CN111982025A - Point cloud data acquisition method and system for mold detection - Google Patents
Point cloud data acquisition method and system for mold detection Download PDFInfo
- Publication number
- CN111982025A CN111982025A CN202010850537.2A CN202010850537A CN111982025A CN 111982025 A CN111982025 A CN 111982025A CN 202010850537 A CN202010850537 A CN 202010850537A CN 111982025 A CN111982025 A CN 111982025A
- Authority
- CN
- China
- Prior art keywords
- mold
- black
- point cloud
- cloud data
- white
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2518—Projection by scanning of the object
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Abstract
The invention discloses a point cloud data acquisition method and system for mold detection, which comprises a, triggering a speckle projector and a black-and-white camera device at the same time, projecting speckles to the surface of a mold to be detected by using the speckle projector, and acquiring a black-and-white image of the surface of the mold by using the black-and-white camera device; b. and performing three-dimensional point cloud reconstruction on the black-and-white image to obtain point cloud data of the mold. According to the point cloud data acquisition method and system for mold detection, all surface features of a mold can be obtained by one-time triggering, and the point cloud data of the mold can be obtained by performing three-dimensional point cloud reconstruction on a captured image; the speckle is projected to the surface of the mold, so that the surface texture characteristics and the recognition matching precision of the mold in an image can be improved, all the surface characteristics can be obtained by one-time triggering, the scanning data can be quickly and accurately obtained, the speckle projection has no displacement requirement on a target object (namely the mold), and the point cloud data splicing cannot be influenced even if the mold is disturbed due to vibration.
Description
Technical Field
The invention relates to the field of mold detection, in particular to a point cloud data acquisition method and system for mold detection.
Background
The quality detection of the mold based on machine vision comprises the steps of collecting an image of the surface of the mold by utilizing a scanning technology, then carrying out three-dimensional point cloud reconstruction on the image to further obtain point cloud data of the mold, finally carrying out measurement and size extraction on the point cloud data at local or appointed positions, and judging whether the requirements of mold detection, mold repair and the like on the size of the mold are met. At present, more infrared molds are used for scanning to obtain mold point cloud data, the infrared mold scanning is a scanning mode based on an infrared grating depth imaging principle, the infrared structure grating is transparent, a measuring lens captures the depth information of the molds, and then three-dimensional point cloud data of the molds are obtained, the scanning mode can only obtain one characteristic surface in each scanning, the gratings need to be projected for multiple times, the scanning time is long, the scanned object (the molds) is required to not shake, and errors of point cloud splicing are easily generated.
Disclosure of Invention
The invention aims to provide a point cloud data acquisition method and a point cloud data acquisition system for mold detection, which can quickly and accurately acquire point cloud data.
In order to solve the above technical problem, the present invention provides a point cloud data acquisition method for mold inspection, comprising,
a. simultaneously triggering a speckle projector and a black-and-white camera device, projecting speckles to the surface of a mold to be detected by using the speckle projector, and acquiring a black-and-white image of the surface of the mold by using the black-and-white camera device;
b. and performing three-dimensional point cloud reconstruction on the black-and-white image to obtain point cloud data of the mold.
In a preferred embodiment of the present invention, step a, a plurality of sets of black-and-white cameras are triggered simultaneously to obtain a plurality of black-and-white images of the mold surface; the black-and-white cameras are respectively positioned at different directions of the mould.
In a preferred embodiment of the present invention, the method further includes performing three-dimensional point cloud reconstruction on each of the black-and-white images to obtain point cloud data of each of the black-and-white images, and then splicing the point cloud data of the black-and-white images into complete point cloud data of the mold surface.
In a preferred embodiment of the present invention, the black-and-white image capturing devices respectively correspond to at least one group of the speckle projectors, and the black-and-white image capturing devices and the corresponding speckle projectors are triggered simultaneously.
In a preferred embodiment of the present invention, the system further comprises at least one high-pixel black-and-white image capturing device among the plurality of sets of black-and-white image capturing devices, and the high-pixel black-and-white image capturing device is used to obtain a high-pixel black-and-white image of the mold surface.
In a preferred embodiment of the present invention, the method further comprises the step of obtaining a color image of the surface of the mold by using a color camera, wherein the color image is used for coloring the point cloud data for texture mapping.
In a preferred embodiment of the present invention, the method further comprises calibrating the color camera and the black-and-white camera by using a calibration plate to obtain internal parameters and external parameters of the color camera and the black-and-white camera, wherein the internal parameters and the external parameters are used when the color image colors the point cloud data.
In a preferred embodiment of the present invention, the method further comprises a step of supplementing light to the surface of the mold by using a light supplementing lamp, wherein the light supplementing lamp and the color camera are triggered simultaneously.
In a preferred embodiment of the present invention, the color camera further comprises at least one group of high-pixel color cameras, and the high-pixel color cameras are used for acquiring a high-pixel color image of the surface of the mold.
Based on the same inventive concept, the invention also provides a system for executing the point cloud data acquisition method for mold detection.
The invention has the beneficial effects that:
the invention relates to a point cloud data acquisition method and a point cloud data acquisition system for mold detection.A speckle projector is used for projecting speckles to the surface of a mold, a black-and-white camera device which is triggered simultaneously with the speckle projector captures images of the surface of the mold, all surface characteristics of the mold can be obtained by triggering once, and three-dimensional point cloud reconstruction is carried out on the captured images to obtain point cloud data of the mold; the speckle is projected to the surface of the mold, so that the surface texture characteristics and the recognition matching precision of the mold in an image can be improved, all the surface characteristics can be obtained by one-time triggering, the scanning data can be rapidly and accurately obtained, and the scanning time is only 1.25 milliseconds; meanwhile, all surface characteristics can be obtained through one-time triggering, so that speckle projection has no displacement requirement on a target object (namely a mold), and the point cloud data splicing cannot be influenced even if the mold generates interference due to vibration.
Drawings
FIG. 1 is a schematic layout of a mold and scanning apparatus in a preferred embodiment of the invention;
FIG. 2 is a schematic view of the installation of the scanning device in the preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of a speckle projector of the scanning device of FIG. 2;
FIG. 4 is a flow chart of a point cloud data acquisition method according to a preferred embodiment of the present invention.
The reference numbers in the figures illustrate:
1-mould, 3-measuring column;
2-speckle projector, 4-black and white camera device, 6-color camera, 8-xenon lamp, 10-light focusing bowl, 12-laser speckle dispersing sheet and 14-C mouth lens.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Firstly, in order to better describe and understand the method for acquiring the point cloud data of the mold according to the present invention, a scanning device matched with the method for acquiring the point cloud data of the mold according to the present invention is described below, when the scanning device is used for acquiring the point cloud data of the mold, as shown in fig. 1, the mold 1 is located at the center, a plurality of scanning devices are installed through a measuring column 3, and the mold is surrounded at the center, for example, two scanning devices are installed above and below one group of measuring columns, eight scanning devices are installed through four groups of measuring columns, the four groups of measuring columns are respectively located at the front left, the front right, the rear left and the rear right of the mold, namely, the mold is surrounded by the eight scanning devices, and the eight scanning devices are simultaneously triggered to respectively scan the mold from different directions and different angles, so that the scanning data of each part.
Referring to fig. 2, each scanning device includes two speckle projectors 2, two black-and-white image capturing devices 4 and a color camera 6, where the black-and-white image capturing devices 4 are used to capture black-and-white images of an object (i.e., a mold), and in the present embodiment, the black-and-white image capturing devices 4 are preferably black-and-white cameras. It can be understood that when the target object is small (the target object can completely appear in the shooting visual field of the black-and-white camera device), each scanning device only needs one black-and-white camera device 4; when the object is large (the object cannot completely appear in the shooting field of view of the black-and-white image pickup device), each scanning device includes two or more black-and-white image pickup devices 4. Similarly, each scanning device may also require only one speckle projector 2, or three, four or even more speckle projectors 2. In the technical solution of this embodiment, each scanning device includes two speckle projectors 2, two black-and-white cameras 4, and one color camera 6 for a specific mold type.
It can be understood that the eight scanning devices can be controlled by the master controller in a unified manner, and also can be controlled by the master controller, and the eight scanning devices are respectively controlled by the respective corresponding scanning controllers. The main control-scanning controller is preferably used for hierarchical control, the anti-interference capability of the trigger circuit is enhanced, and false triggering caused by interference is avoided.
In order to adapt to the changed installation space and enable the scanning device to perform energy collection and scanning in different space ranges, referring to fig. 2, the speckle projector 2, the black-and-white camera 4 and the color camera of the scanning device are all assembled to be capable of adjusting angles, and the widths of the black-and-white camera and the color camera can capture a scanned object in a certain space change range through angle adjustment, so that the measurement flexibility in different environments is improved.
The speckle projector 2 is used for projecting speckles to a target (i.e. a mold), and as shown in fig. 3, the speckle projector comprises a xenon lamp 8, a light-gathering bowl 10, a laser speckle piece 12 and a C-port lens 14, wherein the xenon lamp 8 firstly emits high-brightness light, an optical fiber forms a parallel light source through the light-gathering bowl 10, the parallel light source forms light and dark-alternated fine light spots through the laser speckle piece 12, the light spots form an amplified inverted real image through the C-port lens 14, and the light spots are projected to the target to be used as texture supplement for scanning of the target.
The scanning device comprises a scanning device, a color camera, two black-and-white cameras and a speckle projector, wherein in order to ensure the completeness of detail scanning of a target object, the scanning device further comprises a group of fine measuring heads, the fine measuring heads comprise the color camera, the two black-and-white cameras and the speckle projector, the using method of the fine measuring heads is the same as that of the scanning device, the only difference is that the pixels of the color camera and the black-and-white cameras of the fine measuring heads are higher than those of the color camera and the black-and-white cameras of the scanning device, the detail images of the target object can be captured through the color camera and the black-and-white cameras with higher pixels. It will be appreciated that the fine stylus may not be used when the accuracy requirements of the scanning device are low.
The point cloud data acquisition method for mold detection described below may be implemented by the scanning device described above in the present invention, or may not be implemented by the scanning device described above.
Referring to fig. 4, an embodiment of the method for acquiring point cloud data for mold inspection according to the present invention includes:
a. simultaneously triggering a speckle projector and a black-and-white camera device, projecting speckles to the surface of a mold to be detected by using the speckle projector, and acquiring a black-and-white image of the surface of the mold by using the black-and-white camera device;
b. and performing three-dimensional point cloud reconstruction on the black-and-white image to obtain point cloud data of the mold.
The speckle projector is used for projecting speckles to the mold, supplementing the surface texture of the mold, improving the surface texture characteristics of the mold and identifying and matching precision, and then the black-and-white image of the surface of the mold is captured by the black-and-white image pickup device which is triggered simultaneously with the speckle projector. Speckle projection is different from traditional grating projection, all surface characteristics of the mold can be obtained by one-time triggering, scanning data can be rapidly and accurately obtained, and the scanning time is only 1.25 milliseconds; meanwhile, all surface characteristics can be obtained through one-time triggering, so that speckle projection has no displacement requirement on a target object (namely a mold), and the point cloud data splicing cannot be influenced even if the mold generates interference due to vibration.
It can be understood that when the mold is small (the mold can completely appear in a single image of the black-and-white camera), the single black-and-white image is subjected to three-dimensional point cloud reconstruction, and the point cloud data of the mold is acquired. When the mold is large (the mold cannot completely appear in a single image), simultaneously triggering a plurality of groups of black and white camera devices to acquire a plurality of black back images on the surface of the mold; the black-and-white cameras are respectively positioned at different directions and different angles of the mold, and surround the mold by taking the mold as a center; the black-and-white image pick-up devices respectively correspond to at least one group of speckle projectors, and the black-and-white image pick-up devices and the corresponding speckle projectors are triggered simultaneously. And respectively carrying out three-dimensional point cloud reconstruction on each black-and-white image in the obtained plurality of black-and-white images to obtain point cloud data of each black-and-white image, and splicing the point cloud data of the plurality of black-and-white images into complete point cloud data of the surface of the mold.
In order to realize the smooth splicing of the point cloud data, the method further comprises the steps of utilizing a calibration plate to calibrate a plurality of groups of black and white camera devices, adopting a plane calibration plate with white background and black points, placing the plane calibration plate in the center of the scanning device, collecting calibration plate images with different angles and directions, carrying out global calibration on the plurality of groups of black and white camera devices, and obtaining internal and external parameters of the black and white camera devices. After the multiple groups of black-and-white cameras are calibrated, three-dimensional point cloud reconstruction is respectively carried out on the captured multiple black-and-white images to obtain point cloud data of each black-and-white image, and the point cloud data of the multiple black-and-white images are spliced and registered to obtain complete point cloud data of the surface of the mold.
Further, the method comprises the step of acquiring a color image of the surface of the mold by using a color camera, wherein the color image is used for coloring the point cloud data for texture mapping. A group of color cameras are arranged corresponding to different positions of the mold for capturing black and white images, and similarly, the color cameras and the black and white image pick-up device are calibrated by utilizing a calibration plate before use to obtain internal and external parameters of the color cameras and the black and white image pick-up device, and the internal and external parameters are used for smoothly coloring point cloud data by the color images.
In order to improve the brightness of black-and-white images and color images, a light supplement lamp is used for supplementing light to the surface of the mold, and the light supplement lamp and the color camera are triggered simultaneously.
In order to ensure the integrity of detail scanning of the surface of the mold, at least one group of high-pixel black-and-white image pick-up devices in the multiple groups of black-and-white image pick-up devices (the pixels of the black-and-white image pick-up devices for detail scanning are higher than those of other groups of black-and-white image pick-up devices, such as 2000 ten thousand pixels and 900 ten thousand pixels) is used for acquiring a high-pixel black-and-white image of the surface of the mold, at least one group of high-pixel color cameras in the color cameras (the pixels of the color cameras for detail seedlings are higher than those of the other groups of color cameras, such as 2000 ten thousand pixels and 900 ten thousand pixels) is used for acquiring a high-pixel color image of the surface of the mold. The detail images of the mold can be captured by a color camera and a black and white camera with higher pixels, and the detail images are used for improving the splicing precision of multiple images. It will be appreciated that this step may not be used when the accuracy requirements for the mold scan are low.
Based on the same inventive concept, the invention also provides a system for executing the point cloud data acquisition method for the mold detection.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. A point cloud data acquisition method for mold detection is characterized by comprising the following steps: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
a. simultaneously triggering a speckle projector and a black-and-white camera device, projecting speckles to the surface of a mold to be detected by using the speckle projector, and acquiring a black-and-white image of the surface of the mold by using the black-and-white camera device;
b. and performing three-dimensional point cloud reconstruction on the black-and-white image to obtain point cloud data of the mold.
2. The point cloud data acquisition method for mold inspection according to claim 1, characterized in that: in the step a, simultaneously triggering a plurality of groups of black-and-white camera devices to obtain a plurality of black-and-white images of the surface of the mold; the black-and-white cameras are respectively positioned at different directions of the mould.
3. The point cloud data acquisition method for mold inspection according to claim 2, characterized in that: and respectively carrying out three-dimensional point cloud reconstruction on each black-and-white image in the plurality of black-and-white images to obtain point cloud data of each black-and-white image, and splicing the point cloud data of the plurality of black-and-white images into complete point cloud data of the surface of the mold.
4. The point cloud data acquisition method for mold inspection according to claim 2, characterized in that: the black-and-white image pick-up devices respectively correspond to at least one group of speckle projectors, and the black-and-white image pick-up devices and the corresponding speckle projectors are triggered simultaneously.
5. The point cloud data acquisition method for mold inspection according to claim 2, characterized in that: and at least one group of high-pixel black-and-white camera devices in the multiple groups of black-and-white camera devices are used for acquiring the high-pixel black-and-white image on the surface of the mold.
6. The point cloud data acquisition method for mold inspection according to claim 1, characterized in that: further comprising acquiring a color image of the mold surface with a color camera, the color image being used to color the point cloud data for texture mapping.
7. The point cloud data acquisition method for mold inspection according to claim 6, characterized in that: the method also comprises the step of calibrating the color camera and the black-and-white camera device by using a calibration plate to obtain internal parameters and external parameters of the color camera and the black-and-white camera device, wherein the internal parameters and the external parameters are used when the color image is used for coloring the point cloud data.
8. The point cloud data acquisition method for mold inspection according to claim 6, characterized in that: and supplementing light to the surface of the mold by using a light supplementing lamp, wherein the light supplementing lamp and the color camera are triggered simultaneously.
9. The point cloud data acquisition method for mold inspection according to claim 6, characterized in that: at least one group of high-pixel color cameras in the color cameras are used for acquiring high-pixel color images of the surface of the mold.
10. A system for performing the point cloud data acquisition method for mold inspection of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010850537.2A CN111982025A (en) | 2020-08-21 | 2020-08-21 | Point cloud data acquisition method and system for mold detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010850537.2A CN111982025A (en) | 2020-08-21 | 2020-08-21 | Point cloud data acquisition method and system for mold detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111982025A true CN111982025A (en) | 2020-11-24 |
Family
ID=73442963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010850537.2A Pending CN111982025A (en) | 2020-08-21 | 2020-08-21 | Point cloud data acquisition method and system for mold detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111982025A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022179623A1 (en) * | 2021-02-25 | 2022-09-01 | 先临三维科技股份有限公司 | Handheld scanner and scanning method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105046746A (en) * | 2015-08-05 | 2015-11-11 | 西安新拓三维光测科技有限公司 | Digital-speckle three-dimensional quick scanning method of human body |
| CN106091985A (en) * | 2016-06-07 | 2016-11-09 | 西安交通大学 | A kind of three-dimensional acquisition device and 3 D scanning system |
| CN106802138A (en) * | 2017-02-24 | 2017-06-06 | 杭州先临三维科技股份有限公司 | A kind of 3 D scanning system and its scan method |
| CN206311076U (en) * | 2017-01-04 | 2017-07-07 | 苏州西博三维科技有限公司 | Very fast 3D anthropometric scanning instrument based on speckle |
-
2020
- 2020-08-21 CN CN202010850537.2A patent/CN111982025A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105046746A (en) * | 2015-08-05 | 2015-11-11 | 西安新拓三维光测科技有限公司 | Digital-speckle three-dimensional quick scanning method of human body |
| CN106091985A (en) * | 2016-06-07 | 2016-11-09 | 西安交通大学 | A kind of three-dimensional acquisition device and 3 D scanning system |
| CN206311076U (en) * | 2017-01-04 | 2017-07-07 | 苏州西博三维科技有限公司 | Very fast 3D anthropometric scanning instrument based on speckle |
| CN106802138A (en) * | 2017-02-24 | 2017-06-06 | 杭州先临三维科技股份有限公司 | A kind of 3 D scanning system and its scan method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022179623A1 (en) * | 2021-02-25 | 2022-09-01 | 先临三维科技股份有限公司 | Handheld scanner and scanning method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8339463B2 (en) | Camera lens calibration system | |
| EP3531066B1 (en) | Three-dimensional scanning method including a plurality of lasers with different wavelengths, and scanner | |
| JP3129245B2 (en) | Imaging device | |
| CN104335030B (en) | The foreign matter detecting method of substrate | |
| CN107024339B (en) | Testing device and method for head-mounted display equipment | |
| WO2016200096A1 (en) | Three-dimensional shape measurement apparatus | |
| TWI484283B (en) | Image measurement method, image measurement apparatus and image inspection apparatus | |
| JP2007524808A (en) | Scanning system with stereoscopic camera set | |
| CN106715084A (en) | Systems and methods of machine vision assisted additive fabrication | |
| KR20180010252A (en) | Camera and method for 3D measurement of tooth objects | |
| CN111145269B (en) | Calibration method for external orientation elements of fisheye camera and single-line laser radar | |
| WO2019105315A1 (en) | Method and system for testing field of view | |
| KR20030017380A (en) | Lens test device and test sheet | |
| US20080123101A1 (en) | Method For Forming Images, Method For Testing Electronic Devices; And Test Apparatus, Test Chamber And Test System | |
| CN111982025A (en) | Point cloud data acquisition method and system for mold detection | |
| JP2015108582A (en) | Three-dimensional measurement method and device | |
| JPH04172213A (en) | Calibrating method for three-dimensional shape measuring apparatus | |
| JP6948407B2 (en) | Equipment and methods for determining surface topology and associated colors | |
| US20090174880A1 (en) | Inspection apparatus and method | |
| CN111272101A (en) | Four-dimensional hyperspectral depth imaging system | |
| JP2003279446A (en) | Imaging lens inspection device and imaging lens inspection method | |
| KR102080506B1 (en) | 3D optical scanner | |
| JP2007147507A (en) | Spectrometry and optical spectrometer | |
| CN113566733A (en) | Line laser vision three-dimensional scanning device and method | |
| JPS63289406A (en) | Three-dimensional configuration measuring instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201124 |