension, the real-time of testing result is promoted, is this field
Technical staff's urgent problem to be solved.
Summary of the invention
The purpose of the embodiment of the present invention is that providing the detection system and method for a kind of prefabricated components outer dimension, can be promoted
The detection efficiency of prefabricated components outer dimension promotes the real-time of testing result.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of detection system of prefabricated components outer dimension, packet
It includes the die station for placing prefabricated components, be set at least 4 images being distributed above the die station according to four corners of rectangle
Acquisition device is set to the die station side and is located at below described image acquisition device for detecting the prefabricated components
Sensing device；
The sensing device is connect with each described image acquisition device respectively, for when detecting the prefabricated components,
Switch control signal is sent to each described image acquisition device simultaneously, to trigger each described image acquisition device acquisition prefabricated components
Image；
Described image acquisition device is connect with processor, for transmitting the prefabricated components image to the processor；Institute
Processor is stated, for extracting the corner coordinate of prefabricated components from each prefabricated components image, and according to each corner
The distance value of coordinate and each image collecting device calculates the outer dimension of the prefabricated components.
It optionally, further include providing the light source part of imaging source for described image acquisition device.
Optionally, described image acquisition device is camera or industrial area array cameras.
Optionally, when described image acquisition device is industrial area array cameras, the light source part is area source.
Optionally, 2 brackets are provided in the die station, the first image acquisition device and the third image are adopted
Acquisition means are set in first support；Second image collecting device and the 4th image collecting device are set to second
On frame；Wherein, the line of the first image collecting device and the 4th image collecting device matches with the first diagonal line of rectangle；Second
The line of image collecting device and third image collecting device matches with the second diagonal line of rectangle.
Optionally, the driving wheel for driving the die station mobile is provided with below the die station；The prefabricated components are placed
In in the die station；
The sensing device is connected to the processor, for when detecting the prefabricated components, Xiang Suoshu processor
Send switch control signal；
When the processor receives the switch control signal, then controls the driving wheel below the die station and stop fortune
It is dynamic.
It optionally, further include the prefabricated components sensing device being set on the driving wheel；
The prefabricated components sensing device is connected to the processor, for when detecting the weight of prefabricated components, to
The processor sends motor message, in order to which the processor controls the driving wheel operation.
Optionally, the prefabricated components sensing device is gravity sensor or pressure sensor.
Optionally, the determination process of the distance value of each image collecting device, the i-th image collecting device, for adopting are directed to
The image information for collecting tape measure, obtains the first tape measure image；The jth image collecting device, for acquiring the image of the tape measure
Information obtains the second tape measure image；Wherein, the tape measure is placed in the die station, and is located at i-th image collector
Set the underface with the jth image collecting device；
Correspondingly, the processor is used to determine institute according to the first tape measure image and the second tape measure image
State the distance value of the first image collecting device and second image collecting device；
Wherein, the i-th image collector is set to any one image collecting device in all described image acquisition devices；The
J image collector is set to any one image collector in all described image acquisition devices in addition to the i-th image collecting device
It sets.
The embodiment of the invention also provides a kind of detection methods of prefabricated components outer dimension, suitable for above-mentioned prefabricated structure
The detection system of part outer dimension, which comprises
Receive each prefabricated components image；
Extract the corner coordinate of prefabricated components from each prefabricated components image, and according to each corner coordinate with
And the distance value of each image collecting device, calculate the outer dimension of the prefabricated components.
Optionally, the determination process of the distance value of each image collecting device includes:
Receive the first tape measure image of the tape measure of the i-th image acquisition device；
Receive the second tape measure image of the tape measure of jth image acquisition device；
According to the first tape measure image and the second tape measure image, the first image acquisition device and institute are determined
State the distance value of the second image collecting device；
Wherein, the i-th image collector is set to any one image collecting device in all described image acquisition devices；The
J image collector is set to any one image collector in all described image acquisition devices in addition to the i-th image collecting device
It sets.
The detection system of prefabricated components outer dimension includes for placing prefabricated components it can be seen from above-mentioned technical proposal
Die station when determining the corner location of prefabricated components, its correspondence can be calculated for the prefabricated components of shape rule
Outer dimension, therefore pass through each figure according to four corners of rectangle distribution setting at least 4 image collecting devices above die station
As acquisition device can acquire image corresponding to each corner location of prefabricated components.It, can in order to realize the automation collection of image
The sensing device for detecting prefabricated components is arranged in die station side and positioned at image collecting device lower position；Induction
Device is connect with each image collecting device respectively, for sending when detecting prefabricated components, while to each image collecting device
Switch control signal, to trigger each image acquisition device prefabricated components image.Image collecting device is connect with processor, is used
In transmitting prefabricated components image to processor, in order to which processor extracts the corner of prefabricated components from each prefabricated components image
Coordinate, and according to each corner coordinate and the distance value of each image collecting device, calculate the outer dimension of prefabricated components.Using
Four apex angle fixed imaging modes, can not have to the complete prefabricated components image of acquisition can carry out the apparent size of prefabricated components
It calculates, opposite 3D laser scanning inspection technology, which has at low cost, realizes simple, outer dimension data can be real-time
The advantages of processing obtains.
Detailed description of the invention
In order to illustrate the embodiments of the present invention more clearly, attached drawing needed in the embodiment will be done simply below
It introduces, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ordinary skill people
For member, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of the detection system of prefabricated components outer dimension provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of corner location in a kind of prefabricated components image provided in an embodiment of the present invention；
Fig. 3 is a kind of flow chart of the detection method of prefabricated components outer dimension provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole embodiments.Based on this
Embodiment in invention, those of ordinary skill in the art are without making creative work, obtained every other
Embodiment belongs to the scope of the present invention.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.
Next, a kind of detection system of prefabricated components outer dimension provided by the embodiment of the present invention is discussed in detail.Fig. 1
For a kind of structural schematic diagram of the detection system of prefabricated components outer dimension provided in an embodiment of the present invention, which includes being used for
It places the die station 1 of prefabricated components, be set at least 4 image collecting devices that 1 top of die station is distributed according to four corners of rectangle
2, it is set to 1 side of die station and is located at below image collecting device 2 for detecting the sensing device 3 of prefabricated components.
In embodiments of the present invention, as long as the equipment that image collecting device 2 can acquire the shape image of prefabricated components
, there is no particular requirement for image collecting device 2.In the concrete realization, image collecting device 2 can using camera or
Industrial area array cameras.
The detection system of the prefabricated components outer dimension provided in the embodiment of the present invention is suitable for the prefabricated of shape rule
Component carries out the detection of size, determines long side, broadside, the isometric angle value of diagonal line of prefabricated components.
In practical applications, can the installation site in advance to multiple images acquisition device 2 demarcate, for the ease of be situated between
It continues, explanation is unfolded by taking 4 image collecting devices 2 as an example in embodiments of the present invention.
By taking any two image collecting device as an example, such as the i-th image collecting device and jth image collecting device, distance
The determination process of value is as follows:
In the concrete realization, a tape measure can be placed in die station, and the tape measure is placed in the i-th image collector
Set the underface with jth image collecting device.
I-th image collecting device can be used for acquiring the image information of the tape measure, obtain the first tape measure image；Jth image
Acquisition device obtains the second tape measure image for acquiring the image information of the tape measure.
Correspondingly, processor is used to determine the first image collector according to the first tape measure image and the second tape measure image
Set the distance between the second image collecting device value.
Wherein, the i-th image collector is set to any one image collecting device in all image collecting devices；Jth figure
As acquisition device is any one image collecting device in all image collecting devices in addition to the i-th image collecting device.
By the position of each image collecting device 2 of calibration, the distance between each image collecting device 2 can be determined, with
For 4 image collecting devices 2 shown in Fig. 1, for ease of description, by 4 image collecting devices 2 in Fig. 1, according to from
From left to right, this 4 image collecting devices 2 are successively referred to as the first image collecting device by sequence from the top down, the second image is adopted
Acquisition means, third image collecting device and the 4th image collecting device.
In practical applications, it can be imaged simultaneously under two image collecting devices 2 using same tape measure, to two differences
The image collecting device 2 of position is demarcated.By demarcating to image collecting device 2, image collector can be determined
Set the distance between 2 values.
The top of die station 1 is provided with 4 image collecting devices 2 as shown in Figure 1, this 4 image collecting devices 2 form
One rectangle carries out altogether six calibration, including four side calibration of length and width, two diagonal line marks to these image collecting devices 2
It is fixed.It certainly, can also be according to practical condition in subsequent use after the installation site for determining each image collecting device 2
It selects one month or the set time again once demarcates each image collecting device 2, to promote the applicability of detection system.
In the concrete realization, in order to realize the automation collection of image collecting device 2, sensing device 3 can be set.Induction
Device 3 can be set in 1 side of die station and be located at the position of 2 lower section of image collecting device.
Sensing device 3 is connect with each image collecting device 2 respectively, for when detecting prefabricated components, while to each figure
As the transmission switch control signal of acquisition device 2, prefabricated components image is acquired to trigger each image collecting device 2.
There are many types of sensing device 3, as long as guaranteeing the sense when prefabricated components pass through the scanning range of sensing device 3
Device 3 is answered to can detecte the presence of prefabricated components.In embodiments of the present invention, sensing device 3 can use photoelectric transfer
Sensor.
Image collecting device 2 is connect with processor 4, for transmitting prefabricated components image to processor 4；Processor 4, is used for
The corner coordinate of prefabricated components is extracted from each prefabricated components image, and according to each corner coordinate and each image collecting device
2 distance value calculates the outer dimension of prefabricated components.
According to the calibration position of each image collecting device 2, each image collecting device 2 can collect its of prefabricated components
In corner position image, side of the processor 4 where it can determine prefabricated components in the prefabricated components image
Line, the intersection point in two sidelines are corner location.The location of in the picture according to corner location, it can determine corner
Coordinate.
As shown in Fig. 2, the frame of upper left side indicates the first component image of the first image acquisition device, upper right side
Frame indicates the second component image of the second image acquisition device, and the frame of lower section indicates prefabricated components, and processor 4 can be with
Two sidelines of prefabricated components are extracted from first component image, the intersection point in this two sidelines is the first corner location.By
In the position of the first image collecting device be Given information, correspondingly, can derive its acquisition first component image seat
Cursor position.According to position of first corner location in the first prefabricated components image, the of the first corner location can be determined
One side angular coordinate, as shown in Fig. 2, L1 is the abscissa value of the first corner coordinate.Similarly, L2 indicates the cross of the second corner coordinate
Coordinate value.The distance between two images boundary L0 can be known by calibration, it is possible thereby to calculate the totality of prefabricated components
Length L=L0+L1+L2.And so on, it can determine width, catercorner length of prefabricated components etc..
In order to guarantee image collecting device 2 acquire structure prefabricated component image quality, guarantee prefabricated components image it is clear
Degree, can be arranged light source part 5 in the detection system.
The picture quality of the more uniform acquisition of distribution of light sources is better, in the present invention is implemented, in order to enable to prefabricated components
The light source of surface projection can be uniformly distributed, and when image collecting device 2 is industrial area array cameras, light source part 5 can be adopted
Use area source.
It is directed to each image collecting device 2, a light source part 5 can be configured for it, as shown in Figure 1, can be by light
The lower section of image collecting device 2 is arranged in source block 5.
In practical applications, it can be independently arranged a bracket, on each image collecting device 2 in order to can scheme
As the top of die station 1 is arranged in acquisition device 2.In addition to this, bracket can also be set in die station, it can be by image collector
2 are set to be fixed on bracket.
It is as shown in Figure 1 the schematic diagram that 2 brackets 6 are set in die station 1, the first image collecting device and third image are adopted
Acquisition means are set in first support；Second image collecting device and the 4th image collecting device are set in second support.
Wherein, the line of the first image collecting device and the 4th image collecting device matches with the first diagonal line of rectangle；
The line of second image collecting device and third image collecting device matches with the second diagonal line of rectangle.
For two brackets 6 are arranged in die station, in practical applications, light source part 5 can also be fixed on branch by user
On the side of frame 6, schematic diagram is as shown in Figure 1.
In practical applications, prefabricated components to be detected directly can be placed in the center position of die station 1 i.e. by user
The center of image collecting device.In addition to this, in embodiments of the present invention, it can also be arranged below die station and drive die station
Prefabricated components need to be only placed in die station 1 by mobile driving wheel, user, drive die station 1 mobile by driving wheel, to drive pre-
Component processed is mobile.
In the concrete realization, the switch of control driving wheel operating can be set in 1 position of die station, user puts prefabricated components
When being placed in 1 in die station, the switch of transmission belt can be touched, so that driving wheel drives die station movement, to drive prefabricated
Component is mobile to the center of image collecting device.
User can stop movement by touching the switch of transmission belt again to control driving wheel.It in addition to this, can also be with
Sensing device 3 is connect with processor 4, when sensing device 3 detects prefabricated components, sends switch control signal to processor 4；
Processor 4 is connect with die station 1, and the driving wheel for when receiving switch control signal, then controlling 1 lower section of die station stops fortune
It is dynamic.
When sensing device 3 detect prefabricated components there are when, then illustrate that prefabricated components are substantially at Image Acquisition at this time
The center of device stops fortune at this time by sending switch control signal to processor 4 so as to control driving wheel in time
It is dynamic.
It, can also be in order to promote the degree of automation of detection system other than the switch of setting control driving wheel operating
Prefabricated components sensing device is set on driving wheel；Prefabricated components sensing device is connect with processor 4, detects prefabricated structure for working as
When the weight of part, motor message is sent to processor 4, in order to which processor 4 controls driving wheel operation.
Wherein, prefabricated components sensing device can be gravity sensor either pressure sensor.
When prefabricated components are placed on driving wheel, prefabricated components sensing device can perceive depositing for prefabricated components
, at this point, then can prefabricated components sensing device to processor send motor message by way of, allow processor from
Dynamicization controls driving wheel operating.
The detection system of prefabricated components outer dimension includes for placing prefabricated components it can be seen from above-mentioned technical proposal
Die station when determining the corner location of prefabricated components, its correspondence can be calculated for the prefabricated components of shape rule
Outer dimension, therefore pass through each figure according to four corners of rectangle distribution setting at least 4 image collecting devices above die station
As acquisition device can acquire image corresponding to each corner location of prefabricated components.It, can in order to realize the automation collection of image
The sensing device for detecting prefabricated components is arranged in die station side and positioned at image collecting device lower position；Induction
Device is connect with each image collecting device respectively, for sending when detecting prefabricated components, while to each image collecting device
Switch control signal, to trigger each image acquisition device prefabricated components image.Image collecting device is connect with processor, is used
In transmitting prefabricated components image to processor, in order to which processor extracts the corner of prefabricated components from each prefabricated components image
Coordinate, and according to each corner coordinate and the distance value of each image collecting device, calculate the outer dimension of prefabricated components.Using
Four apex angle fixed imaging modes, can not have to the complete prefabricated components image of acquisition can carry out the apparent size of prefabricated components
It calculates, opposite 3D laser scanning inspection technology, which has at low cost, realizes simple, outer dimension data can be real-time
The advantages of processing obtains.
Fig. 3 is a kind of flow chart of the detection method of prefabricated components outer dimension provided in an embodiment of the present invention, is suitable for
The detection system of above-mentioned prefabricated components outer dimension, method include:
S301: each prefabricated components image is received.
The image of prefabricated components can pass through camera or industrial area array cameras acquisition.For the ease of introducing, with camera shooting
Explanation is unfolded for the image of head acquisition prefabricated components, in practical applications, 4 cameras can be set, each camera is negative
One of corner image of duty acquisition prefabricated components.
S302: extracting the corner coordinate of prefabricated components from each prefabricated components image, and according to each corner coordinate and
The distance value of each image collecting device calculates the outer dimension of prefabricated components.
According to existing image analysis technology, the sideline where prefabricated components can be determined from prefabricated components image,
The intersection point in two sidelines is corner location.The location of in the picture according to corner location, it can determine that corner is sat
Mark.
By taking 4 cameras as an example, it is assumed that prefabricated components are rectangle, then each camera can be collected comprising prefabricated components
The piece image of one of corner can determine 4 corner locations of prefabricated components according to 4 width images of acquisition, due to
The location of each camera is fixed as Given information, it is possible thereby to determine the corresponding corner coordinate of each corner location.And
The distance between each camera value is also Given information, can determine the outer of prefabricated components according to corner coordinate and distance value
Shape size.
It is directed to the distance value of each image collecting device, in embodiments of the present invention, can be marked using same tape measure
Fixed mode obtains.Specifically, processor can receive the first tape measure image of the tape measure of the i-th image acquisition device；It connects
Receive the second tape measure image of the tape measure of jth image acquisition device；And according to the first tape measure image and described
Two tape measure images determine the distance value of the first image acquisition device and second image collecting device.
Wherein, the i-th image collector is set to any one image collecting device in all described image acquisition devices；The
J image collector is set to any one image collector in all described image acquisition devices in addition to the i-th image collecting device
It sets.
The explanation of feature may refer to the related description of embodiment corresponding to Fig. 1 in embodiment corresponding to Fig. 3, here no longer
It repeats one by one.
The detection system and method for being provided for the embodiments of the invention a kind of prefabricated components outer dimension above carry out
It is discussed in detail.Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.It should be pointed out that for those skilled in the art, without departing from the principle of the present invention,
Can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the protection scope of the claims in the present invention
It is interior.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Claims (10)
1. a kind of detection system of prefabricated components outer dimension, which is characterized in that including for placing prefabricated components die station, set
It is placed at least 4 image collecting devices above the die station according to the distribution of four corners of rectangle, is set to the die station side
And it is located at below described image acquisition device for detecting the sensing device of the prefabricated components；
The sensing device is connect with each described image acquisition device respectively, for when detecting the prefabricated components, simultaneously
Switch control signal is sent to each described image acquisition device, to trigger each described image acquisition device acquisition prefabricated components figure
Picture；
Described image acquisition device is connect with processor, for transmitting the prefabricated components image to the processor；The place
Device is managed, for extracting the corner coordinate of prefabricated components from each prefabricated components image, and according to each corner coordinate
And the distance value of each image collecting device, calculate the outer dimension of the prefabricated components.
2. system according to claim 1, which is characterized in that further include providing imaging source for described image acquisition device
Light source part.
3. system according to claim 2, which is characterized in that described image acquisition device is camera or industrial face battle array phase
Machine.
4. system according to claim 3, which is characterized in that when described image acquisition device is industrial area array cameras,
The light source part is area source.
5. system according to claim 1, which is characterized in that be provided with 2 brackets, first figure in the die station
As acquisition device and the third image collecting device are set in first support；Second image collecting device and described
Four image collecting devices are set in second support；Wherein, the line of the first image collecting device and the 4th image collecting device
Match with the first diagonal line of rectangle；The line of second image collecting device and third image collecting device and rectangle second are diagonal
Line matches.
6. system according to claim 1, which is characterized in that be provided with below the die station and drive the die station mobile
Driving wheel；The prefabricated components are placed in the die station；
The sensing device is connected to the processor, for when detecting the prefabricated components, Xiang Suoshu processor to be sent
Switch control signal；
When the processor receives the switch control signal, then the driving wheel stop motion below the die station is controlled.
7. system according to claim 6, which is characterized in that further include the prefabricated components sense being set on the driving wheel
Know device；
The prefabricated components sensing device is connected to the processor, for when detecting the weight of prefabricated components, Xiang Suoshu
Processor sends motor message, in order to which the processor controls the driving wheel operation.
8. system according to claim 7, which is characterized in that the prefabricated components sensing device is gravity sensor or pressure
Force snesor.
9. system according to any one of claims 1 to 8, which is characterized in that be directed to the distance of each image collecting device
The determination process of value,
I-th image collecting device obtains the first tape measure image for acquiring the image information of tape measure；The jth image collector
It sets, for acquiring the image information of the tape measure, obtains the second tape measure image；Wherein, the tape measure is placed in the die station,
And it is located at the underface of i-th image collecting device and the jth image collecting device；
Correspondingly, the processor is used for according to the first tape measure image and the second tape measure image, described the is determined
The distance value of one image collecting device and second image collecting device；
Wherein, the i-th image collector is set to any one image collecting device in all described image acquisition devices；Jth figure
As acquisition device is any one image collecting device in all described image acquisition devices in addition to the i-th image collecting device.
10. a kind of detection method of prefabricated components outer dimension, which is characterized in that be suitable for claim 1 to 9 any one institute
The detection system for the prefabricated components outer dimension stated, which comprises
Receive each prefabricated components image；
The corner coordinate of prefabricated components is extracted from each prefabricated components image, and according to each corner coordinate and respectively
The distance value of image collecting device calculates the outer dimension of the prefabricated components.
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| CN110986797A (en) * | 2019-10-21 | 2020-04-10 | 湖北工业大学 | Vehicle compartment size and position measuring device and method of full-automatic bagged vehicle stacking machine |
| CN111504230A (en) * | 2020-04-22 | 2020-08-07 | 海尔智家股份有限公司 | Three-dimensional size measuring system and method for refrigerator |
| CN113532292A (en) * | 2021-09-17 | 2021-10-22 | 中科元象(常州)智能装备有限公司 | Online size detection system for plates and working method thereof |
| CN118089832A (en) * | 2024-01-17 | 2024-05-28 | 石家庄铁道大学 | Automatic detection method and device for appearance of railway precast beam field product |
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| CN118089832A (en) * | 2024-01-17 | 2024-05-28 | 石家庄铁道大学 | Automatic detection method and device for appearance of railway precast beam field product |
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