JPH01187403A - Glass edge detecting device - Google Patents
Glass edge detecting deviceInfo
- Publication number
- JPH01187403A JPH01187403A JP1083788A JP1083788A JPH01187403A JP H01187403 A JPH01187403 A JP H01187403A JP 1083788 A JP1083788 A JP 1083788A JP 1083788 A JP1083788 A JP 1083788A JP H01187403 A JPH01187403 A JP H01187403A
- Authority
- JP
- Japan
- Prior art keywords
- point
- glass
- displacement gauge
- laser
- seaming
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000011521 glass Substances 0.000 title claims abstract description 18
- 239000005357 flat glass Substances 0.000 claims abstract description 17
- 238000004826 seaming Methods 0.000 claims abstract description 12
- 238000003708 edge detection Methods 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 abstract description 24
- 238000007689 inspection Methods 0.000 abstract description 13
- 230000002093 peripheral effect Effects 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001678 irradiating effect Effects 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 230000001427 coherent effect Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000005477 standard model Effects 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は３次元曲面形状を有する自動車用窓ガラスなど
その周縁部がシーミングされた彎曲板ガラスのエツジを
検出する装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for detecting the edge of a curved sheet glass whose peripheral edge is seamed, such as an automobile window glass having a three-dimensional curved shape.
従来、このような装置としては、時開昭和５５−８９７
０８号などに示されるように、周縁部輪郭に沿って配置
された複数のプローブによって測定するもの、また特開
昭５８−１９８７１０号で示されるように、移動自在な
アームの先端に位置計測センサーを備えたもので、基準
型に基づき測定の位置・順序を学習記憶させ、その後記
憶内容を反復再現することにより測定するものが知られ
ている。Conventionally, as such a device, there was a
As shown in Japanese Patent Application Laid-Open No. 08-08, measurement is performed using multiple probes arranged along the peripheral edge contour, and as shown in Japanese Patent Application Laid-open No. 1987-1987, a position measurement sensor is installed at the tip of a movable arm. It is known that the device is equipped with a standard model, learns and memorizes the position and order of measurements based on a reference pattern, and then repeatedly reproduces the memorized contents to perform measurements.
しかしながら、いずれもセンサーが接触タイプであり、
被対象物を傷つけ、またセンサー自身が摩耗することは
避けられないものであった。However, both sensors are contact type,
It was inevitable that the object would be damaged and the sensor itself would wear out.
本発明はこのような点に鑑みてなされたもので非接触に
よりエツジ部分を簡易に測定する装置を提供することを
目的とする。The present invention has been made in view of these points, and an object of the present invention is to provide a device for easily measuring edge portions without contact.
ｃ問題点を解決するための手段〕
本発明は、自動車用窓ガラスなどとして使用されるシー
ミングされた彎曲板ガラスの検出装置であって、該シー
ミング部にレーザ光を投射する移動自在なレーザ投光器
と、シーミング部で反射された光を受光する受光センサ
と、前記レーザ投光器の位置を検出する位置検出器とを
具備することを特徴とする。Means for Solving Problem c] The present invention is a detection device for a seamed curved plate glass used as an automobile window glass, which comprises a movable laser projector that projects a laser beam onto the seaming portion; , comprising: a light receiving sensor that receives light reflected by the seaming portion; and a position detector that detects the position of the laser projector.
以下、図面を参照しながら本発明の詳細な説明する。 Hereinafter, the present invention will be described in detail with reference to the drawings.
第１図は本発明の装置全体を示す概略構成図、第２図は
ガラス検査型に基づいて設定された３次元座標系、第３
図〜第５図はいずれも設計上の仮想曲面（ガラス検査型
）と彎曲板ガラスの関係と測定方法を示す図で、第３図
の（ａ）は平面図、（ｂ）は（ａ）の内部拡大図、第４
図は第３図Ａ−Ｂ線における一部断面図、第５図は第３
図においてＡからＢの方向を見た一部立面図である。FIG. 1 is a schematic configuration diagram showing the entire apparatus of the present invention, FIG. 2 is a three-dimensional coordinate system set based on the glass inspection mold, and FIG.
Figures 5 to 5 are diagrams showing the relationship between the designed virtual curved surface (glass inspection type) and curved plate glass, and the measurement method. Enlarged internal view, No. 4
The figure is a partial sectional view taken along line A-B in Figure 3, and Figure 5 is a partial cross-sectional view taken along line A-B in Figure 3.
It is a partial elevational view seen from direction A to B in the figure.
第６図は位置−レーザ変位計出力特性図、第７図はレー
ザ変位針の概略構成図である。FIG. 6 is a position-laser displacement meter output characteristic diagram, and FIG. 7 is a schematic configuration diagram of the laser displacement needle.
図面において、１はガラス検査型２に載置された３次元
曲面形状を有する彎曲板ガラスで周縁部分には第４図に
示すように研磨されたシーミング部１ａが形成されてい
る。In the drawings, reference numeral 1 denotes a curved plate glass having a three-dimensional curved shape placed on a glass inspection mold 2, and a polished seaming portion 1a is formed at the peripheral edge portion as shown in FIG.
３は５軸以上の軸を有するロボットで３次元空間におい
て移動自在なアーム３ａと、その先端に軸重身回動自在
に取り付けされたアクチュエータ３ｂと、アクチュエー
タ３ｂに回動自在に取り付けられたハンド３０などを具
備し、ロボットコントローラ４によって駆動される。3 is a robot having five or more axes, and includes an arm 3a that can move freely in three-dimensional space, an actuator 3b that is rotatably attached to the tip of the arm 3a, and a hand that is rotatably attached to the actuator 3b. 30 and the like, and is driven by the robot controller 4.
５は第７図に示すようにレーザ投光器５ａとイメージセ
ンサ−などの受光センサー５ｂ等を一体的に組み込んだ
レーザ変位計で、対象物が変位すると受光センサー上の
スポットが移動するのでこのスポットの移動量を電気信
号に変換し出力する距離センサである。5 is a laser displacement meter that integrally incorporates a laser projector 5a and a light receiving sensor 5b such as an image sensor, as shown in Fig. 7.When the object is displaced, the spot on the light receiving sensor moves, so the spot of this spot is It is a distance sensor that converts the amount of movement into an electrical signal and outputs it.
６はレーザ変位針の位置を検出する位置検出器でロボッ
トの５軸移動をそれぞれのパルス発生器、パルスカウン
ターなどにより検出するものである。Reference numeral 6 is a position detector for detecting the position of the laser displacement needle, which detects the movement of the robot in five axes using respective pulse generators, pulse counters, etc.
このような装置を作動させるために３次元空間の任意の
点を基準点すなわち原点として水平面にＹ軸およびＹ軸
、垂直軸にＹ軸からなる３次元座標系を設定しこれを基
に表わした駆動情報をコンピュータ７に記憶させる。In order to operate such a device, we set an arbitrary point in three-dimensional space as a reference point, that is, the origin, and set up a three-dimensional coordinate system consisting of the Y-axis and Y-axis on the horizontal plane and the Y-axis on the vertical axis, and expressed based on this. The drive information is stored in the computer 7.
３次元空間の任意の点、例えば第２図におけるガラス検
査型の任意の点Ｐｏを基準点、すなわち原点として水平
面にＹ軸およびＹ軸、垂直軸にＹ軸を設定し、この点を
基準にしてレーザ変位計５の移動量をカウントすること
とし、自動車メーカー等から指示される板ガラスの寸法
、形状すなわち設計上の曲面（ガラス検査型）から得ら
れる仮想測定点の位置Ｐ （Ｘ、Ｙ、Ｚ”）と仮想測定
点Ｐにおけるレーザ変位針の駆動方向としての方向ベク
トルＵ（ｕ、ｖ、ｗ）、仮想測定点きＰに対するセンサ
ーの向きとしての法線ベクトルＩ（ｉ、ｊ、、、ｋ）な
どの情報を基にレーザ変位計５を駆動する。Set an arbitrary point in the three-dimensional space, for example, an arbitrary point Po of the glass inspection mold in Fig. 2, as a reference point, that is, the origin, and set the Y-axis and Y-axis on the horizontal plane and the Y-axis on the vertical axis, and use this point as the reference point. The amount of movement of the laser displacement meter 5 is counted based on the position P (X, Y, Z”), the direction vector U (u, v, w) as the driving direction of the laser displacement needle at the virtual measurement point P, and the normal vector I (i, j, , , The laser displacement meter 5 is driven based on information such as k).
すなわち、仮想測定点ｐ （ｘｐ １Ｙｐ−Ｚｐ）の近
傍と反対側の近傍の位置をそれぞれＡ （ＸＡ。That is, the positions near and on the opposite side of the virtual measurement point p (xp 1Yp-Zp) are respectively A (XA).
ＹＡｌ ＺＡ）、Ｂ （ＸＩｌｌＹＢ、ＺＢ）とし、Ａ
Ｂ間の距離を例えば１０ｎとすると、コンピュータ７に
よりＡはＸＡ ＝ＸＰ ＋１０／２Ｘ （−１）Ｘｕ、
ＹＡ ＝ＹＰ ＋１０／２Ｘ （−１）Ｘｖ、ｚＡ＝Ｚ
ｒ ＋１０／２×（１）ＸｗＸＢはＸ１ｌ＝ＸＰ＋１０
／２Ｘ ｕ、ｙＢ ＝ＹＰ ＋１０／２Ｘ ｖＸ Ｚ
Ｂ ＝ Ｚｐ十１０／２ Ｘ Ｗとして演算される。YAl ZA), B (XIllYB, ZB), and A
For example, if the distance between B is 10n, the computer 7 calculates that A is XA =XP +10/2X (-1)Xu,
YA = YP +10/2X (-1)Xv, zA=Z
r +10/2×(1)XwXB is X1l=XP+10
/2X u,yB =YP +10/2X vX Z
It is calculated as B=Zp110/2×W.
レーザ変位計５は、このようにして得られた位置情報Ａ
、Ｂと、仮想測定点Ｐにおける法線ベクトルＩ（ｉＸｊ
、ｋ）によって、その照射スポットが第３図（ａ） （
ｂ）に示すように測定点ＰのＸ−Ｙ平面における法線Ａ
−Ｐ−Ｂに沿ってＡから測定点Ｐを通ってＢまで直線補
間するように、しかも第４図に示すようにｘ−ｙ−ｚ空
間における点Ｐの接平面Ａ−Ｐ−Ｂに平行であって、レ
ーザ変位針のビーム照射角度をＸ−Ｙ−Ｚ空間における
点Ｐの法線方向に保つように、しかも、変位針の角度を
、シーミング部に照射されて反射されたレーザ光が受光
センサに戻るように調整して（従って板ガラス面に照射
されて反射されたレーザ光は受光センサに戻らない）、
ロボットコントローラー４を介してロボット３により駆
動される。The laser displacement meter 5 uses the position information A obtained in this way.
, B, and the normal vector I(iXj
, k), the irradiation spot is shown in Figure 3(a) (
As shown in b), the normal A of the measurement point P in the X-Y plane
- Linear interpolation from A through measurement point P to B along P-B, and parallel to the tangential plane A-P-B of point P in x-y-z space as shown in Figure 4. The beam irradiation angle of the laser displacement needle is kept in the normal direction of point P in the X-Y-Z space, and the angle of the displacement needle is adjusted so that the laser beam irradiated to the seaming part and reflected is Adjust so that the laser beam returns to the light receiving sensor (therefore, the laser beam irradiated and reflected on the plate glass surface does not return to the light receiving sensor),
It is driven by the robot 3 via the robot controller 4.
このとき、レーザ変位針の出力は第６図に示すようにＡ
点からＱ点までは出力はなく、Ｑ点からＰ、まで出力さ
れ、２１点で再び出力がなくなる。At this time, the output of the laser displacement needle is A as shown in Figure 6.
There is no output from point Q to point Q, output from point Q to point P, and no output again at point 21.
Ｑ点がシーミングの始発点で、この点において得られた
出力（距離ｍ’）と予めコンピュータ７に記憶された板
ガラスの厚さｔ、基準の長さｍを基に、曲率Ｍをｍ−（
ｍ’＋ｔ） として、コンピュータ７により演算して
求める。Point Q is the starting point of seaming, and the curvature M is calculated by m-(
m'+t) is calculated by the computer 7.
つづいてＰ、点が板ガラスエツジであり、このときのレ
ーザ変位針の位置を位置検出器で検出し、さらに仮想測
定点Ｐにおける位置座標（Ｘ、Ｙ、Ｚ）と法線ベクトル
Ｕ（ｕ、ｖ、ｗ）によって板ガラスのエツジを仮想エツ
ジＰ２の位置座標としては勿論、仮想曲面との寸法の差
しを演算して求めることができる。Next, point P is the edge of the plate glass, the position of the laser displacement needle at this time is detected by a position detector, and the position coordinates (X, Y, Z) and normal vector U (u, v, w), the edge of the plate glass can be determined not only as the positional coordinates of the virtual edge P2 but also by calculating the difference in dimension with the virtual curved surface.
以下、複数の点において同様の測定を行なうことによっ
て実際の彎曲板ガラスのエツジ部を３次元の位置座標と
して把握することができる。Hereinafter, by performing similar measurements at a plurality of points, the actual edge portion of the curved plate glass can be grasped as three-dimensional position coordinates.
このような装置により、例えば３０点の測定をしたとこ
ろ、約６分で測定でき、測定精度も±０．３ ｖａｎと
良好であった。Using such a device, for example, 30 points could be measured in about 6 minutes, and the measurement accuracy was as good as ±0.3 van.
本発明は、第３図（ｂ）の点線で示すように、仮想測定
点ＰのＸ−Ｙ平面における法線方向から外れて駆動した
り、第５図の点線で示すように光学式距離センサーのビ
ーム照射角度がＸ−Ｙ−２空間における仮想測定点Ｐの
法線から外れて照射されると、それぞれ実測されるべき
点、Ｑ、Ｐ＋ からＱ ／ 、Ｐ 、 ｌ に外れてし
まうので補正して再度測定しなければならない不都合を
防ぐとともに測定精度を向上させるものである。As shown by the dotted line in FIG. 3(b), the present invention is capable of driving the virtual measuring point P away from the normal direction in the X-Y plane, and as shown by the dotted line in FIG. If the beam irradiation angle deviates from the normal line of the virtual measurement point P in the X-Y-2 space, the points to be measured, Q and P+, will deviate from the actual measurement points to Q/, P, and l, so correction is necessary. This prevents the inconvenience of having to perform the measurement again after the measurement has been completed, and improves the measurement accuracy.
また、レーザビームスポットを仮想の測定点Ｐの近傍か
ら反対側の近傍Ｂに走査することにより、仮想測定点Ｐ
と計測点Ｐ２がずれていても必ず測定することができる
。In addition, by scanning the laser beam spot from the vicinity of the virtual measurement point P to the vicinity B on the opposite side, the virtual measurement point P
Even if the measurement point P2 is shifted, the measurement can be performed without fail.
なお、本実施例において仮想曲面を基に説明したが、ガ
ラス検査型はこの仮想曲面に倣って精密に製作されてい
るので、実質的に等しいと考えてよいので、図面上はガ
ラス検査型と表示している。Although this example has been explained based on a virtual curved surface, the glass inspection mold is precisely manufactured in imitation of this virtual curved surface, so it can be considered that they are substantially the same, so the glass inspection mold and the glass inspection mold are shown in the drawings. it's shown.
３次元曲面形状を有する板ガラスのエツジ部分の測定は
光や超音波を被測定物に照射してその反射を検出する方
式では従来不可能とされていたが、自動車用窓ガラスな
どに用いられる板ガラスには破壊の始発点となる凹凸を
除去するため、あるいは安全上の理由によりエツジ部分
が研磨されシーミングが施されているが、このシーミン
グ部は微小な凹凸を有しており、比較的不透明であるこ
とに着目して、この部分にコヒーレントで、エネルギー
密度の高いレーザ光を照射すれば、反射光の拡散が小さ
く、また光の減衰量が小さいので受光センサで充分高精
度に検出することを可能にしたものである。Previously, it was thought that it was impossible to measure the edges of plate glass, which has a three-dimensional curved shape, by irradiating light or ultrasonic waves onto the object to be measured and detecting the reflection. The edges are polished and seamed to remove irregularities that can be the starting point of fracture, or for safety reasons, but these seams have minute irregularities and are relatively opaque. If we focus on a certain thing and irradiate this area with a coherent, high-energy-density laser beam, the diffusion of the reflected light will be small, and the attenuation of the light will be small, making it possible for the light receiving sensor to detect it with sufficient precision. It made it possible.
以上、好適な実施例により説明したが、本発明はこれら
に限定されるものではなく種々の応用が可能である。Although the present invention has been described above using preferred embodiments, the present invention is not limited to these embodiments and can be applied in various ways.
ロボットは５軸ロボツト以外にも５軸以上の軸を有する
ロボットであればよく、またロボットとして一体的に製
作されたものだけでなく各軸の駆動装置を別々に製作し
て組み合せたものでもよいのは勿論である。In addition to a 5-axis robot, the robot may be any robot that has 5 or more axes, and it may not only be manufactured as an integrated robot, but also one in which drive devices for each axis are manufactured separately and combined. Of course.
レーザ投光器と受光センサは一体に組み込ん一９＝
だレーザ変位計で説明したが別個に設けて、レーザ投光
器の位置と方向などを検出するようにしてもよい。Although the laser projector and the light-receiving sensor are integrated into one unit, as explained in the description of the laser displacement meter, they may be provided separately to detect the position and direction of the laser projector.
また、実施例では、３次元空間の任意の点としてガラス
検査型上の点Ｐ。を設定したが、Ｐ。Further, in the embodiment, a point P on the glass inspection mold is an arbitrary point in three-dimensional space. was set, but P.
を基準点として測定点の座標が与えられていればＰ。は
どこでもよい。さらに必ずしも３次元の座標を設定する
必要はなく、ロボットに測定手順をティーチングして、
その移動量によってガラスエツジを検出することも可能
である。If the coordinates of the measurement point are given with reference point as P. can be anywhere. Furthermore, it is not always necessary to set three-dimensional coordinates; instead, you can teach the robot the measurement procedure.
It is also possible to detect glass edges based on the amount of movement.
本実施例では、彎曲板ガラスのエツジ部分を検出するこ
とを説明したが超音波距離センサを併用して、エツジ部
以外の彎曲面までの距離を測定すれば任意の点における
彎曲度（だぶり）を検出することもできる。In this example, the edge portion of a curved plate glass is detected. However, if an ultrasonic distance sensor is also used to measure the distance to a curved surface other than the edge portion, the degree of curvature (overlap) at any point can be detected. It can also be detected.
本発明はレーザ光を板ガラスのシーミングに照射してそ
の反射光を検出することにより、従来、不可能とされた
彎曲板ガラスのエツジ部分の検出を非接触方式で可能に
してものである。The present invention makes it possible to detect edge portions of curved glass plates in a non-contact manner, which was previously impossible, by irradiating the seaming of the glass plate with a laser beam and detecting the reflected light.
さらに、３次元座標系を設定し、この座標によりレーザ
変位針を駆動させると、迅速かつ高精度に検出すること
ができる。Furthermore, if a three-dimensional coordinate system is set and the laser displacement needle is driven using this coordinate, rapid and highly accurate detection can be achieved.
第１図は本発明の装置全体を示す概略構成図、第２図は
ガラス検査型に基づいて設定された３次元座標系、第３
図〜第５図はいずれも設計上の仮想曲面（ガラス検査型
）と彎曲板ガラスの関係と測定方法を示す図で、第３図
の（ａ）は平面図、（ｂ）は（ａ）の内部拡大図、第４
図は第３図Ａ−Ｂ線における一部断面図、第５図は第３
図においてＡからＢの方向を見た一部立面図である。
第６図は位置−レーザ変位計出力特性図、第７図はレー
ザ変位針の概略構成図である。
１・・彎曲板ガラス、ｌａ・・シーミング部２・・ガラ
ス検査型、３・・ロボット
５・・レーザ変位針、６・・位置検出器特許出願人 セ
ントラル硝子株式会社FIG. 1 is a schematic configuration diagram showing the entire apparatus of the present invention, FIG. 2 is a three-dimensional coordinate system set based on the glass inspection mold, and FIG.
Figures 5 to 5 are diagrams showing the relationship between the designed virtual curved surface (glass inspection type) and curved plate glass, and the measurement method. Enlarged internal view, No. 4
The figure is a partial sectional view taken along line A-B in Figure 3, and Figure 5 is a partial cross-sectional view taken along line A-B in Figure 3.
It is a partial elevational view seen from direction A to B in the figure. FIG. 6 is a position-laser displacement meter output characteristic diagram, and FIG. 7 is a schematic configuration diagram of the laser displacement needle. 1...Curved plate glass, LA...Seaming part 2...Glass inspection type, 3...Robot 5...Laser displacement needle, 6...Position detector Patent applicant Central Glass Co., Ltd.
Claims (1)
該シーミング部にレーザ光を投射する移動自在なレーザ
投光器と、シーミング部で反射された光を受光する受光
センサと、前記レーザ投光器の位置を検出する位置検出
器とを具備することを特徴とするガラスエッジ検出装置
。A detecting device for seamed curved plate glass, comprising:
It is characterized by comprising a movable laser projector that projects laser light onto the seaming section, a light receiving sensor that receives the light reflected by the seaming section, and a position detector that detects the position of the laser projector. Glass edge detection device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1083788A JPH0711407B2 (en) | 1988-01-22 | 1988-01-22 | Glass edge detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1083788A JPH0711407B2 (en) | 1988-01-22 | 1988-01-22 | Glass edge detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01187403A true JPH01187403A (en) | 1989-07-26 |
| JPH0711407B2 JPH0711407B2 (en) | 1995-02-08 |
Family
ID=11761464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1083788A Expired - Lifetime JPH0711407B2 (en) | 1988-01-22 | 1988-01-22 | Glass edge detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0711407B2 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0682224A (en) * | 1992-08-31 | 1994-03-22 | Central Glass Co Ltd | Inspector for transparent plate-shaped body |
| JP2004294247A (en) * | 2003-03-26 | 2004-10-21 | Jfe Steel Kk | Section steel material cross-section size measuring instrument and its method |
| KR100694531B1 (en) * | 2004-09-22 | 2007-03-13 | 주식회사 에이디피엔지니어링 | Device for appearance inspection |
| JP2013050468A (en) * | 2006-03-23 | 2013-03-14 | Nissan Motor Co Ltd | Work position detection system |
| CN108942501A (en) * | 2018-08-31 | 2018-12-07 | 东莞市银泰玻璃有限公司 | A kind of bend glass grinding device and its polishing process |
| CN109084682A (en) * | 2018-09-25 | 2018-12-25 | 福耀集团（上海）汽车玻璃有限公司 | Vehicle glass automatic detection device and method |
| WO2020187776A1 (en) * | 2019-03-21 | 2020-09-24 | Saint-Gobain Glass France | Method for time synchronization between an automatic moving means and a contactless detection means arranged on said automatic moving means |
| CN114264261A (en) * | 2021-12-24 | 2022-04-01 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Flexible electronic glass detection tool and detection method thereof |
| RU2776103C1 (en) * | 2019-03-21 | 2022-07-13 | Сэн-Гобэн Гласс Франс | Method for time synchronization between an automatic means of movement and a contactless means of detection located on the specified automatic means of movement |
-
1988
- 1988-01-22 JP JP1083788A patent/JPH0711407B2/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0682224A (en) * | 1992-08-31 | 1994-03-22 | Central Glass Co Ltd | Inspector for transparent plate-shaped body |
| JP2004294247A (en) * | 2003-03-26 | 2004-10-21 | Jfe Steel Kk | Section steel material cross-section size measuring instrument and its method |
| KR100694531B1 (en) * | 2004-09-22 | 2007-03-13 | 주식회사 에이디피엔지니어링 | Device for appearance inspection |
| JP2013050468A (en) * | 2006-03-23 | 2013-03-14 | Nissan Motor Co Ltd | Work position detection system |
| CN108942501A (en) * | 2018-08-31 | 2018-12-07 | 东莞市银泰玻璃有限公司 | A kind of bend glass grinding device and its polishing process |
| CN109084682A (en) * | 2018-09-25 | 2018-12-25 | 福耀集团（上海）汽车玻璃有限公司 | Vehicle glass automatic detection device and method |
| WO2020187776A1 (en) * | 2019-03-21 | 2020-09-24 | Saint-Gobain Glass France | Method for time synchronization between an automatic moving means and a contactless detection means arranged on said automatic moving means |
| FR3094101A1 (en) * | 2019-03-21 | 2020-09-25 | Saint-Gobain Glass France | Method of timing synchronization between an automatic displacement means and a non-contact sensing means disposed on said automatic displacement means |
| RU2776103C1 (en) * | 2019-03-21 | 2022-07-13 | Сэн-Гобэн Гласс Франс | Method for time synchronization between an automatic means of movement and a contactless means of detection located on the specified automatic means of movement |
| US12036681B2 (en) | 2019-03-21 | 2024-07-16 | Saint-Gobain Glass France | Method for temporal synchronization between an automatic movement means and a contactless detection means arranged on said automatic movement means |
| CN114264261A (en) * | 2021-12-24 | 2022-04-01 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Flexible electronic glass detection tool and detection method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0711407B2 (en) | 1995-02-08 |
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