WO2022148818A1 - Système et procédé d'identification et/ou de suivi d'un objet tridimensionnel - Google Patents

Système et procédé d'identification et/ou de suivi d'un objet tridimensionnel Download PDF

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Publication number
WO2022148818A1
WO2022148818A1 PCT/EP2022/050215 EP2022050215W WO2022148818A1 WO 2022148818 A1 WO2022148818 A1 WO 2022148818A1 EP 2022050215 W EP2022050215 W EP 2022050215W WO 2022148818 A1 WO2022148818 A1 WO 2022148818A1
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WO
WIPO (PCT)
Prior art keywords
sensor
data
pad
sensor pad
correlation
Prior art date
Application number
PCT/EP2022/050215
Other languages
German (de)
English (en)
Inventor
Fangtian Deng
Rui Li
Fabian DOBMEIER
Original Assignee
Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
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 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. filed Critical Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
Publication of WO2022148818A1 publication Critical patent/WO2022148818A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D46/00—Controlling, supervising, not restricted to casting covered by a single main group, e.g. for safety reasons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22C—FOUNDRY MOULDING
    • B22C19/00—Components or accessories for moulding machines
    • B22C19/04—Controlling devices specially designed for moulding machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22C—FOUNDRY MOULDING
    • B22C25/00—Foundry moulding plants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22C—FOUNDRY MOULDING
    • B22C9/00—Moulds or cores; Moulding processes
    • B22C9/02—Sand moulds or like moulds for shaped castings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22C—FOUNDRY MOULDING
    • B22C9/00—Moulds or cores; Moulding processes
    • B22C9/10—Cores; Manufacture or installation of cores
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/06—Recognition of objects for industrial automation

Definitions

  • the present invention relates to a system and a method for identifying and/or tracing a three-dimensional object, in particular a sand core for a casting process.
  • sand cores are examples of methods known in the prior art for marking sand cores.
  • Methods known in the prior art for marking sand cores include, for example, laser marking, pins in the core mould, batch-related traceability systems by tracking the transport container (core shelf) and using the surface of sand cores for recognition as an ID image [ "Track and Trace", Fraunhofer IPM], the application of paper-based/sticky notes/barcode labels to the sand core.
  • the object of the present invention is therefore to provide a system and a method for identifying and/or tracing a three-dimensional object, which enables reliable and stress-free identification and traceability of three-dimensional objects along a process chain .
  • the object is achieved by a system for identifying and/or tracing a three-dimensional object according to claim 1 and a method according to claim 9.
  • Advantageous embodiments of the system according to the invention and the method according to the invention are listed in the dependent claims.
  • the system according to the invention for identifying and/or tracing a three-dimensional object, in particular a sand core for a casting process comprises a first sensor pad on which a three-dimensional object can be placed and which has an integrated sensor for generating first sensor data, the first sensor data an occupancy display the status of the first sensor pad, and a data processing device which has a first communication link with the first sensor pad for receiving the first sensor data from the first sensor pad and is set up to store correlation data and the three-dimensional object by means of a correlation of the received data to identify and/or trace back the first sensor data with the correlation data.
  • the occupancy state can be understood to mean both the information as to whether an object is located on the sensor pad or not, as well as an occupancy property.
  • an occupancy property can be, for example, a weight of the object, a two-dimensional or three-dimensional contact profile or a digital imprint of the object on the sensor pad.
  • the three-dimensional contact profile can take into account an indentation depth in the respective sensor pad.
  • the system can further comprise a second sensor pad on which a three-dimensional object can be placed and which has an integrated sensor for generating second sensor data, the second sensor data indicating an occupancy state of the second sensor pad, and the Data processing device with the second sensor base has a second communication link for receiving the second sensor data from the second sensor base and is set up to store correlation data and the three-dimensional object by correlating the received first and/or second sensor data with the correlation data identify and/or trace between the first and second sensor pads.
  • the system according to the invention can preferably have a large number of sensor pads which are designed in the same way or similarly to the first or second sensor pad.
  • the individual sensor pads of the multiplicity of sensor pads can also differ from one another in terms of a shape, size, surface quality, type of integrated sensor and/or in a number of integrated sensors. In this way, the sensor pads can be sorted according to their position in the process chain or their exact be specially adapted to the application (infeed/outfeed support, storage of the object, etc.).
  • the data processing device can be set up to generate an identification number for the object from the first or second sensor data. Furthermore, the data processing device can be set up to generate an identification number from a data set of the first sensor data or a data set of the second sensor data and to assign the identification number to the data set.
  • the first and/or second sensor data can contain a contact profile, a digital impression and/or a weight of the object on the first or second sensor pad.
  • a data set of the first or second sensor data can advantageously describe an occupancy state and/or an occupancy property, in particular a weight, a digital impression and/or a contact profile of the object on the sensor pad.
  • the correlation data can be process information, in particular process times and/or information about inward and outward transfer documents, or previously stored sensor data, in particular a previously registered contact profile, a previously registered weight and/or a previously registered digital impression of the object on a sensor pad, wherein each contact profile, each weight and/or each digital impression can be assigned an identification number.
  • Transfer pads serve in particular to introduce the three-dimensional object into a process chain within which the three-dimensional object is to be identified and/or traced. Accordingly, ejection underlays serve in particular to remove the three-dimensional object from the process chain.
  • the integrated sensor of the first and/or second sensor base can be arranged centrally or in the middle with respect to the areal extension of the respective sensor base in the respective sensor base.
  • An active or triggering area sensor area of the integrated sensor can be smaller or much smaller than the surface area of the corresponding sensor pad or be the same size or nearly the same size as the surface of the corresponding sensor pad.
  • the integrated sensor of the first and/or second sensor pad can be or comprise a capacitive sensor, a compressed air sensor, a pressure switch sensor, a microswitch sensor or an infrared sensor. Any initiator sensing can be integrated into one or more of the sensor pads.
  • several different sensors can also be integrated in a sensor pad, which are set up to record different occupancy properties and to send these to the data processing device as sensor data.
  • a sensor pad according to the invention can have a round, circular, ellipsoidal, triangular, square, polygonal or irregular shape.
  • a surface of one or more sensor pads in the system can be smooth, transparent or non-transparent, have a specific roughness and/or be provided with seats and/or steps.
  • a color of one or more sensor pads in the system can be any color.
  • each sensor base can have or consist of a protective sleeve to protect the respective sensor or a solid material, a fiber material and/or a fabric into which the respective sensor is integrated.
  • a further advantageous embodiment of the present invention provides that the first and/or the second sensor substrate can have a multiplicity of integrated sensors arranged in a grid-like, uniformly or stochastically distributed manner along the surface extent of the respective sensor substrate.
  • the first and/or the second sensor base has a channel for a coolant, in particular cooling air, and/or for cable routing.
  • the first and/or the second sensor pad can have at least one additional sensor for monitoring an environment and/or a quality of the object, in particular a vibration sensor, a temperature sensor, a moisture sensor, a speed sensor, a Have acceleration sensor and / or an air pressure sensor.
  • the present invention also includes a method for identifying and/or tracing a three-dimensional object, in particular a sand core for a casting method, using a system as described above, the method comprising the following steps: placing the three-dimensional object on the first sensor pad , receiving first sensor data from the first sensor pad in the data processing device, correlating the first sensor data with correlation data in the data processing device, identifying and/or tracing back the object based on a correlation result of correlating the first sensor data with the correlation data in the data processing device.
  • the correlation data can contain process information, in particular process times and/or information about inward and outward transfer documents, and the object can be identified and/or traced based on a correlation result of the correlation of the first sensor data with the process information.
  • the correlation data can include previously stored sensor data of the first and/or second sensor pad
  • the data processing device can compare the received first sensor data with the previously stored sensor data of the first and/or second sensor pad, and the object based on a correlation result of the correlating of the first sensor data can be identified and/or traced back to the previously stored sensor data.
  • the correlation data can also include previously stored sensor data of the first and/or second sensor pad, and the data processing device can assign an identification number to the object, which is assigned to the previously stored sensor data, if there is a match Matching the received first sensor data with one or more data sets of the previously stored sensor data.
  • the invention described here makes it possible to identify three-dimensional objects, such as sand cores, along a process chain by combining local detection devices and electronic data processing networked with them, as well as by comparing/correlating received sensor data with previously stored data from other sensor documents in the system or the same sensor pad identifiable and/or traceable. This enables a reliable and stress-free identification and traceability of sand cores or other objects along the complete production line. Furthermore, the present system and method according to the invention enables a localization of objects lying on a sensor base.
  • the advantages of the present invention consist in particular in a component traceability that is precise for the individual part, low application complexity and thus low hurdles for industrial use, minimal or non-existent stress on the sand cores or the other objects to be traced back, a high degree of flexibility and an applicability that is almost completely independent of the sand core or object geometry.
  • sand cores can be associated in a simple manner with castings that were cast with the sand cores, since the path of a sand core is traced back to the casting station. If the sand core is then removed from a process chain, the identification number of the sand core is assigned to the casting. In this way, rejects from a casting process can also be linked to the sand core used. The same is possible if a large number of sand cores are used for a casting process.
  • FIG. 1 shows a sensor pad and a system according to an embodiment of the present invention
  • FIG. 2 different examples of an integrated sensor according to the present invention
  • FIG. 3 various examples of readout chips for reading out a large number of integrated sensors according to the present invention
  • FIG. 4 shows an example of a detection of a two-dimensional contact profile of an object on two sensor pads or on one sensor pad at different points in time according to the present invention
  • FIG. 5 shows an example of recording a weight distribution or a three-dimensional contact profile together with a weight of an object on two sensor pads or on one sensor pad at different points in time according to the present invention
  • FIG. 6 shows an exemplary embodiment of a method according to the invention.
  • FIG. 1 shows a sensor pad and a system according to an exemplary embodiment of the present invention.
  • FIG. 1 a shows a sensor base 1 in a plan view of a surface 8 of the sensor base with a multiplicity of integrated sensors 2 arranged in a grid-like manner.
  • a power Supply such as to a power grid, a solar power source, a power bank, a heat / power converter etc.
  • the sensor base 1 can also contain an integrated, rechargeable accumulator, which can be charged, among other things, by induction or by connecting it to a mains power supply.
  • the interface 3 can have a device for wireless data transmission, such as an RFID, radio, Wi-Fi, GPRS, Bluetooth, Zig-Bee, UWB, NFC, IrDA, Li -Fi, Mesh, Thread, Z-Wave, EnOcean and/or a Wi-Sun transceiver.
  • a device for wireless data transmission such as an RFID, radio, Wi-Fi, GPRS, Bluetooth, Zig-Bee, UWB, NFC, IrDA, Li -Fi, Mesh, Thread, Z-Wave, EnOcean and/or a Wi-Sun transceiver.
  • FIG. 1b shows a detail of the sensor pad 1 from FIG.
  • FIG. 1 c shows a cross section through a sensor block 6. Sensors 2 are arranged on the sides.
  • the sensor base 1 also has a layer structure with the surface 8, a channel 7 embedded in the interior of the sensor base 1 for cable routing and air cooling, and a lower layer 9 in which evaluation electronics 3, 4, 5 are embedded.
  • FIG. 1d shows a further cross section through an entire sensor base 1.
  • the sensors 2 are integrated into the sensor base 1 in a grid-like manner.
  • a large number of channels 7 for cable routing and air cooling of the sensors 2 are located inside the sensor base 1 .
  • the evaluation electronics 3 , 4 , 5 are integrated in the lower layer 9 .
  • the electronic evaluation system 3, 4, 5 includes the connection interface 3, a line chip 4 for reading out the sensors 2 arranged in a sensor matrix line by line, and central control electronics 5.
  • the use of a line chip has the advantage that the readout and processing speed of the signals is increased.
  • the central control electronics 5 includes an analog / digital converter, a CPU and an accumulator. Possible accumulator designs are Ni-Cd, Mi-MH, Li-Ion, Li-polymer, LiFeP04, Lead-Sealed, etc.
  • FIG. 1 e) shows a schematic view of the sensor matrix and the line chip of the sensor base 1. The signals are read out line by line from the line chip and then sent to the central control electronics 5.
  • FIG. FIG. 2 shows various examples of an integrated sensor according to the present invention.
  • FIG. 2 a) shows a voltage sensor with capacitor plates 10 and 12 arranged one above the other and an insulator layer 11 lying between the capacitor plates 10 and 12.
  • the upper capacitor plate 10 to be placed near the surface 8 of the sensor base 1 is over a voltage meter 13 is connected to a voltage source 13.
  • the lower capacitor plate 12 to be placed inside the sensor pad 1 is connected to ground. Placing an object on an integrated sensor designed as a voltage sensor changes the distance between the capacitor plates 10 and 12 and thus the capacitive resistance and the voltage between the capacitor plates 10 and 12. The voltage change forms the sensor signal.
  • FIG. 2 b shows a compressed air sensor.
  • the compressed air sensor has a sensor substrate with a nozzle-like opening 16 to an upper side of the sensor substrate to be placed on the surface 8 of the sensor base.
  • a pressure sensor 17 is arranged in the nozzle-like opening 16 .
  • An air duct 19 also leads through the sensor substrate to the nozzle-like opening 16.
  • a cable 18 for signal transmission from the pressure sensor 17 is also routed in the air duct 19 .
  • Compressed air which flows out of the nozzle-like opening 18 , is supplied to the air channel 18 . If an object is placed on the sensor, it partially or completely covers the nozzle-like opening, as a result of which the air pressure in the nozzle-like opening 16 increases. This increase in pressure can be measured by the pressure sensor 17 and forwarded as a signal via the cable 18 to the evaluation electronics 3, 4, 5.
  • the nozzle-like opening 16 can be closed with a cover. In this case, no air flows out of the nozzle-like opening 16, but a constant air pressure prevails in the nozzle-like opening 16.
  • FIG. 2 c) shows an infrared sensor with a light opening 20, an infrared radiation source and receiver 21 arranged in the light opening 20 and an air duct 22 for ventilation of the infrared radiation source and receiver 21.
  • the infrared radiation source and receiver 21 can be connected to the evaluation electronics 3, 4, 5 via a cable 23 routed in the air duct 22 for signal transmission.
  • the infrared radiation source - and receiver 21 radiates through the light opening 20 from infrared light continuously. If the light opening 20 is covered by an object lying on the sensor, at least part of the radiated infrared light is reflected back into the light opening 20 on the surface of the object and is received by the infrared radiation source and receiver.
  • the reception of infrared light in the infrared radiation source and receiver 21 can be forwarded as a signal via the cable 23 to the evaluation electronics 3, 4, 5.
  • Figure 2 d shows a pressure switch sensor with a pressure surface 24 on the upper side of the sensor and a contact element 25 attached to the pressure surface 24 and pointing to the underside of the sensor.
  • An electrical voltage is present on the conductive surface.
  • the pressure surface 24 is pushed to the underside, bringing the contact element 25 into electrical contact with the conductive surface 26 on either side of the break.
  • the interruption is bridged by the contact element 25, so that the voltage present on the conductive surface 26 changes and an electric current can flow.
  • the change in voltage and/or the change in current can be forwarded to the evaluation electronics 3, 4, 5 as a signal.
  • FIG. 2e a microswitch sensor with a pressure surface 28 and a switching element 27.
  • the pressure surface 28 is pressed onto the switching element 27, as a result of which an electric circuit is closed.
  • a resulting change in current and/or voltage can be forwarded to the evaluation electronics 3, 4, 5 as a signal.
  • FIG. 3 shows various examples of readout chips or methods for reading out a large number of integrated sensors according to the present invention Invention
  • the sensor base 1 has a line chip 40 which reads out the signals of the sensors 2 in the sensor matrix line by line. Each line is then forwarded to the central control electronics.
  • the central electronic control system essentially has an analog/digital (A/D) converter 50 which digitizes the analog signals from the sensors. The digitized signals can then be forwarded via an I2C-BUS to a microcontroller for further processing.
  • A/D analog/digital
  • FIG. 3b shows a sensor matrix of the sensor base 1, a shift register 41 being arranged between two columns of sensors 2.
  • FIG. 3b shows a sensor matrix of the sensor base 1, a shift register 41 being arranged between two columns of sensors 2.
  • the signal data of each column of sensors 2 is shifted into a shift register 41 and then forwarded column by column to the central control electronics.
  • the signal data is first digitized in the A/D converter and then forwarded to the microcontroller via an I2C bus for further processing.
  • the signal data of the sensors 2 are shifted from the sensor matrix into a matrix register 43 and from there into a serial readout register 42 .
  • the signal data are forwarded from the serial read-out register 42 to the microcontroller 52 for further processing.
  • FIG. 4 shows an example of a detection of a two-dimensional contact profile of an object on two sensor pads or on one sensor pad at different points in time according to the present invention.
  • FIG. 5 shows an example of recording a weight distribution or a three-dimensional contact profile together with a weight of an object on two sensor pads or on one sensor pad at different points in time according to the present invention.
  • Object/signal-based If the number of sensors 2a on the sensor pad 1a is high enough, a sensor profile 70-73, 80-83 can be generated for each object 60, 61 placed in addition to an ID. This can include the covered surface 70-73, the weight force 80-83 acting on the sensor base la by the object 60, 61, or other covering properties. If the lifting of the object 60, 61 from the first sensor pad la and the dropping of an object 62, 63 on the second sensor pad lb is registered, the sensor profiles 70, 71 and 72, 73 or 80, 81 and 82, 83 are compared ( Correlation of the first sensor data with previously stored sensor data). If these are identical or very similar, the object 62, 63 on the second sensor pad 1b receives the ID of the object 60, 61 that was previously on the first sensor pad 1a.
  • Objects must be introduced into and removed from the system. When you register for the first time, you will receive a unique ID.
  • the assignment of a new ID or the ejection of an object with an ID is process-controlled, time-controlled, probability-controlled or signal-based:
  • Process-based Certain sensor pads are defined as transfer mats, eg on the production machine for new sand cores (core shooter). All discarded objects are automatically registered as new objects and assigned a new, unique ID. Equivalently, there are ejection mats. All objects placed on it are defined as "taken from the process" after lifting, eg at the casting plant in which the sand cores are used by casting and thus also destroyed. 2. Time-based: If a sensor pad registers a placed object without an object having been lifted from a sensor pad within a time typical for the process, the placed object is defined as new and gets a new, unique ID. Likewise, a lifted object is defined as removed from the process if no object is placed on another sensor pad within a period of time that is typical for the process.
  • Probability-based or object/signal-based If an object is placed with a sensor profile that does not correspond to any profile currently in the process, it is defined as a new object and receives a new ID. Combining this with the previous methods, a probability can be calculated as to whether the object is new or not.
  • FIG. 6 shows an exemplary embodiment of a method according to the invention.
  • a sand core is produced in a core shooting facility 90 at time t1.
  • a robot 91 places the core on the inspection table 92.
  • the sensor pad 93 on the inspection table 92 reports a change in status (t2) when the robot 91 occupies it and gives the core the new ID "ID5". Due to the temporal coupling with the core production machine 90, the "oil chamber core” property can be added to the ID5.
  • a worker lifts the core from the table 92 and thus from the sensor pad 93, checks the core and places it on the core shelf 94 and the sensor pad 95 placed there.
  • the sensor pad 95 on the core shelf 94 reports the change (time t3).
  • the system deduces from the proximity in time between picking up and putting down that the core ID5 is now in the core shelf 94 and saves the change of location in the system.
  • a worker removes the core from shelf 94 (t4). The removal is reported to the system by the sensor pad 95 in the core shelf 94 .
  • the sensor pad 97 there registers the placement.
  • the system again deduces from the temporal proximity of the two messages that core ID5 is now on the transfer table 96 and saves the change in the system.
  • the core is lifted by a robot 98 and placed in the mold.
  • the sensor pad 97 on the table 96 reports this to the system (t6).
  • the core is removed from the system or, in this case, defined as "cast”.
  • the next produced The cast part receives the ID5 as the core used. This means that the traceability of the finished cast part and the quality reports generated is retained up to the time of core production and the process parameters recorded there.

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Abstract

La présente invention concerne un système et un procédé d'identification et/ou de suivi d'un objet tridimensionnel, en particulier un noyau en sable pour un procédé de coulage. Le système comprend un premier tampon de capteur, sur lequel un objet tridimensionnel peut être placé et qui comprend un capteur intégré pour générer des premières données de capteur, les premières données de capteur indiquant un état d'occupation du premier tampon de capteur, et un dispositif de traitement de données qui comporte une première liaison de communication avec le premier tampon de capteur dans le but de recevoir les premières données de capteur provenant du premier tampon de capteur et est conçu pour stocker des données de corrélation et pour identifier et/ou suivre l'objet tridimensionnel au moyen d'une corrélation entre les premières données de capteur reçues et les données de corrélation.
PCT/EP2022/050215 2021-01-11 2022-01-06 Système et procédé d'identification et/ou de suivi d'un objet tridimensionnel WO2022148818A1 (fr)

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DE102021200152.1A DE102021200152A1 (de) 2021-01-11 2021-01-11 System und Verfahren zur Identifizierung und/oder Rückverfolgung eines dreidimensionalen Objekts
DE102021200152.1 2021-01-11

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CN110046284A (zh) * 2019-04-22 2019-07-23 武汉耐普登科技有限公司 芯片管理方法和系统
CN110457546A (zh) * 2019-08-28 2019-11-15 新兴河北工程技术有限公司 一种铸管质量追溯方法及追溯系统
JP2019217506A (ja) * 2018-06-15 2019-12-26 新東工業株式会社 鋳造設備及び鋳造方法
CN110722150A (zh) * 2019-09-26 2020-01-24 温州瑞明工业股份有限公司 一种智能化浇注系统

Family Cites Families (1)

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Publication number Priority date Publication date Assignee Title
US10267670B2 (en) 2016-10-17 2019-04-23 Bradley Charles Ashmore Meal lifecycle management system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019217506A (ja) * 2018-06-15 2019-12-26 新東工業株式会社 鋳造設備及び鋳造方法
CN110046284A (zh) * 2019-04-22 2019-07-23 武汉耐普登科技有限公司 芯片管理方法和系统
CN110457546A (zh) * 2019-08-28 2019-11-15 新兴河北工程技术有限公司 一种铸管质量追溯方法及追溯系统
CN110722150A (zh) * 2019-09-26 2020-01-24 温州瑞明工业股份有限公司 一种智能化浇注系统

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