WO2020199291A1 - 一种全自动岩石标本图像采集装置及方法 - Google Patents

一种全自动岩石标本图像采集装置及方法 Download PDF

Info

Publication number
WO2020199291A1
WO2020199291A1 PCT/CN2019/084656 CN2019084656W WO2020199291A1 WO 2020199291 A1 WO2020199291 A1 WO 2020199291A1 CN 2019084656 W CN2019084656 W CN 2019084656W WO 2020199291 A1 WO2020199291 A1 WO 2020199291A1
Authority
WO
WIPO (PCT)
Prior art keywords
dust
rock
room
image acquisition
light
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/084656
Other languages
English (en)
French (fr)
Inventor
李术才
许振浩
石恒
陈晓琦
余腾飞
谢辉辉
黄鑫
杜毓超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong University
Original Assignee
Shandong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shandong University filed Critical Shandong University
Priority to US16/958,017 priority Critical patent/US11293878B2/en
Publication of WO2020199291A1 publication Critical patent/WO2020199291A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/24—Earth materials
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
    • G01N21/8901—Optical details; Scanning details
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/141—Control of illumination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G01N2021/0106—General arrangement of respective parts
    • G01N2021/0112—Apparatus in one mechanical, optical or electronic block
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G01N2021/0187—Mechanical sequence of operations
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/16—Image acquisition using multiple overlapping images; Image stitching

Definitions

  • the invention relates to the technical field of rock image acquisition, in particular to an automatic rock specimen image acquisition device and method.
  • stratum lithology is of great significance, especially for the selection of construction plans, the determination of construction parameters, engineering safety and engineering benefits.
  • deep learning algorithms have shown superiority in object recognition and intelligent classification. They have the advantages of high accuracy and fast recognition. Therefore, they have gradually been applied in the engineering field.
  • researchers have gradually begun to use deep learning. Technology intelligently identifies rocks.
  • the construction site has complex conditions and often has multiple lighting equipment. Without pre-organization, these lighting facilities will affect the light intensity of the area to be photographed; sometimes the construction relies on natural light, but the same area has obvious lighting conditions at different times It is also affected by weather conditions such as sunny and cloudy days. The lighting conditions cannot be consistent in space and time.
  • the light intensity has a non-negligible effect on the use of pictures to save the color, texture, and shape characteristics; such as cracks in the rock, the pictures taken when the light is sufficient can clearly observe the development of the cracks, but when the light is insufficient, the cracks and cracks
  • the contrast of surrounding minerals is not obvious, which will cause the crack direction and width to be unable to be accurately identified.
  • the present invention proposes a fully automatic rock specimen image acquisition device and method, which solves the problem that the traditional rock image acquisition quantity is small, the image quality varies widely, the consideration factors are single (the engineering light, dust environment is not considered), and the collection efficiency is low. And so on.
  • a full-automatic rock specimen image acquisition device including: a central controller, and an illumination system, a rock attitude control system, a dust system, and an image acquisition system connected to the central controller respectively;
  • the illumination system includes an illumination room and a light source with adjustable illumination intensity, and the light source with adjustable illumination intensity is uniformly arranged in the illumination room;
  • the rock attitude control system includes: a rotating stage arranged in the illumination room for supporting rocks, The rock holder set on the stage is a rotating gripper that is set on the upper part of the stage to realize the rock flip;
  • the dust system is connected to the light room, and can diffuse dust into the light room through an air compressor, and pass static electricity
  • the dust collector controls the dust concentration in the illumination room;
  • the image acquisition system includes a camera device for acquiring images of rocks.
  • the illumination system can provide a light source with adjustable light intensity, and the dust system can generate a dust environment with a set concentration, providing different shooting environments for image collection of rock specimens.
  • the rock mass attitude control system can control the rock to achieve 360° rotation in the horizontal plane and the vertical plane, so as to obtain rock images from multiple angles and multiple directions.
  • An automatic image collection method for rock specimens including:
  • the dust in the dust buffer room is diffused to the lighting room under the effect of diffusion, and it is detected in real time whether the dust concentration in the lighting room meets the set requirements; when the dust concentration is higher than the set requirements, the electrostatic precipitator is controlled to remove dust; when the dust concentration is lower than the set When required, control the air compressor to increase dust.
  • the multi-angle automatic acquisition of the rock specimen image can be realized, which provides a data basis for the deep learning technology of the rock image.
  • Fig. 1 is a schematic diagram of the structure of the automatic rock specimen image acquisition device in the first embodiment
  • FIG. 2 is a schematic diagram of the structure of the illumination system in the first embodiment
  • Figure 3 is a cross-sectional view of the rotating stage in the first embodiment
  • Figure 4 (a) is a schematic diagram of the rock block holder in the first embodiment
  • Figure 4(b) is a top view of the rock block holder in the first embodiment
  • Figure 5 is a schematic diagram of the rotating grip module in the first embodiment
  • Figure 6 is a schematic diagram of the dust system in the first embodiment
  • a fully automatic rock specimen image acquisition device is disclosed, as shown in FIG. 1, which includes: a lighting system, a rock mass attitude control system, a dust system, an image acquisition system and a central controller.
  • the illumination system includes: illumination room 1-2, the illumination room is equipped with adjustable intensity light source 1-1; the rock attitude control system includes: rotating stage 2-1 and set on the rotating stage 2-1 The upper rotating gripper 2-2; the dust system 3 is connected with the illumination room 1-2, the image acquisition system 4 is used to collect the image information of the rock specimen on the rotating stage; the central controller 5 and the illumination system, rock mass attitude control System, dust system 3 and image acquisition system 4 are connected separately.
  • the lighting system includes a dimming controller 6, a light source 7 with adjustable light intensity, a light sensor 8 and a light room 1-2.
  • the light source with adjustable light intensity is an LED light strip, which is evenly arranged on the wall of the care room.
  • the illumination room 1-2 is composed of a white frosted soft light board to increase the reflection effect and ensure uniform light intensity in the illumination room;
  • the central controller 5 can sense the light intensity in the illumination room through the illumination sensor 8 Whether the light intensity meets the preset requirements, and then determines whether the light intensity needs to be adjusted by the dimming controller 6; when it is inconsistent with the preset, the central controller 5 transmits instructions to the dimming controller to adjust the light intensity of the lighting room 1-2 until it meets Preset requirements.
  • This system can realize the adjustable light intensity in the illumination room, and provide a good optical environment for the camera.
  • the rock block attitude control system is used to control the rock block rotation to facilitate the camera to shoot different sides of the rock block, including: rotating stage 2-1, rotating gripper 2-2 and rock block holder 9;
  • the rotating stage 2-1 includes a rock block holder 9, a stage rotation drive motor 10, and a stage rotation controller 11.
  • the central controller 5 controls the stage through the stage rotation controller 11 as required.
  • the table rotation drive motor 10 rotates the rock block holder 9 to lay the foundation for the image acquisition system to capture different angles of the rock block.
  • the rotating stage 2-1 is located in the middle and lower part of the illumination chamber.
  • the appearance of the stage is a black cylinder, which is convenient for forming a sharp contrast with the rock to accurately distinguish the rock and the rock specimen image acquisition device;
  • the rotating drive motor 10 is located at the lower part of the stage.
  • the rotation of the stage provides driving force; the rotation controller 11 receives instructions from the central controller 5 to control the rotation time and rotation angle of the rotation driving motor 10.
  • the rock block fixer is used to fix the rock block to prevent it from moving, and is located inside the stage; the rock block fixer is located in the upper part of the illumination chamber, and cooperates with the rock block to flip the rock.
  • the structure of the rock block holder specifically includes: spring 9-1, clamping block 9-2, sliding rail 9-3, first sliding block 9-4, connecting rod 9 -5, connecting block 9-6, push tube 9-7, push tube drive controller 9-8, column 9-9 and push tube drive 9-10.
  • the rock block holder has four clamping blocks, and each clamping block has a spring; each clamping block 9-2 is connected with the first sliding block 9-4, and the first sliding block 9-4 is in the sliding rail 9-3 slide.
  • the drive controller is connected with the central controller; each clamp block 9-2 is connected with a connecting block set on the column 9-9 through a connecting rod; when working, the push tube drive controller 9-8 controls the push tube drive 9-10 Push the push tube 9-7 upward, push the tube 9-7 to push the connecting rod 9-5 to move, the connecting rod 9-5 drives the clamp block 9-2 to open outwards, and the spring stretches; after the push tube drive 9-10 stops working , The spring retracts, and the clamp block 9-2 is pulled to clamp the rock sample; the clamp block 9-2 has threads to ensure that the clamp block clamps the test block without slipping.
  • the rotating gripper can hold the sample and rotate in the vertical plane.
  • the rotating gripper is used to turn the rock block in the vertical plane, laying the foundation for realizing 360-degree photography of the rock.
  • the rotary gripper includes: vertical movement drive controller 12, vertical movement drive 13, base 14, link 15; horizontal beam 16, horizontal stretch drive controller 17, horizontal stretch drive 18, connecting rod 19, sliding Block 20, spring 21, rotary drive controller 22, rotary drive 23, clip 24, vertical movement rail 25.
  • the vertical movement drive controller 12, the horizontal stretch drive controller 17 and the rotation drive controller 22 are respectively connected to the central controller 5 and receive corresponding control.
  • the central controller 5 controls the rotation drive 23 to control the rotation of the clip 24 through the rotation drive controller 22.
  • the clip 24 is fixed on the second slider 23, and the two clips 24 can move relative to each other along the horizontal beam 16 in the following manner: the central controller 5 controls the horizontal stretching drive 18 through the horizontal stretching drive controller 17 Extend the connecting rod 19, and the connecting rod 19 drives the two second sliders 23 to move away from each other, so as to realize the opening of the two clips; the two second sliders 23 respectively pass the springs and the intermediate positions of the two clips 24 After the horizontal stretching drive controller 17 stops working, under the action of the spring tension, the two second sliding blocks 23 are recovered, and then the two clamping pieces 24 are brought closer to each other to realize the clamping of the rock.
  • the horizontal beam 16 is fixed on the base 14.
  • the connecting rod 15 is used to provide tensile force so that the horizontal beam can be stably fixed on the base 14; the base 14 can move up and down along the vertical moving track 25, and the central controller 5 passes through the vertical
  • the straight movement drive controller 12 controls the vertical movement drive 13 so that the base 14 can move up and down along the vertical movement track 25.
  • the dust system is used to generate dust environment and recover dust, including electrostatic precipitator 26, dust recovery room 27, dust buffer room 28, air compressor 29, dust detector 30, dust storage tank 31; dust storage The tank 31 is used to store the prepared dust; the air compressor 29 is used to promote the dust of the dust storage tank 31 to diffuse to the dust buffer room 27, the light room 1-2 and the dust recovery room 27; the electrostatic precipitator 26, dust detection Both the meter 30 and the air compressor 29 are connected to the central controller 5 and receive corresponding control.
  • the dust buffer room is connected to the light room.
  • the dust can slowly diffuse to the light room through the connection port and then to the dust recovery room; there is a dust detector in the light room, which can Real-time detection of dust density in the lighting room.
  • electrostatic precipitator 26 and a dust detector in the dust recovery room, which are used to reduce dust concentration, recover dust and detect dust concentration; the electrostatic precipitator 26 is connected to the central controller 5 and receives corresponding control.
  • the central controller 5 judges whether the dust environment of the light room meets the preset requirements through three dust detectors, and controls the dust concentration by controlling the air compressor and the electrostatic precipitator 26 in the dust recovery room when it does not; the dust buffer room is used to provide a dust buffer The space ensures the uniform distribution of dust in the lighting room.
  • the image acquisition system includes a camera 4 and a shooting controller.
  • the camera 4 is connected to the central control center through the shooting controller to control the camera shooting time.
  • the camera 4 is set outside the illumination room, and a round transparent dust-proof glass is inlaid on a place corresponding to the position of the camera 4 on the illumination room wall to facilitate shooting.
  • an automatic rock specimen image acquisition method which includes the following steps:
  • the central controller 5 controls the air compressor 29 to work to generate airflow, and discharge the dust in the dust storage tank 31 into the dust buffer chamber 28;
  • the dust in the dust buffer room 28 is diffused to the light room 1-2 under the action of diffusion, and the dust detector 30 in the light room 1-2 transmits the real-time detection data to the central controller 5 to detect whether the dust environment meets the preset
  • the central controller 5 controls the electrostatic precipitator 26 and air compressor 29 to reduce the dust concentration.
  • the central controller 5 orders the electrostatic precipitator 26 to stop working and The air compressor 29 speeds up the airflow to increase the dust concentration until the dust environment meets the requirements;
  • the central controller 5 controls the camera 4 to take pictures. Each time a piece is taken, the central controller 5 commands the stage rotation controller 11 to control the rock block holder 9 to rotate by a certain angle until it rotates once;
  • the central controller 5 transmits instructions to the push tube drive controller 9-8, controls the push tube drive 9-10 to work, pushes the push tube 9-7 and the connecting block 9-6 to move upward, and the connecting rod 9-5 pushes the clamp block 9-2 overcomes the pulling force of spring 9-1 and moves outward along chute 9-4 to loosen the specimen.
  • the central controller 5 transmits instructions to the horizontal stretch drive controller 17, so that the horizontal stretch drive 18 works to overcome the resistance of the spring 21 to open the slider 20; the central controller 5 transmits instructions to the vertical movement drive controller 12 to control The vertical movement drive 13 works to lower the supporting beam 16 to the specified position; the central controller 5 transmits instructions to the rock block horizontal stretching drive controller 17, so that the horizontal stretching drive 18 releases the pushing action of the connecting rod 18, sliding The blocks 20 move towards each other under the action of the spring 21, and finally the clamp piece 24 clamps the sample; the central controller 5 transmits instructions to the rotary drive controller 22 to control the rotary drive 23 to rotate in a vertical plane.
  • the central controller 5 transmits instructions to the push tube drive controller 9-8, controls the push tube drive 9-10 to work, pulls down the push tube 9-7 and the connecting block 9-6 to move down, and the clamp block is on the spring 9-1 Move inward along the chute under pulling force to clamp the sample.
  • the central controller 5 transmits instructions to the horizontal stretch drive controller 17, so that the horizontal stretch drive 18 works to overcome the spring resistance to open the slider and release the sample; the central controller 5 transmits instructions to the vertical movement drive controller 12. Control the vertical movement drive 13 to work, so that the supporting beam 16 rises to the designated position;
  • step C to take pictures of the rock block until the rock block is rotated once in the vertical plane;
  • the central controller 5 orders the air compressor 29 to stop working, order the electrostatic precipitator 26 to start working, collect dust, and continuously monitor the data returned by the dust detector until the light room 1 -2.
  • the dust buffer chamber 28 and the dust recovery chamber 27 are free of dust.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Biochemistry (AREA)
  • Pathology (AREA)
  • Immunology (AREA)
  • General Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Theoretical Computer Science (AREA)
  • Food Science & Technology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Medicinal Chemistry (AREA)
  • Geology (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Data Mining & Analysis (AREA)
  • Textile Engineering (AREA)
  • Artificial Intelligence (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Biology (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Studio Devices (AREA)

Abstract

一种全自动岩石标本图像采集装置及方法，包括：中央控制器（5）以及分别与中央控制器（5）连接的光照系统、岩块姿态控制系统、粉尘系统（3）和图像采集系统（4）；光照系统包括光照室（1-2）和光照强度可调的光源（1-1），光照强度可调的光源（1-1）均匀布置在光照室（1-2）内；岩块姿态控制系统包括：设置在光照室（1-2）内用于承载岩石的旋转载物台（2-1），设置在载物台（2-1）上的岩石固定器（9），设置在载物台（2-1）上部用于实现岩石翻转的旋转抓（2-2）手；粉尘系统（3）与光照室（1-2）连接，能够通过空气压缩机（29）向光照室（1-2）内扩散粉尘，并通过静电除尘器（26）控制光照室（1-2）内的粉尘浓度。通过对岩石标本的旋转角度控制和翻转控制，能够实现对岩石标本图像的多角度自动采集，为岩石图像的深度学习技术提供数据基础。

Description

一种全自动岩石标本图像采集装置及方法 技术领域
本发明涉及岩石图像采集技术领域，具体地说是一种全自动岩石标本图像采集装置及方法。
背景技术
地层岩性识别意义重大，尤其是对施工方案的选择、施工参数的确定、工程安全和工程收益具有重要意义。随着计算机技术的发展，深度学习算法在物体辨识、智能分类等方面表现出了优越性，具有精确度高、识别快捷等优点，因此逐渐被工程领域应用，已经逐渐有研究人员开始使用深度学习技术智能识别岩石。
但是，发明人发现，在扩展至智能识别岩石领域时一些挑战逐渐显现出来，如工程施工中的光照因素和粉尘因素。隧道掘进、弃渣装车运输、钻孔凿岩、爆破开挖、混凝土喷射等施工会产生大量粉尘，这些粉尘悬浮在空气中，对现场图片采集质量产生影响，产生大量噪音，影响颜色、纹理、形状等特征的保存。
另外，施工现场，条件复杂，往往存在多部照明设备，在没有预先组织的情况下，这些照明设施会影响待拍摄区域的光照强度；有时施工依靠自然光施工，然而同一区域不同时段光照情况存在明显差距，而且还受晴天、阴天等天气情况的影响，光照条件在空间和时间上无法做到一致。光照强度对利用图片保存颜色、纹理、形状特征有不可忽视的影响；如岩石中的裂隙，在光照充足时拍摄到的图片可以清晰观察到裂隙发育情况，但是当光照不充足时，裂隙与裂隙周围矿物对比不明显，会造成裂隙走向、宽度等特征无法准确辨识。
深度学习技术的成功运用离不开大量的数据累积，但是，原有的岩石图片无论是质量还是数量都不能满足深度学习技术对数据量的需求，而且在实际工程中，施工环境复杂，经常会出现粉尘污染、光照强度不均匀等现象，这些都对岩石成像产生了巨大困扰，给利用深度学习技术智能识别岩性提出了巨大挑战。
发明内容
为了解决上述问题，本发明提出了一种全自动岩石标本图像采集装置及方法，解决了传统岩石图像采集数量少、图像质量千差万别、考虑因素单一(没有考虑工程光照、粉尘环境)、采集效率低下等的问题。
为了实现上述目的，本发明采用如下技术方案：
在一些实施方式中，采用如下技术方案：
一种全自动岩石标本图像采集装置，包括：中央控制器以及分别与中央控制器连接的光照系统、岩块姿态控制系统、粉尘系统和图像采集系统；
所述光照系统包括光照室和光照强度可调的光源，光照强度可调的光源均匀布置在光照室内；所述岩块姿态控制系统包括：设置在光照室内用于承载岩石的旋转载物台，设置在载物台上的岩石固定器，设置在载物台上部用于实现岩石翻转的旋转抓手；所述粉尘系统与光照室连接，能够通过空气压缩机向光照室内扩散粉尘，并通过静电除尘器控制光照室内的粉尘浓度；所述图像采集系统包括摄像装置，用于获取岩石的图像。
光照系统能够提供光照强度可调的光源，粉尘系统能够产生设定浓度的粉尘环境，为岩石标本的图像采集提供不同的拍摄环境。通过岩块姿态控制系统能够控制岩石在水平平面和竖直平面内实现360°转动，以便于从多角度、多方位获取岩石图像。
在另外一些实施方式中，采用如下技术方案：
一种全自动岩石标本图像采集方法，包括：
在设定的光照强度下，为光照室提供设定浓度的粉尘，实时检测粉尘浓度是否符合设定要求；
控制岩石标本沿水平方向进行旋转，每旋转设定角度进行一次拍照；
控制岩石标本沿竖直方向进行翻转，每翻转设定角度进行一次拍照；
调整光照强度，重复上述图像采集过程；
图像采集完成后，回收粉尘。
进一步地，粉尘缓冲室内的粉尘在扩散作用下扩散至光照室，实时检测光照室内粉尘浓度是否符合设定要求；粉尘浓度高于设定要求时，控制静电除尘器除尘；当粉尘浓度低于设定要求时，控制空气压缩机增加粉尘。
与现有技术相比，本发明的有益效果是：
通过对岩石标本的旋转角度控制和翻转控制，能够实现对岩石标本图像的多角度自动采集，为岩石图像的深度学习技术提供数据基础。
通过光照强度调节，能够为图像采集提供不同的光照环境；通过粉尘浓度的调节，能够为图像采集提供不同的粉尘浓度环境。
附图说明
构成本申请的一部分的说明书附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。
图1是实施例一中全自动岩石标本图像采集装置结构示意图；
图2是实施例一中光照系统结构示意图；
图3是实施例一中旋转载物台剖面图；
图4(a)是实施例一中岩块固定器示意图；
图4(b)是实施例一中岩块固定器俯视图；
图5是实施例一中旋转抓手模块示意图；
图6是实施例一中粉尘系统示意图；
其中，1-1.光源，1-2.光照室，2-1.旋转载物台，2-2.旋转抓手，3.粉尘系统，4.图像采集系统，5.中央控制器，6.调光控制器，7.光源，8光照传感器，9.岩块固定器，10.载物台旋转驱动，11.载物台旋转控制器；
9-1.弹簧，9-2.夹块，9-3.滑轨，9-4.第一滑块，9-5.连杆，9-6.连接块，9-7.推管，9-8.推管驱动控制器，9-9.立柱，9-10.推管驱动；
12.竖直移动驱动控制器，13.竖直移动驱动，14.基座，15.连杆，16.水平横梁，17.水平拉伸驱动控制器，18.水平拉伸驱动，19.连杆，20.第二滑块，21.弹簧，22.旋转驱动控制器，23.旋转驱动，24.夹片，25.竖直移动轨道，26.静电除尘器，27.粉尘回收室，28.粉尘缓冲室，29.空气压缩机，30.粉尘检测仪，31.粉尘储集罐。
具体实施方式
应该指出，以下详细说明都是示例性的，旨在对本申请提供进一步的说明。除非另有指明，本发明使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。
实施例一
在一个或多个实施方式中公开了一种全自动岩石标本图像采集装置，如图1所示，包括：光照系统，岩块姿态控制系统，粉尘系统，图像采集系统和中央控制器。
其中，光照系统包括：光照室1-2，光照室内设有可调强度的光源1-1；岩块姿态控制系统包括：旋转载物台2-1和设置在旋转载物台2-1正上方的旋转抓手2-2；粉尘系统3与光照室1-2连通，图像采集系统4用于采集旋转载物台上岩石标本的图像信息；中央控制器5与光照系统，岩块姿态控制系统，粉尘系统3和图像采集系统4分别连接。
参照图2，光照系统包括调光控制器6、光照强度可调的光源7、光照传感器8和光照室1-2，光照强度可调的光源为LED灯带，均匀布置在关照室内壁上，为摄像提供一个均匀的光学环境；光照室1-2由内壁为白色磨砂的柔光板组成以增加反射效果，保证光照室光照强度均匀；中央控制器5可以通过光照传感器8感知光照室内光照强度判断光照强度是否符合预设要求，进而决定是否需要通过调光控制器6调节光照强度；与预设不一致时，中央控制器5向调光控制器传递指令，调整光照室1-2光照强度直至符合预设要求。此系统可以实现光照室内光照强度可调，给摄像提供一个良好的光学环境。
岩块姿态控制系统用于控制岩块旋转，方便相机拍摄岩块不同侧面，包括：旋转载物台2-1、旋转抓手2-2和岩块固定器9；
参照图3，旋转载物台2-1包括岩块固定器9、载物台旋转驱动马达10和载物台旋转控制器11，中央控制器5根据要求通过载物台旋转控制器11控制载物台旋转驱动马达10转动岩块固定器9，为图像采集系统拍摄到岩块不同角度打下基础。
旋转载物台2-1位于光照室内中下部，载物台外观为一黑色圆柱，方便与岩石形成鲜明对比以准确区分岩石和岩石标本图像采集装置；旋转驱动马达10位于载物台下部，为载物台旋转提供驱动力；旋转控制器11接受中央控制器5指令控制旋转驱动马达10的旋转时间和旋转角度。
岩块固定器用于固定岩块防止其移动，位于载物台内部；岩块固定器位于光照室内部靠上位置，与岩块固定器合作翻转岩石。
参照图4(a)和图4(b)，岩块固定器的结构具体包括：弹簧9-1，夹块9-2，滑轨9-3，第一滑块9-4，连杆9-5，连接块9-6，推管9-7，推管驱动控制器9-8，立柱9-9和推管驱动9-10。
岩块固定器有四个夹块，每一个夹块上有一个弹簧；每一个夹块9-2与第一滑块9-4连接，第一滑块9-4在滑轨9-3内滑动。驱动控制器与中央控制器相连；每一个夹块9-2通过连杆与设置在立柱9-9上的连接块连接；工作时，推管驱动控制器9-8控制推管驱动9-10向上推动推管9-7，推管9-7推动连杆9-5移动，连杆9-5带动夹块9-2向外张开，弹簧伸长；推管驱动9-10停止工作后，弹簧回缩，拉动夹块9-2夹紧岩石试样；夹块9-2上有螺纹，保证夹块夹紧试块，不滑脱。
参照图5，旋转抓手可抓紧试样在竖直平面内转动，旋转抓手用于在竖直平面内翻转岩块，为实现岩石360度拍摄打下基础。旋转抓手包括：竖直移动驱动控制器12，竖直移动驱动13，基座14，连杆15；水平横梁16，水平拉伸驱动控制器17，水平拉伸驱动18，连杆19，滑块 20，弹簧21，旋转驱动控制器22，旋转驱动23，夹片24，竖直移动轨道25。
竖直移动驱动控制器12、水平拉伸驱动控制器17和旋转驱动控制器22分别与中央控制器5相连，并接受相应的控制。
中央控制器5通过旋转驱动控制器22控制旋转驱动23控制夹片24的旋转。夹片24被固定在第二滑块23上，两个夹片24可以沿着水平横梁16相对移动，通过以下方式：中央控制器5通过水平拉伸驱动控制器17控制水平拉伸驱动18拉伸连杆19，连杆19带动两个第二滑块23向相互远离的方向移动，从而实现两个夹片张开；两个第二滑块23分别通过弹簧与两个夹片24中间位置的固定块连接，水平拉伸驱动控制器17停止工作后，在弹簧拉力作用下，两个第二滑块23回收，进而带动两个夹片24相互靠近，实现夹紧岩石。
水平横梁16固定在基座14上，连杆15用于提供拉力，使得水平横梁能稳定固定在基座14上；基座14能沿着竖直移动轨道25上下移动，中央控制器5通过竖直移动驱动控制器12控制竖直移动驱动13使基座14能沿着竖直移动轨道25上下移动。
参照图6，粉尘系统用于产生粉尘环境和回收粉尘，包括静电除尘器26，粉尘回收室27，粉尘缓冲室28，空气压缩机29，粉尘检测仪30，粉尘储集罐31；粉尘储集罐31用于储集制备好的粉尘；空气压缩机29用于推动粉尘储集罐31的粉尘扩散至粉尘缓冲室27、光照室1-2和粉尘回收室27；静电除尘器26、粉尘检测仪30和空气压缩机29均与中央控制器5相连，并接受相应的控制。
粉尘缓冲室内部有一个粉尘检测仪，能够实时检测粉尘密度，粉尘缓冲室与光照室相连，粉尘可通过连接口缓慢扩散至光照室进而扩散至粉尘回收室；光照室内有一个粉尘检测仪，能实时检测光照室粉尘密度。
粉尘回收室内有一个静电除尘器26和一个粉尘检测仪，用于降低粉尘浓度、回收粉尘和检测粉尘浓度；静电除尘器26与中央控制器5相连，并接受相应的控制。
中央控制器5通过三个粉尘检测仪判断光照室粉尘环境是否符合预设要求，不符合时通过控制空气压缩机和粉尘回收室内静电除尘器26控制粉尘浓度；粉尘缓冲室用于提供一个粉尘缓冲空间保证光照室粉尘空间分布均匀。
图像采集系统，包括：照相机4和拍摄控制器，照相机4通过拍摄控制器与中央控制中枢相连，控制照相机拍摄时间。照相机4设置在光照室外面，光照室外壁上与照相机4位置相对应的地方镶嵌一块圆形透明防尘玻璃，方便拍摄。
实施例二
在一个或多个实施方式中，公开了一种全自动岩石标本图像采集方法，包括以下步骤：
A.中央控制器5控制空气压缩机29工作产生气流，将粉尘储集罐31里的粉尘排入粉尘缓冲室28；
B.粉尘缓冲室28里的粉尘在扩散作用下扩散至光照室1-2，光照室1-2里的粉尘检测仪30将实时检测数据传递给中央控制器5，检测粉尘环境是否符合预设要求，粉尘浓度高于预设要求时，中央控制器5控制静电除尘器26和空气压缩机29降低粉尘浓度，粉尘浓度低于预设要求时，中央控制器5命令静电除尘器26停止工作和空气压缩机29加快产生气流增加粉尘浓度，直至粉尘环境符合要求；
C.中央控制器5控制相机4拍照，每拍一张中央控制器5命令载物台旋转控制器11控制岩块固定器9旋转一定角度，直至旋转一周；
D.中央控制器5传递指令给推管驱动控制器9-8，控制推管驱动9-10工作，推动推管9-7和连接块9-6向上移动，连杆9-5推动夹块9-2克服弹簧9-1拉力沿滑槽9-4向外移动，松开试样。
E.中央控制器5传递指令给水平拉伸驱动控制器17，使水平拉伸驱动18工作克服弹簧21阻力张开滑块20；中央控制器5传递指令给竖直移动驱动控制器12，控制竖直移动驱动13工作，使支撑横梁16下降至指定位置；中央控制器5传递指令给岩块水平拉伸驱动控制器17，使水平拉伸驱动18放开对连杆18的推动作用，滑块20在弹簧21的作用下相向运动，最终使得夹片24夹紧试样；中央控制器5传递指令旋转驱动控制器22控制旋转驱动23在竖直平面内旋转。
F.中央控制器5传递指令给推管驱动控制器9-8，控制推管驱动9-10工作，下拉推管9-7和连接块9-6向下移动，夹块在弹簧9-1拉力作用下沿滑槽向内移动，夹紧试样。
G.中央控制器5传递指令给水平拉伸驱动控制器17，使水平拉伸驱动18工作克服弹簧阻力张开滑块，松开试样；中央控制器5传递指令给竖直移动驱动控制器12，控制竖直移动驱动13工作，使支撑横梁16上升至指定位置；
H.重复C步骤对岩块进行拍照，直至岩块在竖直平面内被旋转一周；
I.岩块所有预设角度拍摄完成后，中央控制器5命令空气压缩机29停止工作，命令静电除尘器26开始工作，回收粉尘，并不断监控粉尘检测仪传回的数据，直至光照室1-2、粉尘缓冲室28和粉尘回收室27再无粉尘。
上述虽然结合附图对本发明的具体实施方式进行了描述，但并非对本发明保护范围的限制，所属领域技术人员应该明白，在本发明的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。

Claims (10)

  1. 一种全自动岩石标本图像采集装置，其特征在于，包括：中央控制器以及分别与中央控制器连接的光照系统、岩块姿态控制系统、粉尘系统和图像采集系统；
    所述光照系统包括光照室和光照强度可调的光源，光照强度可调的光源均匀布置在光照室内；所述岩块姿态控制系统包括：设置在光照室内用于承载岩石的旋转载物台，设置在载物台上的岩石固定器，设置在载物台上部用于实现岩石翻转的旋转抓手；所述粉尘系统与光照室连接，能够通过空气压缩机向光照室内扩散粉尘，并通过静电除尘器控制光照室内的粉尘浓度；所述图像采集系统包括摄像装置，用于获取岩石的图像。
  2. 如权利要求1所述的一种全自动岩石标本图像采集装置，其特征在于，所述光照系统还包括调光控制器和光照传感器，调光控制器与光照强度可调的光源连接，所述光照传感器检测光照室内光照强度信息并将所述信息反馈给中央控制器，中央控制器判断光照强度是否与预设值一致，如果不一致，控制调光控制器调节光照强度，直至光照室内的光照强度符合设定要求。
  3. 如权利要求1所述的一种全自动岩石标本图像采集装置，其特征在于，所述旋转载物台与旋转驱动马达连接，旋转驱动马达在旋转控制器的控制下实现旋转，从而带动载物台旋转，旋转控制器接受中央控制器的指令控制旋转马达的旋转时间和旋转角度。
  4. 如权利要求1所述的一种全自动岩石标本图像采集装置，其特征在于，所述岩石固定器包括：设置在载物台上的至少一对可伸缩的第一夹块和第二夹块，所述第一夹块和第二夹块以载物台中心为中心点，向相反的方向对称设置；所述载物台内部沿两夹块设置的方向设置滑轨，第一夹块连接第一滑块，第二夹块连接第二滑块，滑块通过驱动装置实现在滑轨内滑动，从而带动相应夹块移动，第一滑块和第二滑块分别通过弹簧与立柱连接；
    驱动装置驱动两夹块向相反的方向移动，放入岩石后，驱动装置停止工作，两夹块在弹簧的弹力作用下回缩，夹紧岩石。
  5. 如权利要求4所述的一种全自动岩石标本图像采集装置，其特征在于，所述驱动装置包括：滑动套管、第一连杆、第二连杆、推管和推管驱动器；所述第一连杆和第二连杆的一端分别固定在滑动套管上，第一连杆另一端连接第一滑块，第二连杆另一端连接第二滑块；
    所述滑动套管套在立柱上，推管驱动器驱动推管向上移动，推管推动滑动套管沿立柱向上滑动，从而通过第一连杆和第二连杆分别带动两个滑块向相反的方向移动。
  6. 如权利要求1所述的一种全自动岩石标本图像采集装置，其特征在于，所述旋转抓手包括：所述旋转抓手包括：能够沿竖直方向上下移动的基座，所述基座上连接水平横梁，所述水平横梁上相对设置两个夹紧装置；所述两个夹紧装置能够在驱动装置的驱动下沿水平横 梁相对移动，实现两个夹紧装置的靠近和分离。
  7. 如权利要求1所述的一种全自动岩石标本图像采集装置，其特征在于，所述粉尘系统包括：粉尘储集罐、空气压缩机、粉尘缓冲室和粉尘回收室；所述粉尘储集罐通过空气压缩机与粉尘缓冲室连通，粉尘缓冲室与光照室连通，光照室与粉尘回收室连通，所述粉尘回收室内设置静电除尘器。
  8. 如权利要求7所述的一种全自动岩石标本图像采集装置，其特征在于，所述光照室、粉尘缓冲室和粉尘回收室内分别设有粉尘检测仪，实时监测室内粉尘密度；中央控制器根据监测到的粉尘浓度判断光照室内粉尘浓度是否满足设定要求，如果粉尘浓度过高，则控制静电除尘器工作；如果粉尘浓度过低，则控制空气压缩机工作。
  9. 一种全自动岩石标本图像采集方法，其特征在于，包括：
    在设定的光照强度下，为光照室提供设定浓度的粉尘，实时检测粉尘浓度是否符合设定要求；
    控制岩石标本沿水平方向进行旋转，每旋转设定角度进行一次拍照；
    控制岩石标本沿竖直方向进行翻转，每翻转设定角度进行一次拍照；
    调整光照强度，重复上述图像采集过程；
    图像采集完成后，回收粉尘。
  10. 如权利要求9所述的一种全自动岩石标本图像采集方法，其特征在于，粉尘缓冲室内的粉尘在扩散作用下扩散至光照室，实时检测光照室内粉尘浓度是否符合设定要求；粉尘浓度高于设定要求时，控制静电除尘器除尘；当粉尘浓度低于设定要求时，控制空气压缩机增加粉尘。
PCT/CN2019/084656 2019-04-04 2019-04-26 一种全自动岩石标本图像采集装置及方法 Ceased WO2020199291A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/958,017 US11293878B2 (en) 2019-04-04 2019-04-26 Full-automatic rock specimen image acquisition device and method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910272839.3A CN110031403B (zh) 2019-04-04 2019-04-04 一种全自动岩石标本图像采集装置及方法
CN201910272839.3 2019-04-04

Publications (1)

Publication Number Publication Date
WO2020199291A1 true WO2020199291A1 (zh) 2020-10-08

Family

ID=67237512

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/084656 Ceased WO2020199291A1 (zh) 2019-04-04 2019-04-26 一种全自动岩石标本图像采集装置及方法

Country Status (3)

Country Link
US (1) US11293878B2 (zh)
CN (1) CN110031403B (zh)
WO (1) WO2020199291A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113160225A (zh) * 2021-05-20 2021-07-23 神华准格尔能源有限责任公司 露天矿粉尘浓度识别方法、存储介质及电子设备
CN115060565A (zh) * 2022-08-16 2022-09-16 昆明理工大学 一种用于预裂爆破模型试验的检测设备及方法

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7313310B2 (ja) 2020-03-31 2023-07-24 日本碍子株式会社 セラミックス製の柱状ハニカム構造体の検査方法及び検査装置
CN114544440B (zh) * 2022-02-22 2024-01-12 安徽理工大学 一种截割产尘实验系统及其截割产尘监测方法
CN116773452A (zh) * 2023-06-28 2023-09-19 安徽恍辰光电子科技有限公司 基于libs矿石检测设备、方法以及在井下检测的应用
CN120851665B (zh) * 2025-09-23 2025-12-09 中国电建集团成都勘测设计研究院有限公司 基于数字图像技术的隧道开挖面爆破效果评估方法及系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102221550A (zh) * 2011-05-30 2011-10-19 成都西图科技有限公司 一种岩心岩屑图像采集装置及图像采集、处理方法
CN103033170A (zh) * 2012-12-19 2013-04-10 山东大学 一种利用录像法监测危岩体崩塌的装置与方法
CN104895564A (zh) * 2015-04-22 2015-09-09 河南理工大学 基于机器视觉用于采煤机的煤岩界面识别装置
CN106205349A (zh) * 2016-07-29 2016-12-07 山东大学 隧道环境量化模拟系统及方法
KR101870170B1 (ko) * 2016-11-18 2018-06-22 한국지질자원연구원 암석 또는 광물 샘플의 초분광 영상 자료 획득을 위한 초분광 영상 획득 장치
CN109186480A (zh) * 2018-09-19 2019-01-11 成都理工大学 基于双护盾tbm工艺的隧道围岩扫描与观测系统

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4475965A (en) * 1983-10-24 1984-10-09 Standard Oil Company (Indiana) Shale oil explosives
JP4845452B2 (ja) * 2005-08-29 2011-12-28 株式会社日立ハイテクノロジーズ 試料観察方法、及び荷電粒子線装置
CN102610028A (zh) * 2012-02-13 2012-07-25 北京新岸线数字图像技术有限公司 多角度的图像采集装置及多角度光学特征的检测设备
JP6520451B2 (ja) * 2015-06-19 2019-05-29 株式会社デンソー 外観撮影装置及び外観撮影方法
CN106596550B (zh) * 2016-12-14 2019-03-26 河南工业大学 一种微小昆虫标本图像采集系统
CN206578055U (zh) * 2017-02-07 2017-10-24 宝鸡文理学院 一种自动清理灰尘的图像分析装置
CN207263645U (zh) * 2017-10-18 2018-04-20 有婧仪 一种畜牧粪便样品图像采集系统
CN208091927U (zh) * 2018-01-12 2018-11-13 长江大学 多角度岩心照相仪
CN108471495B (zh) * 2018-02-02 2020-09-08 上海大学 机器学习和深度学习训练用的物体多角度图像采集系统及方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102221550A (zh) * 2011-05-30 2011-10-19 成都西图科技有限公司 一种岩心岩屑图像采集装置及图像采集、处理方法
CN103033170A (zh) * 2012-12-19 2013-04-10 山东大学 一种利用录像法监测危岩体崩塌的装置与方法
CN104895564A (zh) * 2015-04-22 2015-09-09 河南理工大学 基于机器视觉用于采煤机的煤岩界面识别装置
CN106205349A (zh) * 2016-07-29 2016-12-07 山东大学 隧道环境量化模拟系统及方法
KR101870170B1 (ko) * 2016-11-18 2018-06-22 한국지질자원연구원 암석 또는 광물 샘플의 초분광 영상 자료 획득을 위한 초분광 영상 획득 장치
CN109186480A (zh) * 2018-09-19 2019-01-11 成都理工大学 基于双护盾tbm工艺的隧道围岩扫描与观测系统

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113160225A (zh) * 2021-05-20 2021-07-23 神华准格尔能源有限责任公司 露天矿粉尘浓度识别方法、存储介质及电子设备
CN115060565A (zh) * 2022-08-16 2022-09-16 昆明理工大学 一种用于预裂爆破模型试验的检测设备及方法
CN115060565B (zh) * 2022-08-16 2022-11-01 昆明理工大学 一种用于预裂爆破模型试验的检测设备及方法

Also Published As

Publication number Publication date
US20210255114A1 (en) 2021-08-19
US11293878B2 (en) 2022-04-05
CN110031403B (zh) 2020-03-31
CN110031403A (zh) 2019-07-19

Similar Documents

Publication Publication Date Title
WO2020199291A1 (zh) 一种全自动岩石标本图像采集装置及方法
CN206440635U (zh) 检测手机屏幕裂痕的装置
CN109788280A (zh) 一种摄像头的测试光源设备及测试方法
CN116359228A (zh) 一种单晶硅棒表面瑕疵检测装置及检测系统
CN101701816B (zh) 大断面地下硐室地质勘探数字图像采集和处理方法
CN209358686U (zh) 一种摄像头的测试光源设备
CN221945871U (zh) 一种布料视觉检测平台
CN107526982A (zh) 一种巡检方法以及巡检系统
CN109959445A (zh) 智能声强扫描系统
CN217784596U (zh) 一种可精确定位cctv管道检测机器人
CN112799269A (zh) 一种可对反光板进行角度调节的机器视觉用画面捕捉设备
CN108414528A (zh) 面料瑕疵图片标记辅助系统
CN216349632U (zh) 一种基于录井工业机器人的自动选样系统
CN216747443U (zh) 一种基于视觉技术的检测系统装置
WO2020135884A1 (zh) 墙纸铺贴机器人及墙纸铺贴方法、墙纸拼缝对齐装置以及墙纸拼缝对齐的方法
CN207065021U (zh) 手持云台
CN210398563U (zh) 一种室内设计光照模拟装置
CN114018221A (zh) 一种节能建筑安全智能检测装置
CN212255105U (zh) 一种页岩岩芯照相装置
CN117740566A (zh) 一种钢筋混凝土强度检测装置及其检测方法
CN206741178U (zh) 一种滚筒式多维拍摄系统
CN109242752A (zh) 一种模拟采集获取移动图像的方法及应用
CN214289441U (zh) 一种金属钉柱筛选设备
CN209805891U (zh) 一种显微镜辅助拍照装置
CN219532938U (zh) 一种工件内螺纹视觉智能检测装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19922388

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19922388

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 19922388

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 27.10.2022)

122 Ep: pct application non-entry in european phase

Ref document number: 19922388

Country of ref document: EP

Kind code of ref document: A1