CN203965287U - The online quality inspection device of diamond wire particle based on machine vision - Google Patents
The online quality inspection device of diamond wire particle based on machine vision Download PDFInfo
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- CN203965287U CN203965287U CN201420342869.XU CN201420342869U CN203965287U CN 203965287 U CN203965287 U CN 203965287U CN 201420342869 U CN201420342869 U CN 201420342869U CN 203965287 U CN203965287 U CN 203965287U
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- diamond wire
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Abstract
The utility model discloses the online quality inspection device of a kind of diamond wire particle based on machine vision, described quality inspection device comprises the single shaft mechanical arm that slide block moves along diamond wire axial direction, slide block is provided with optical displacement platform, and optical displacement platform is provided with and cooperatively interacts for taking microlens and the video camera of diamond wire; Workstation, the workstation composition data exchange network respectively of PLC, database server and the processing diamond wire image of video camera, control single shaft mechanical arm; Thereby the motion in the same way that utilizes mechanical arm and diamond wire reduces the sharpness of the relative speed difference raising image of video camera and diamond wire, use workstation the image after gathering to be carried out Treatment Analysis and obtained the statistics of diamond wire particle, when diamond wire motion, just can complete collection and the processing of image, realize online quality inspection, detection speed is fast, and whole quality inspection process completes automatically.
Description
Technical field
The utility model relates to the detection field of line of cut, specifically the online quality inspection device of a kind of diamond wire particle based on machine vision.
Background technology
Crystalline silicon is the important raw and processed materials of photovoltaic industry, semiconductor industry, because crystalline silicon is typical hard brittle material, adopt at present diamond wire saw machine to cut crystalline silicon, utilize its sliced crystal silicon to there is speed fast, cost is low, and the advantage of environmental protection, and the main working parts of diamond wire saw machine be one by electroplating at its fixed cutting steel wire of diamond particles in surface, be diamond wire.When sliced crystal silicon, quality and the production efficiency of the diamond wire quality silicon chip that directly impact cuts out, in the production run of diamond wire, need its quality to carry out strict monitoring, and the most important parameter that determines diamond wire quality is the quantity that is cemented in its surperficial varigrained diamond particles, traditional diamond wire quality detecting method is the mode that adopts offline inspection, the product of producing is placed under high power microimaging machine and is taken photos, then obtain the mass parameter of diamond wire through artificial or computer-aided analysis; The detection speed of this method is slow, and testing process is wayward.
Utility model content
The purpose of this utility model is to provide a kind of diamond wire particle based on machine vision online quality inspection device, and this device can carry out online quality inspection to diamond wire particle, and detection speed is fast, realizes robotization control and detects.
The utility model solves the technical scheme that its technical matters adopts:
The online quality inspection device of diamond wire particle based on machine vision, comprise the single shaft mechanical arm that slide block moves along diamond wire axial direction, slide block is provided with optical displacement platform, optical displacement platform is provided with and cooperatively interacts for taking microlens and the video camera of diamond wire, is also provided with the LED lamp to diamond wire illumination on optical displacement platform; Described quality inspection device also comprises switch, controls the PLC of single shaft mechanical arm, the database server and the workstation of processing diamond wire image of storage diamond wire data, PLC, database server and the workstation composition data exchange network that is connected with switch respectively.
Further, described LED lamp adopts intensity adjustable LED lamp, and quality inspection device comprises the analog current controller for adjusting brightness of LED lamps.
Further, described quality inspection device also comprises the scaling board for camera calibration, and scaling board vertically arranges and is fixedly connected with optical displacement platform by fixed bar; The plate face of scaling board is provided with the wire casing for wearing diamond wire, and scaling board plate body is vertically provided with the chi groove for placing micrometer, and the plate face of scaling board is provided with the adjusting bolt that regulates micrometer position along the side of micrometer.
Further, described single shaft mechanical arm adopts TL 135-L10-S350-BD-P200.
Further, described microlens adopts MORITEX ML-Z07545.
Further, described video camera adopts Point Grey FL3-GE-20S4M-C.
Further, described LED lamp adopts OPT-LS82-W, and described analog current controller adopts OPT-APA0824-4.
The beneficial effects of the utility model are, the single shaft mechanical arm that slide block can move along diamond wire axis direction is set, thereby the motion in the same way that utilizes mechanical arm and diamond wire reduces the sharpness of the relative speed difference raising image of video camera and diamond wire, use workstation the image after gathering to be carried out Treatment Analysis and obtained the statistics of diamond wire particle, when diamond wire motion, just can complete collection and the processing of image, realize online quality inspection, detection speed is fast, and whole quality inspection process completes automatically.
Brief description of the drawings
Below in conjunction with drawings and Examples, the utility model is further illustrated:
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the amplification assembling schematic diagram of single shaft mechanical arm in Fig. 1, video camera, microlens and camera calibration plate;
Fig. 3 is the enlarged diagram of scaling board in Fig. 1;
Fig. 4 is the process flow diagram of work sheet picture processing in the utility model;
Fig. 5 is the binary image of 10 × 10 sizes;
Fig. 6 is the distance of swimming code table of Fig. 5;
Fig. 7 is the process flow diagram of setting up Fig. 6 distance of swimming code table.
Embodiment
Shown in Fig. 1 and Fig. 2, the online quality inspection device of a kind of diamond wire particle based on machine vision that the utility model provides, comprise the single shaft mechanical arm 1 that slide block 2 moves along diamond wire 4 axial directions, slide block 1 is provided with optical displacement platform 3, the single shaft mechanical arm 1 of the present embodiment can adopt the TL 135-L10-S350-BD-P200 of CCTL company, its highest movement speed is 0.5m/s, repetitive positioning accuracy ± 0.02mm, optical displacement platform 3 is provided with and cooperatively interacts for taking the microlens 7 and video camera 6 of diamond wire 4, can carry out adjustment axially and radially to video camera by optical displacement platform 3, due to detected object diamond wire and upper fixed granule geometric dimension very little, wherein diamond wire external diameter scope is 0.10～0.50mm, grain diameter scope is 10～60 μ m, so adopt short focal length, large aperture, the microlens 7 of small field of view is to diamond wire imaging, the present embodiment adopts the manual zoom lens ML-Z07545 of Moritex company, when use, can manually adjust camera lens enlargement factor according to the diamond wire external diameter of concrete detection makes particle on the diamond wire in the visual field be easy to identification and number is reasonable, on optical displacement platform 3, be also provided with a LED lamp 8 and the 2nd LED lamp 9 to diamond wire illumination, in the present embodiment, adopt OPT-LS82-W, can form high strength strip source, adopt front illumination can ensure to irradiate the particle on golden steel wire, the one LED lamp 8 and the 2nd LED lamp 9 are also electrically connected with respectively analog current controller 10, realize the step-less adjustment to light-source brightness by analog current controller 10, also can use as required one or use two LED lamps, in the present embodiment, analog current controller adopts OPT-APA0824-4 simultaneously, described quality inspection device also comprises switch 15, controls the PLC13 of single shaft mechanical arm 1, the database server 17 and the workstation 16 of processing diamond wire image of storage diamond wire data, video camera 6, PLC13, database server 17 and the workstation 16 composition data exchange network that is connected with switch 15 respectively, in the present embodiment, PLC13 can adopt Simenis S7-200 CPU226, the EM-243 module of equipped S7-200 serial expanded ethernet feature, switch 15 adopts BL-SG108, supports the transmission of gigabit speed data, and 8 Ethernet interfaces are provided, and can meet the requirement of this device, PLC13 is also electrically connected servo-driver 14, servo-driver 14 is connected with the servomotor 11 of single shaft mechanical arm 1 for driving servomotor 11, and the speed pickup 12 of servomotor 11 is connected with the input interface of PLC13 to the speed of PLC13 feedback shaft mechanical arm, because the drive motor of single shaft mechanical arm is the MSMD022G1U servomotor that Panasonic company produces, therefore servo-driver 14 is selected the servo-driver MADKT1507CA1 that Panasonic company produces in the present embodiment.
Shown in Fig. 3, due to the geometric relationship that need to determine between captured diamond wire image and the diamond wire particle of reality, could from obtaining image coordinate system, determine the size of diamond wire particle, so need to demarcate video camera; Described quality inspection device also comprises the scaling board 18 for camera calibration, and scaling board 18 vertically arranges and is fixedly connected with slide block 2 by fixed bar 23; The plate face towards video camera of scaling board 18 is provided with the wire casing 19 for wearing diamond wire 4, the plate body of scaling board 18 is vertically provided with the chi groove 20 for placing micrometer 21, and the plate face of scaling board 18 is along the adjusting bolt 22 that regulates micrometer 21 positions that is provided with of micrometer 21 sides; At timing signal, according to after the parameter adjustment lens parameters of diamond wire on production line, first micrometer is put into chi groove 20, make it parallel with video camera imaging face, scaling board 18 positions are also the positions that diamond wire passes, and therefore can ensure operating distance D in production run
osubstantially remain unchanged, two reference point A on the micrometer photographing on selected micrometer and B, the distance representing taking pixel between A ', B ' in image as:
In formula
the distance under world coordinate system for A and B,
the distance under camera coordinate system for A and B, D
ofor operating distance, F is coefficient to be calibrated, and δ is the size of imageing sensor pixel, and f is focal length, because δ is constant, as f and D
odistance under pixel distance and world coordinates during for definite value in image is linear, thus before demarcation adjusting focal length f and operating distance D
omake the clear picture gathering, in the course of work, only need to keep f and D
osubstantially constantly can calculate F, utilize connected region size that F can represent according to pixel unit in the time that particle statistic is analyzed to calculate the size of actual particle; Micrometer is placed in teeth groove, is difficult for damage rupture, uses adjusting bolt 22 can adjust easily the position of micrometer, easy to use.
When use, database server 17 sends to workstation 16 by the diamond wire data message of producing on production line by switch 15, workstation 16 sends to PLC13 according to the information of diamond wire by steering order, PLC13 works according to the instruction control single shaft mechanical arm 1 of receiving, make servomotor 11 drive slide block 2 to move along diamond wire 4 axial directions, the feedback of Negotiation speed sensor 12 realizes Closed control, make the speed of slide block 2 and the speed of diamond wire 4 keep synchronizeing, thereby the microlens 7 that optical displacement platform 3 is driven on it, video camera 6 moves with LED lamp, realize the online acquisition to diamond wire image, video camera 6 sends to workstation 16 by the diamond wire original image of shooting by switch 15, by workstation 16, diamond wire original image is processed.
Shown in Fig. 4, the method for workstation 16 image processing comprises following steps:
A) workstation 16 gathers the diamond wire original image that described video camera 6 is taken, and video camera 6 adopts GigE interface, forms Ethernet interconnected by switch 15 and workstation 16, and the diamond wire original image of shooting is sent to workstation 16 by video camera 6;
B) diamond wire original image is carried out to RIO cutting, RIO(Region of Interest) be region-of-interest, it is the part that comprises useful information in image, owing to having large area not comprise the region of diamond wire information in original diamond wire image, the existence in this region can increase the operand that successive image is analyzed, while preserving image, this region also can increase hard drive space, this region can by calculating, from original image, cutting be out, only retain the image that comprises diamond wire information, the image-region that does not comprise diamond wire information is deleted;
If image size is M × N, the gray-scale value that (i, the j) that is arranged in image locates pixel is Ii, j,
Mean in formula
ifor the average gray value of the capable pixel of image i, i ∈ [0, M-1], j ∈ [0, N-1]; Because the time shutter is extremely short, the background in image presents complete black picture, and in ROI because there is the reflex of object, cause the row average gray value in ROI larger, the row average gray value in ROI, therefore can be according to Mean apparently higher than background area
idetermine the position of ROI;
C) image after RIO cutting is carried out to filtering processing, remove the noise of image; Actual imaging system inevitably all can be subject to extraneous interference and produce image noise reduction picture quality, therefore before image being carried out to subsequent treatment and analysis, needs the filtering noise of part to reduce its adverse effect; Because noise has randomness, can use the removing method of general random noise to be suppressed, in the present embodiment, adopt Gaussian filter, Gaussian filter is the linear smoothing wave filter of determining coefficients according to the shape of Gaussian function, the filter factor value that in 2-d gaussian filters template, (x, y) locates is as follows:
In formula, σ is Gaussian Distribution Parameters, has determined the level and smooth degree of Gaussian function; Gaussian filtering can retain the profile of image in removing noise;
D) filtered image is carried out to binarization segmentation, the process of binary image is exactly the process of detected particle in outstanding image; The conventional means of binary image is threshold method, by determining a suitable gray threshold Tb, all pixels in image are divided into gray scale by gray-scale value and are greater than two parts that Tb and gray scale are less than Tb, be used for respectively representing target and background, for 256 grades of gray level images, this process can be expressed as:
I in formula
i,j---(i, j) individual element of the original image of M × N;
I '
i,j---(i, j) the individual element in binary image, i ∈ [0, M-1], j ∈ [0, N-1];
The difficult point that threshold method is cut apart gray level image is choosing of threshold value Tb, conventionally has at present maximum entropy method (MEM), maximum variance between clusters and least error point rate method; Use maximum entropy method (MEM) to cut apart and can retain as much as possible more information, but easily light golden steel wire image is remained as useful information, minimum error method easily remains noise spot as target, and the threshold value that maximum variance between clusters is chosen according to the difference maximum between target and background can split target particles preferably from complex background, therefore the present embodiment selects maximum variance between clusters that diamond wire particle is split from background image;
E) image after adopting morphology closure operation to binary segmentation is optimized processing;
Due to the even property of the uneven illumination existing in actual environment and particle is irregular may cause in binary image existing following several defects:
(1) hole, hole causes the inhomogeneous generation of particle image gray scale because particle is irregular, and the existence of hole can make the particle diameter result of calculation based on area less than normal;
(2) cut off, there will be stowing for the groove between the particle of " reunion ", bonding, after binaryzation, bonded particulate can disconnect and cause " reunion " to judge unsuccessfully from stowing;
(3) dwindle, due to the existence of shade, and the out-of-flatness of particle reflecting surface, in the image after binaryzation, the area of particle can be less than its real area;
Above-mentioned three kinds of defects all can be revised by the morphology operations method of image processing, and the present embodiment adopts closure operation;
If I and S are the set of integer space, wherein I is set of image regions, and S is the structural element with initial point, and S is defined as the closure operation of I:
From above formula, utilize closure operation can fill the hole of object, connect close object, the simultaneously border of smooth object and their area of not obvious change, thereby eliminate image after binary segmentation hole, cut off and dwindle defect;
F) the diamond wire particle of image after the connected component labeling legally constituted authority meter optimization of employing based on the search of distance of swimming code table; Particle statistic is the process that the particle in ROI is counted and classified, in binaryzation ROI, each connected region represents a target particles, and the size of connected region and actual grain size are proportional, therefore as long as connected region is carried out to mark and classification; Because the connected component labeling method based on pixel needs the mark of Multiple-Scan image with unique definite destination object, time-consuming more, the occasion strict in time requirement may not reach requirement of real-time, so adopt the connected component labeling method based on distance of swimming code in the present embodiment, the method is the method for taking distance of swimming code as unit, connected region being carried out mark, only need a rapid scanning entire image to obtain the distance of swimming code information in image, thereby then reduce the operation of pixel is improved to labeling effciency by operation distance of swimming code; First scan binaryzation ROI image and set up another kind of method for expressing---the distance of swimming code table of bianry image, this table can reflect target connected region and the context in bianry image completely, and therefore only need carry out mark to the distance of swimming code in distance of swimming code table can realize the mark to target connected region; Owing to having a pixel in each distance of swimming code at least, in the real image of filtering noise except minority angle point situation, most of distance of swimming code is made up of one section of continuous object pixel, thereby the distance of swimming number of codes that makes to form connected region is far smaller than the quantity of the pixel that connected region comprises, and can reach the connected region that needs a large amount of pixels to express by the less distance of swimming code table of usage quantity; Simultaneously, for bianry image, in distance of swimming code table, do not need document image background, when search connected region, can reduce the unnecessary judgement of the connection to background pixel, all connection distance of swimming codes of a connected region are once labeled out and give a unique mark mark, do not produce mark conflict, therefore do not need to set up table of equal value, also without the operation of carrying out the amendment mark marks such as label passback, algorithm is realized simple.
Shown in Fig. 5, the binary image of 10 × 10 sizes of simplifying taking a width is as example, wherein white represents connected region to be marked, black represents background area, first the algorithm proposing according to this problem is the storage space of this row distance of swimming code of every a line memory allocated of image, because the distance of swimming number of codes of every row is uncertain, for saving storage space, in specific implementation, can adopt Dram allocation scheme to store distance of swimming code information all in each pixel column.Again to this image from left to right, from top to bottom by picture element scan, every distance of swimming code information of every a line is saved in the storage space distributing into this row.Article one, the storage format of distance of swimming code is as follows:
RunLenth(start,end,blabeled,label,dir,length)，
Wherein:
startfor the initial point position of this distance of swimming code;
endfor the final position of this distance of swimming code;
blabeledfor
tRUEtime represent that this distance of swimming code is labeled, for
fALSEtime represent that this distance of swimming code is not labeled;
labelfor the mark mark of distance of swimming code;
dirfor the direction of search,
dir=UPthe distance of swimming code that expression need to be communicated with in this distance of swimming code lastrow search,
dir=DOWNthe distance of swimming code that expression need to be communicated with in the next line search of this distance of swimming code,
lengthfor distance of swimming code length, can be used for calculating distance of swimming code area:
;
Through being also that unique in this algorithm once stored in pixel the table of all distance of swimming code information---distance of swimming code table in every a line by obtaining a width as shown in Figure 6 after picture element scan first, each line item of this table all distance of swimming code information of the pixel column corresponding with original image; This table has been preserved all information in former bianry image, also can complete recovery original image according to this table, this list structure is significantly simplified than former bianry image, set up the program circuit of distance of swimming code table as shown in Figure 7, foundation has into searches for connected domain, labeling process and connected region classification after code table and only need in this table, carry out, by setting up distance of swimming code table search " in abutting connection with distance of swimming code " therein thus total execution time that can significantly reduce searching times and reduce algorithm.
The distance of swimming code table that search produces the process of mark connected region are as follows:
(1) get the i(0≤i≤M, M is picture altitude) distance of swimming code record of individual pixel column, if this line item is empty, illustrate that this row driftlessness connected region jumps directly to next line search; If record is not empty, take out successively each distance of swimming code;
(2) the j(0≤j≤sum capable to i, the capable distance of swimming code of sum i sum) individual distance of swimming code, if blabeled member is TRUE, skips this distance of swimming code and get j+1 distance of swimming code continuation judgement; If blabeled member is FALSE, giving mark mark nlabel(initial value to label member is 0), its length member is given to the variables A rea that records connected region area, and this distance of swimming code is added in the list structure of a storage distance of swimming code to be searched to execution step (3);
(3) check distance of swimming code chained list to be searched, if distance of swimming code chained list to be searched is not empty, therefrom take out the last distance of swimming code adding as current search distance of swimming code, execution step 4; If distance of swimming code chained list to be searched is empty, show that the search of a destination object finishes, calculate target connected region and press the diameter of a circle D of area equivalent according to Area value now, and increase the count value of the class of particles of being correlated with this.Then add 1 to nlabel, and return to step (2) and carry out;
(4) determine search row according to the dir member of current distance of swimming code: when dir=UP, search for the connection distance of swimming code in the lastrow of current distance of swimming code, when dir=DOWN, search for the connection distance of swimming code in the next line of current distance of swimming code.Often search one and be communicated with and unlabelled distance of swimming code, give its label member nlabel, putting its blabeled member is TRUE, and its length member is added to Area variable, and is added to the end of chained list to be searched, returns to step (3) and carries out.Be communicated with and unlabelled distance of swimming code if all do not searched in the lastrow of current distance of swimming code and next line, from distance of swimming code chained list to be searched, delete current distance of swimming code, and return to step (3) and carry out.After having searched for the distance of swimming code table of piece image, the distance of swimming code that each connected region covers be all endowed its affiliated area of mark mark mark, in the process of mark, completed the classification of target connected region simultaneously.When the number of the connected region in image can be by last destination object of mark
nlabeldetermine.
Should reduce as far as possible the time shutter of video camera for reducing the blurred picture of diamond wire motion generation, but the exposure at extremely short condition hypograph sensor of time shutter reduces, cause the integral image of collection dimmed, its contrast is too low, what make that user sees on workstation is not fogging clear, thereby workstation 16 process image step d) in, image after adopting histogram equalization method to RIO cutting carries out contrast enhancement processing, thereby the histogram distribution that concentrates on low gray areas can be extended to whole gray level by histogram equalization and increase overall brightness, image after contrast enhancement processing is used for reading demonstration.
Workstation 16 is handled after image, and image information is sent to database server 17 by switch 15, and database server 17 adopts SQL Server to carry out stores archive to image information, facilitates user to have access to.
Thereby the motion in the same way that utilizes mechanical arm and diamond wire reduces the sharpness of the relative speed difference raising image of video camera and diamond wire, use workstation the image after gathering to be carried out Treatment Analysis and obtained the statistics of diamond wire particle, when diamond wire motion, just can complete collection and the processing of image, realize online quality inspection, detection speed is fast, and whole quality inspection process completes automatically.
The above, be only preferred embodiment of the present utility model, not the utility model done to any pro forma restriction; Any those of ordinary skill in the art, do not departing from technical solutions of the utility model scope situation, all can utilize method and the technology contents of above-mentioned announcement to make many possible variations and modification to technical solutions of the utility model, or be revised as the equivalent embodiment of equivalent variations.Therefore; every content that does not depart from technical solutions of the utility model; according to technical spirit of the present utility model to any simple modification made for any of the above embodiments, be equal to replacements, equivalence change and modify, all still belong to technical solutions of the utility model protect scope in.
Claims (7)
1. the online quality inspection device of the diamond wire particle based on machine vision, it is characterized in that, described quality inspection device comprises the single shaft mechanical arm (1) that slide block (2) moves along diamond wire (4) axial direction, slide block (2) is provided with optical displacement platform (3), optical displacement platform (3) is provided with the microlens (7) and video camera (6) that cooperatively interact for taking diamond wire, is also provided with the LED lamp to diamond wire illumination on optical displacement platform (3); Described quality inspection device also comprises switch (15), controls the PLC (13) of single shaft mechanical arm, the database server (17) and the workstation (16) of processing diamond wire image of storage diamond wire data, video camera (6), PLC (13), database server (17) and workstation (16) the composition data exchange network that is connected with switch (15) respectively.
2. the online quality inspection device of the diamond wire particle based on machine vision according to claim 1, it is characterized in that, described LED lamp adopts intensity adjustable LED lamp, and quality inspection device comprises the analog current controller (10) for adjusting brightness of LED lamps.
3. the online quality inspection device of the diamond wire particle based on machine vision according to claim 1 and 2, it is characterized in that, described quality inspection device also comprises the scaling board (18) for camera calibration, and scaling board (18) vertically arranges and passes through fixed bar (23) and is fixedly connected with slide block (2); The plate face of scaling board (18) is provided with the wire casing (19) for wearing diamond wire, the plate body of scaling board (18) is vertically provided with the chi groove (20) for placing micrometer (21), and the plate face of scaling board (18) is provided with the adjusting bolt (22) that regulates micrometer (21) position along the side of micrometer (21).
4. the online quality inspection device of the diamond wire particle based on machine vision according to claim 1, is characterized in that, described single shaft mechanical arm adopts TL 135-L10-S350-BD-P200.
5. the online quality inspection device of the diamond wire particle based on machine vision according to claim 1, is characterized in that, described microlens adopts MORITEX ML-Z07545.
6. the online quality inspection device of the diamond wire particle based on machine vision according to claim 1, is characterized in that, described video camera adopts Point Grey FL3-GE-20S4M-C.
7. the online quality inspection device of the diamond wire particle based on machine vision according to claim 2, is characterized in that, described LED lamp adopts OPT-LS82-W, and described analog current controller adopts OPT-APA0824-4.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104034637A (en) * | 2014-06-26 | 2014-09-10 | 芜湖哈特机器人产业技术研究院有限公司 | Diamond wire particle online quality inspection device based on machine vision |
| FR3040318A1 (en) * | 2015-08-28 | 2017-03-03 | Commissariat Energie Atomique | METHOD AND DEVICE FOR CONTROLLING BONDED ABRASIVE CUTTING YARN |
| CN107767361A (en) * | 2017-08-28 | 2018-03-06 | 江苏理工学院 | A kind of carborundum line grain count method, storage device and terminal device |
| CN111114855A (en) * | 2019-12-31 | 2020-05-08 | 中国科学院空间应用工程与技术中心 | Outer ring inspection device in material cabin with cable arrangement function |
-
2014
- 2014-06-26 CN CN201420342869.XU patent/CN203965287U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104034637A (en) * | 2014-06-26 | 2014-09-10 | 芜湖哈特机器人产业技术研究院有限公司 | Diamond wire particle online quality inspection device based on machine vision |
| CN104034637B (en) * | 2014-06-26 | 2016-04-13 | 芜湖哈特机器人产业技术研究院有限公司 | Based on the online quality inspection device of diamond wire particle of machine vision |
| FR3040318A1 (en) * | 2015-08-28 | 2017-03-03 | Commissariat Energie Atomique | METHOD AND DEVICE FOR CONTROLLING BONDED ABRASIVE CUTTING YARN |
| WO2017036888A1 (en) * | 2015-08-28 | 2017-03-09 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Method and device for monitoring a cutting wire with bonded abrasives |
| CN107767361A (en) * | 2017-08-28 | 2018-03-06 | 江苏理工学院 | A kind of carborundum line grain count method, storage device and terminal device |
| CN111114855A (en) * | 2019-12-31 | 2020-05-08 | 中国科学院空间应用工程与技术中心 | Outer ring inspection device in material cabin with cable arrangement function |
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