KR101941478B1 - Line scan apparatus, and method applied to the same - Google Patents

Abstract

The present invention discloses a line scan apparatus and a control method applied thereto. The line scan apparatus according to the present invention can remarkably reduce the error of the photographed image with respect to the inspection region when at least one inspection region for inspecting the specimen is provided on the line provided with the conveyor, The facility can be provided in a modular structure.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a line scan apparatus and a control method applied thereto,

The present invention relates to a line scan apparatus and a control method applied thereto, and more particularly, to a line scan apparatus and a control method therefor. More particularly, And more particularly, to a line scan apparatus and a control method applied thereto.

Typically, when at least one inspection area is provided for inspecting a sample on a line provided with a conveyor, a drive motor is mounted for each conveyor forming a line.

Further, the plurality of drive motors provided for each conveyor can operate at different speeds.

As a result, the line moving speeds between the respective conveyors operating due to the individual driving motors can also be different.

That is, in the case of photographing the sample being transported in the inspection region located between the first conveyer moving at the first line moving speed and the second conveyer moving at the second line moving speed, It is difficult to acquire a proper image of the sample passing through the inspection region at the speed. Therefore, it is very likely that the photographed image generated by the line scan camera located in the inspection area includes an error.

Further, when the conveyor line is provided with a plurality of the above-mentioned inspection areas, the object of inspection for each inspection area is different. For example, when a plurality of inspection regions are divided into the first to fourth inspection regions, it is difficult to ensure the image quality of each inspection region. Therefore, It is difficult to determine the resultant value after confirming that it is for the same sample and to improve the yield.

In the prior art, a line movement by two drive motors is performed for a single inspection area, and a structure for mounting a conveyor encoder at the end of each conveyor corresponding to two drive motors is provided. That is, synchronization setup for image acquisition in a single inspection area is also performed through two synchronization signals provided from two conveyor encoders.

In addition, even if the two synchronization signals are averaged to set synchronization for the corresponding single test region, there is a limit that can not be avoided.

In order to compensate for this, it is not possible to prevent a variation in velocity of a conveyor that provides another synchronization signal when acquiring an image for the single inspection area using only one of the two synchronization signals.

In addition, even when a step is generated between conveyors having a check region in a line formed by a multi-stage conveyor, or when different vibrations occur between conveyors, there is a problem that distortion of the image resulting from the photographing of the inspection region arises.

Therefore, there is a need to improve the conventional line scan apparatus in which such various problems occur.

Japanese Laid-Open Patent Publication No. 2011-149701 (Aug. 4, 2011)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to provide an inspection method and apparatus, And a control method applied to the line scan apparatus.

It is another object of the present invention to provide a line scanning device for providing a conveyor facility for each inspection area in a module structure and a control device for controlling the same in a case where at least one inspection area for inspecting a sample is provided in a line provided as a conveyor, Method.

The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, according to a first aspect of the present invention, there is provided a line scanning apparatus including a first conveyor, a second conveyor continuously disposed in a line moving direction of the first conveyor, A line scan camera located in an inspection area between the first conveyor and the second conveyor and photographing the inspection area; and a line movement control unit for controlling line movement through the motor driving unit and image processing control for the inspection area Lt; / RTI >

Advantageously, the line scan device further comprises a conveyor encoder coupled to one of the first conveyor and the second conveyor and providing a conveyor synchronization signal to the controller based on rotation of the rotary shaft do.

Advantageously, the line scan device further comprises at least one illumination module for illuminating the inspection area.

Preferably, the first conveyor, the second conveyor and the motor driving unit are provided as a first integrated module, or at least one of the line scan camera, the conveyor encoder and the lighting module is further added to the first integrated module As a second integrated module.

According to a second aspect of the present invention, there is provided a line scanning method comprising: driving and controlling a first conveyor and a second conveyor continuously disposed in a line moving direction of the first conveyor, Receiving a conveyor synchronization signal generated based on the rotation of one of the first conveyor and the second conveyor, and generating a control signal for the inspection area between the first conveyor and the second conveyor via the conveyor synchronization signal And controlling the photographing.

Advantageously, the line scan method further comprises controlling illumination for the inspection area based on the conveyor synchronization signal.

Preferably, the photographing controlling step controls photographing of the inspection area based on the illumination control signal generated in the step of controlling the illumination.

Preferably, in the step of controlling the photographing, when the number of the illumination control signals is two or more, the photographing of the inspection area is controlled for each illumination synchronization signal.

Accordingly, in the present invention, when at least one inspection region for inspecting a specimen is provided in a line provided as a conveyor, it is possible not only to remarkably reduce the error of the photographed image with respect to the inspection region, So that it is possible to easily construct facilities of the line scan apparatus.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a diagram illustrating a line scan apparatus according to a first embodiment of the present invention.
FIG. 2 is a view showing the motor driving unit of FIG. 1 in detail.
FIG. 3 is a view showing the controller of FIG. 1 in detail.
FIG. 4 is a diagram illustrating an example of synchronization setting performed by the controller of FIG. 1. FIG.
5 is a diagram showing another operation example of the synchronization setting of Fig.
FIG. 6 is a view collecting the operations of the synchronization setting shown in FIG. 4 and FIG. 5; FIG.
7 is a diagram showing another example of the synchronization setting performed by the controller of FIG.
8 is a diagram showing another operation example of the synchronization setting of Fig.
Fig. 9 is a diagram showing a case in which a plurality of line scan devices of Fig. 1 are provided.
10 is a diagram showing a case where illumination is applied to the line scanning apparatus of FIG.
11 is a diagram illustrating a line scan apparatus according to a second embodiment of the present invention.
12 is a diagram showing a case in which a plurality of line scan devices of Fig. 11 are provided.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Like reference numerals refer to like elements throughout the specification. "And / or" include each and every combination of one or more of the mentioned items.

Although the first, second, etc. are used to describe various elements, components and / or sections, it is needless to say that these elements, components and / or sections are not limited by these terms. These terms are only used to distinguish one element, element or section from another element, element or section. Therefore, it goes without saying that the first element, the first element or the first section mentioned below may be the second element, the second element or the second section within the technical spirit of the present invention.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that the terms "comprises" and / or "comprising" used in the specification are intended to be inclusive in a manner similar to the components, steps, operations, and / Or additions.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating a line scan apparatus 100 according to a first embodiment of the present invention.

Referring to FIG. 1, when the inspection area A for inspecting a specimen is provided on the conveyor line, the line scan device 100 not only can significantly reduce the errors of the photographed image with respect to the inspection area A, And a conveying device for each inspection area (A) can be provided as a module structure.

For this purpose, the line scanning apparatus 100 drives two conveyors with the inspection region A therebetween by a single power source, and performs synchronization setting from driving control of a single power source to image processing for the inspection region (A) May be based on the rotating shaft of a conveyor adjacent to the inspection area (A).

The line scan apparatus 100 may include a first conveyor 110, a second conveyor 120, a motor driver 130, line scan cameras 140 and 141, and a controller 150.

The second conveyor 120 is positioned on the conveyor line in the line moving direction of the first conveyor 110.

The motor driving unit 130 drives the first conveyor 110 and the second conveyor 120 through a single power.

In addition, the line scanning apparatus 100 may further include a sample conveying conveyor belt 190 including at least one of a ring belt, a flat belt, and a timing belt.

2, the motor driving unit 130 includes a motor 133, a motor encoder 132 for maintaining a normal speed of the motor 133, A decelerator 134 for increasing the mechanical resolution per revolution, and a motor drive 131 for driving the motor 133.

That is, when the motor control signal is generated by the controller 150, the motor drive 131 operates according to the generated motor control signal. Power is supplied to the single motor 133 by the operation of the motor drive 131.

Here, the motor drive 131 is provided not only to supply power to the motor 133 in accordance with the motor control signal, but also to cut off the power supply to the motor 133, or to change the AC power to the DC power A function of changing the DC power source to the AC power source can be also provided.

When the motor 133 rotates, the speed reducer 134 and the encoder 132 adjacent to the motor 133 simultaneously rotate at the same time.

The motor encoder 132 calculates the rotation angle of the motor 133 with respect to the rotation axis, the rotation direction of the motor 133 with respect to the rotation axis, the rotation angle of the motor 133 with respect to the rotation axis, It is used to extract the parameters that are included. By using the function of the motor encoder 132, it is possible to control to maintain the constant speed of the motor 133.

When the motor 133 is operated, the mechanical resolution per rotation of the motor 133 through the structure in which the gear connected to the rotation shaft of the motor 133 and the gear connected to the reducer 134 are engaged with each other And it is possible to improve the vibration of the mechanical load.

The driving force of the decelerated motor 133 is transmitted to the first conveyor 110 and the second conveyor 120 through the timing belt K or is transmitted to the first conveyor 110 and the second conveyor 120 through the magnet gear, And conveyed to the conveyor 120.

The line scanning device 100 further includes a conveyor encoder 160 that is coupled to one of the first conveyor 110 and the second conveyor 120 and generates a conveyor synchronization signal based on the rotation of the associated rotary shaft .

Although the conveyor encoder 160 has been described above as being coupled to any one of the first conveyor 110 and the second conveyor 120, it can be provided with a structure that mechanically rotates with the rotation of the rotating shaft, But also a structure for optically detecting the rotation of the shaft.

The conveyor synchronization signal generated by the conveyor encoder 160 is transmitted to the controller 150, and the controller 150 performs line movement control and image processing control based on the conveyor synchronization signal.

The line scan apparatus 100 may further include at least one illumination module 170, 171 for illuminating the inspection area A to further enhance the quality of the captured image of the inspection area A.

3, the controller 150 includes a motor driving module 151 for generating a motor control signal for controlling the motor driving unit 130, a conveyor synchronization signal transmitted from the conveyor encoder 160, A lighting control module 153 for controlling the lighting modules 170 and 171 by using the generated lighting synchronization signal to generate an illumination synchronization signal through a synchronization pattern for operation of the lighting control module 153, And an image processing module 152 for controlling the line scan cameras 140 and 141 using the generated camera synchronization signal and generating a camera synchronization signal through a synchronization pattern for operation of the line scan camera 140, . ≪ / RTI >

The illumination control module 153 may be provided to start the image grab for the inspection area A when receiving the grab sensor signal from the grab sensor 180 provided in the inspection area A have. That is, the illumination control module 153 sets the reception of the above-described graphene sensor signal as an image acquisition start signal, and transmits the conveyor synchronous signal transmitted from the conveyor encoder 160 upon receipt of the graphene sensor signal described above, And generates an illumination synchronization signal for controlling the illumination modules 170 and 171 based on the signal.

Then, the image data captured through the line scan camera 140 is input to the image processing module 152 as the image is acquired by one line as the illumination modules 170 and 171 are switched on and turned on. In addition, the input image data for each line is stored in the memory.

At this time, the number of images input from the line scan camera 140 to the image processing module 152 differs according to the switching of the illumination modules 170 and 171.

For example, the conveyor synchronization signal and the grab sensor signal transmitted from the conveyor encoder 160 to the illumination control module 153 are as shown in FIGS. 4 to 6, and based on this, The case of acquiring an image will be described as follows.

That is, the lighting control module 153 synchronously sets the conveyor synchronization signal in the image acquisition section, which can be determined through the grab sensor signal.

The illumination control module 153 matches the synchronization pattern of the illumination modules 170 and 171, which are being stored, with the first clock of the conveyor synchronization signal in the image acquisition period as the reference clock.

At this time, the synchronization patterns of the illumination modules 170 and 171 can be divided into a first synchronization pattern and a second synchronization pattern, which are four-cross image acquisition methods, in order to acquire four images through the line scan camera 140. [

Referring to FIG. 4, the first synchronous pattern includes an Odd 1 illumination synchronizing signal based on the 'Odd 1' clock corresponding to the 'A1' clock of the conveyor synchronization signal according to the 'A phase' of the conveyor encoder 160, May be provided as an Even 1 illumination synchronization signal based on the 'Even 1' clock corresponding to the 'A1' clock of the conveyor synchronization signal according to the 'A' phase of the conveyor encoder 160.

In addition, the image processing module 152 can set a camera synchronization signal for controlling the line scan camera 140 based on the first synchronization pattern.

That is, the image processing module 152 acquires the 'Odd 1' image through the camera operation corresponding to the 'Odd 1' clock among the camera synchronization signals of the above-described first synchronization pattern.

Also, the image processing module 152 acquires the 'Even 1' image through the camera operation corresponding to the 'Even 1' clock among the camera synchronization signals of the above-described first synchronization pattern.

5, the second synchronous pattern includes an Odd 2 illumination synchronizing signal based on the 'Odd 2' clock corresponding to the 'A2' clock of the conveyor synchronization signal according to 'A phase' of the conveyor encoder 160, May be provided as an Even 2 illumination synchronization signal based on the 'Even 2' clock corresponding to the 'A2' clock of the conveyor synchronization signal according to the 'A' phase of the conveyor encoder 160.

In addition, the image processing module 152 can set a camera synchronization signal for controlling the line scan camera 140 based on the second synchronization pattern.

That is, the image processing module 152 acquires the 'Odd 2' image through the camera operation corresponding to the 'Odd 2' clock among the camera synchronization signals of the second synchronization pattern described above.

Also, the image processing module 152 acquires the 'Even 2' image through the camera operation corresponding to the 'Even 2' clock among the camera synchronization signals of the second synchronization pattern described above.

Furthermore, the synchronization pattern of the illumination modules 170 and 171 may be provided in any one of the first synchronization pattern and the second synchronization pattern to acquire two images through the line scan camera 140.

In this case, when the synchronization pattern of the illumination modules 170 and 171 is set to only the first synchronization pattern, which is a two-cross image acquisition method, and two images are acquired through the line scan camera 140, .

Referring to FIG. 7, the first synchronous pattern in the image acquisition period is an Odd illumination synchronizing signal based on the 'Odd' clock corresponding to the 'A1' clock of the conveyor synchronization signal according to 'A phase' of the conveyor encoder 160 And an even illumination synchronizing signal based on the 'Even' clock corresponding to the 'A1' clock of the conveyor synchronization signal according to the 'A' phase of the conveyor encoder 160. [

In addition, the image processing module 152 can set a camera synchronization signal for controlling the line scan camera 140 based on the first synchronization pattern.

That is, the image processing module 152 acquires the 'Odd' image through the camera operation corresponding to the 'Odd' clock among the camera synchronization signals of the first synchronization pattern described above.

Also, the image processing module 152 acquires the 'Even' image through the camera operation corresponding to the 'Even' clock among the camera synchronization signals of the first synchronization pattern described above.

As described above, the illumination control module 153 generates an odd exposure synchronizing signal based on the 'Odd' clock for adjusting the brightness of the illumination and an Even exposure synchronizing signal based on the 'Even' clock You can also create additional.

It can be determined that the above-described Odd exposure synchronization signal and Even exposure synchronization signal are applied to each chopper for each illumination.

In addition, when two images are acquired through the line scan camera 140 by setting the synchronization pattern of the illumination modules 170 and 171 to only the second synchronization pattern, synchronization can be established through the synchronization setting shown in FIG. Here, the second synchronization pattern of the two-cross image acquisition scheme means the repetition of the first synchronization pattern.

Referring to FIG. 8, the second synchronous pattern in the image acquisition period is an Odd illumination synchronizing signal based on the 'Odd' clock corresponding to the 'A1' clock of the conveyor synchronous signal according to 'A phase' of the conveyor encoder 160 And an even illumination synchronizing signal based on the 'Even' clock corresponding to the 'A1' clock of the conveyor synchronization signal according to the 'A' phase of the conveyor encoder 160. [

In addition, the image processing module 152 can set a camera synchronization signal for controlling the line scan camera 140 based on the second synchronization pattern.

That is, the image processing module 152 acquires the 'Odd' image through the camera operation corresponding to the 'Odd' clock among the camera synchronization signals of the second synchronization pattern described above.

Also, the image processing module 152 acquires the 'Even' image through the camera operation corresponding to the 'Even' clock among the camera synchronization signals of the second synchronization pattern described above.

As described above, the illumination control module 153 generates an odd exposure synchronizing signal based on the 'Odd' clock for adjusting the brightness of the illumination and an Even exposure synchronizing signal based on the 'Even' clock You can also create additional.

It can be determined that the above-described Odd exposure synchronization signal and Even exposure synchronization signal are applied to each chopper for each illumination.

Also, in the case of a line scan camera, it may be provided that the pixel is 1 pixel in the horizontal direction and n pixels (2k, 4k, 8k, 12k, 16k) in the vertical direction.

In the case of a 4 line scan camera, it is possible to provide four pixels in the horizontal direction and n pixels (2k, 4k, 8k, 12k, 16k) in the vertical direction. In this case, in the case of a 4 line scan camera, it is also possible to improve the sensor sensitivity by performing the binning mode in which four pixels in the horizontal direction are read as one pixel.

The first conveyor 110, the second conveyor 120, and the motor driving unit 130 may be provided as a first integrated module to facilitate facility construction of the line scan apparatus 100.

As another example, the first integrated module may be provided with a second integrated module in which at least one of the line scan cameras 140 and 141, the conveyor encoder 160, and the illumination modules 170 and 171 is further added.

When constructing the first integrated module or the second integrated module on the conveyor line, it can be said that the first stage for inspection of the sample is provided on the conveyor line.

Further, in order to have a second stage, a third stage, and the like for further adding a sample inspection process on the conveyor line, a first integrated module or a second integrated module is installed on each conveying line after the first stage for each additional stage You can build more.

In this manner, when a plurality of stages are provided on the conveyor line, the controller 150 performs line movement control and image processing control for each stage through circuit connection with each stage.

For example, referring to FIG. 9, a first stage and a second stage may be provided on a conveyor line.

Each of the stages has a modular line scanning apparatus 100, and each stage has an independent structure that is not influenced by the other stages.

That is, even if at least one of the height deviation and the parallelism deviation occurs in the space between the first stage and the second stage, the image pickup in the inspection area A in the first stage or the inspection area B in the second stage So that no error is generated.

9, the timing belt K structure for simultaneously transmitting the driving force of the motor 133 to the first conveyor 110 and the second conveyor 120 includes a ring belt, a flat belt, and a timing belt K Quot;) is structured in any manner.

10 is a diagram showing a case where illumination is applied to the line scanning apparatus 100 of FIG.

10, it is possible to adjust the number of the line scan cameras 140 and 141 and the lighting modules 170 and 171 according to the characteristics of the inspection area A. Further, according to the characteristics of the inspection area A, The arrangement angles of the scan cameras 140 and 141 and the illumination modules 170 and 171 may also be oriented toward a specific direction.

11 is a diagram illustrating a line scan apparatus 100 according to a second embodiment of the present invention.

11, the line scanning apparatus 100 of the second embodiment also includes a first conveyor 110, a second conveyor 120, a motor driving unit 130-1, and the like, like the line scanning apparatus 100 of the first embodiment. Line scan cameras 140 and 141, and a controller 150. [0027]

However, the motor driving unit 130-1 of the second embodiment transmits the motor driving force to the first conveyor 110 and the second conveyor 120 via the magnet gear structure.

The first conveyor 110, the second conveyor 120, and the motor driving unit 130-1 of the second embodiment may be provided as a first integrated module so as to facilitate facility construction of the line scan apparatus 100 have.

It is also possible that the first integrated module is provided with a second integrated module in which at least one of the line scan cameras 140 and 141, the conveyor encoder 160 and the illumination module is further added.

12 is a diagram showing a case where a plurality of line scan devices 100 of FIG. 11 are provided.

When constructing the first integrated module or the second integrated module on the conveyor line, it can be said that the first stage for inspection of the sample is provided on the conveyor line.

Further, in order to have a second stage, a third stage, and the like for further adding a sample inspection process on the conveyor line, a first integrated module or a second integrated module is installed on each conveying line after the first stage for each additional stage You can build more.

In this manner, when a plurality of stages are provided on the conveyor line, the controller 150 performs line movement control and image processing control for each stage through circuit connection with each stage.

For example, referring to FIG. 12, a first stage and a second stage may be provided on a conveyor line.

Each of the stages has a modular line scanning apparatus 100, and each stage has an independent structure that is not influenced by the other stages.

That is, even if at least one of the height deviation and the parallelism deviation occurs in the space between the first stage and the second stage, the image pickup in the inspection area A in the first stage or the inspection area B in the second stage So that no error is generated.

12, the magnet gear structure for simultaneously transmitting the driving force of the motor to the first conveyor 110 and the second conveyor 120 includes a first magnet gear (not shown) coupled to the motor rotation shaft of the motor driving unit 130-1, A plurality of second magnet gears N arranged on a boundary axis positioned between the motor drive shaft and the conveyor arrangement axis to generate a rotational drive force in accordance with the generation of electromagnetic force by the rotation of the first magnet gear M, And a third magnet gear (L) for generating a rotational driving force in accordance with generation of an electromagnetic force by rotation of each second magnet gear (N) to rotate and drive the rotating shaft of the connecting conveyor.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

Further, the present invention is intended to remarkably reduce the errors of the photographed image with respect to the inspection area when at least one inspection area for inspecting the specimen is provided in the line provided with the conveyor, This is an invention that is industrially applicable because it is practically possible to carry out clearly.

100: line scanning device 110: first conveyor
120: second conveyor 130, 130-1: motor driving part
131: motor drive 132: motor encoder
133: motor 134: speed reducer
140, 141: line scan camera 150: controller
151: motor drive module 152: image processing module
153: Lighting control module 160: Conveyor encoder
170, 171: Lighting module 180: Grab sensor
190: Conveyor belt for sample conveyance

Claims (17)

A first conveyor;
A second conveyor continuously disposed in a line moving direction of the first conveyor;
A motor driving unit for driving the first conveyor and the second conveyor by a single power;
A line scan camera located in an inspection area between the first conveyor and the second conveyor and photographing the inspection area;
A controller for performing line movement control through the motor driving unit and image processing control for the inspection area; And
And a conveyor encoder coupled to one of the first conveyor and the second conveyor and providing a conveyor synchronization signal to the controller based on rotation of the rotary shaft,
Wherein the controller executes the line movement control and the image processing control based on the conveyor synchronization signal provided by the conveyor encoder. delete The method according to claim 1,
The line scan apparatus includes:
And at least one illumination module for illuminating the inspection area. 4. The method according to any one of claims 1 to 3,
The line scan apparatus includes:
And a grab sensor for generating a grab sensor signal for starting the acquisition of the image when the sample enters the inspection region and for transmitting the grab sensor signal to the controller. The method of claim 3,
A second integrated type module in which at least one of the line scan camera, the conveyor encoder, and the light module is further added to the first integrated module, or the first integrated module includes the first conveyor, the second conveyor, A line scan device provided as a module. The method of claim 3,
The controller comprising:
A motor driving module for controlling the motor driving unit;
A lighting control module for generating an illumination synchronization signal through the conveyor synchronization signal and a synchronization pattern for operation of the illumination module and controlling the illumination module using the illumination synchronization signal; And
And an image processing module for generating a camera synchronization signal through the illumination synchronization signal and a synchronization pattern for operation of the line scan camera and controlling the line scan camera using the camera synchronization signal. ◈ Claim 7 is abandoned due to registration fee. The method according to claim 6,
Wherein the illumination control module generates the illumination synchronization signal for each illumination module when the illumination module is more than one. ◈ Claim 8 is abandoned due to the registration fee. 8. The method of claim 7,
Wherein the image processing module generates the camera synchronization signal for each illumination synchronization signal when the illumination synchronization signal is more than two. 6. The method of claim 5,
When the first integrated module or the second integrated module is provided on the conveyor line, the controller divides the plurality of first integrated modules or the plurality of second integrated modules, And performs line movement control and image processing control for each second integrated module. The method according to claim 1,
The motor drive unit includes:
motor;
A motor encoder for maintaining a normal speed of the motor;
A speed reducer for increasing a mechanical resolution per rotation of the motor while adjusting a rotational load of the motor; And
And a motor drive for driving the motor. delete delete delete delete delete delete delete

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