WO2006054775A1 - 外観検査装置 - Google Patents
外観検査装置 Download PDFInfo
- Publication number
- WO2006054775A1 WO2006054775A1 PCT/JP2005/021475 JP2005021475W WO2006054775A1 WO 2006054775 A1 WO2006054775 A1 WO 2006054775A1 JP 2005021475 W JP2005021475 W JP 2005021475W WO 2006054775 A1 WO2006054775 A1 WO 2006054775A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- dimensional image
- image
- camera
- inspection apparatus
- appearance inspection
- Prior art date
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 37
- 238000006243 chemical reaction Methods 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000011179 visual inspection Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000000717 retained effect Effects 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/02—Tyres
- G01M17/027—Tyres using light, e.g. infrared, ultraviolet or holographic techniques
-
- 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
-
- G06T5/92—
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/0006—Industrial image inspection using a design-rule based approach
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Definitions
- the present invention relates to an appearance inspection device that inspects the appearance of a photographing object based on, for example, a shape image and a color image of the photographing object such as a tire or a tire component.
- an object is photographed using a camera (for example, a 3D camera) that captures a shape image (3D image) and a camera (for example, a 2D camera) that captures a color image (2D image).
- a camera for example, a 3D camera
- a camera for example, a 2D camera
- a shape image and a color image are taken with respect to the same object, and the object is determined by processing such information.
- an apparatus that uses a line camera that acquires a color image of the product and an area camera that acquires a shape image has been proposed (see, for example, Japanese Patent Application Laid-Open No. 2001-249012). )
- the apparatus described in Japanese Patent Application Laid-Open No. 2001-249012 described above compares the color image acquired by the line camera and the shape image acquired by the area camera with the color image and shape image of the product stored in advance, respectively. As a result, the appearance and shape of the product are judged.
- the color image and the shape image have been used to determine the appearance and the shape, respectively.
- the color image and the shape image are each pixel information, and each of the 3D camera and the 2D camera. Since the installation conditions, distance, lens aperture, and focus adjustment values differ, it was difficult to combine them.
- an object of the present invention is to provide an appearance inspection apparatus that combines a two-dimensional image and a three-dimensional image to improve detection accuracy.
- a feature of the present invention is an appearance inspection apparatus for inspecting the appearance of an object, the first image acquisition means for acquiring a three-dimensional image of the object, and the object 2 Second image acquisition means for acquiring a three-dimensional image, and conversion means for substituting the pixel value of the two-dimensional image corresponding to the physical coordinate of the pixel of the three-dimensional image into the physical coordinate corresponding to the pixel of the three-dimensional image.
- the gist is that it is a visual inspection apparatus provided.
- the visual inspection apparatus is a first basic method for acquiring in advance a lookup table for converting digitized luminance gradation data into arbitrary physical coordinates for a three-dimensional image.
- Refer to the 3D image lookup table convert the 3D image of the object into the specified physical coordinates for each pixel, and refer to the 2D image lookup table to view the 3D image of the object.
- the pixel value of the two-dimensional image of the object corresponding to the predetermined physical coordinate of the pixel may be substituted into the predetermined physical coordinate.
- the lookup table for the two-dimensional image may hold the physical coordinates of the pixels of the three-dimensional image in association with the pixel values of the two-dimensional image.
- the lookup table for the two-dimensional image may be obtained in association with the physical coordinates of the lookup table for the three-dimensional image.
- the lookup table for the two-dimensional image may be obtained by photographing a plurality of line images at a constant interval every time the distance to the camera is changed. Good.
- FIG. 1 is a block diagram showing the configuration of an appearance inspection apparatus 10 according to the present embodiment.
- FIG. 2 shows a subject to be used for creating an LUT in a 3D image according to the present embodiment.
- FIG. 3 is an example of a LUT in a 3D image according to the present embodiment.
- FIG. 4 shows an imaging target used to create an LUT in a two-dimensional image according to the present embodiment.
- FIG. 5 is a schematic diagram showing a procedure for creating an LUT in a two-dimensional image according to the present embodiment.
- FIG. 6 is a diagram for explaining pixel values in a two-dimensional image according to the present embodiment.
- FIG. 7 is an example of a LUT in a two-dimensional image according to the present embodiment.
- FIG. 8 is a schematic diagram showing a procedure for creating an LUT in a two-dimensional image according to the present embodiment.
- FIG. 9 is a schematic diagram showing a procedure for creating an LUT in a two-dimensional image according to the present embodiment.
- FIG. 10 is a flowchart showing an appearance inspection method according to the present embodiment according to the present embodiment.
- the appearance inspection apparatus 10 acquires a three-dimensional image (shape image) representing the unevenness of the surface of the object to be photographed from the 3D power camera 30, and generates a two-dimensional image (color image) representing the color (luminance) of the object to be photographed. Obtained from 2D power Mela 20. Examples of the object to be photographed include products such as tires and tire parts.
- the appearance inspection apparatus 10 includes a 3DLUT acquisition unit 11, a 3D image acquisition unit 12, a first conversion unit 13, a 2DLUT acquisition unit 14, a 2D image acquisition unit 15, and a second conversion unit 16.
- the 3DLUT acquisition unit 11 also acquires a look-up tape for a 3D image (Look Up Table: hereinafter referred to as "3DLUT") as well as the 3D camera 30 force.
- 3DLUT is basic data used to convert digitized luminance gradation data into arbitrary physical coordinates, and is set for each camera. Object When processing these images, the digital data obtained is corrected using 3DLUT and output.
- the 3DLUT is created based on an image of a grid with a fixed interval LI X L1 (for example, 5 X 5 mm).
- LI X L1 for example, 5 X 5 mm.
- the lattice is photographed by the 3D camera 30, the lattice is distorted as shown in FIG. Figure 3 shows an example of 3DLUT.
- the number of pixels of the 3D camera is mX n pixels, which corresponds to the pixels of each grid power 3D camera in the figure.
- 3D LUT holds physical coordinates (X, y) (where l ⁇ i ⁇ m, l ⁇ j ⁇ m) corresponding to each pixel.
- the 3D image acquisition unit 12 acquires a three-dimensional image of the object to be photographed from the 3D force lens 30.
- the first conversion unit 13 refers to the LUT obtained by the 3DLUT acquisition unit 11 and corrects the distortion of the three-dimensional image obtained by the 3D image acquisition unit 12. That is, the first converting means 13 refers to the 3DLUT and converts the 3D image of the object to be photographed into physical coordinates for each pixel. Specifically, this shape data is stored as (X, y) in the memory of the apparatus (for example, the storage means 19) for both X and y in floating point.
- the 2DLUT acquisition unit 14 acquires an LUT (hereinafter referred to as “2DLUT”) for the two-dimensional image from the 2D camera 20.
- 2DLUT is basic data used to correct digitized luminance gradation data to an arbitrary gradation, and is set for each camera. When processing images, the digital data obtained is corrected using 2DLUT and output.
- 2DLUT is created on the basis of images obtained by photographing lines with a constant interval L1 (for example, 5 mm). Specifically, as shown in FIG. 5, a line arranged at a specific distance from the 2D camera 20 is photographed, and the LUT for the two-dimensional image is the line position at this time and the 2D camera corresponding to the position. It is created in association with the pixel value of.
- L1 for example, 5 mm
- the 2D camera 20 takes a plurality of such line images at regular intervals. For example, as shown in Fig. 5, shooting is performed while varying the distance between 0 position, 10 position, 20 position, 30 position and 2D camera 20 in the y direction to create 2DLUT shown in Figure 7 be able to.
- the distance from the 2D camera to be changed must be related to the grid size captured by the 3D camera 30. There is.
- FIG. 7 shows an example of 2DLUT.
- the number of pixels of the 3D camera is mX n pixels, which corresponds to the pixels of each grid power 3D camera in the figure.
- 2DLUT is the physical coordinates corresponding to each pixel of the 3D camera and the pixel values of the 2D camera corresponding to the physical coordinates (X, y, No) (where l ⁇ i
- No is a number assigned to each image data obtained by the 2D camera 20.
- the physical coordinate of point A is 0 in the direction of force and 10 in the direction of y
- the position corresponding to the pixel of 2D camera 20 that captured point A is 2 If 2DLUT, the value (0, 10, 2) is held.
- 2DLUT will have (10, 10 , 7), (20, 10, 12) are retained.
- the 2D camera 20 is the same when shooting an object to be photographed even at different points (here, point P and point Q) that exist on the extension line of the viewpoint, as shown in FIG. No (the position corresponding to the pixel is the same) is obtained, but since the obtained image differs depending on the distance between the object and the camera, the obtained color image is also different.
- the 2D image acquisition unit 15 acquires a 2D image of the object to be photographed from the 2D force camera 20.
- the second conversion unit 16 refers to the LUT obtained by the 2DLUT acquisition unit 14 and corrects the distortion of the two-dimensional image obtained by the 2D image acquisition unit 15. Further, the second conversion means 16 uses the predetermined physical coordinates of the pixel values of the two-dimensional image corresponding to the predetermined physical coordinates of the pixels of the three-dimensional image to associate the obtained two-dimensional image with the physical coordinates of the 3DLUT. Assign to coordinates.
- the judging means 18 judges the appearance of the object using the physical coordinates and the color obtained by the second converting means 16.
- the appearance inspection apparatus 10 is attached to the outside of a tire.
- the physical color data obtained by the second conversion means 16 and the physical coordinate data of the tire stored in the storage means 19 are compared to determine the quality and quality of the tire. To do.
- the storage unit 19 records physical coordinate data of the object.
- the storage means 19 stores reference determination data for each type of tire in advance.
- the storage means 19 stores the 3DLUT acquired from the 3D camera 30 and the 2DLUT acquired from the 2D camera 20.
- the storage means 19 may be an external storage device such as a hard disk or a flexible disk, which may be an internal storage device such as a RAM.
- the appearance inspection method according to the present embodiment will be described with reference to FIG.
- a tire is used as a photographing object.
- the appearance inspection apparatus 10 acquires the 3DLUT and 2DL UT described above.
- step S101 the 3D camera 30 and the 2D camera 20 continuously photograph the side surface of the tire rotating in the circumferential direction.
- the first conversion unit 13 refers to the 3DLUT 100 obtained by the 3DLUT acquisition unit 11, and converts the 3D image obtained by the 3D image acquisition unit 12 into a pixel. Every time, it is converted into predetermined physical coordinates. At this time, the appearance inspection apparatus 10 has pixel values (shape data) in the three-dimensional image for each physical coordinate.
- step S103 the second conversion unit 16 refers to the 2DLUT 200 obtained by the 2DLUT acquisition unit 14, and corrects the distortion of the two-dimensional image.
- step S 104 the second conversion unit 16 refers to the 2DLUT 200 obtained by the 2DLUT acquisition unit 14 and corresponds to predetermined physical coordinates of the pixels of the 3D image.
- the pixel value of the two-dimensional image is substituted into predetermined physical coordinates. That is, in the two-dimensional image, the corresponding pixel value is substituted into the X position at the height y.
- the appearance inspection apparatus 10
- Each physical coordinate has a pixel value (shape data) in a 3D image and a pixel value (color data) in a 2D image.
- This color data is the three primary colors of light (R, G, B), for example, 8 bits each. Retained.
- the data storage mode for each physical coordinate may be represented by (X, y, No) and three-dimensional parameters, and (X, y, R, G, B) and five-dimensional parameters. May be represented. That is
- the holding form is not limited.
- step S105 the judging means 18 judges the appearance of the tire using the physical coordinates (X, y) and the colors (R, G, B) obtained by the second converting means 16. To do. Specifically, the tire physical coordinate data obtained by the second conversion means 16 and the tire physical coordinate data stored in the storage means 19 are compared to determine whether the tire color and shape are good or bad. To do.
- step S101 the 2D camera 20 and the 3D camera 30 are arranged at different phase positions in the circumferential direction of the tire side in consideration of light reflection or the like depending on the photographing method when photographing the tire. May be.
- step S104 the second conversion unit 16 substitutes the pixel value of the two-dimensional image into predetermined physical coordinates of the pixel of the three-dimensional image captured at the same phase position.
- step S104 the second conversion means 16 substitutes the pixel value of the 2D image into the physical coordinates of the 3D image. In this case, the position is corrected and the pixel value is substituted into appropriate coordinates.
- the physical coordinates corresponding to the pixels of the three-dimensional image are transferred to the physical coordinates of the pixels of the three-dimensional image.
- shape data and color data can be synthesized, and detection accuracy can be improved.
- the appearance inspection apparatus 10 refers to the 3DLUT acquisition unit 11, the 2DLUT acquisition unit 14, and the 3DLUT, and converts the three-dimensional image into predetermined physical coordinates for each pixel.
- 1st conversion means 13, and 2DLUT, 2nd conversion means 16 which substitutes the pixel value of the 2D picture corresponding to the predetermined physical coordinate of the pixel of a 3D picture to a predetermined physical coordinate with reference to 2DLUT .
- shape data and color data can be synthesized using physical coordinates of a three-dimensional image.
- the 2DLUT holds the physical coordinates of the pixels of the 3D image and the pixel values of the 2D image in association with each other. Therefore, it is possible to correct distortion of 2D images and incorporate color data into 3D images simply by referring to 2DLUT.
- the 2DLUT is obtained by capturing a plurality of line images with a constant interval every time the distance from the camera is changed. In this way, by using 2DLUT based on the line image with the distance to the camera changed, it is possible to achieve more accurate synthesis of shape data and color data.
- the force described on the assumption that one color image is used as a two-dimensional image is used by using a plurality of color images. It doesn't matter. For example, when the image is taken with red illumination, blue illumination, or the like, it can be synthesized by referring to the shape image.
- the appearance inspection apparatus can synthesize a two-dimensional image and a three-dimensional image, and can improve detection accuracy.
- a tire, a tire component, etc. It can be suitably used as an apparatus for inspecting the appearance of
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006545209A JPWO2006054775A1 (ja) | 2004-11-22 | 2005-11-22 | 外観検査装置 |
EP05809507A EP1826529A4 (en) | 2004-11-22 | 2005-11-22 | DEVICE FOR STUDYING THE EXTERNAL APPEARANCE |
US11/791,164 US20070280529A1 (en) | 2004-11-22 | 2005-11-22 | External-Appearance Inspection Apparatus |
MX2007006105A MX2007006105A (es) | 2004-11-22 | 2005-11-22 | Aparato de inspeccion de apariencia externa. |
BRPI0518033-3A BRPI0518033B1 (pt) | 2004-11-22 | 2005-11-22 | Apparatus for inspection of external appearance |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004337566 | 2004-11-22 | ||
JP2004-337566 | 2004-11-22 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006054775A1 true WO2006054775A1 (ja) | 2006-05-26 |
Family
ID=36407305
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/021475 WO2006054775A1 (ja) | 2004-11-22 | 2005-11-22 | 外観検査装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20070280529A1 (ja) |
EP (1) | EP1826529A4 (ja) |
JP (1) | JPWO2006054775A1 (ja) |
BR (1) | BRPI0518033B1 (ja) |
MX (1) | MX2007006105A (ja) |
WO (1) | WO2006054775A1 (ja) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009150673A (ja) * | 2007-12-19 | 2009-07-09 | Moriai Seiki Kk | 付着物測定方法および付着物測定装置 |
JP2011247639A (ja) * | 2010-05-24 | 2011-12-08 | Bridgestone Corp | タイヤ検査装置及びタイヤ検査方法 |
JP2014016358A (ja) * | 2009-01-13 | 2014-01-30 | Semiconductor Technologies & Instruments Pte Ltd | ウェーハを検査するためのシステム及び方法 |
JP2014137291A (ja) * | 2013-01-17 | 2014-07-28 | Bridgestone Corp | 外観画像生成方法及び外観画像生成装置 |
JP2018096844A (ja) * | 2016-12-13 | 2018-06-21 | 株式会社ブリヂストン | 外観画像の作成方法及びルックアップテーブル作成用冶具 |
JP2019211310A (ja) * | 2018-06-04 | 2019-12-12 | 日本製鉄株式会社 | 表面性状検査方法及び表面性状検査装置 |
JP2021042988A (ja) * | 2019-09-06 | 2021-03-18 | 住友ゴム工業株式会社 | 外観検査方法及び外観検査装置 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101349550B (zh) * | 2008-08-26 | 2010-06-09 | 浙江大学 | 在线橡胶栓外形质量检查机 |
DE102010036447A1 (de) * | 2010-03-26 | 2011-09-29 | Degudent Gmbh | Verfahren zur Ermittlung von Materialcharakteristika |
DE102012202271A1 (de) * | 2011-07-11 | 2013-01-17 | Robert Bosch Gmbh | Vorrichtung und Verfahren zur Reifenprüfung |
RU2737564C2 (ru) | 2016-07-26 | 2020-12-01 | Пирелли Тайр С.П.А. | Способ и станция контроля шин для колес транспортных средств |
JP6878219B2 (ja) * | 2017-09-08 | 2021-05-26 | 株式会社東芝 | 画像処理装置および測距装置 |
WO2019123327A1 (en) * | 2017-12-20 | 2019-06-27 | Pirelli Tyre S.P.A. | Method and apparatus for checking tyres in a process and a plant for making tyres for vehicle wheels |
FR3093183B1 (fr) * | 2019-02-22 | 2021-02-19 | Safran Electronics & Defense | Procédé de détection d’une dégradation d’un pneumatique d’une roue |
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JPH11235308A (ja) * | 1998-02-24 | 1999-08-31 | Olympus Optical Co Ltd | 計測内視鏡装置 |
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JP2003240521A (ja) * | 2002-02-21 | 2003-08-27 | Bridgestone Corp | 被検体の外観・形状検査方法とその装置、及び、被検体の外観・形状検出装置 |
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US6229913B1 (en) * | 1995-06-07 | 2001-05-08 | The Trustees Of Columbia University In The City Of New York | Apparatus and methods for determining the three-dimensional shape of an object using active illumination and relative blurring in two-images due to defocus |
US5930383A (en) * | 1996-09-24 | 1999-07-27 | Netzer; Yishay | Depth sensing camera systems and methods |
US6775028B1 (en) * | 2000-02-24 | 2004-08-10 | Lexmark International, Inc. | Non-linear method of mapping the lightness and chroma of a display device gamut onto a printing device gamut |
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2005
- 2005-11-22 WO PCT/JP2005/021475 patent/WO2006054775A1/ja active Application Filing
- 2005-11-22 US US11/791,164 patent/US20070280529A1/en not_active Abandoned
- 2005-11-22 BR BRPI0518033-3A patent/BRPI0518033B1/pt not_active IP Right Cessation
- 2005-11-22 JP JP2006545209A patent/JPWO2006054775A1/ja active Pending
- 2005-11-22 EP EP05809507A patent/EP1826529A4/en not_active Withdrawn
- 2005-11-22 MX MX2007006105A patent/MX2007006105A/es active IP Right Grant
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JPH11509928A (ja) * | 1995-07-26 | 1999-08-31 | ジェームス クランプトン,ステファン | スキャニング装置および方法 |
JPH11235308A (ja) * | 1998-02-24 | 1999-08-31 | Olympus Optical Co Ltd | 計測内視鏡装置 |
JP2001249012A (ja) * | 1999-12-28 | 2001-09-14 | Bridgestone Corp | 被検体の外観形状検査方法及び装置 |
JP2003078725A (ja) * | 2001-02-14 | 2003-03-14 | Ricoh Co Ltd | 画像入力装置 |
JP2003240521A (ja) * | 2002-02-21 | 2003-08-27 | Bridgestone Corp | 被検体の外観・形状検査方法とその装置、及び、被検体の外観・形状検出装置 |
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Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009150673A (ja) * | 2007-12-19 | 2009-07-09 | Moriai Seiki Kk | 付着物測定方法および付着物測定装置 |
JP2014016358A (ja) * | 2009-01-13 | 2014-01-30 | Semiconductor Technologies & Instruments Pte Ltd | ウェーハを検査するためのシステム及び方法 |
JP2011247639A (ja) * | 2010-05-24 | 2011-12-08 | Bridgestone Corp | タイヤ検査装置及びタイヤ検査方法 |
JP2014137291A (ja) * | 2013-01-17 | 2014-07-28 | Bridgestone Corp | 外観画像生成方法及び外観画像生成装置 |
JP2018096844A (ja) * | 2016-12-13 | 2018-06-21 | 株式会社ブリヂストン | 外観画像の作成方法及びルックアップテーブル作成用冶具 |
JP2019211310A (ja) * | 2018-06-04 | 2019-12-12 | 日本製鉄株式会社 | 表面性状検査方法及び表面性状検査装置 |
JP7159624B2 (ja) | 2018-06-04 | 2022-10-25 | 日本製鉄株式会社 | 表面性状検査方法及び表面性状検査装置 |
JP2021042988A (ja) * | 2019-09-06 | 2021-03-18 | 住友ゴム工業株式会社 | 外観検査方法及び外観検査装置 |
JP7367408B2 (ja) | 2019-09-06 | 2023-10-24 | 住友ゴム工業株式会社 | 外観検査方法及び外観検査装置 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2006054775A1 (ja) | 2008-06-05 |
US20070280529A1 (en) | 2007-12-06 |
EP1826529A1 (en) | 2007-08-29 |
BRPI0518033A (pt) | 2008-10-28 |
MX2007006105A (es) | 2007-07-24 |
BRPI0518033B1 (pt) | 2017-07-04 |
EP1826529A4 (en) | 2010-11-17 |
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