US20220228852A1 - Apparatus and method for edge detection when machining workpieces - Google Patents
Apparatus and method for edge detection when machining workpieces Download PDFInfo
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- US20220228852A1 US20220228852A1 US17/658,050 US202217658050A US2022228852A1 US 20220228852 A1 US20220228852 A1 US 20220228852A1 US 202217658050 A US202217658050 A US 202217658050A US 2022228852 A1 US2022228852 A1 US 2022228852A1
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- polarized light
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- 238000000034 method Methods 0.000 title abstract description 33
- 238000003754 machining Methods 0.000 title abstract description 5
- 238000003708 edge detection Methods 0.000 title description 2
- 238000005286 illumination Methods 0.000 claims abstract description 66
- 230000010287 polarization Effects 0.000 claims abstract description 49
- 238000012545 processing Methods 0.000 claims abstract description 27
- 238000011156 evaluation Methods 0.000 claims description 15
- 238000005304 joining Methods 0.000 abstract description 3
- 238000005520 cutting process Methods 0.000 abstract description 2
- 238000003466 welding Methods 0.000 description 12
- 230000003287 optical effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/028—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring lateral position of a boundary of the object
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/044—Seam tracking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
Definitions
- the present invention relates to an apparatus and a method for detection of edges or seam tracking when machining workpieces by means of a laser beam, e.g. joining or cutting.
- the machining can be a laser material processing of workpieces in three-dimensional space.
- seam tracking is used for process monitoring, regulation or control and for quality management.
- image processing systems are used.
- Edge detection is an essential step in seam tracking. From the prior art methods and systems are known in which the camera image of an optical camera is evaluated by means of special algorithms. The evaluation is based on a monochrome image, from which the in-tensity of the light reflected into the camera is utilized as image information. With optically difficult materials, which have only a small or very diffuse reflection, there are difficulties in the evaluation, since often only very poor and low-contrast images are available. Such materials may have, for example, matte or dark surfaces.
- Remote laser welding is a special variant of laser beam welding.
- welding can be performed in any direction in three-dimensional space, and the direction may also change during the welding operation. This is a difference in comparison to other welding processes, which usually only weld in one direction.
- detectors or guide elements are used, which run ahead of the joining process.
- the present invention provides an apparatus for seam tracking of the process in laser material processing, comprising at least two separate illumination elements, each emitting differently polarized light, and a polarization camera.
- the at least two separate illumination elements each emit light having polarization rotated by 90°.
- an embodiment comprising four separate illumination elements.
- an apparatus may also comprise an even multiple number of illumination elements.
- the at least two separate illumination elements which emit identically polarized light, are arranged opposite to each other.
- the polarization camera is arranged coaxially to a laser beam for material processing.
- Another object of the present invention is a method for seam tracking in laser material processing, comprising the steps:
- a. Use at least two separate illumination elements to illuminate the area of interest with polarized light; b. Capturing at least one image of the illuminated area of interest with a polarization camera; c. Transferring the at least one image to an evaluation unit; d. Evaluation of the at least one image.
- the two separate illumination elements may emit light having polarization rotated by 90°.
- the evaluation unit is a device for data processing.
- the method according to the invention can also be designed such that four separate illumination elements are used.
- two of the four illumination elements can emit identically polarized light when carrying out the method.
- the method may, in another aspect of the present invention, comprise the arrangement of the illumination elements with identically polarized light opposite each other.
- Another object of the present invention relates to a laser material processing head comprising an apparatus for seam tracking in laser material processing as described above.
- a method of using an apparatus as described above for seam tracing in a remote laser welding process is a further object of the present invention.
- FIGS. 1 and 2 show an optic of a remote laser welding head from below with different polarization directions of the illumination elements.
- FIG. 3 shows an optic of a remote laser welding head from below with an alternative arrangement of the illumination elements.
- FIGS. 1-3 provides an apparatus ( 20 ) and a method in which an image evaluation is possible even with only slight or diffuse contrasts of the materials or even with highly reflective materials.
- an image evaluation is possible even with only slight or diffuse contrasts of the materials or even with highly reflective materials.
- the present invention is based on the use of a polarization camera ( 40 ).
- a polarization camera 40
- the invention provides that the camera ( 40 ) is arranged coaxially to the laser beam, with which a workpiece (not shown) is processed.
- polarized light sources ( 21 , 22 , 23 , 24 ) or the use of polarizing filters (not shown) for the light sources ( 21 , 22 , 23 , 24 ) are an essential element of the present invention.
- Four light sources can also be used.
- two light sources e.g., 21 and 23 , 22 and 24
- the two pairs e.g., 21 and 23 , 22 and 24
- an odd number of lighting elements or light sources is within the scope of the invention.
- polarization cameras ( 40 ) will be used, in which only one frame of a recording or captured image ( 42 ) is sufficient for evaluation.
- the inventive method is advantageous because not only the purely optical properties of the image ( 42 ) are taken as a basis, but due to the inclusion of the polarization of the reflected light contrast-sharp images arise, which can then be evaluated by means of a suitable algorithm.
- the stronger contrast leads to a better recognition.
- FIG. 1 shows the optics of a remote laser welding head 10 from below.
- Four illumination elements 21 , 22 , 23 , 24 are arranged laterally around the outlet opening of the laser processing optics 15 .
- the arrows indicate the polarization direction of the individual illumination elements 21 , 22 , 23 , 24 .
- Opposite illumination elements i.e., 21 and 23 , 22 and 24 ) each have the same direction of polarization, respectively emitted polarized light.
- FIG. 1 is the polarization direction of the lighting elements 21 , 22 , 23 , 24 along their longitudinal direction.
- the polarization is achieved by polarizing filters (not shown separately) in front of the lighting elements 21 , 22 , 23 , 24 .
- FIG. 2 are also four illumination elements 21 , 22 , 23 , 24 arranged around the laser processing optics 15 .
- a polarization camera 40 is arranged coaxially to a laser beam for material processing.
- the polarization filters (not shown separately) lead to a polarization of the light of the illumination elements 21 , 22 , 23 , 24 transversely or perpendicular to the longitudinal extent of the illumination elements.
- FIG. 3 shows an alternative arrangement of the illumination elements 21 , 22 , 23 , 24 . These are arranged in the corners of the housing of the laser welding head 10 . Opposing illumination elements in the diagonal, i.e. 21 , 23 and 22 , 24 have an identical polarization direction of the emitted light.
- the lighting elements 21 , 22 , 23 , 24 are present in pairs, and the lighting elements 21 , 22 , 23 , 24 of a pair face each other, with both lighting elements 21 , 22 , 23 , 24 having the same polarization direction of the emitted light.
- the present invention provides an apparatus ( 20 ) for seam tracking of the process in laser material processing, comprising at least two separate illumination elements ( 21 , 22 , 23 , 24 ), each emitting differently polarized light, and a polarization camera ( 40 ).
- the at least two separate illumination elements ( 21 , 22 , 23 , 24 ) each emit light having polarization rotated by 90°.
- an embodiment comprising four separate illumination elements ( 21 , 22 , 23 , 24 ).
- an apparatus ( 20 ) may also comprise an even multiple number of illumination elements ( 21 , 22 , 23 , 24 ).
- illumination elements 21 , 22 , 23 , 24
- two of the separate illumination elements e.g., 21 and 23 , 22 and 24
- emit identically polarized light e.g., 21 and 23 , 22 and 24
- the at least two separate illumination elements ( 21 , 22 , 23 , 24 ), which emit identically polarized light, are arranged opposite to each other.
- the polarization camera ( 40 ) is arranged coaxially to a laser beam for material processing.
- Another object of the present invention is a method for seam tracking in laser material processing, comprising the steps: (a) using at least two separate illumination elements ( 21 , 22 , 23 , 24 ) to illuminate the area of interest with polarized light; (b) capturing at least one image ( 42 ) of the illuminated area of interest with a polarization camera ( 40 ); (c) transferring the at least one image ( 42 ) to an evaluation unit ( 30 ); and (d) evaluating the at least one image ( 42 ).
- the two separate illumination elements may emit light having polarization rotated by 90°.
- the evaluation unit ( 30 ) is a device for data processing.
- the method according to the invention can also be designed such that four separate illumination elements ( 21 , 22 , 23 , 24 ) are used.
- two of the four illumination elements can emit identically polarized light when carrying out the method.
- the method may, in another aspect of the present invention, comprise the arrangement of the illumination elements ( 21 , 22 , 23 , 24 ) with identically polarized light opposite each other.
- Another object of the present invention relates to a laser material processing head ( 10 ) comprising an apparatus ( 20 ) for seam tracking in laser material processing as described above.
- a method of using an apparatus ( 20 ) as described above for seam tracking in a remote laser welding process is a further object of the present invention.
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Laser Beam Processing (AREA)
Abstract
Description
- This is continuation of U.S. patent application Ser. No. 16/710,700 filed Dec. 11, 2019, which claims the benefit of German Application No. DE 10 2019 133 695.3 filed Dec. 10, 2019, both of which are incorporated herein by reference in their entireties.
- The present invention relates to an apparatus and a method for detection of edges or seam tracking when machining workpieces by means of a laser beam, e.g. joining or cutting. The machining can be a laser material processing of workpieces in three-dimensional space.
- During laser material processing of workpieces, seam tracking is used for process monitoring, regulation or control and for quality management. For this purpose, mostly image processing systems are used.
- Edge detection is an essential step in seam tracking. From the prior art methods and systems are known in which the camera image of an optical camera is evaluated by means of special algorithms. The evaluation is based on a monochrome image, from which the in-tensity of the light reflected into the camera is utilized as image information. With optically difficult materials, which have only a small or very diffuse reflection, there are difficulties in the evaluation, since often only very poor and low-contrast images are available. Such materials may have, for example, matte or dark surfaces.
- Remote laser welding is a special variant of laser beam welding. In this method, welding can be performed in any direction in three-dimensional space, and the direction may also change during the welding operation. This is a difference in comparison to other welding processes, which usually only weld in one direction. In such devices, detectors or guide elements are used, which run ahead of the joining process.
- Furthermore, in the methods known from the prior art several recordings with different optical filters of the machining process of the workpieces are needed to allow reliable control. For this purpose, the required information is calculated by means of special algorithms.
- Furthermore, in methods known from the prior art, it is usually also necessary to use a plurality of cameras in order to obtain the required image data.
- There is a need for an apparatus and a method which allow even with optically difficult materials to ensure reliable seam tracking.
- It is therefore an object of the present invention to provide a novel apparatus and a novel method for seam tracking.
- The present invention provides an apparatus for seam tracking of the process in laser material processing, comprising at least two separate illumination elements, each emitting differently polarized light, and a polarization camera.
- In a further aspect of the invention, it is provided that the at least two separate illumination elements each emit light having polarization rotated by 90°.
- Furthermore, an embodiment is provided, comprising four separate illumination elements.
- In a further aspect of the invention, an apparatus may also comprise an even multiple number of illumination elements.
- If more than two illumination elements are used, it is provided that in each case two of the separate illumination elements emit identically polarized light.
- Furthermore, it is provided that then the at least two separate illumination elements, which emit identically polarized light, are arranged opposite to each other.
- In a further aspect of the invention it is provided that the polarization camera is arranged coaxially to a laser beam for material processing.
- Another object of the present invention is a method for seam tracking in laser material processing, comprising the steps:
- a. Use at least two separate illumination elements to illuminate the area of interest with polarized light;
b. Capturing at least one image of the illuminated area of interest with a polarization camera;
c. Transferring the at least one image to an evaluation unit;
d. Evaluation of the at least one image. - In the method according to the invention, the two separate illumination elements may emit light having polarization rotated by 90°.
- In a further aspect of the invention, it is provided for the method that the evaluation unit is a device for data processing.
- The method according to the invention can also be designed such that four separate illumination elements are used.
- Furthermore, in each case two of the four illumination elements can emit identically polarized light when carrying out the method.
- The method may, in another aspect of the present invention, comprise the arrangement of the illumination elements with identically polarized light opposite each other.
- Another object of the present invention relates to a laser material processing head comprising an apparatus for seam tracking in laser material processing as described above.
- A method of using an apparatus as described above for seam tracing in a remote laser welding process is a further object of the present invention.
- Still other aspects, features, and advantages of the present invention are readily apparent from the following detailed description, simply by illustrating a preferable embodiments and implementations. The present invention is also capable of other and different embodiments and its several details can be modified in various obvious respects, all without de-parting from the spirit and scope of the present invention. Accordingly, the drawings and descriptions are to be regarded as illustrative in nature, and not as restrictive. Additional objects and advantages of the invention will be set forth in part in the description which follows and in part will be obvious from the description or may be learned by practice of the invention.
- The invention will now be described on the basis of figures. It will be understood that the embodiments and aspects of the invention described in the figures are only examples and do not limit the protective scope of the claims in any way. The invention is defined by the claims and their equivalents. It will be understood that features of one aspect or embodiment of the invention can be combined with a feature of a different aspect or aspects of other embodiments of the invention, in which:
-
FIGS. 1 and 2 show an optic of a remote laser welding head from below with different polarization directions of the illumination elements. -
FIG. 3 shows an optic of a remote laser welding head from below with an alternative arrangement of the illumination elements. - The above-mentioned object of the invention is solved by the features of the independent claims. The dependent claims cover further specific embodiments of the invention.
- The invention of
FIGS. 1-3 provides an apparatus (20) and a method in which an image evaluation is possible even with only slight or diffuse contrasts of the materials or even with highly reflective materials. When reflecting on metallic surfaces, or reflective surfaces in general, there may be a change in the polarization properties of the reflected light compared to the incident light. - The present invention is based on the use of a polarization camera (40). Thus, it is possible in addition to the pure optical image data also additionally to determine the polarization properties of the reflected light. For reflections on differently inclined surfaces, the polarization of the light also changes.
- Furthermore, the invention provides that the camera (40) is arranged coaxially to the laser beam, with which a workpiece (not shown) is processed.
- Furthermore, it has been found in experiments using a polarization camera (40) that the use of polarized light to illuminate the workpiece is advantageous. In this respect, polarized light sources (21, 22, 23, 24) or the use of polarizing filters (not shown) for the light sources (21, 22, 23, 24) are an essential element of the present invention.
- Experiments have shown that the use of at least two different polarized light sources (21, 22, 23, 24) is advantageous. It is furthermore advantageous if the at least two light sources (21, 22, 23, 24) have a polarization direction rotated by 90° with respect to another.
- Four light sources (21, 22, 23, 24) can also be used. In this case, two light sources (e.g., 21 and 23, 22 and 24) each have an identical polarization direction and the two pairs (e.g., 21 and 23, 22 and 24) with identical polarization direction are arranged opposite to one another. In principle, an odd number of lighting elements or light sources (21, 22, 23, 24) is within the scope of the invention.
- According to the invention polarization cameras (40) will be used, in which only one frame of a recording or captured image (42) is sufficient for evaluation.
- The inventive method is advantageous because not only the purely optical properties of the image (42) are taken as a basis, but due to the inclusion of the polarization of the reflected light contrast-sharp images arise, which can then be evaluated by means of a suitable algorithm. The stronger contrast leads to a better recognition.
-
FIG. 1 shows the optics of a remotelaser welding head 10 from below. Fourillumination elements laser processing optics 15. The arrows indicate the polarization direction of theindividual illumination elements FIG. 1 is the polarization direction of thelighting elements lighting elements - In
FIG. 2 are also fourillumination elements laser processing optics 15. Apolarization camera 40 is arranged coaxially to a laser beam for material processing. Here, the polarization filters (not shown separately) lead to a polarization of the light of theillumination elements -
FIG. 3 shows an alternative arrangement of theillumination elements laser welding head 10. Opposing illumination elements in the diagonal, i.e. 21, 23 and 22, 24 have an identical polarization direction of the emitted light. - It can be seen from
FIGS. 1 to 3 that the polarization direction of the two pairs is in each case rotated by 90° with respect to one another. - In principle, two, four, six, eight or any other even multiple of
lighting elements lighting elements lighting elements lighting elements - The present invention provides an apparatus (20) for seam tracking of the process in laser material processing, comprising at least two separate illumination elements (21, 22, 23, 24), each emitting differently polarized light, and a polarization camera (40).
- In a further aspect of the invention, it is provided that the at least two separate illumination elements (21, 22, 23, 24) each emit light having polarization rotated by 90°.
- Furthermore, an embodiment is provided, comprising four separate illumination elements (21, 22, 23, 24).
- In a further aspect of the invention, an apparatus (20) may also comprise an even multiple number of illumination elements (21, 22, 23, 24).
- If more than two illumination elements (21, 22, 23, 24) are used, it is provided that in each case two of the separate illumination elements (e.g., 21 and 23, 22 and 24) emit identically polarized light.
- Furthermore, it is provided that then the at least two separate illumination elements (21, 22, 23, 24), which emit identically polarized light, are arranged opposite to each other.
- In a further aspect of the invention, it is provided that the polarization camera (40) is arranged coaxially to a laser beam for material processing.
- Another object of the present invention is a method for seam tracking in laser material processing, comprising the steps: (a) using at least two separate illumination elements (21, 22, 23, 24) to illuminate the area of interest with polarized light; (b) capturing at least one image (42) of the illuminated area of interest with a polarization camera (40); (c) transferring the at least one image (42) to an evaluation unit (30); and (d) evaluating the at least one image (42).
- In the method according to the invention, the two separate illumination elements (21, 22, 23, 24) may emit light having polarization rotated by 90°.
- In a further aspect of the invention, it is provided for the method that the evaluation unit (30) is a device for data processing.
- The method according to the invention can also be designed such that four separate illumination elements (21, 22, 23, 24) are used.
- Furthermore, in each case two of the four illumination elements (e.g., 21 and 23, 22 and 24) can emit identically polarized light when carrying out the method.
- The method may, in another aspect of the present invention, comprise the arrangement of the illumination elements (21, 22, 23, 24) with identically polarized light opposite each other.
- Another object of the present invention relates to a laser material processing head (10) comprising an apparatus (20) for seam tracking in laser material processing as described above.
- A method of using an apparatus (20) as described above for seam tracking in a remote laser welding process is a further object of the present invention.
- The foregoing description of the preferred embodiment of the invention has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form disclosed, and modifications and variations are possible in light of the above teachings or may be acquired from practice of the invention. The embodiment was chosen and described in order to explain the principles of the invention and its practical application to enable one skilled in the art to utilize the invention in various embodiments as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims appended hereto, and their equivalents. The entirety of each of the afore-mentioned documents is incorporated by reference herein.
-
-
- 20 Apparatus
- 21-24 illumination elements
- 30 Camera
- 40 Evaluation Unit
- 15 Beam extraction of the laser processing optics, which also acts as imaging optics for the
camera 30 - 10 Housing laser welding head
Claims (21)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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US17/658,050 US20220228852A1 (en) | 2019-12-10 | 2022-04-05 | Apparatus and method for edge detection when machining workpieces |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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DE102019133695.3A DE102019133695B4 (en) | 2019-12-10 | 2019-12-10 | Laser material processing head, use of a laser material processing head and method for seam tracking in laser material processing |
DE102019133695.3 | 2019-12-10 | ||
US16/710,700 US11320258B2 (en) | 2019-12-10 | 2019-12-11 | Apparatus and method for edge detection when machining workpieces |
US17/658,050 US20220228852A1 (en) | 2019-12-10 | 2022-04-05 | Apparatus and method for edge detection when machining workpieces |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US16/710,700 Continuation US11320258B2 (en) | 2019-12-10 | 2019-12-11 | Apparatus and method for edge detection when machining workpieces |
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US20220228852A1 true US20220228852A1 (en) | 2022-07-21 |
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US17/658,050 Pending US20220228852A1 (en) | 2019-12-10 | 2022-04-05 | Apparatus and method for edge detection when machining workpieces |
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KR20160094786A (en) * | 2015-02-02 | 2016-08-10 | 테스트 리서치 인코포레이티드 | Optical inspection system |
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EP1612584A1 (en) * | 2004-07-02 | 2006-01-04 | Sony Deutschland GmbH | Arrangement for illumination |
CN101657696A (en) * | 2007-07-17 | 2010-02-24 | 夏普株式会社 | Method for detecting edge on transparent substrate, apparatus for detecting edge on transparent substrate, and processing apparatus |
EP2062674B1 (en) * | 2007-11-20 | 2016-11-02 | TRUMPF Werkzeugmaschinen GmbH + Co. KG | Method for preparing and carrying out a laser welding process |
JP6168383B2 (en) * | 2012-12-27 | 2017-07-26 | 三星電子株式会社Samsung Electronics Co.,Ltd. | Defect inspection apparatus and defect inspection method |
AT14049U1 (en) * | 2014-02-26 | 2015-03-15 | Evk Di Kerschhaggl Gmbh | Imaging camera and device for classifying objects |
DE102014203798B4 (en) * | 2014-03-03 | 2017-11-30 | Volkswagen Aktiengesellschaft | Method and device for monitoring the soiling and / or damage state on a protective glass of a laser processing head and device for laser processing |
EP3450029A1 (en) * | 2017-09-01 | 2019-03-06 | TOMRA Sorting GmbH | Classification method and apparatus |
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US11320258B2 (en) | 2022-05-03 |
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