CN109884081A - A kind of machine vision detection method and device for flexible product - Google Patents
A kind of machine vision detection method and device for flexible product Download PDFInfo
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- CN109884081A CN109884081A CN201910227471.9A CN201910227471A CN109884081A CN 109884081 A CN109884081 A CN 109884081A CN 201910227471 A CN201910227471 A CN 201910227471A CN 109884081 A CN109884081 A CN 109884081A
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Abstract
This application discloses a kind of machine vision detection methods for flexible product, by filling air bag into flexible product, so that the surface of the flexible product is flattened；Acquire the image on the surface of the flexible product；According to described image, Machine Vision Detection is carried out to the flexible product.In the application, it is filled with air bag to flexible product, flexible product is sufficiently bonded with air bag after air bag inflation, after the surface of flexible product is flattened, the image on the surface of flexible product is acquired, Machine Vision Detection is carried out according to acquired image, to judge flexible product with the presence or absence of damage, the problem of detecting again after being installed flexible product product matched with its is avoided, realizes the on-line checking to flexible product, improves efficiency when carrying out Machine Vision Detection to flexible product.In addition, the application also provides a kind of device having the above advantages.
Description
Technical field
This application involves mechanical vision inspection technology fields, examine more particularly to a kind of machine vision for flexible product
Survey method and device.
Background technique
Body surface is carried out detecting relatively common technology and has artificial detection, optical scanner and Machine Vision Detection.
In recent years, Machine Vision Detection is very widely used in product shape context of detection.
Mechanical vision inspection technology is chiefly used in object detection with a higher rigidity, i.e. shape is unchanged in the detection process, outside
The object that shape is fixed always.Machine Vision Detection is also used in detection of some flexible products, such as smooth cloth etc., still
Flexible articles complex for shape or that curve and surface is more mixed and disorderly, such as automobile seat cover, are all to pacify seat webbing
Dress on the seat, after not deforming, could use mechanical vision inspection technology, i.e., carry out both for Flexible articles after installation
Detection, once but seat webbing have damage, seat webbing need to be dismantled, done over again again, can not truly realize seat webbing
On-line checking.
Summary of the invention
The purpose of the application is to provide a kind of machine vision detection method and device for flexible product, existing to solve
The problem of being needed in technology by being detected again after flexible product and auxiliary products installation.
In order to solve the above technical problems, the application provides a kind of machine vision detection method for flexible product, comprising:
Air bag is filled into flexible product, so that the surface of the flexible product is flattened；
Acquire the image on the surface of the flexible product；
According to described image, Machine Vision Detection is carried out to the flexible product.
Optionally, air bag is filled into flexible product described, so that before the surface of the flexible product is flattened,
Further include:
Retractable supports component is set in the air bag.
Optionally, it is described air bag is filled into flexible product before, further includes:
In the inner surface of the air bag, multiple flexible light sources are set；
Correspondingly, before the image on the surface of the acquisition flexible product further include:
Determine the current collected region of the flexible product；
It is determining to be currently collected the corresponding flexible light source in region with described according to the currently collected region；
The flexible light source is controlled to light.
Optionally, before the image on the surface of the acquisition flexible product, further includes:
Using the surface for casting oblique rays on flexible product described in light irradiation, so that Ray obliquity injects the surface of the flexible product.
Optionally, the image on the surface of the acquisition flexible product includes:
The image on the surface of the flexible product is acquired using CCD industrial camera.
Optionally, described according to described image, carrying out Machine Vision Detection to the flexible product includes:
Gray processing processing is carried out to described image, to obtain gray level image；
According to the gray level image, Machine Vision Detection is carried out to the flexible product.
The application also provides a kind of machine vision detection device for flexible product, comprising:
Air bag is used for filling flexible product, so that the surface of the flexible product is flattened；
Image capture device, the image on the surface for acquiring the flexible product；
Computer, for carrying out Machine Vision Detection to the flexible product according to described image.
Optionally, further includes:
Retractable supports component, the retractable supports component are located in the air bag, are used to support the flexible product.
Optionally, further includes:
Flexible light source, the flexible light source is located at the inner surface of the air bag, for the currently quilt to the flexible product
Pickup area provides illumination.
Optionally, further includes:
Lamp is casted oblique rays on, for irradiating the surface of the flexible product, so that Ray obliquity injects the surface of the flexible product.
Machine vision detection method for flexible product provided herein, by filling air bag to flexible product
In, so that the surface of the flexible product is flattened；Acquire the image on the surface of the flexible product；It is right according to described image
The flexible product carries out Machine Vision Detection.In the application, filled with air bag to flexible product, it is flexible after air bag inflation to produce
Product are sufficiently bonded with air bag, after the surface of flexible product is flattened, the image on the surface of flexible product are acquired, according to collected
Image carries out Machine Vision Detection, to judge that flexible product with the presence or absence of damage, avoids flexible product is matched with it
The problem of product detects again after being installed, solves the problems, such as time-consuming and laborious, and realizes to the on-line checking of flexible product, improves
Efficiency when Machine Vision Detection is carried out to flexible product.In addition, the application also provides a kind of device having the above advantages.
Detailed description of the invention
It, below will be to embodiment or existing for the clearer technical solution for illustrating the embodiment of the present application or the prior art
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only this Shen
Some embodiments please for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow chart of the machine vision detection method for flexible product provided by the embodiment of the present application；
Fig. 2 is process of the another kind provided by the embodiment of the present application for the machine vision detection method of flexible product
Figure；
Fig. 3 is process of the another kind provided by the embodiment of the present application for the machine vision detection method of flexible product
Figure；
Fig. 4 is process of the another kind provided by the embodiment of the present application for the machine vision detection method of flexible product
Figure；
Fig. 5 supports the device figure of flexible product when being the progress Machine Vision Detection provided herein to flexible product.
In figure, 1. retractable supports components, 2. flexible gas-filled pipes, 3. air bag retainer plates, 4. air bag inflating ports, 5. pedestals.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, with reference to the accompanying drawings and detailed description
The application is described in further detail.Obviously, described embodiments are only a part of embodiments of the present application, rather than
Whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall in the protection scope of this application.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, but the present invention can be with
Implemented using other than the one described here other way, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by the specific embodiments disclosed below.
Just as described in the background section, Machine Vision Detection is complex for shape or curve and surface is more mixed and disorderly
Flexible articles, such as automobile seat cover, be all by seat webbing installation on the seat, after not deforming, machine could be used
Vision detection technology, once but seat webbing have damage, seat webbing need to be dismantled, done over again again, can not truly be realized
The on-line checking of seat webbing.
In view of this, this application provides a kind of machine vision detection methods for flexible product, referring to FIG. 1, Fig. 1
For a kind of flow chart of machine vision detection method for flexible product provided by the embodiment of the present application, this method comprises:
Step S101: air bag is filled into flexible product, so that the surface of the flexible product is flattened.
It is understood that air bag is filled into flexible product, and after air bag is inflated, the inner surface of air bag and flexible product
Fitting, the surface of flexible product can be flattened.
Preferably, it can use air pump to be attached with air bag, air pump controlled by electronic controller, air bag is filled
Gas.
Step S102: the image on the surface of the flexible product is acquired.
It should be pointed out that when carrying out Image Acquisition to the surface of flexible product in the present embodiment, Image Acquisition direction
It is vertical with the surface of flexible product.
It should be noted that the image on the surface of collected flexible product is not specifically limited in the present embodiment, depending on
Depending on situation.For example, the image that the image on the surface of flexible product can be the surface of color image or flexible product is ash
Spend image.
Specifically, by the image of the acquisition each portion faces of flexible product, with the surface of realization acquisition flexible product
Image.
Step S103: according to described image, Machine Vision Detection is carried out to the flexible product.
Specifically, the image on the surface of obtained flexible product and standard picture are carried out matching comparison, judge whether one
It causes, if unanimously, showing that flexible product surface is intact, if inconsistent, shows that the surface of flexible product has damage.It needs
, it is noted that the detailed process that the image on the surface of flexible product is carried out matching comparison with standard picture has been art technology
Known to personnel, no longer it is described in detail herein.
It should be noted that carrying out image to the flexible product of same qualification before detecting to flexible product
Acquisition, using acquired image as standard picture.
It should also be noted that, the surface of flexible product can be acquired when carrying out Machine Vision Detection to flexible product with side
Image detected while carrying out matching comparison to acquired image and standard picture, complete can also be acquired and flexible produced
After the image on product surface, collected all images are detected, in the present embodiment and without limitation.
It being used for the machine vision detection method of flexible product provided by the present embodiment, being produced by filling air bag to flexibility
In product, so that the surface of the flexible product is flattened；Acquire the image on the surface of the flexible product；According to described image,
Machine Vision Detection is carried out to the flexible product.In the application, filled with air bag to flexible product, it is flexible after air bag inflation
Product is sufficiently bonded with air bag, after the surface of flexible product is flattened, acquires the image on the surface of flexible product, according to collecting
Image carry out Machine Vision Detection, with judge flexible product with the presence or absence of damage, avoid flexible product is mating with it
Product installed after the problem of detecting again, realize the on-line checking to flexible product, improve and machine is carried out to flexible product
Efficiency when vision-based detection；It also avoids by the way of manually being detected to flexible product simultaneously, solves examination criteria not only
One, the problem of missing inspection, low efficiency, human cost is saved, the accuracy of detection is improved.
On the basis of the above embodiments, it in one embodiment of the application, is produced in described fill air bag to flexibility
In product, so that before the surface of the flexible product is flattened, further includes:
Retractable supports component is set in the air bag.
Since air bag is relatively soft, be in amorphous state, first in air bag be arranged retractable supports component, then by air bag fill to
When in flexible product, retractable supports component plays certain supporting role to flexible product, fills air bag to flexible product
In process it is more convenient, quickly.
Referring to FIG. 2, Fig. 2 is the Machine Vision Detection side that another kind provided by the embodiment of the present application is used for flexible product
The flow chart of method, this method comprises:
Step S201: multiple flexible light sources are set in the inner surface of air bag.
It is that the inner surface of flexible light source and air bag has good clothes in the purpose of the inner surface setting flexible light source of air bag
Note, when air bag is filled with air, air bag is bonded with the inner surface of flexible product, and flexible light source is same as flexible product to be had well
Docile property, when flexible light source lights, illumination is provided for the corresponding region of flexible product, when the flexible light source lighted is corresponding soft
When property product area has breakage, light can penetrate breakage.
It should be noted that flexible light source is constituted in the present embodiment for headlamp is arranged on the surface of flexible material, for example,
On flexible material surface, LED light array is set.
Step S202: the air bag is filled into flexible product, so that the surface of the flexible product is flattened.
After air bag is filled gas, flexible light source is fixed in the position of air bag inner surface.
Step S203: the current collected region of the flexible product is determined.
Specifically, can determine the position of image capture device by electronic controller according to the movement of image capture device
It sets, and then determines the current collected region of flexible product.
It should be pointed out that when currently collected region is that image capture device is in current location, it can be collected
The part of the surface of flexible product.
Step S204: determining corresponding described soft with the currently collected region according to the currently collected region
Property light source.
Step S205: it controls the flexible light source and lights.
It should be noted that the flexible light source lighted is that flexible product is currently collected the corresponding flexible light source in region,
The corresponding flexible light source in region other than current collected region keeps OFF state.
Specifically, lighting or extinguishing for control flexible light source can be controlled by electronic controller.
Step S206: the image on the surface of the flexible product is acquired.
Step S207: according to described image, Machine Vision Detection is carried out to the flexible product.
The machine vision detection method of flexible product is used for provided by the present embodiment, flexible product to be currently collected region
Corresponding flexible light source lights, and when there is breakage in current collected region, light can be projected from breakage, makes breakage and not
Breakage it is bright secretly compare it is more obvious, so that the damage of breakage be made to be more clear.
Referring to FIG. 3, Fig. 3 is the Machine Vision Detection side that another kind provided by the embodiment of the present application is used for flexible product
The flow chart of method, this method comprises:
Step S301: retractable member is set in air bag.
Step S302: multiple flexible light sources are set in the inner surface of the air bag.
Step S303: the air bag is filled into flexible product, so that the surface of the flexible product is flattened.
Step S304: the current collected region of the flexible product is determined.
Step S305: determining corresponding described soft with the currently collected region according to the currently collected region
Property light source.
Step S306: it controls the flexible light source and lights.
Step S307: using the surface for casting oblique rays on flexible product described in light irradiation, so that Ray obliquity injects the flexible production
The surface of product.
It is pointed out that step S301 and step S302 interchangeable, is not specifically limited in the present embodiment.
It should be noted that in the present embodiment using cast oblique rays on light irradiation flexible product surface purpose be make acquisition
The image on the surface of flexible product is more clear, and then more accurate to the detection of flexible product.For example, some of flexible product
Fold occurs for region, and the front of fold has scratch, but does not scratch, and the light of the corresponding flexible light source in the region may nothing
Method penetrates at scratch, i.e., cannot detect scratch, and scratch occurs in the surface of flexible product, then be bound to jagged appearance, at this time
Increase the irradiation for casting oblique rays on lamp, so that Ray obliquity is injected the region, burr is by the irradiation for casting oblique rays on lamp wiring, in the table of flexible product
Face will appear shade spot, i.e., will appear shade spot in acquired image, and then detect the degree of impairment on flexible product surface.
In another example fold occurs for some region of flexible product, the front of fold is intact, occurs damaged situation in side, right
When the side of fold carries out Image Acquisition, since breakage is located at the side of fold, the light of flexible light source may not be able to be penetrated
The breakage of the side of fold, at this point, increase the irradiation for casting oblique rays on lamp in the side of fold, it in the acquired images can be clear
Breakage is reflected clearly.
It should also be noted that, the Ray obliquity for casting oblique rays on lamp injects the surface of flexible product in the present embodiment, flexibility is produced
The direction that the surface of product carries out Image Acquisition is vertical with the surface of flexible product, i.e., carries out Image Acquisition to the surface of flexible product
Direction and light direction of illumination have certain angle.Further, the specific angle of angle is not limited in the present embodiment
It is fixed, it depends on the circumstances, as long as guaranteeing the image clearly on the surface of the flexible product of acquisition.
Step S308: the image on the surface of the flexible product is acquired.
Step S309: according to described image, Machine Vision Detection is carried out to the flexible product.
The machine vision detection method of flexible product provided by the present embodiment has fold for flexible product surface
At position, the complex regions such as edges and corners, the irradiation by casting oblique rays on lamp can more accurately examine the degree of impairment of complex region
It measures and, improve the reliability of detection.
Specifically, based on any of the above embodiments, in one embodiment of the application, being taken the photograph using CCD industry
Camera acquires the image on the surface of the flexible product, but the application to this and is not specifically limited, and is depended on the circumstances, at this
In another embodiment of application, the image on the surface of the flexible product is acquired using CMOS industrial camera.
Referring to FIG. 4, Fig. 4 is the Machine Vision Detection side that another kind provided by the embodiment of the present application is used for flexible product
The flow chart of method, this method comprises:
Step S401: air bag is filled into flexible product, so that the surface of the flexible product is flattened.
Step S402: the image on the surface of the flexible product is acquired.
Step S403: gray processing processing is carried out to described image, to obtain gray level image.
It should be pointed out that the concrete mode of gray processing processing is carried out in the present embodiment to the image on the surface of flexible product
It is not specifically limited, depends on the circumstances.Gray processing is carried out to the image on the surface of flexible product for example, can choose mean value method
Processing, or selection weighted mean method carry out gray processing processing, etc. to the image on the surface of flexible product.
Step S404: according to the gray level image, Machine Vision Detection is carried out to the flexible product.
In the present embodiment, gray processing processing is carried out to the image on the surface of collected flexible product, obtains gray level image,
Machine Vision Detection is carried out according to gray level image, keeps testing result more accurate.
The application also provides a kind of machine vision detection device for flexible product, which includes air bag, and image is adopted
Collect equipment and computer, in which:
Air bag is used for filling flexible product, so that the surface of the flexible product is flattened.
It should be noted that the size of air bag and the volume of flexible product match, so that air bag is filled with air, flexibility is produced
The surface of product is flattened.
Image capture device, the image on the surface for acquiring the flexible product.
It should be noted that in the present embodiment without limitation to the specific type of image capture device, can voluntarily select.Example
Such as, image capture device can be CCD industrial camera or image capture device is CMOS industrial camera.
Computer, for carrying out Machine Vision Detection to the flexible product according to described image.
It should be pointed out that having the standard picture of the flexible product of same qualification, the flexibility that will be obtained in computer
The image and standard picture on the surface of product carry out matching comparison, judge the degree of impairment of tested flexible product.
Preferably, air bag is connected with air pump, is inflated using electronic controller control air pump to air bag, convenient and efficient.
When machine vision detection device provided by the present embodiment for flexible product detects flexible product, lead to
It crosses and fills air bag into flexible product, so that the surface of the flexible product is flattened；Acquire the surface of the flexible product
Image Machine Vision Detection is carried out to the flexible product according to described image.In the present embodiment, filled with air bag to soft
Property product in, after air bag inflation, flexible product is sufficiently bonded with air bag, after the surface of flexible product is flattened, the flexible production of acquisition
The image on the surface of product carries out Machine Vision Detection according to acquired image, to judge that flexible product whether there is damage,
The problem of detecting again after being installed flexible product product matched with its is avoided, realizes the online inspection to flexible product
It surveys, improves efficiency when carrying out Machine Vision Detection to flexible product；It also avoids using simultaneously and manually flexible product is examined
The mode of survey, the case where avoiding missing inspection appearance save human cost, improve the accuracy of detection.
On the basis of the above embodiments, in one embodiment of the application, the machine vision for flexible product is examined
Survey device further include:
Retractable supports component, the retractable supports component are located in the air bag, are used to support the flexible product.
Retractable supports component can stretch for the volume of different flexible products, make the size of support member and flexible product
Match, and accelerates to fill air bag into the speed into flexible product.
Preferably, retractable supports component is driven by a motor guide rail and realizes telescopic feature, wherein motor and electronics control
Device processed is connected, i.e., electronic controller controls motor, and then controls support member and realize telescopic performance.
Based on any of the above embodiments, in one embodiment of the application, the machine for flexible product is regarded
Feel detection device further include:
Flexible light source, the flexible light source is located at the inner surface of the air bag, for the currently quilt to the flexible product
Pickup area provides illumination.
The purpose of setting of flexible light source is that the inner surface of flexible light source and air bag has good docile property, when air bag quilt
After inflation, air bag is bonded with the inner surface of flexible product, and flexible light source is same as flexible product to have good docile property, flexibility
When light source lights, provide illumination for the corresponding region of flexible product, when the corresponding flexible product region of the flexible light source lighted by
When damaged, light can penetrate breakage.
It should be noted that flexible light source is constituted in the present embodiment for headlamp is arranged on the surface of flexible material, for example,
On flexible material surface, LED light array is set.
It should be pointed out that being not specifically limited in the present embodiment to flexible material, can voluntarily select.For example, soft material
Material can be polytetrafluoroethylene (PTFE) (PTFE) or reinforced TFE (RTFE).
Based on any of the above embodiments, in one embodiment of the application, the machine for flexible product is regarded
Feel detection device further include:
Lamp is casted oblique rays on, for irradiating the surface of the flexible product, so that Ray obliquity injects the surface of the flexible product.
The purpose of casting oblique rays on the setting of lamp is that have at the position of fold for flexible product surface, the complex regions such as edges and corners,
Irradiation by casting oblique rays on lamp can more accurately detected the degree of impairment of complex region, improve the reliability of detection.
It should be noted that the Ray obliquity for casting oblique rays on lamp injects the surface of flexible product, the surface of flexible product is carried out
The direction of Image Acquisition and the surface of flexible product are vertical, i.e., direction and the light of Image Acquisition are carried out to the surface of flexible product
Direction of illumination has certain angle, in the present embodiment without limitation to the specific angle of angle, depends on the circumstances, as long as guaranteeing
The image clearly on the surface of the flexible product of acquisition.
Fig. 5 is referred to, Fig. 5 supports flexible product when being the progress Machine Vision Detection provided herein to flexible product
Apparatus structure schematic diagram.Retractable supports component 1 is unfolded state in figure, and retractable supports component 1 can be according to flexible product
Shape, volume opened or shunk；Pedestal 5 is hollow base, is internally connected with for being retractable supports component 1
The flexible gas-filled pipe 2 of flexible power is provided, flexible gas-filled pipe 2 there are 5 in figure, can be the retractable supports portion of 5 different directions
Part 1 is inflated；Air bag retainer plate 3 is circle, for the opening of fixation balloon (not shown), passes through air bag inflating port 4
For the inflation of air bag (not shown), so that flexible product is filled by air bag, flexible product surface is flattened.Branch shown in figure
The device for supportting flexible product can stretch for different flexible products, while can ensure that flexible product is being detected again
Shi Buhui is scratched.Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, same or similar part may refer to each other between each embodiment.Embodiment is disclosed
Device for, since it is corresponded to the methods disclosed in the examples, so be described relatively simple, related place is referring to method
Part illustrates.
The machine vision detection method and device for flexible product provided herein has been carried out in detail above
It introduces.Specific examples are used herein to illustrate the principle and implementation manner of the present application, the explanation of above embodiments
It is merely used to help understand the present processes and its core concept.It should be pointed out that for the ordinary skill people of the art
Member for, under the premise of not departing from the application principle, can also to the application, some improvement and modification can also be carried out, these improve and
Modification is also fallen into the protection scope of the claim of this application.
Claims (10)
1. a kind of machine vision detection method for flexible product characterized by comprising
Air bag is filled into flexible product, so that the surface of the flexible product is flattened；
Acquire the image on the surface of the flexible product；
According to described image, Machine Vision Detection is carried out to the flexible product.
2. being used for the machine vision detection method of flexible product as described in claim 1, which is characterized in that described by air bag
Filling is into flexible product, so that before the surface of the flexible product is flattened, further includes:
Retractable supports component is set in the air bag.
3. being used for the machine vision detection method of flexible product as described in claim 1, which is characterized in that described by air bag
Before filling is into flexible product, further includes:
In the inner surface of the air bag, multiple flexible light sources are set；
Correspondingly, before the image on the surface of the acquisition flexible product further include:
Determine the current collected region of the flexible product；
It is determining to be currently collected the corresponding flexible light source in region with described according to the currently collected region；
The flexible light source is controlled to light.
4. the machine vision detection method as described in any one of claims 1 to 3 for flexible product, which is characterized in that
Before the image on the surface of the acquisition flexible product, further includes:
Using the surface for casting oblique rays on flexible product described in light irradiation, so that Ray obliquity injects the surface of the flexible product.
5. being used for the machine vision detection method of flexible product as claimed in claim 4, which is characterized in that described in the acquisition
The image on the surface of flexible product includes:
The image on the surface of the flexible product is acquired using CCD industrial camera.
6. being used for the machine vision detection method of flexible product as claimed in claim 5, which is characterized in that described according to
Image, carrying out Machine Vision Detection to the flexible product includes:
Gray processing processing is carried out to described image, to obtain gray level image；
According to the gray level image, Machine Vision Detection is carried out to the flexible product.
7. a kind of machine vision detection device for flexible product characterized by comprising
Air bag is used for filling flexible product, so that the surface of the flexible product is flattened；
Image capture device, the image on the surface for acquiring the flexible product；
Computer, for carrying out Machine Vision Detection to the flexible product according to described image.
8. being used for the machine vision detection device of flexible product as claimed in claim 7, which is characterized in that further include:
Retractable supports component, the retractable supports component are located in the air bag, are used to support the flexible product.
9. being used for the machine vision detection device of flexible product as claimed in claim 8, which is characterized in that further include:
Flexible light source, the flexible light source are located at the inner surface of the air bag, for being collected to the current of the flexible product
Region provides illumination.
10. such as the described in any item machine vision detection devices for flexible product of claim 7 to 9, which is characterized in that also
Include:
Lamp is casted oblique rays on, for irradiating the surface of the flexible product, so that Ray obliquity injects the surface of the flexible product.
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| CN111516304A (en) * | 2020-03-20 | 2020-08-11 | 江阴延利汽车饰件股份有限公司 | Thermoplastic natural composite fiber interior trim panel and preparation process thereof |
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Application publication date: 20190614 |