CN114047197A - Cable surface defect detection device based on machine vision and operation method - Google Patents
Cable surface defect detection device based on machine vision and operation method Download PDFInfo
- Publication number
- CN114047197A CN114047197A CN202111239837.8A CN202111239837A CN114047197A CN 114047197 A CN114047197 A CN 114047197A CN 202111239837 A CN202111239837 A CN 202111239837A CN 114047197 A CN114047197 A CN 114047197A
- Authority
- CN
- China
- Prior art keywords
- sealing box
- cable
- upper sealing
- box
- lower sealing
- 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.)
- Granted
Links
Images
Classifications
-
- 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
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F17/00—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for
- B41F17/08—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for for printing on filamentary or elongated articles, or on articles with cylindrical surfaces
- B41F17/10—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for for printing on filamentary or elongated articles, or on articles with cylindrical surfaces on articles of indefinite length, e.g. wires, hoses, tubes, yarns
- B41F17/12—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for for printing on filamentary or elongated articles, or on articles with cylindrical surfaces on articles of indefinite length, e.g. wires, hoses, tubes, yarns at an angle to axis
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/34—Purifying; Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
- B41P2217/00—Printing machines of special types or for particular purposes
- B41P2217/50—Printing presses for particular purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
- B41P2217/00—Printing machines of special types or for particular purposes
- B41P2217/50—Printing presses for particular purposes
- B41P2217/60—Means for supporting the articles
- B41P2217/62—Means for supporting the articles externally, e.g. for bottles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
- Y04S10/52—Outage or fault management, e.g. fault detection or location
Abstract
The invention belongs to the technical field of cable detection equipment, and discloses a device for detecting surface defects of cables based on machine vision. According to the invention, by adopting a mode that the defect part can cause gas in the lower sealing box and the upper sealing box to leak from the defect part, the pushing shaft I is pushed to move backwards under the elastic action of the first reset spring, so that the connecting wire forms a loop, the CCD camera is electrified, and the CCD camera is started to collect images after being electrified, so that the working time of the high-power radiator is reduced, the consumption of electric quantity during detection is reduced, and the use cost of the device is reduced.
Description
Technical Field
The invention belongs to the technical field of cable detection equipment, and particularly relates to a device for detecting surface defects of cables based on machine vision.
Background
The oversheath on cable surface is the structural part of preventing external factors from corroding the cable insulating layer, and the main function is the mechanical strength who improves the cable and prevents chemical corrosion, waterproof, prevent burning etc. to avoid the cable to lead to using the potential safety hazard because of surface defects such as crease, mar, aperture or insulating skin damage, need carry out vision intellectual detection system to the cable usually.
Present vision intelligent detection equipment adopts the CCD camera to carry out 360 making a video recording to the cable surface usually, through the image contrast under image and the normal condition with gathering, realize quality testing, but at the intelligent detection equipment during operation of vision, CCD camera and its drive arrangement can produce a large amount of heats, in order to avoid the heat to cause the damage of equipment, can set up powerful heat abstractor in the device usually, and in equipment operation, need the continuous operation of heat abstractor, thereby lead to equipment when carrying out visual inspection, need consume a large amount of electric quantities, thereby the use cost of device has been increased.
The existing visual intelligent detection equipment acquires images on the surface of a cable by installing a CCD camera, then transmits the acquired data to a terminal for comparison, marks the existing defects on the images when the defects appear, but repairs the defects on the surface of the cable once the cable has the defects, although the existing visual intelligent detection equipment marks the defective parts on the images, but does not mark the defective parts of the cable, so that an operator can repair the cable without continuously contrasting the marked defects to find the corresponding defective parts on the cable, the operator cannot quickly find the corresponding defective positions, and the labor difficulty of the operator is increased.
When the existing visual intelligent detection equipment is used, image acquisition is carried out on the surface of a cable and then the cable is compared to judge whether the cable has defects or not, but the influence factors received by the image acquisition are more, when dust or chips generated by processing exist on the surface of the cable, the acquired image and the cable image in a normal state can also be inconsistent, so that the situation that false alarm occurs to the visual intelligent detection equipment can occur, and the detection accuracy of the visual intelligent detection equipment on the cable is reduced.
Disclosure of Invention
The present invention is directed to a cable surface defect detection device based on machine vision to solve the above-mentioned problems of the related art.
In order to achieve the above purpose, the invention provides the following technical scheme: the device for detecting the surface defects of the cable based on the machine vision comprises a mainframe box, a connecting cabinet and a driving assembly, wherein a placing groove is formed in the front end of the connecting cabinet, an LED light source is a cold light source, the LED light source is free of heat radiation, high in luminous efficiency and long in service life, the reflection of the surface of the cable to light rays is mainly divided into diffuse reflection and mirror reflection, if the mirror reflection is avoided, the diffuse reflection light rays enter a camera lens for imaging, the contrast of an image can be improved, an image with uniform illumination is obtained, an arc-shaped light source is similar to the curvature of a curved surface of the cable, the light rays emitted by the light source are approximately consistent relative to each angle of the curved surface, the influence of the mirror reflection can be weakened or eliminated, a CCD camera is fixedly installed in the middle of the placing groove, a connecting wire is electrically connected to the left side of the CCD camera, an electric connection terminal is fixedly installed at the front end of the left side of the connecting wire, a support rod is fixedly installed at the right end of the placing groove, the top end of the supporting rod is fixedly provided with a lower sealing box, an upper sealing box is arranged above the lower sealing box, the top surfaces of the front end and the rear end of the upper sealing box are fixedly provided with air springs, the bottom end of the supporting rod is fixedly provided with an air pump, the air pump is started to inflate the inner cavities of the lower sealing box and the upper sealing box, air enters the inner cavities of the lower sealing box and the upper sealing box and then enters the fixed tube and the extension tube through the connecting hose, after the lower sealing box, the upper sealing box, the fixed tube and the extension tube are filled with air, the push shaft is pushed backwards along with the air, the current-conducting plate is separated from the electric terminals, and meanwhile, the push shaft is pushed upwards, so that the push shaft drives the roller wheels to be positioned above the cable through the connecting plate and the connecting frame and does not contact with the cable, the top end of the upper sealing box is fixedly provided with the connecting hose, the left end of the connecting hose is fixedly provided with the fixed tube, the rear side fixed mounting of fixed pipe right-hand member has the extension pipe, the inner chamber swing joint of extension pipe has the first axle that pushes away, the trailing flank fixed mounting who pushes away the first axle has the current conducting plate, the surface activity that pushes away the first axle has cup jointed reset spring one.
Preferably, the left end swing joint of fixed pipe has the second axle that pushes away, the top surface fixed mounting who pushes away the second axle has the connecting plate, the surperficial swing joint that pushes away the second axle has reset spring two, the left end fixed mounting of connecting plate bottom surface has the link, the bottom swing joint of link has the gyro wheel, and after the gas in lower seal box and the last seal box took place to reveal, reset spring two in compression state drove the second axle that pushes away and moves down under elastic effect, makes the second axle that pushes away pass through connecting plate and link and drive the gyro wheel and move down to make the gyro wheel contact the top of bottom and cable.
Preferably, connect the rack and include the rack body, rack body fixed mounting is on the top of mainframe box, the front end fixed mounting of rack body has the display screen, the front end fixed mounting on rack body top surface right side has the siren, carries out analysis and judgement under the processing of mainframe box software module, then the system sends alarm signal, and the siren flickers the warning to further mark defect position on the image that has the defect again, show information such as degree, area, position, kind of defect on the display screen in real time at last, defect information record is preserved, can inquire at any time.
Preferably, the drive assembly comprises a fixed drive plate, the fixed drive plate is fixedly mounted on the left side surface and the right side surface of the cabinet body, the front end of the fixed drive plate is in transmission connection with an adjusting plate, the middle of the adjusting plate is in transmission connection with a drive shaft, a cable is driven to be straightened, then the fixed drive plate is started, the fixed drive plate drives the drive shaft to rotate through the adjusting plate, so that the cable is transported leftwards at a constant speed, and the cable passes through the inner cavities of the lower sealing box and the upper sealing box leftwards at a constant speed.
Preferably, the top surface of lower seal box is laminated with the bottom surface of last seal box, the output fixed mounting of air pump is in the middle part of seal box bottom under, the cable is when seal box and last seal box under the process, if the surface of cable appears crease, mar, during sunken defects such as aperture or insulating skin damage, defect part and lower seal box and last seal box right-hand member contact in the twinkling of an eye, the sealed inefficacy between lower seal box and last seal box and the cable, gas in lower seal box and the last seal box can take place to reveal through defect part, when protruding defects such as swell appear on the cable surface, along with the left of cable moves, can upwards jack-up last seal box gradually, thereby make seal box and last seal box separation down, make the gas emergence in lower seal box and the last seal box reveal equally.
Preferably, the connecting hose is made by rubber, the CCD camera is total three, three the CCD camera is the interval and sets up for one hundred twenty degrees circular array in the inner chamber of standing groove, the connecting hose is located the gap top between three CCD camera, because three CCD camera interval one hundred twenty degrees sets up, can realize carrying out the image acquisition of panorama three hundred sixty degrees to the cable to the image that will gather passes through optic fibre/image acquisition card and transmits to the built-in industrial computer of mainframe box.
Preferably, the top fixed mounting of air spring is on the top surface of standing groove inner chamber, the air spring is located the four corners department of last seal box, the air spring is located the right side of CCD camera, upwards stimulates the seal box, places the cable in the inner chamber of last seal box and lower seal box, then loosens the seal box, and the elasticity of air spring can drive the seal box and move down to detain the top surface at seal box down.
Preferably, the right flank of current conducting plate and the projection laminating of the left surface of connecing the electric terminal in vertical direction, the current conducting plate is located the rear side of extension pipe, and the gas in lower seal box and the last seal box takes place to reveal the back, and the reset spring that is in compression state drives under the effect of elasticity and pushes away a forward movement, makes current conducting plate and the contact of connecing the electric terminal to make the connecting wire form the return circuit, to the circular telegram of CCD camera, make the CCD camera carry out image acquisition to the surface of cable.
Preferably, the center of gyro wheel is in same vertical plane with the center of CCD camera, the gyro wheel is located the top of fixed pipe, the gyro wheel surface comprises the cotton cloth that is stained with red mineral pigment, and after gyro wheel and cable contact, the red mineral pigment and the cable contact on gyro wheel surface to along with the removal drive gyro wheel of cable rolling contact at the surface of cable, thereby make the red mineral pigment on gyro wheel surface be stained with on the cable, and mark in advance at cable defect position.
Preferably, the method comprises the following steps:
firstly, installing a cable, placing the cable in an inner cavity of a placing groove, then respectively placing the left end and the right end of the cable in the middle of a driving shaft, enabling the driving shaft to vertically position the two ends of the cable, then upwards pulling an upper sealing box, placing the cable in the inner cavities of the upper sealing box and a lower sealing box, then loosening the upper sealing box, and enabling the elasticity of an air spring to drive the upper sealing box to downwards move so as to buckle the top surface of the lower sealing box;
secondly, preparing, starting an air pump, inflating the inner cavities of the lower sealing box and the upper sealing box by the air pump, enabling the air to enter the inner cavities of the lower sealing box and the upper sealing box and then enter the fixed pipe and the extension pipe through the connecting hose, and enabling the push shaft to be pushed backwards along with the entering of the air after the lower sealing box, the upper sealing box, the fixed pipe and the extension pipe are filled with the air, so that the current-conducting plate is separated from the electric-connecting terminal, and meanwhile, the push shaft is pushed upwards, so that the push shaft two-way drives the roller to be positioned above the cable through the connecting plate and the connecting frame and not to be contacted with the cable, and the air pump is closed after the air pressure in the lower sealing box and the upper sealing box is greater than the atmospheric pressure;
thirdly, driving the cable, straightening the cable, then starting the fixed driving plate, and driving the driving shaft to rotate by the fixed driving plate through the adjusting plate, so that the cable is transported leftwards at a constant speed and passes through the inner cavities of the lower sealing box and the upper sealing box leftwards at a constant speed;
fourthly, detection is carried out, when the cable passes through the lower sealing box and the upper sealing box, if the surface of the cable has concave defects such as crease marks, scratches, small holes or damaged insulating skin and the like, the sealing between the lower sealing box and the cable and the sealing between the upper sealing box and the cable fail at the moment that the defect part is contacted with the right ends of the lower sealing box and the upper sealing box, gas in the lower sealing box and the upper sealing box leaks through the defect part, when the surface of the cable has convex defects such as bulges and the like, the upper sealing box is gradually jacked up along with the left movement of the cable, so that the lower sealing box is separated from the upper sealing box, the gas in the lower sealing box and the gas in the upper sealing box are also leaked, at the moment, a first reset spring in a compression state drives a push shaft to move forwards under the action of elastic force, so that a conductive plate is contacted with an electric terminal, a connecting line forms a loop, a CCD camera is electrified, and the CCD camera is used for carrying out image acquisition on the surface of the cable, meanwhile, the second push shaft is driven by the second reset spring in a compressed state to move downwards under the elastic action, so that the second push shaft drives the roller to move downwards through the connecting plate and the connecting frame, the bottom end of the roller pair is contacted with the top end of the cable, the roller is driven to roll and contact on the surface of the cable along with the movement of the cable, and the red mineral pigment on the surface of the roller is stained on the cable and marked on the defect part of the cable in advance;
fifthly, image acquisition and uploading are carried out, three CCD cameras are arranged at intervals of one hundred twenty degrees, panoramic image acquisition of three hundred sixty degrees can be carried out on the cable, the acquired image is transmitted into an industrial computer arranged in a mainframe box through an optical fiber/image acquisition card, analysis and judgment are carried out under the processing of a mainframe box software module, then a system sends out an alarm signal, an alarm carries out flashing alarm, the position of a defect is further marked on the image with the defect, finally the information of the degree, the area, the position, the type and the like of the defect is displayed on a display screen in real time, the record of the defect information is stored and can be inquired at any time, an arc-shaped LED white light source is arranged in a placing groove, the function realization process of the defect detection software comprises three processes of cable area extraction, defect segmentation, background difference and threshold segmentation analysis, and in order to avoid processing the whole cable image, firstly, extracting a cable area in an image, preprocessing the extracted image, including self-adaptive median filtering to remove noise and homomorphic filtering to correct uneven illumination, judging whether the image has defects, if so, segmenting, extracting defect characteristics and classifying, and storing defect information, otherwise, returning to the input image;
and sixthly, restarting the air pump after the defective part completely passes through the lower sealing box and the upper sealing box, and inflating the lower sealing box and the upper sealing box again to separate the current-conducting plate from the power connection terminal and separate the roller from the cable in an upward moving mode.
The invention has the following beneficial effects:
1. according to the invention, by adopting a mode of inflating the lower sealing box and the upper sealing box, when the defective part of the cable is in contact with the right ends of the lower sealing box and the upper sealing box, the gas in the lower sealing box and the upper sealing box can be leaked from the defective part, at the moment, the push shaft I is pushed to move backwards under the elastic action of the reset spring I, so that the connecting wire forms a loop, the CCD camera is electrified, and the CCD camera is started to collect images after being electrified, so that the actual work of the CCD camera is reduced, the working time of a high-power radiator is reduced, the consumption of electric quantity during detection is reduced, and the use cost of the device is reduced.
2. According to the invention, the push shaft II is arranged at the left end of the fixed pipe, when the lower sealing box and the upper sealing box are leaked due to a defect part, the elasticity of the return spring II drives the roller to move downwards through the connecting plate and the connecting frame, so that the bottom end of the roller is contacted with the top end of the cable, and the roller is driven to roll on the surface of the cable along with the movement of the cable, thus the red mineral pigment on the surface of the roller is stained on the cable, and the defect part of the cable is marked in advance, so that the defect part can be conveniently found on the cable in the follow-up process, and the labor difficulty of operators is reduced.
3. According to the invention, the lower sealing box and the upper sealing box are in contact with the cable, the surface of the cable is sealed through the left end and the right end of the lower sealing box and the upper sealing box, when the cable moves leftwards, the right ends of the lower sealing box and the upper sealing box can be in contact with the surface of the cable, so that dust and impurity particles on the surface of the cable are cleaned, the surface of the cable entering the lower sealing box and the inner part of the upper sealing box is ensured to be in a clean state, the CCD camera is arranged on the left side of the lower sealing box, the situation that the collected image is not subjected to misinformation due to the existence of impurities such as dust can be ensured when the CCD camera carries out image collection, and the detection accuracy of the device is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of the present invention illustrating the placement groove connection;
FIG. 3 is a schematic cross-sectional view of a cabinet body of the present invention;
FIG. 4 is a schematic view of the connection of the structural connection lines of the present invention;
FIG. 5 is a schematic view of the structural anchoring of the present invention;
FIG. 6 is a schematic cross-sectional view of the lower and upper seal housings of the present invention;
FIG. 7 is a schematic view of an explosive connection of the push shaft of the present invention;
FIG. 8 is a schematic view of the structure of the push shaft II of the present invention in explosive connection;
FIG. 9 is an enlarged view of the point A in FIG. 5 according to the present invention.
In the figure: 1. a main chassis; 2. connecting the machine cabinet; 201. a cabinet body; 202. a display screen; 203. an alarm; 3. a drive assembly; 301. fixing the driving plate; 302. an adjusting plate; 303. a drive shaft; 4. a placement groove; 5. a CCD camera; 6. a connecting wire; 7. an electric terminal is connected; 8. a support bar; 9. a lower seal box; 10. an upper seal box; 11. an air pump; 12. a connecting hose; 13. a first push shaft; 14. a conductive plate; 15. a first return spring; 16. a fixed tube; 17. an extension pipe; 18. a second push shaft; 19. a connecting plate; 20. a second return spring; 21. a connecting frame; 22. a roller; 23. a gas spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 9, in the embodiment of the present invention, the device for detecting surface defects of a cable based on machine vision includes a main chassis 1, a connection cabinet 2 and a driving assembly 3, a placement groove 4 is disposed at a front end of the connection cabinet 2, an LED light source is a cold light source, has no thermal radiation, high light emitting efficiency and a long service life, the reflection of light by the cable surface is mainly divided into diffuse reflection and specular reflection, if the specular reflection is avoided, the diffuse reflection light enters a camera lens for imaging, the contrast of the image can be improved, and an image with uniform illumination can be obtained, the curvature of an arc-shaped light source is similar to that of the cable curved surface, each angle of the light emitted by the light source relative to the curved surface is approximately consistent, and the influence of the specular reflection can be weakened or eliminated, a CCD camera 5 is fixedly mounted in the middle of the placement groove 4, a connection line 6 is electrically connected to a left side of the CCD camera 5, and a power connection terminal 7 is fixedly mounted at a front end of a left side of the connection line 6, a supporting rod 8 is fixedly installed at the right end of the placing groove 4, a lower sealing box 9 is fixedly installed at the top end of the supporting rod 8, an upper sealing box 10 is arranged above the lower sealing box 9, air springs 23 are fixedly installed on the top surfaces of the front end and the rear end of the upper sealing box 10, an air pump 11 is fixedly installed at the bottom end of the supporting rod 8, the air pump 11 is started to inflate the inner cavities of the lower sealing box 9 and the upper sealing box 10 through the air pump 11, air enters the inner cavities of the lower sealing box 9 and the upper sealing box 10 and then enters the fixing tube 16 and the extension tube 17 through the connecting hose 12, after the lower sealing box 9, the upper sealing box 10, the fixing tube 16 and the extension tube 17 are filled with air, the first pushing shaft 13 is pushed backwards along with the entering of the air, the current-conducting plate 14 is separated from the current-connecting terminal 7, and the second pushing shaft 18 is pushed upwards at the same time, so that the second pushing shaft 18 drives the roller 22 to be positioned above a cable through the connecting plate 19 and the connecting frame 21, the cable-free sealing device comprises an upper sealing box 10, a connecting hose 12, a fixed pipe 16, an extension pipe 17, a first pushing shaft 13, a first current-conducting plate 14 and a first reset spring 15, wherein the connecting hose 12 is fixedly mounted at the top end of the upper sealing box 10, the fixed pipe 16 is fixedly mounted at the left end of the connecting hose 12, the extension pipe 17 is fixedly mounted at the rear side of the right end of the fixed pipe 16, the first pushing shaft 13 is movably connected to the inner cavity of the extension pipe 17, the current-conducting plate 14 is fixedly mounted on the rear side face of the first pushing shaft 13, and the first reset spring 15 is movably sleeved on the surface of the first pushing shaft 13.
Wherein, the left end swing joint of fixed tube 16 has two 18 of push shafts, the top surface fixed mounting who pushes away two 18 of shafts has connecting plate 19, the surperficial swing joint who pushes away two 18 of shafts has two reset spring 20, the left end fixed mounting of connecting plate 19 bottom surface has link 21, the bottom swing joint of link 21 has gyro wheel 22, the back is revealed in the gas emergence in lower seal box 9 and the last seal box 10, two reset spring 20 that are in compression state drive under elastic effect and push away two 18 of shafts and move down, make two 18 of push shafts drive gyro wheel 22 through connecting plate 19 and link 21 and move down, thereby make gyro wheel 22 to the top contact of bottom and cable.
Wherein, connect rack 2 and include rack body 201, rack body 201 fixed mounting is on the top of mainframe box 1, the front end fixed mounting of rack body 201 has display screen 202, the front end fixed mounting on rack body 201 top surface right side has siren 203, carry out analysis and judgement under the processing of mainframe box 1 software module, then the system sends alarm signal, siren 203 carries out the scintillation warning, and further mark defect position on the image that has the defect again, at last with information such as the degree of defect, the area, the position, kind show on display screen 202 in real time, defect information record is preserved, can inquire at any time.
Wherein, drive assembly 3 includes fixed drive plate 301, fixed drive plate 301 fixed mounting is on two sides of the left and right sides of rack body 201, fixed drive plate 301's front end transmission is connected with regulating plate 302, the middle part transmission of regulating plate 302 is connected with drive shaft 303, the drive cable, straighten the cable, then start fixed drive plate 301, fixed drive plate 301 drives drive shaft 303 through regulating plate 302 and rotates, thereby transport the cable at the uniform velocity left, make the cable at the uniform velocity left through the inner chamber of lower seal box 9 and upper seal box 10.
Wherein, the top surface of lower seal box 9 is laminated with the bottom surface of last seal box 10, the middle part of output fixed mounting in lower seal box 9 bottom of air pump 11, the cable is when seal box 9 and last seal box 10 under the process, if the surface of cable appears the crease, the mar, when aperture or insulating skin damage scheduling sunken defect, the moment of defect position and lower seal box 9 and last seal box 10 right-hand member contact, the sealed inefficacy between lower seal box 9 and last seal box 10 and the cable, the gas in lower seal box 9 and the last seal box 10 can pass through the defect position and take place to reveal, when protruding defect such as swell appears on the cable surface, along with the left side of cable moves, can be gradually with last seal box 10 jack-up, thereby make lower seal box 9 and last seal box 10 separate, make the gas in lower seal box 9 and the last seal box 10 take place to reveal equally.
The connecting hose 12 is made of rubber, the number of the CCD cameras 5 is three, the three CCD cameras 5 are arranged in a circular array at intervals of one hundred twenty degrees in an inner cavity of the placing groove 4, the connecting hose 12 is located above gaps among the three CCD cameras 5, and the three CCD cameras 5 are arranged at intervals of one hundred twenty degrees, so that image acquisition of three hundred sixty degrees of panorama can be carried out on a cable, and acquired images are transmitted to an industrial computer arranged in the mainframe box 1 through an optical fiber/image acquisition card.
Wherein, the top fixed mounting of air spring 23 is on the top surface of standing groove 4 inner chamber, and air spring 23 is located the four corners department of last seal box 10, and air spring 23 is located CCD camera 5's right side, upwards stimulates upper seal box 10, places the cable in the inner chamber of last seal box 10 and lower seal box 9, then loosens upper seal box 10, and the elasticity of air spring 23 can drive upper seal box 10 and move down to detain the top surface at seal box 9 down.
Wherein, the right flank of current conducting plate 14 and the projection laminating of the left surface of electrical connection terminal 7 on vertical direction, current conducting plate 14 is located the rear side of extension 17, the gas emergence in lower seal box 9 and the last seal box 10 is revealed the back, a reset spring 15 that is in compression state drives under the effect of elasticity and pushes away a 13 and move forward, make current conducting plate 14 and electrical connection terminal 7 contact, thereby make connecting wire 6 form the return circuit, to CCD camera 5 circular telegram, make CCD camera 5 carry out image acquisition to the surface of cable.
Wherein, the center of gyro wheel 22 is in same vertical plane with CCD camera 5's center, and gyro wheel 22 is located the top of fixed pipe 16, and gyro wheel 22 surface comprises the cotton cloth that is stained with red mineral pigment, and after gyro wheel 22 and cable contacted, the red mineral pigment and the cable contact on gyro wheel 22 surface to along with the removal of cable drive gyro wheel 22 at the surperficial rolling contact of cable, thereby make the red mineral pigment on gyro wheel 22 surface be stained with on the cable, and mark in advance at cable defect position.
The method comprises the following steps:
firstly, installing a cable, placing the cable in an inner cavity of the placing groove 4, then respectively placing the left end and the right end of the cable in the middle of the driving shaft 303, enabling the driving shaft 303 to vertically position the two ends of the cable, then upwards pulling the upper sealing box 10, placing the cable in inner cavities of the upper sealing box 10 and the lower sealing box 9, then loosening the upper sealing box 10, and driving the upper sealing box 10 to move downwards through the elasticity of the air spring 23 so as to buckle the top surface of the lower sealing box 9;
secondly, preparing, starting the air pump 11, enabling the air pump 11 to inflate the inner cavities of the lower sealing box 9 and the upper sealing box 10, enabling the air to enter the inner cavities of the lower sealing box 9 and the upper sealing box 10 and then enter the fixing tube 16 and the extension tube 17 through the connecting hose 12, enabling the first push shaft 13 to be pushed backwards along with the entering of the air after the lower sealing box 9, the upper sealing box 10, the fixing tube 16 and the extension tube 17 are filled with the air, enabling the current-conducting plate 14 to be separated from the electric connection terminal 7, and enabling the second push shaft 18 to be pushed upwards, enabling the second push shaft 18 to drive the roller 22 to be located above the cable through the connecting plate 19 and the connecting frame 21 and not to be in contact with the cable, and enabling the air pump 11 to be closed after the air pressure in the lower sealing box 9 and the upper sealing box 10 is larger than the atmospheric pressure;
thirdly, driving the cables, straightening the cables, then starting the fixed driving plate 301, driving the driving shaft 303 to rotate by the fixed driving plate 301 through the adjusting plate 302, thereby transporting the cables leftwards at a constant speed, and enabling the cables to pass through the inner cavities of the lower sealing box 9 and the upper sealing box 10 leftwards at a constant speed;
fourthly, detection is carried out, when the cable passes through the lower sealing box 9 and the upper sealing box 10, if the surface of the cable has concave defects such as crease marks, scratches, small holes or damaged insulating skins, and at the moment when the defect part is contacted with the right end of the lower sealing box 9 and the right end of the upper sealing box 10, the sealing between the lower sealing box 9 and the upper sealing box 10 and the cable fails, the gas in the lower sealing box 9 and the upper sealing box 10 can leak through the defect part, when the surface of the cable has convex defects such as bulges and the like, the upper sealing box 10 can be gradually jacked up along with the left movement of the cable, so that the lower sealing box 9 is separated from the upper sealing box 10, the gas in the lower sealing box 9 and the upper sealing box 10 can also leak, and at the moment, the first return spring 15 in a compression state drives the first push shaft 13 to move forwards under the action of elastic force, so that the conductive plate 14 is contacted with the electric connection terminal 7, and the connecting wire 6 forms a loop, electrifying the CCD camera 5 to enable the CCD camera 5 to acquire images of the surface of the cable, meanwhile, driving the second push shaft 18 to move downwards by the second reset spring 20 in a compressed state under the elastic action, driving the roller 22 to move downwards by the second push shaft 18 through the connecting plate 19 and the connecting frame 21, enabling the bottom end of the roller 22 to be in contact with the top end of the cable, driving the roller 22 to be in rolling contact with the surface of the cable along with the movement of the cable, enabling red mineral pigments on the surface of the roller 22 to be stained on the cable, and marking the defective part of the cable in advance;
fifthly, image acquisition and uploading are carried out, three CCD cameras 5 are arranged at intervals of one hundred twenty degrees, panoramic image acquisition of three hundred sixty degrees can be carried out on the cable, the acquired image is transmitted into an industrial computer arranged in the mainframe box 1 through an optical fiber/image acquisition card, analysis and judgment are carried out under the processing of a software module of the mainframe box 1, then a system sends out an alarm signal, an alarm 203 carries out flash alarm, the defect position is further marked on the image with the defect, finally the information of the degree, the area, the position, the type and the like of the defect is displayed on a display screen 202 in real time, the record of the defect information is stored and can be inquired at any time, an arc-shaped LED white light source is arranged in a placing groove 4, and the function realization flow of the defect detection software comprises three processes of cable area extraction, defect segmentation and background difference and threshold value segmentation analysis, in order to avoid processing the whole cable image, firstly extracting a cable area in the image, preprocessing the extracted image, including self-adaptive median filtering to remove noise and homomorphic filtering to correct uneven illumination, then judging whether the image has defects, if so, segmenting, extracting defect characteristics and classifying, and storing defect information, otherwise, returning to the input image;
sixthly, after the defect part completely passes through the lower sealing box 9 and the upper sealing box 10, the air pump 11 is restarted, the lower sealing box 9 and the upper sealing box 10 are inflated again, the conductive plate 14 is separated from the electric connection terminal 7, and the roller 22 moves upwards to be separated from the cable.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. Cable surface defect detects uses device based on machine vision, including mainframe box (1), connection rack (2) and drive assembly (3), its characterized in that: the front end of the connecting cabinet (2) is provided with a placing groove (4), the middle of the placing groove (4) is fixedly provided with a CCD camera (5), the left side of the CCD camera (5) is electrically connected with a connecting wire (6), the front end of the left side surface of the connecting wire (6) is fixedly provided with an electric connection terminal (7), the right end of the placing groove (4) is fixedly provided with a supporting rod (8), the top end of the supporting rod (8) is fixedly provided with a lower sealing box (9), an upper sealing box (10) is arranged above the lower sealing box (9), the top surfaces of the front end and the rear end of the upper sealing box (10) are fixedly provided with air springs (23), the bottom end of the supporting rod (8) is fixedly provided with an air pump (11), the top end of the upper sealing box (10) is fixedly provided with a connecting hose (12), and the left end of the connecting hose (12) is fixedly provided with a fixing pipe (16), the rear side fixed mounting of fixed pipe (16) right-hand member has extension pipe (17), the inner chamber swing joint of extension pipe (17) has push away axle one (13), the trailing flank fixed mounting who pushes away axle one (13) has current conducting plate (14), reset spring one (15) have been cup jointed in the surface activity that pushes away axle one (13).
2. The apparatus for detecting surface defects of cables based on machine vision according to claim 1, wherein: the left end swing joint of fixed pipe (16) has push away axle two (18), the top surface fixed mounting who pushes away axle two (18) has connecting plate (19), the surperficial swing joint who pushes away axle two (18) has reset spring two (20), the left end fixed mounting of connecting plate (19) bottom surface has link (21), the bottom swing joint of link (21) has gyro wheel (22).
3. The apparatus for detecting surface defects of cables based on machine vision according to claim 1, wherein: connect rack (2) including rack body (201), rack body (201) fixed mounting is on the top of mainframe box (1), the front end fixed mounting of rack body (201) has display screen (202), rack body (201) top surface right side front end fixed mounting has siren (203).
4. The apparatus for detecting surface defects of cables based on machine vision according to claim 1, wherein: drive assembly (3) are including fixed drive plate (301), fixed drive plate (301) fixed mounting is on two sides of the left and right sides of rack body (201), the front end transmission of fixed drive plate (301) is connected with regulating plate (302), the middle part transmission of regulating plate (302) is connected with drive shaft (303).
5. The apparatus for detecting surface defects of cables based on machine vision according to claim 1, wherein: the top surface of lower seal box (9) and the bottom surface laminating of last seal box (10), the output fixed mounting of air pump (11) is in the middle part of seal box (9) bottom down.
6. The apparatus for detecting surface defects of cables based on machine vision according to claim 1, wherein: the connecting hose (12) is made of rubber, the number of the CCD cameras (5) is three, the CCD cameras (5) are arranged in the inner cavity of the placing groove (4) in a circular array at intervals of one hundred twenty degrees, and the connecting hose (12) is located above gaps among the three CCD cameras (5).
7. The apparatus for detecting surface defects of cables based on machine vision according to claim 1, wherein: the top end of the air spring (23) is fixedly installed on the top surface of the inner cavity of the placing groove (4), the air spring (23) is located at the four corners of the upper sealing box (10), and the air spring (23) is located on the right side of the CCD camera (5).
8. The apparatus for detecting surface defects of cables based on machine vision according to claim 1, wherein: the right flank of current conducting plate (14) and the projection laminating of the left surface of electrical connection terminal (7) on vertical direction, current conducting plate (14) are located the rear side of extension pipe (17).
9. The apparatus for detecting surface defects of cables based on machine vision according to claim 2, wherein: the center of gyro wheel (22) and the center of CCD camera (5) are in on same vertical plane, gyro wheel (22) are located the top of fixed pipe (16), gyro wheel (22) surface comprises the cotton cloth that is infected with red mineral pigment.
10. The method of operating a machine vision-based apparatus for detecting surface defects of cables according to any one of claims 1 to 9, wherein: the method comprises the following steps:
firstly, installing a cable, placing the cable in an inner cavity of a placing groove (4), then respectively placing the left end and the right end of the cable in the middle of a driving shaft (303), enabling the driving shaft (303) to vertically position the two ends of the cable, then upwards pulling an upper sealing box (10), placing the cable in inner cavities of the upper sealing box (10) and a lower sealing box (9), then loosening the upper sealing box (10), and enabling the elasticity of an air spring (23) to drive the upper sealing box (10) to downwards move so as to buckle the top surface of the lower sealing box (9);
secondly, preparing, starting the air pump (11), inflating the inner cavities of the lower sealing box (9) and the upper sealing box (10) by the air pump (11), after the air enters the inner cavities of the lower sealing box (9) and the upper sealing box (10), enters the fixed pipe (16) and the extension pipe (17) through the connecting hose (12), when the lower sealing box (9), the upper sealing box (10), the fixed pipe (16) and the extension pipe (17) are filled with gas, the first pushing shaft (13) is pushed backwards along with the entering of the gas, so that the conductive plate (14) is separated from the electric connection terminal (7), meanwhile, the second push shaft (18) is pushed upwards, so that the second push shaft (18) drives the roller (22) to be positioned above the cable through the connecting plate (19) and the connecting frame (21) and is not contacted with the cable, the air pump (11) is closed after the air pressure in the lower sealing box (9) and the upper sealing box (10) is greater than the atmospheric pressure;
thirdly, driving the cables, straightening the cables, then starting the fixed driving plate (301), wherein the fixed driving plate (301) drives the driving shaft (303) to rotate through the adjusting plate (302), so that the cables are transported leftwards at a constant speed and pass through the inner cavities of the lower sealing box (9) and the upper sealing box (10) leftwards at a constant speed;
fourthly, detection is carried out, when the cable passes through the lower sealing box (9) and the upper sealing box (10), if the surface of the cable has concave defects such as crease marks, scratches, small holes or damaged insulating skins, and the like, the sealing between the lower sealing box (9) and the cable and the upper sealing box (10) fails at the moment that the defective parts are contacted with the right ends of the lower sealing box (9) and the upper sealing box (10), gas in the lower sealing box (9) and the upper sealing box (10) can leak through the defective parts, when the surface of the cable has convex defects such as bulges and the like, the upper sealing box (10) can be gradually jacked up along with the left movement of the cable, so that the lower sealing box (9) and the upper sealing box (10) are separated, the gas in the lower sealing box (9) and the upper sealing box (10) can also leak, and at the moment, a first return spring (15) in a compressed state drives a first pushing shaft (13) to move forwards under the action of elastic force, the conductive plate (14) is in contact with the electric connection terminal (7), so that a loop is formed by the connecting wire (6), the CCD camera (5) is electrified, the CCD camera (5) collects images on the surface of the cable, meanwhile, the second reset spring (20) in a compressed state drives the second push shaft (18) to move downwards under the action of elasticity, the second push shaft (18) drives the roller (22) to move downwards through the connecting plate (19) and the connecting frame (21), the bottom end of the roller (22) is in contact with the top end of the cable, the roller (22) is driven to be in rolling contact with the surface of the cable along with the movement of the cable, and therefore red mineral pigments on the surface of the roller (22) are attached to the cable and the defect part of the cable is marked in advance;
fifthly, image acquisition and uploading are carried out, three CCD cameras (5) are arranged at intervals of one hundred twenty degrees, panoramic image acquisition of three hundred sixty degrees can be carried out on the cable, the acquired image is transmitted into an industrial computer arranged in the mainframe box (1) through an optical fiber/image acquisition card, analysis and judgment are carried out under the processing of a software module of the mainframe box (1), then an alarm signal is sent out by a system, an alarm (203) carries out flicker alarm, the defect position is further marked on the image with the defect, finally the information of the degree, the area, the position, the type and the like of the defect is displayed on a display screen (202) in real time, the defect information record is stored and can be inquired at any time, an arc-shaped LED white light source is arranged in a placing groove (4), and the function realization flow of the defect detection software comprises the specific steps of cable area extraction, defect segmentation and defect segmentation, Background difference and threshold segmentation analysis, in order to avoid processing the whole cable image, firstly extracting the cable area in the image, preprocessing the extracted image, including self-adaptive median filtering to remove noise and homomorphic filtering to correct uneven illumination, then judging whether the image has defects, if so, segmenting, extracting defect characteristics and classifying, and storing defect information, otherwise, returning to the input image;
sixthly, after the defect part completely passes through the lower sealing box (9) and the upper sealing box (10), restarting the air pump (11), inflating the lower sealing box (9) and the upper sealing box (10) again to separate the conductive plate (14) from the electric connection terminal (7), and moving the roller (22) upwards to separate from the cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111239837.8A CN114047197B (en) | 2021-10-25 | 2021-10-25 | Cable surface defect detection device based on machine vision and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111239837.8A CN114047197B (en) | 2021-10-25 | 2021-10-25 | Cable surface defect detection device based on machine vision and operation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114047197A true CN114047197A (en) | 2022-02-15 |
| CN114047197B CN114047197B (en) | 2023-08-11 |
Family
ID=80206035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111239837.8A Active CN114047197B (en) | 2021-10-25 | 2021-10-25 | Cable surface defect detection device based on machine vision and operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114047197B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115001118A (en) * | 2022-08-03 | 2022-09-02 | 广东汇盈电力工程有限公司 | Charging device that intelligence electric power overhauld |
| CN115830013A (en) * | 2023-02-08 | 2023-03-21 | 磐石重工(青岛)股份有限公司 | Machine vision-based method for detecting weld defects of pressure vessel |
| CN116429774A (en) * | 2023-06-13 | 2023-07-14 | 佛山全球鹰电缆有限公司 | Cable detection device and method for cable production |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010054351A1 (en) * | 2000-03-01 | 2001-12-27 | Massachusetts Institute Of Technology | Force-controlled hydro-elastic actuator |
| US20070012894A1 (en) * | 2005-07-18 | 2007-01-18 | G-Light Display Corp. | Vacuum gate valve |
| CN107192514A (en) * | 2017-05-23 | 2017-09-22 | 沈阳亨通光通信有限公司 | Sheath defect inspection method |
| CN107748044A (en) * | 2017-10-13 | 2018-03-02 | 苏州佳世达光电有限公司 | A kind of water-tight device for being easy to self seal performance test |
| CN112146609A (en) * | 2020-10-23 | 2020-12-29 | 北京亨通斯博通讯科技有限公司 | Inner cable diameter detection alarm and marking device |
| CN112893820A (en) * | 2021-04-09 | 2021-06-04 | 重庆新红旗缸盖制造有限公司 | Airtight detection mold closing device |
-
2021
- 2021-10-25 CN CN202111239837.8A patent/CN114047197B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010054351A1 (en) * | 2000-03-01 | 2001-12-27 | Massachusetts Institute Of Technology | Force-controlled hydro-elastic actuator |
| US20070012894A1 (en) * | 2005-07-18 | 2007-01-18 | G-Light Display Corp. | Vacuum gate valve |
| CN107192514A (en) * | 2017-05-23 | 2017-09-22 | 沈阳亨通光通信有限公司 | Sheath defect inspection method |
| CN107748044A (en) * | 2017-10-13 | 2018-03-02 | 苏州佳世达光电有限公司 | A kind of water-tight device for being easy to self seal performance test |
| CN112146609A (en) * | 2020-10-23 | 2020-12-29 | 北京亨通斯博通讯科技有限公司 | Inner cable diameter detection alarm and marking device |
| CN112893820A (en) * | 2021-04-09 | 2021-06-04 | 重庆新红旗缸盖制造有限公司 | Airtight detection mold closing device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115001118A (en) * | 2022-08-03 | 2022-09-02 | 广东汇盈电力工程有限公司 | Charging device that intelligence electric power overhauld |
| CN115830013A (en) * | 2023-02-08 | 2023-03-21 | 磐石重工(青岛)股份有限公司 | Machine vision-based method for detecting weld defects of pressure vessel |
| CN116429774A (en) * | 2023-06-13 | 2023-07-14 | 佛山全球鹰电缆有限公司 | Cable detection device and method for cable production |
| CN116429774B (en) * | 2023-06-13 | 2023-09-01 | 佛山全球鹰电缆有限公司 | Cable detection device and method for cable production |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114047197B (en) | 2023-08-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114047197A (en) | Cable surface defect detection device based on machine vision and operation method | |
| CN107635823A (en) | System and method for carrying out video check to bow collector along overhead contact line | |
| CN207908384U (en) | A kind of double light spectrum image-forming rails and fastener abnormal detector | |
| WO2020228381A1 (en) | Vehicle chassis inspection device and method, and vehicle scanning system | |
| CN108051454A (en) | A kind of full-automatic optical detects identification equipment | |
| CN104266537B (en) | Electric power plant condenser ball cleaning on-Line Monitor Device | |
| CN108732507A (en) | A kind of lithium battery defect detecting device based on battery temperature field and visible images | |
| CN108490002B (en) | Method for detecting quality of microstructure prism lens | |
| CN214796147U (en) | Double-light monitoring device for monitoring fire operation | |
| CN116223528B (en) | Visual inspection system | |
| CN111807003A (en) | Non-metal foreign matter detection system for belt conveyor | |
| CN112557063A (en) | Vision-based tread detection system of straddle type single-track tire | |
| CN205844212U (en) | A kind of detection equipment of liquid-crystalline glasses Superficial Foreign Body | |
| CN112289154A (en) | Machine vision teaching system and method for Newton's ring experiment | |
| CN209821410U (en) | Vehicle chassis inspection device and vehicle scanning system | |
| CN106053484A (en) | Testing apparatus and method for foreign matters on surface of liquid crystal glass | |
| CN114018938A (en) | Full-automatic visual detection equipment | |
| CN213934917U (en) | Examinee behavior monitoring device | |
| CN213181294U (en) | Graphite electrode surface detection system | |
| CN108445021A (en) | Microstructured prisms lens quality detecting system | |
| CN210690440U (en) | Mooring rope visual detection module | |
| CN109951687B (en) | Machine vision implementation system for underground coal mine environment | |
| CN115174871B (en) | Conveying line fault analysis system based on machine vision | |
| CN216560309U (en) | Full-automatic visual detection equipment | |
| CN216283262U (en) | Square fuse appearance and size detection system based on visual detection technology |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |