CN113029030B - Curved surface imaging method and device for 3D glass - Google Patents
Curved surface imaging method and device for 3D glass Download PDFInfo
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- CN113029030B CN113029030B CN202110306789.3A CN202110306789A CN113029030B CN 113029030 B CN113029030 B CN 113029030B CN 202110306789 A CN202110306789 A CN 202110306789A CN 113029030 B CN113029030 B CN 113029030B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- 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
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- 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
- G01N21/8806—Specially adapted optical and illumination features
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- 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
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P40/00—Technologies relating to the processing of minerals
- Y02P40/50—Glass production, e.g. reusing waste heat during processing or shaping
- Y02P40/57—Improving the yield, e-g- reduction of reject rates
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- Length Measuring Devices By Optical Means (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a method and a device for imaging a curved surface of 3D glass, which comprise a first line scanning camera, a second line scanning camera, a mechanical arm, an adsorption part, a system controller, more than one light source, a stroboscopic controller and a bracket, wherein the first line scanning camera and the second line scanning camera are arranged on the bracket; the mechanical arm is arranged on the fixed platform; one side of the bracket is provided with an extension arm; the other end of the extension arm is provided with a first line scanning camera; the system controller and the second line scanning camera are arranged on the other side of the bracket; the first line scanning camera corresponds to the second line scanning camera in position; the other side of the mechanical arm is provided with an adsorption part; the invention solves the problems that the traditional glass detection equipment only can image and detect 2D glass and cannot completely and clearly image 3D curved glass due to insufficient control precision and flexibility and insufficient control mode intelligence, and further cannot automatically detect the 3D curved glass by using machine vision.
Description
Technical Field
The invention relates to the field of glass production detection equipment, in particular to a method and a device for 3D glass curved surface imaging.
Background
In the field of glass detection, the size and defects of glass are more and more widely detected by adopting a machine vision mode, the machine vision is to simulate the human visual function through a computer, so that the computer can obtain relevant visual information and understand the visual information, the machine vision can be divided into two parts, namely ' vision ' and ' vision ', the vision ' is to convert external information into digital signals through an imaging mode and feed the digital signals back to the computer, and clear imaging is the first step of applying the machine vision technology. At present, adopt line scanning camera can be to the complete clear formation of image of 2D plane glass ability, but because traditional check out test set's control accuracy is not enough with nimble, control mode is intelligent inadequately, can't let 3D glass's the curved surface wait to scan the imaging plane to the camera apart from (object distance WD) keep unanimous with the focus of camera, when making to use line scanning camera to curved surface part scanning formation of image, it is not clear to form images, produce the ghost easily, it is fuzzy, uneven scheduling problem of light and shade, lead to unable through machine vision analytic defect, consequently the mill still adopts the most primitive manual detection mode to 3D curved surface glass: manual rotation and visual inspection are performed, so that the cost is high and the efficiency is low.
Disclosure of Invention
The invention aims to solve the technical problem of providing a 3D glass curved surface imaging method and a device. The utility model discloses a glass detection device, including arm and adsorption component, the arm is grabbed through arm and adsorption component simulation people's hand, remove, rotatory 3D curved surface glass, through the stroboscopic controller, light source and line scanning camera acquire the interior outer clear image under different light source irradiation of each face of 3D curved surface glass, it is not enough because control accuracy and flexibility ratio to have solved traditional glass check out test set, control mode is intelligent inadequately, can only form images and detect 2D glass, can't carry out complete clear formation of image to 3D curved surface glass, and then can't utilize machine vision to carry out automated inspection's problem to 3D curved surface glass.
The invention discloses a curved surface imaging device of 3D glass, which is realized by the following technical scheme: the system comprises a first line scanning camera, a second line scanning camera, a mechanical arm, an adsorption part, a system controller, more than one light source, a stroboscopic controller and a bracket;
one end of the bracket is provided with a fixed platform, and the mechanical arm is arranged on the fixed platform; one side of the bracket is provided with an extension arm; the other end of the extension arm is provided with a first line scanning camera; the system controller and the second line scanning camera are arranged on the other side of the bracket; the first line scanning camera corresponds to the second line scanning camera in position; the other side of the mechanical arm is provided with an adsorption part; more than one light source is respectively arranged at two sides of the first line scanning camera and the second line scanning camera;
one or more suction nozzles and the 3D glass to be detected are sequentially arranged below the adsorption part.
As a preferred technical scheme, the at least one light source comprises an upper surface bright field light source, an upper surface first dark field light source, an upper surface second dark field light source, an upper surface cross light source, a lower surface bright field light source, a lower surface first dark field light source, a lower surface second dark field light source and a lower surface cross light source; the one or more suction nozzles include an A suction nozzle or an A suction nozzle and a B suction nozzle.
The invention discloses a curved surface imaging method of 3D glass, which comprises the following steps:
step one, taking the most edge of a 3D glass curved surface to be scanned as a first starting point, drawing any straight line from the starting point to the curved surface part, intersecting the straight line with the curved surface, dividing the curved surface into a smaller curved surface, taking the highest point of the current small curved surface as the starting point, drawing a vertical line to the straight line, taking the vertical line as a normal line of the curved surface scanning, taking the straight line as the straight line of a first section of surface to be detected when and only when the distance between the intersection of two lines and the starting point of the drawn vertical line is close to or equal to half of the depth of field of a used camera, then finding the corresponding point of the straight line corresponding to the 3D glass curved surface, and taking the point as the end point of the first section of curved surface to be scanned; then taking the point as the starting point of the second section of the scanning curved surface;
step two, calculating a straight line of a second section of surface to be measured according to the same principle of the step one, finding out a corresponding point of the straight line corresponding to the 3D glass curved surface, and taking the point as an end point of a second section of scanning curved surface; repeating the steps until the whole curved surface is completely decomposed, calculating the starting point and the ending point of the last section of curved surface, dividing the curved surface of the 3D glass into sections according to the method, and scanning and imaging each section respectively to ensure that each section is clear;
thirdly, respectively sending the scanned images of each section to a computer, thereby completing the process of collecting the partial images of the 3D glass curved surface;
the beneficial effects of the invention are: the line scanning device comprises a high-resolution line scanning camera, a mechanical arm, an adsorption part, a system controller, a light source, a stroboscopic controller, a support and the like. The hand of simulating through arm and adsorption element snatchs, remove, rotatory 3D curved surface glass, through the stroboscopic controller, the clear image under different light source irradiation of each inside and outside 3D curved surface glass is obtained to light source and line scanning camera, traditional glass check out test set has been solved because control accuracy is not enough with the flexibility ratio, control mode is intelligent inadequately, can only form images and detect 2D glass, can't carry out complete clear imaging to 3D curved surface glass, and then can't utilize machine vision to carry out automated inspection's problem to 3D curved surface glass.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic representation of the curved surface segmentation principle of the present invention;
FIG. 2 is a second illustration of the curved surface segmentation principle of the present invention;
FIG. 3 is a schematic view showing the moving direction of the glass of the present invention;
fig. 4 is a schematic view of the overall structure of the device of the present invention.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
In the description of the present invention, it is to be understood that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "central", "end", "length", "outer end", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Further, in the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The use of terms such as "upper," "above," "lower," "below," and the like in describing relative spatial positions herein is for the purpose of facilitating description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "sleeved," "connected," "penetrating," "plugged," and the like are to be construed broadly, e.g., as a fixed connection, a detachable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the 3D glass curved surface imaging device of the present invention includes a first line scanning camera, a second line scanning camera, a mechanical arm, an absorption component, a system controller, more than one light source, a strobe controller, and a bracket;
one end of the bracket is provided with a fixed platform (not shown), and the mechanical arm is arranged on the fixed platform; one side of the bracket is provided with an extension arm; the other end of the extension arm is provided with a first line scanning camera; the system controller and the second line scanning camera are arranged on the other side of the bracket; the first line scanning camera corresponds to the second line scanning camera in position; the other side of the mechanical arm is provided with an adsorption part; more than one light source is respectively arranged at two sides of the line scanning camera and the second line scanning camera;
one or more suction nozzles and the 3D glass to be measured are sequentially arranged below the adsorption part.
In this embodiment, the one or more light sources include an upper surface bright field light source, an upper surface first dark field light source, an upper surface second dark field light source, an upper surface cross light source, a lower surface bright field light source, a lower surface first dark field light source, a lower surface second dark field light source, and a lower surface cross light source; the one or more suction nozzles comprise an A suction nozzle or an A suction nozzle and a B suction nozzle; the fixed platform has high shock resistance.
As shown in fig. 1 to 3, the method for imaging a curved surface of 3D glass of the present invention comprises the following steps:
step one, segmenting the curved surface of the 3D glass according to the radian of the curved surface part of the 3D glass and the depth of field of the selected line scanning camera in a specific mode, wherein the calculation mode is as follows:
the method comprises the steps that the most edge of a 3D glass curved surface to be scanned is taken as a first starting point, any straight line is drawn from the starting point to the curved surface part, the straight line is intersected with the curved surface, the curved surface is divided into smaller curved surfaces, then the highest point of the current small curved surface is taken as the starting point, a vertical line is led to the straight line and taken as a normal line of the curved surface scanning, if and only if the distance between the intersection of two lines and the starting point of the led vertical line is close to or equal to half of the depth of field of a used camera, the straight line is the straight line of a first section of surface to be detected, then the corresponding point of the straight line corresponding to the 3D glass curved surface is found, and the point is taken as the ending point of the first section of curved surface scanning; then taking the point as the starting point of the second section of the scanning curved surface;
step two, calculating a straight line of a second section of surface to be measured according to the same principle of the step one, finding out a corresponding point of the straight line corresponding to the 3D glass curved surface, and taking the point as an end point of a second section of scanning curved surface; repeating the steps until the whole curved surface is completely decomposed, calculating the starting point and the ending point of the last section of curved surface, and dividing the curved surface of the 3D glass into sections according to the method;
step three, scanning and imaging each section respectively to ensure that each section is clear in imaging;
step four, respectively sending the images formed by scanning each section to a computer, thereby completing the process of collecting the partial images of the 3D glass curved surface;
the method specifically comprises the following steps:
firstly, the system controller 18 controls the mechanical arm 11 and the adsorption part 12 to adsorb the 3D glass 15 to be detected from the production line, the A suction nozzle 13 of the adsorption part 12 adsorbs the rear half part of the 3D glass 15 to be detected, and the B suction nozzle 14 of the adsorption part 12 moves out of the field of view of the first line scanning camera 9 and the second line scanning camera 10, so that the scanning imaging of the line scanning cameras is prevented from being blocked.
And step two, the mechanical arm 11 adsorbs the 3D glass 15 to be detected through the adsorption part 12, then the mechanical arm 11 adjusts the position of the glass, firstly, the straight line of the first section of the scanning curved surface is parallel to the horizontal plane, then the system controller 18 starts the stroboscopic controller 17, the stroboscopic controller 17 controls the upper surface bright field light source 1, the upper surface first dark field light source 2, the upper surface second dark field light source 3 and the upper surface cross light source 4 to be sequentially switched on and off at preset time intervals, meanwhile, the stroboscopic controller 17 informs the first line scanning camera 9 to start line scanning, then the mechanical arm 11 moves linearly from front to back at a constant speed according to the minimum movement amount, and the operation is stopped after the upper surface of the first section of the scanning curved surface is scanned to form a picture.
And step three, scanning the lower surface of the first section of the scanning curved surface, starting a stroboscopic controller 17 by a system controller 18, controlling a lower surface bright field light source 5, a lower surface first dark field light source 6, a lower surface second dark field light source 7 and a lower surface cross light source 8 to be sequentially switched on and off at set time intervals by the stroboscopic controller 17, simultaneously informing a second line scanning camera 10 to start line scanning by the stroboscopic controller 17, then enabling the mechanical arm 11 to linearly move from back to front at a constant speed according to the minimum motion amount, and stopping after the lower surface of the first section of the scanning curved surface is scanned to form a picture.
And fourthly, the mechanical arm 11 adjusts the position of the glass again, firstly, the straight line of the second section of the scanning curved surface is parallel to the horizontal plane, then the system controller 18 starts the stroboscopic controller 17, the stroboscopic controller 17 respectively controls the upper surface bright field light source 1, the upper surface first dark field light source 2, the upper surface second dark field light source 3 and the upper surface cross light source 4 to be switched on and off firstly according to a set time interval, meanwhile, the stroboscopic controller 17 informs the first line scanning camera 9 to start line scanning, then the mechanical arm 11 linearly moves from front to back at a constant speed according to the minimum motion amount, and the operation is stopped after the upper surface of the second section of the scanning curved surface is scanned to form a picture.
And fifthly, scanning the lower surface of the second section of scanning curved surface, starting a stroboscopic controller 17 by a system controller 18, controlling the lower surface bright field light source 5, the lower surface first dark field light source 6, the lower surface second dark field light source 7 and the lower surface cross light source 8 to be sequentially switched on and off at set time intervals by the stroboscopic controller 17, simultaneously informing the second line scanning camera 10 to start line scanning by the stroboscopic controller 17, then enabling the mechanical arm 11 to linearly move from back to front at a constant speed according to the minimum motion amount, and stopping after the lower surface of the second section of scanning curved surface is scanned to form a picture.
Step one, the system controller 18 controls the mechanical arm 11 and the adsorption part 12 to adsorb the 3D glass 15 to be detected from the production line of the feeding machine (if the glass to be detected is light and small in size, only the a suction nozzle 13 of the adsorption part 12 is needed, and if the glass to be detected is heavy or small in size, the a suction nozzle 13 and the B suction nozzle 14 of the adsorption part 12 are needed at the same time to ensure stable stability and flatness of glass adsorption).
And step two, the mechanical arm 11 adjusts the position of the glass, firstly, the straight line of the first section of the scanning curved surface is parallel to the horizontal plane, then the system controller 18 starts the stroboscopic controller 17, the stroboscopic controller 17 respectively controls the upper surface bright field light source 1, the upper surface first dark field light source 2, the upper surface second dark field light source 3 and the upper surface cross light source 4 to be switched on and off at preset time intervals, meanwhile, the stroboscopic controller 17 informs the first line scanning camera 9 to start line scanning, then the mechanical arm 11 linearly moves from front to back according to the minimum uniform motion amount, the motion direction is shown in fig. 3, and the operation is stopped after the upper surface of the first section of the scanning curved surface is scanned to form a picture.
And step three, scanning the lower surface of the first section of the scanning curved surface, starting a stroboscopic controller 17 by a system controller 18, controlling a lower surface bright field light source 5, a lower surface first dark field light source 6, a lower surface second dark field light source 7 and a lower surface cross light source 8 to be sequentially switched on and off at set time intervals by the stroboscopic controller 17, simultaneously informing a second line scanning camera 10 to start line scanning by the stroboscopic controller 17, then enabling a mechanical arm 11 to linearly move from back to front at a constant speed according to the minimum motion amount, wherein the motion direction is shown in fig. 3, and stopping after the lower surface of the first section of the scanning curved surface is scanned to form a picture.
And fourthly, the mechanical arm 11 adjusts the position of the glass again, firstly, the straight line of the second section of the scanning curved surface is parallel to the horizontal plane, then the system controller 18 starts the stroboscopic controller 17, the stroboscopic controller 17 respectively controls the upper surface bright field light source 1, the upper surface first dark field light source 2, the upper surface second dark field light source 3 and the upper surface cross light source 4 to be sequentially switched on and off at a set time interval, meanwhile, the stroboscopic controller 17 informs the first line scanning camera 9 to start line scanning, then, the mechanical arm 11 linearly moves from front to back according to the minimum motion amount, the motion direction is shown in fig. 3, and the operation is stopped after the upper surface of the second section of the scanning curved surface is scanned to form a picture.
And step five, scanning the lower surface of the second section of the scanning curved surface, starting a stroboscopic controller 17 by a system controller 18, controlling the lower surface bright field light source 5, the lower surface first dark field light source 6, the lower surface second dark field light source 7 and the lower surface cross light source 8 to be sequentially switched on and off at set time intervals by the stroboscopic controller 17, simultaneously informing the second line scanning camera 10 to start line scanning by the stroboscopic controller 17, then enabling the mechanical arm 11 to linearly move from back to front at a constant speed according to the minimum motion amount, wherein the motion direction is shown in fig. 3, and stopping after the lower surface of the second section of the scanning curved surface is scanned to form a picture.
And sixthly, continuously adjusting the position of the glass 15 by the mechanical arm 11 according to a set program, and then moving back and forth, so that the scanning imaging of the last section of the curved surface part of the 3D glass 15 is completed under the cooperation of the stroboscopic controller 18, the first line scanning camera 9 and the second scanning camera 10, and further the imaging of the upper surface and the lower surface of the whole curved surface part on one side of the 3D glass 15 is completed.
And seventhly, sequentially finishing imaging of the upper surface and the lower surface of the part of the other 3 curved surfaces of the 3D glass 15 according to the mode, and further finishing scanning imaging of all the curved surfaces of the whole 3D glass 15.
The invention has the beneficial effects that: the device mainly comprises a high-resolution line scanning camera, a mechanical arm, an adsorption part, a system controller, a light source, a stroboscopic controller, a bracket and the like; the utility model discloses a glass detection device, including arm and adsorption component, the arm is grabbed through arm and adsorption component simulation people's hand, remove, rotatory 3D curved surface glass, through the stroboscopic controller, light source and line scanning camera acquire the interior outer clear image under different light source irradiation of each face of 3D curved surface glass, it is not enough because control accuracy and flexibility ratio to have solved traditional glass check out test set, control mode is intelligent inadequately, can only form images and detect 2D glass, can't carry out complete clear formation of image to 3D curved surface glass, and then can't utilize machine vision to carry out automated inspection's problem to 3D curved surface glass.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.
Claims (2)
1. The utility model provides a curved surface image device of 3D glass which characterized in that: the system comprises a first line scanning camera, a second line scanning camera, a mechanical arm, an adsorption part, a system controller, more than one light source, a stroboscopic controller and a bracket;
the mechanical arm is arranged on one side of the bracket; an extension arm is arranged on one side of the support; the other end of the extension arm is provided with a first line scanning camera; the system controller and the second line scanning camera are arranged on the other side of the bracket; the first line scanning camera and the second line scanning camera are in relative correspondence; an adsorption part is arranged on the other side of the mechanical arm; the more than one light sources are respectively arranged at two sides of the line scanning camera and the second line scanning camera;
more than one suction nozzle and the 3D glass to be detected are sequentially arranged below the adsorption part;
the method comprises the following steps:
step one, taking the most edge of a 3D glass curved surface to be scanned as a first starting point, drawing any straight line from the starting point to the curved surface part, intersecting the straight line with the curved surface, dividing the curved surface into a smaller curved surface, taking the highest point of the current small curved surface as the starting point, drawing a vertical line to the straight line, taking the vertical line as a normal line of the curved surface scanning, taking the straight line as the straight line of a first section of surface to be detected when and only when the distance between the intersection of two lines and the starting point of the drawn vertical line is close to or equal to half of the depth of field of a used camera, then finding the corresponding point of the straight line corresponding to the 3D glass curved surface, and taking the point as the end point of the first section of curved surface to be scanned; then taking the point as the starting point of the second section of the scanning curved surface;
step two, calculating a straight line of a second section of surface to be measured according to the same principle of the step one, finding out a corresponding point of the straight line corresponding to the 3D glass curved surface, and taking the point as an end point of a second section of scanning curved surface; repeating the steps until the whole curved surface is completely decomposed, calculating the starting point and the ending point of the last section of curved surface, dividing the curved surface of the 3D glass into sections according to the method, and scanning and imaging each section respectively to ensure that each section is clear;
and step three, respectively sending the images formed by scanning each section to a computer, thereby completing the process of acquiring the part images of the 3D glass curved surface.
2. The 3D glass curved surface imaging device according to claim 1, wherein: the more than one light source comprises an upper surface bright field light source, an upper surface first dark field light source, an upper surface second dark field light source, an upper surface cross light source, a lower surface bright field light source, a lower surface first dark field light source, a lower surface second dark field light source and a lower surface cross light source; the one or more suction nozzles include an A suction nozzle and a B suction nozzle.
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| JP3555316B2 (en) * | 1996-04-01 | 2004-08-18 | 富士ゼロックス株式会社 | Drawing device |
| US7768571B2 (en) * | 2004-03-22 | 2010-08-03 | Angstrom, Inc. | Optical tracking system using variable focal length lens |
| CN101334270B (en) * | 2008-07-25 | 2010-06-23 | 西安交通大学 | Laser line scanning feeler geometric transformation calibration and curved face interpolation correcting method and apparatus |
| CN103529126A (en) * | 2013-10-18 | 2014-01-22 | 中国核动力研究设计院 | Ultrasonic automatic detection system and detection method of workpiece with clearance gridding-shaped multi-slope curve surfaces |
| CN106997156B (en) * | 2017-03-27 | 2018-11-06 | 深圳市优盛科技有限公司 | The exposure method of high-precision line pattern is prepared on high radian 3 D stereo |
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| CN110208290A (en) * | 2019-06-19 | 2019-09-06 | 海南梯易易智能科技有限公司 | A kind of 3D bend glass defect detecting device based on line scan camera |
| CN110404816B (en) * | 2019-07-29 | 2021-05-04 | 海南梯易易智能科技有限公司 | 3D curved surface glass defect detection device and method based on mechanical arm |
| CN210982792U (en) * | 2019-08-19 | 2020-07-10 | 上海嘉强自动化技术有限公司 | Free-form surface lens capable of obtaining adjustable bifocal point |
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