CN203838070U - Linear array imaging device - Google Patents
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- CN203838070U CN203838070U CN201420148081.5U CN201420148081U CN203838070U CN 203838070 U CN203838070 U CN 203838070U CN 201420148081 U CN201420148081 U CN 201420148081U CN 203838070 U CN203838070 U CN 203838070U
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Abstract
The utility model provides a linear array imaging device. The linear array imaging device is used for performing multi-angle imaging on detected products. The linear array imaging device comprises a plurality of light sources, a linear array image device, a stroboflash control device and an image capture device. According to the linear array imaging device, the plurality of light sources are used for illuminating the detected products from different angles sequentially, and the same linear array image device is used for capturing images under different illumination conditions. By means of the linear array imaging device, advantages of high speed and high resolution of a linear array detecting system can be fully achieved, meanwhile, image capturing in multiple illuminating modes can be achieved at one station and by single imaging device, and costs and on-site space are greatly saved.
Description
Technical field
The utility model relates to Machine Vision Detection field, is specifically related to a kind of linear array imaging device.
Background technology
In the production run of modern enterprise, along with the development in Machine Vision Detection field, increasing testing process depends on automatic detection device, and no longer adopts and manually detect.
In current field of machine vision, face array 1 system has been realized frequent flashing control light source and has been adopted figure, an area array cameras coordinates one or more lighting sources, when detected workpiece arrives at desired location, system triggers camera and light source gather image, if there are a plurality of light sources, in camera continuous acquisition, Different Light is synchronously lighted by designated order, the multiple image that can utilize same camera to coordinate different lighting sources to obtain like this; But this technology can only be used in the testing environment of low speed, low breadth, low precision, can not adapt to the more and more higher production efficiency of modern society and high precision testing requirement.
For linear array system, structure is all to adopt one or several line-scan digital cameras to coordinate the structure of an array light source at present, be that line-scan digital camera is adopted figure continuously, coordinate light source Chang Liang, although realized like this high-speed, high precision, linear array system cost is expensive, complex structure, camera station of every increase is all the test to market bearing capacity and on-the-spot installing space, therefore sometimes has to make compromise for this reason, and the detection effect of system is affected; Although also there is on the market the integrated line-scan digital camera of 4CCD, performance and the structure of CCD sensitive chip are fixed, so the structure of linear array system is still restricted, and still rest on the whole list or the polyphaser stage to same lighting system.
Utility model content
For the problems referred to above, the utility model provides a kind of linear array imaging device, and for examined product is carried out to multi-angle imaging, described linear array imaging device comprises: multiple sets of light sources, linear array imaging device, conveyer, stoboflash control, it is characterized in that,
Described multiple sets of light sources is arranged at described examined product around, and every group of light source is from different perspectives according to described examined product; Described conveyer transports or supports described examined product; Described linear array imaging device is positioned at the sidepiece of described examined product, examined product described in subtend; Described stoboflash control is connected with described linear array imaging device with described multiple sets of light sources respectively.
Further, described linear array imaging device also comprises the image received device being connected with described linear array imaging device
Further, described multiple sets of light sources comprises first group of light source, second group of light source and the 3rd group of light source, and described first group of light source is positioned at the top of examined product, with the first angle, towards described examined product, irradiates; Described second group of light source is positioned at described examined product below, with the second angle, towards described examined product, irradiates; Described the 3rd group of light source is positioned at the top of described examined product, with the 3rd angle, towards described examined product, irradiates; Described linear array imaging device, above described examined product, is taken described examined product.
Further, the angle of the optical axis that described the first angle is described first group of light source and the object plane normal of examined product, described first group of light source and described imaging device lay respectively at the both sides of the object plane normal of described examined product; The angle of the object plane normal that described the second angle is described second group of light source and described examined product; Described the 3rd angle is the angle of the optical axis of described the 3rd group of light source and the object plane normal of described examined product, described the 3rd angle is not equal to described the first angle, wherein, described the first angle equals the 4th angle, the angle of the optical axis that described the 4th angle is described imaging device and the object plane normal of described examined product.
Further, described stoboflash control controls described linear array imaging device so that any one in described multiple sets of light sources while lighting, and described linear array imaging device carries out an image acquisition to obtain a line view data.
Further, described multiple sets of light sources comprises first group of light source, second group of light source and the 3rd group of light source, and described first group of light source is positioned at the top of examined product, with the first angle, towards described examined product, irradiates; Described second group of light source is positioned at described examined product top, over against described examined product, irradiates; Described the 3rd group of light source is positioned at the top of described examined product, with the 3rd angle, towards described examined product, irradiates; Described linear array imaging device, above described examined product, is taken described examined product.The mimic channel that the stoboflash control that the utility model is mentioned adopts existing chip microcontroller or employing to have impulse ejection function is realized.
The relative motion of mentioning in the utility model might not refer to the relative motion of position, and linear array imaging device also can be thought relative motion with respect to the change of the visual field of examined product.
Further, the stoboflash control of linear array imaging device of the present utility model comprises stroboscopic Emboldening module, and described stroboscopic Emboldening module is controlled described multiple sets of light sources and adopted stroboscopic blast pattern to throw light on to described examined product.In conventional imaging device, light source often adopts the mode of continuous firing to throw light on, and under this situation, can greatly shorten the serviceable life of LED.Because the utility model adopts multiple light courcess, replace the mode of illumination, be more suitable for and adopt stroboscopic blast pattern, not only can obviously extend the LED particle life-span, the moment of illumination is improved the overall performance raising that is beneficial to very much system simultaneously.
Imaging device of the present utility model can gather the image under a plurality of lighting systems by a linear array imaging device simultaneously.Preferably, this imaging device obtains the independent image under different lighting systems by taking out the mode of row and splicing.Or imaging device of the present utility model can be applied in a kind of products detection system, and this detection system comprises imaging device of the present utility model and combination unit.
The device that the utility model relates to, not only can give full play to the high speed of linear array imaging device, high-resolution advantage, can also realize a camera to the image acquisition under a plurality of lighting systems at a station, greatly save cost and site space requirement, reduced system difficulty simultaneously.
In addition, adopt imaging device of the present utility model, around an imaging device, can realize building of multiple illumination model, make system architecture compact, the finite space being applicable on streamline is installed; Use technology of the present utility model, by linear array imaging device cooperated with LED light source, use the moment blast that can adopt stroboscopic blast pattern to realize illumination, extended the serviceable life of LED light source, promoted system performance simultaneously. adopt imaging device of the present utility model can obtain the information under the different light pattern of identical product same position, can directly promote the speed ability of detection system, simultaneously for classification of defects provides accurate foundation.
Accompanying drawing explanation
Below in conjunction with accompanying drawing of the present utility model, specific embodiment of the utility model is described in detail:
Fig. 1 is according to the structural representation of the linear array imaging device of an embodiment of the present utility model;
Fig. 2 be embodiment illustrated in fig. 1 in the irradiating angle schematic diagram of each light source;
Fig. 3 be the image that collects of employing linear array imaging device of the present utility model and the image processing apparatus by products detection system collected image is extracted and splice after the image that obtains;
Fig. 4 is the image that employing collects according to the light source linear array imaging device of another embodiment of the present utility model;
Fig. 5 is when being applied in products detection system by imaging device of the present utility model, and products detection system extracts the image collecting in Fig. 4 and splices the image in obtained infrared illumination situation;
Fig. 6 is when being applied in products detection system by imaging device of the present utility model, and products detection system extracts the image collecting in Fig. 4 and splices the image in obtained white-light illuminating situation;
Fig. 7 is when being applied in products detection system by imaging device of the present utility model, and products detection system extracts the image collecting in Fig. 4 and splices the image in obtained blue illumination situation.
Embodiment
As shown in Figure 1, linear array imaging device in this embodiment comprises: multiple sets of light sources 201-203(in the present embodiment, every group of light source only comprises a light source, but every group of light source can comprise some light sources or array of source in other embodiments), linear array imaging device 301, stoboflash control 501.Alternatively, this imaging device can also comprise image acquisition and processing device, and wherein image acquisition and processing device comprises image collecting device and image processing apparatus.
As illustrated in fig. 1 and 2, the first light source 201 is positioned at examined product upper left side, is α degree angle with the object plane normal of examined product, as forward bright field illumination light source; Secondary light source 202 is positioned at the below of examined product, perpendicular to examined product, as backlit illumination source; The 3rd light source 203 becomes the angle of β degree between the upper right side of examined product 101 and examined product, as dark ground illumination light source.Although it should be appreciated by those skilled in the art that the support and the fixed part that do not draw each light source and imaging device in figure, they are that stationary installation by is separately fixed on its position separately.
In the present embodiment, linear array imaging device 301 adopts line-scan digital camera, and generally, line-scan digital camera adopts black and white camera, but, according to imaging, needs also can adopt colored CCD line-scan digital camera.Linear array imaging device is arranged in the sidepiece (figure is upper right side) of examined product, subtend examined product, with the angle of the object plane normal of examined product be θ, preferably, this angle theta equates with angle α.The sidepiece mentioned herein refers to not in the motion path of examined product, i.e. the direction of motion sidepiece of examined product.The linear array direction of linear array imaging device 301 is the direction of motion with respect to linear array imaging device 301 perpendicular to examined product substantially preferably.
In the present embodiment, examined product 101 is arranged on travelling belt, and travelling belt moves from left to right, and then drives examined product 101 by surveyed area (also can be called imaging region).Examined product 101 can be paper products, printed matter, cloth, glass, sheet metal strip, nonwoven fabrics of rewinding or individual sheet form etc., can be also other products.
Although in the present embodiment, adopted three groups of light sources to throw light on, it should be appreciated by those skilled in the art that the utility model can adopt the light source group of arbitrary number.Particularly, the utility model can adopt 2 to N group light sources, and N is greater than 2 positive integer, for example, and 4 groups, 5 groups, 6 groups etc.Each wavelength or lighting system of organizing light source can differ from one another.The quantity of light source group can be determined according to the design of on-the-spot demand, system, Transmission speed and accuracy of detection etc.What adopt in the present embodiment is 3 light sources.A plurality of light sources can be positioned at the diverse location place of (or being called image space), detection position, and the detection position mentioned is here the position of each light source institute subtend, is also the position of imaging device institute subtend, and this detection position is arranged in the motion path of examined product.
Stoboflash control can light that described examined product is thrown light in turn for controlling described multiple sets of light sources, and control described linear array imaging device described examined product is carried out to imaging, wherein, during imaging, between described examined product and described linear array imaging device, there is relative motion.In one implementation, stoboflash control adopts commercially available pulse producer.The image received device mentioned herein also can be called image collecting device.
A plurality of light sources can adopt wavelength and the illumination direction differing from one another, and preferably, the light source adopting is LED light source.The forward bright field illumination light source 201, backlit illumination source 202 and the dark ground illumination light source 203 that adopted are in the present embodiment LED light source.A plurality of light sources can be the combinations of different wave length, as infrared light supply, ultraviolet source, RGB monochromatic source, white light etc.; Also can adopt multiple type of lighting, as forward light, backlight, light field, details in a play not acted out on stage, but told through dialogues.With regard to the position relationship of camera and light source, can adopt diffusion station or glossiness station etc., diffusion station refers to the set-up mode of the camera, light source and the examined product that adopt when diffuse material is taken, glossiness station refers to having the set-up mode of the camera, light source and the examined product that adopt when the material of glossiness detects, these set-up modes are known to those skilled in the art, are not described in detail in this.At vpg connection, light source can adopt the line source of highlighted plus lens form also can adopt bar light or arch light etc.
Linear array imaging device of the present utility model can also comprise conveyer, and conveyer is used for carrying examined product, and examined product is transmitted and passes through detection position.In addition, this imaging device can also comprise machinery mount, is responsible for providing to support of above-mentioned device etc.
Stoboflash control 501 can comprise signal controller and stroboscopic controller, or the two can integrate.Stoboflash control 501 is connected with a plurality of light source 201-203, linear array imaging device 301 respectively (in figure in order to simplify, do not draw whole connecting lines), be used for controlling a plurality of light sources and linear array imaging device, make a plurality of light sources light that in turn examined product is thrown light on successively.Stoboflash control controls linear array image device so that any one in a plurality of light source while lighting, and linear array imaging device carries out image acquisition one time.Stoboflash control is responsible for sending row signal and is triggered the illumination that imaging device is adopted figure and controlled light source, and can be responsible for the stroboscopic blast control of every group of light source.Image acquisition and processing device is generally realized (for example, image pick-up card) by image processor, is responsible for the acquisition and processing of picture signal.
Preferably, described stoboflash control is pulse producer, for sending trigger pulse with predetermined space.
The imaging device of take below in embodiment illustrated in fig. 1 is example, in conjunction with Fig. 2, illustrates and adopts this system to carry out the process of image acquisition.
First can utilize conveyer (not shown) carrying examined product 101 by detecting station (or detection position), when a lateral edges of examined product 101 enters in pickup area, the flip flop equipment of imaging device sends triggering command, triggers imaging device of the present utility model and starts illumination and image acquisition.It should be noted that, this step is optional, because examined product can be placed in advance, detects station place, and the startup of system also can manually be carried out.
Particularly, after triggering image acquisition, stoboflash control 501 sends row signal, control light source 201 and open (according to the time delay setting, current/voltage intensity, pulse width, lighting) so that examined product is carried out to orthodromic illumination, meanwhile, stoboflash control 501 control imaging devices 301 carry out first round imaging; Then, stoboflash control 501 control light sources 201 are closed, light source 202 is opened (according to the time delay setting, current/voltage intensity, pulse width, lighting) so that examined product is thrown light on dorsad, meanwhile, controlling imaging device 301 carries out second and takes turns imaging; After this, stoboflash control 501 control light sources 202 are closed, light source 203 is opened so that examined product is carried out to low-angle illumination, and control imaging device 301 and carry out third round imaging, the like, and then open light source 201.
In the handoff procedure of Different Light, examined product moves with respect to imaging device, just the movement velocity of examined product is much smaller with respect to the sweep velocity of imaging device, so in imaging (scanning) process of every row image, can be similar to and think that examined product is relatively static.
In one implementation, the image obtaining can be directly used in follow-up use.The image of three kinds of light illuminations of employing that staff observation post obtains can obtain needed information.
In another kind of implementation, consider that each takes turns imaging and gather a line image or a few row image (being generally a line).This imaging device can comprise synthesizer.After each takes turns imaging, imaging device exports become image to synthesizer.Therefore, carrying out somely taking turns imaging until after whole examined product is completed to scanning, the image that synthetic resulting image comprises gained while adopting three kinds of Different Light to throw light on.In this embodiment, resulting image the first behavior orthodromic illumination image, the second behavior is illumination image dorsad, and the third line is low-angle illumination image.That is to say, the image of collected by camera is according to the 1st, 2,3,4,5,6 ... row is corresponding light source 201,202,203,201,202,203 respectively ...Obtained image is taken out to row with this synthesizer and splicing is processed.Synthesizer is connected with image collecting device.
In another kind of implementation, the utility model is applied in detection system, detection system can comprise synthesizer, obtained image is taken out to row with described synthesizer and splicing is processed.For example, (the image acquisition and processing device of detection system can extract corresponding each row image of light source 201,1st, 4,7 ... the image of row), corresponding each row image of light source 202 (, 2nd, 5,8 ... the image of row), and corresponding each row image (the 3rd, 6,9 of light source 203 ... the image of row).Then, the corresponding image of each light source is combined to obtain the piece image corresponding to each light source, amount to three width images (A in Fig. 3, B and C).
This three width image is the image of the examined product that obtains by same camera, although the lighting system adopting is different, due to relative position and the size constancy of taken image information, the quality testing that image detection module can be carried out product according to the lower image effect of difference illumination and feature or OCR identify etc.Because the mode of illumination is various, the information obtaining is abundanter, so the project and the accuracy that detect promote greatly.
In other words, the utility model adopts same camera in the fixing position of relative camera, to obtain the image of the feature of the examined product under different illuminating effects, resulting design sketch under comprehensive various lighting system, can have better judgement to the position of examined product feature.
For example, if detected product is glassware, underworld on glass (not being defect) and scratch (being defect), these two kinds of features backlight lower may be all dark, but scratch under details in a play not acted out on stage, but told through dialogues, be bright and underworld or black, so simultaneously in conjunction with two width figure information contrasts, this feature that just can judge on glassware is underworld or scuffing, if underworld is not regarded as substandard product, for scratching, assert that examined product is substandard product else if.Like this, can not cause flase drop.
Traditional linear array detection system conceptual design, needs at least three cameras and three light sources can realize above function, and the quantity of acquisition and processing device also will be multiplied simultaneously.For example, if adopt two or three cameras (to carry out image acquisition respectively, build respectively backlight and details in a play not acted out on stage, but told through dialogues station), could positional information is aligned with each other upper owing to needing between camera to demarcate very accurately, machinery and calibration process are had high requirements, be therefore difficult to realization.
And adopt native system as long as a camera coordinates three light sources to realize, acquisition and processing device if meet a camera and processing requirements.Simultaneously, owing to adopting line-scan digital camera to carry out line by line image acquisition, the mistiming and the alternate position spike that gather between any two line adjacency graph pictures (corresponding to different lighting sources) are negligible, after like this image under different lighting systems being spliced, between resulting image, can not produce dislocation.Therefore, between the image of different lighting systems, do not need coordinate to demarcate and proofread and correct yet, greatly reduce complexity and the cost of system.
That is to say, adopt imaging device of the present utility model to combine product is detected with products detection system, both saved station, adopted camera still less, simultaneously, also do not need carrying out between different images aligned with each otherly, it is more accurate to make to detect, and processes convenient.
In the above-described embodiments, imaging device only carries out image acquisition when light source igniting.In another kind of implementation, imaging device can keep continuous firing, and each light source is lighted successively, as long as guarantee that the parameter arranging does not affect the speed of adopting figure, and the light illumination between different rows does not disturb.
In another embodiment of the present utility model, still adopt 3 kinds of lighting systems to throw light on, just secondary light source (in the present embodiment, adopting infrared wavelength light source) throws light on directly over examined product, rather than as a upper embodiment, from the back side of examined product, throw light on.Similar shown in the angle of the imaging device adopting in the present embodiment, and Fig. 1.In the present embodiment, the first light source adopts blue light source, and the 3rd light source adopts white light source.
Adopt the imaging device in this embodiment to carry out the resulting image of image acquisition as shown in Figure 4 to an exemplary sample.This image is to adopt the polishing to adopt same imaging device to carry out image acquisition resulting in turn of three kinds of light sources.In the present embodiment, linear array imaging device adopts 3 times of sweep frequencies (for the normal frequency acquisition of linear array imaging device) to carry out imaging to examined product, therefore, to become the length of image be three times of examined product.In other words, the sampling width of movement velocity/every row image of sample frequency=3* examined product of linear array imaging device.The situation that is N for the light source group number adopting, the sampling width of movement velocity/every row image of sample frequency=N* examined product of linear array imaging device.Like this, during the twice pair of examined product that same light source is adjacent throws light on, the distance that examined product moves equals the sampling width of linear array imaging device substantially.After the image becoming for same light source splices, between image, can there is not gap.
Gained image can directly be used or combination product detection system is used.In one implementation, imaging device of the present invention can comprise image take out row and splicing apparatus.In another kind of implementation, after obtaining this image, can to gained image, take out row and splicing processing by the image processing apparatus of products detection system, obtain respectively 3 kinds of corresponding images of light source.Gained image is shown in Fig. 5-7, wherein, Fig. 5 corresponding to vertical infrared light, Fig. 6 corresponding to white light, Fig. 7 corresponding to blue light.
As can be seen from the figure,, although be to the resulting image of disposable taking pictures of product (from a side of the examined product opposite side of lining by line scan), through taking out after row and splicing are processed, three kinds of different design sketchs have but been obtained.For image detecting system, under different illumination conditions, can give prominence to different detection information, such as can detecting, infrared forward light under visible ray, is difficult for the printing defects realized, the white light of diffusion (not meeting the position of reflection law) can detect general printing defects (as dirty point, chromatography deviation, show-through), the scuffing on the blue light detectable product surface of reflection position (symmetrical about the object plane normal of examined product with camera) etc.
In concrete application, if utilize become image to carry out the detection of product, need resulting image to process.Particularly, before examined product is detected, need to gather standard picture.First open conveyer, make one or several standardized products pass detection position at the uniform velocity, stably, linear array scanning camera gathers the image on print product surface.Gathered image is taken out to row and splicing processing equally, obtain the image information of every kind of standard print product under light source, using these data as standard form.
Open travelling belt, make examined product surface pass at the uniform velocity, stably detection position, line-scan digital camera gathers the image of examined product and pick-up pattern is taken out to row splicing respectively, by finally splicing resulting image under every kind of illumination condition, contrast with corresponding standard form, judge whether tested region has abnormal area, and the features such as the form of abnormal area, cluster are analyzed, provide the testing result of printing quality.
In actual applications, if need to detect the product that existing printing opacity defect (if any duck eye) has again printing defects, can be designed to such 3 stations: transmitted light (as adopted light source 202)+reflected light (light source 201)+diffused light (light source 203).If only need to detect blank sheet of paper, can only enable 2 stations: printing opacity station (light source 202)+diffusion station (light source 203).If need to new product be detected, can also adjust the form of light source, for example strip light is replaced by arch light, camera another angle bat figure that also may tilt.
It should be noted that; the shape of all parts in accompanying drawing of the present utility model is all schematic; do not get rid of that there is some difference with its true shape; accompanying drawing is only for principle of the present utility model is described, and the detail of parts shown in figure is the restriction to utility model protection scope not.Those skilled in the art also should be appreciated that, above-described embodiment is only also the explanation to schematic implementation of the present utility model, not the restriction to the utility model scope.
Claims (6)
1. a linear array imaging device, for examined product is carried out to multi-angle imaging, described linear array imaging device comprises: multiple sets of light sources, linear array imaging device, conveyer, stoboflash control, it is characterized in that,
Described multiple sets of light sources is arranged at described examined product around, and every group of light source is from different perspectives according to described examined product; Described conveyer transports or supports described examined product; Described linear array imaging device is positioned at the sidepiece of described examined product, examined product described in subtend; Described stoboflash control is connected with described linear array imaging device with described multiple sets of light sources respectively.
2. linear array imaging device according to claim 1, it is characterized in that, described multiple sets of light sources comprises first group of light source, second group of light source and the 3rd group of light source, and described first group of light source is positioned at the top of examined product, with the first angle, towards described examined product, irradiates; Described second group of light source is positioned at described examined product below, with the second angle, towards described examined product, irradiates; Described the 3rd group of light source is positioned at the top of described examined product, with the 3rd angle, towards described examined product, irradiates; Described linear array imaging device, above described examined product, is taken described examined product.
3. linear array imaging device according to claim 2, it is characterized in that, the angle of the optical axis that described the first angle is described first group of light source and the object plane normal of examined product, described first group of light source and described imaging device lay respectively at the both sides of the object plane normal of described examined product; The angle of the object plane normal that described the second angle is described second group of light source and described examined product; Described the 3rd angle is the angle of the optical axis of described the 3rd group of light source and the object plane normal of described examined product, described the 3rd angle is not equal to described the first angle, wherein, described the first angle equals the 4th angle, the angle of the optical axis that described the 4th angle is described imaging device and the object plane normal of described examined product.
4. linear array imaging device according to claim 1, is characterized in that, described linear array imaging device also comprises the image received device being connected with described linear array imaging device.
5. linear array imaging device according to claim 4, is characterized in that, described linear array imaging device also comprises synthesizer, and it is connected with described image received device.
6. linear array imaging device according to claim 1, it is characterized in that, described multiple sets of light sources comprises first group of light source, second group of light source and the 3rd group of light source, and described first group of light source is positioned at the top of examined product, with the first angle, towards described examined product, irradiates; Described second group of light source is positioned at described examined product top, over against described examined product, irradiates; Described the 3rd group of light source is positioned at the top of described examined product, with the 3rd angle, towards described examined product, irradiates; Described linear array imaging device, above described examined product, is taken described examined product.
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| CN105486690A (en) * | 2015-12-23 | 2016-04-13 | 苏州精濑光电有限公司 | Optical detection device |
| CN107478661A (en) * | 2017-09-11 | 2017-12-15 | 深圳市中天元光学玻璃有限公司 | A kind of glass screen on-line measuring device |
| CN109425614A (en) * | 2017-09-05 | 2019-03-05 | Hb技术有限公司 | For the two-wire Systems for optical inspection of the detection in progress test object body surface face |
| CN109668904A (en) * | 2019-01-25 | 2019-04-23 | 南京理工大学 | A kind of optical element flaw inspection device and method |
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2014
- 2014-03-28 CN CN201420148081.5U patent/CN203838070U/en not_active Expired - Lifetime
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| CN109668904A (en) * | 2019-01-25 | 2019-04-23 | 南京理工大学 | A kind of optical element flaw inspection device and method |
| CN110987970A (en) * | 2019-10-26 | 2020-04-10 | 惠州高视科技有限公司 | Object surface defect detection system and detection method |
| CN113495077A (en) * | 2020-04-08 | 2021-10-12 | 财团法人纺织产业综合研究所 | Cloth detection machine |
| CN111982929A (en) * | 2020-08-14 | 2020-11-24 | 加藤义晴 | Electronic component detection equipment and electronic component detection method |
| CN111982929B (en) * | 2020-08-14 | 2024-09-20 | 加藤义晴 | Electronic component detection equipment and electronic component detection method |
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| CN115661026A (en) * | 2022-09-07 | 2023-01-31 | 天津大学 | Method and device for detecting defects of cylindrical mirror |
| CN116626052A (en) * | 2023-07-19 | 2023-08-22 | 北京阿丘机器人科技有限公司 | Battery cover plate surface detection method, device, equipment and storage medium |
| CN116626052B (en) * | 2023-07-19 | 2023-10-17 | 北京阿丘机器人科技有限公司 | Battery cover plate surface detection method, device, equipment and storage medium |
| DE102024116942A1 (en) * | 2024-06-17 | 2025-12-18 | Koenig & Bauer Ag | Device for the automatic optical inspection of a product moving along a transport route in a path-like or arc-shaped shape and having at least one coating |
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