WO2007028924A1 - Procede et installation pour detecter des corps etrangers a l'interieur d'un recipient - Google Patents
Procede et installation pour detecter des corps etrangers a l'interieur d'un recipient Download PDFInfo
- Publication number
- WO2007028924A1 WO2007028924A1 PCT/FR2006/050843 FR2006050843W WO2007028924A1 WO 2007028924 A1 WO2007028924 A1 WO 2007028924A1 FR 2006050843 W FR2006050843 W FR 2006050843W WO 2007028924 A1 WO2007028924 A1 WO 2007028924A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- container
- foreign body
- confinement zone
- present
- zone
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/3404—Sorting according to other particular properties according to properties of containers or receptacles, e.g. rigidity, leaks, fill-level
- B07C5/3408—Sorting according to other particular properties according to properties of containers or receptacles, e.g. rigidity, leaks, fill-level for bottles, jars or other glassware
-
- 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
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N21/13—Moving of cuvettes or solid samples to or from the investigating station
-
- 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
- G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
- G01N21/9018—Dirt detection in containers
- G01N21/9027—Dirt detection in containers in containers after filling
Definitions
- the present invention relates to the technical field of the inspection of translucent or transparent hollow articles or articles containing a liquid in particular of transparent or translucent nature.
- the object of the invention is more specifically the inspection of such containers for the purpose of detecting, inside, the presence of foreign bodies in the general sense, with a density higher than that of the liquid.
- the object of the invention finds a particularly advantageous application for the detection of glass debris likely to be present inside containers such as bottles made of glass.
- the major drawback of this technique lies in the fact that it is necessary to monitor the imaging area for a relatively long period of time to account for the fall of a debris. Such subjection imposes either very slow work rates, or many images taken and a large number of cameras. In addition, the detection is based on a difference in images that can be very sensitive to noise related to real industrial conditions such as bubbles in the liquid or drops on the wall of the bottle.
- US Pat. No. 4,209,802 proposed to incline the container relative to the vertical by an angle of the order of 45 ° in order to ensure the confinement of foreign bodies in an inspection zone making part of the bottom of the container.
- the inspection area of the container is illuminated and the light transmitted by the container is recovered by a camera whose video signal is analyzed to determine the presence or absence of a foreign object.
- the foreign object containment zone corresponds to a part of the bottle having many engravings or marks, such as notches, code beads or mold seals.
- the technique proposed by this patent does not reliably distinguish foreign bodies located at the bottom of the bottle and the various markings made on the bottle, resulting in the rejection of bottles containing no foreign bodies.
- the object of the invention is therefore to provide a method for reliably and reliably detecting the presence of foreign bodies inside containers with a high inspection rate while avoiding the rejection of containers that do not include foreign bodies.
- the detection method comprises the following steps:
- the method consists of moving the container first so as to place the foreign body present outside the confinement zone and then moving the container so as to place the foreign body present in the zone. confinement.
- the method consists in moving the container first so as to place the foreign body present in the confinement zone and then moving the container so as to place the foreign body present outside the zone. confinement.
- the method involves placing the foreign body in a containment zone of the bottle such as the jable, the shoulder or the stopper.
- the method consists in taking images of the confinement zone by making part of the container appear in the image.
- the method consists in moving the container so as to place the foreign body present outside and in the confinement zone by subjecting the container to tilting movements in the opposite direction.
- Another object of the invention is to provide an installation for reliably and reliably detecting the presence of foreign bodies inside containers with a high inspection rate while avoiding the rejection of containers containing no foreign bodies. .
- the installation according to the invention comprises:
- a first imaging system adapted to take at least one image of the confinement zone of the container when the latter occupies a characteristic position
- a second imaging system adapted to take at least one image of the confinement zone of the container when the latter occupies its other characteristic position
- the means for moving the container so that it occupies a characteristic position are adapted to incline the container relative to the vertical by a determined angle ⁇ while the means for moving the container so that it occupies its other characteristic position. are adapted to incline the container relative to the vertical of an angle of opposite sign to the determined angle ⁇ .
- each imaging system has inclined viewing axes relative to the longitudinal axis of the container at angles of equal values and opposite signs.
- each imaging system comprises a camera and a light source, placed on either side of the container, and adapted to detect defects by transmission.
- each imaging system comprises a camera and a lighting source adapted to detect defects by reflection.
- the means for moving the container comprise a carousel rotating about a vertical axis and equipped with a series of means for gripping the radially distributed containers, the gripping means being controlled in displacement so that on one turn, each container occupies its two characteristic positions in which a foreign body present is placed in or outside the confinement zone.
- Figures 1 and 2 are diagrams explaining the principle of a detection device according to the invention.
- Figures 3 and 4 are views of exemplary images taken when a container occupies characteristic positions illustrated respectively in Figs. 1 and 2.
- Figure 5 is a view of an exemplary embodiment of an installation according to the invention.
- the installation 1 according to the invention is designed to allow the control of hollow articles or containers 2 made of a transparent or translucent material such as glass.
- the controlled containers are bottles made of glass but it must be considered that the invention extends to any packaging for a liquid having as a constituent material of the packaging, a transparent or translucent nature.
- the installation 1 according to the invention is designed to detect inside the container, the presence of a foreign body 3, in the general sense, higher density than the liquid.
- the object of the invention finds a particularly advantageous but nonlimiting application for detecting in time foreign body, a glass debris but it must be considered that the object of the invention makes it possible to detect any type of foreign body to the liquid , of higher density than that of the liquid.
- the detection device 1 according to the invention is placed on the conveyor chain of the containers 2, at a control station located downstream of the bottling station.
- the installation 1 comprises means 4 for moving the container 2 so that it occupies a first characteristic position, said with foreign body, as illustrated in FIG. 1 in which a foreign body present 3 is placed inside a confinement zone 5 of the foreign body 3.
- the confinement zone 5 corresponds to a zone of the container in which a foreign body 3 present in the the inside of the container is brought by gravity.
- the selected confinement zone 5 is located at the junction of the body 6 and the bottom 7 of the container also called jable. More specifically, the confinement zone 5 corresponds to a portion of the jail extending over a portion of the perimeter of the jable, less than half the perimeter of the container.
- another containment zone 5 may be chosen in which the foreign bodies 3 are conveyed by gravity.
- it can be chosen a confinement zone 5 corresponding to the shoulder of the container or the stopper on which the foreign bodies come in the inverted position of the container.
- the displacement means 4 are made by any mechanical device for ensuring on the conveyor line, the passage of the containers 2 from the vertical position to a first characteristic position in which a foreign body 3 present inside the container is placed within the selected confinement zone 5.
- the displacement means 4 make it possible to incline the container relative to the vertical by a determined angle formed between the vertical and the longitudinal axis of symmetry of the bottle.
- the angle ⁇ is between 10 ° and 80 ° and preferably of the order 50 °.
- the inclination of the container 2 leads the possible foreign bodies 3 present to migrate towards the bottom of the container in order to establish itself in the confinement zone 5.
- the confinement zone 5 corresponds for the first characteristic position of the container 2 to the part of the jail situated at the lowest level.
- the container 2 is inclined so that at the expiration of the maximum migration time of the foreign bodies 3, the container is placed in position to be controlled.
- the inclination of the container 2 allows to place the foreign bodies 3 in a stable zone which is the jable of the bottle.
- the inspection of this confinement zone 5 is sufficient to detect the possible presence of foreign bodies which, under the effect of gravity, are inevitably brought to the bottom of the container. It should be noted that the confinement zone 5 is limited in relation to the size of the bottle.
- the installation 1 comprises a first imaging system 10 adapted to take at least one image Ii of the confinement zone 5 of the container when the latter occupies its first characteristic position illustrated in FIG. Fig. 1.
- This first imaging system 10 comprises a lighting source 11 of any known type as well as a video camera 12 of any type making it possible to observe at least the confinement zone 5.
- the camera 12 and the light source 11 are arranged on either side of a container 2.
- the camera 12 has a viewing axis X which is inclined by an angle ⁇ for example understood between 90 ° and 135 ° with respect to the longitudinal axis of the container.
- the foreign bodies 3 are detected by transmission.
- the lighting is of the transmission type so that the foreign bodies 3 are revealed by attenuation of light by absorption or refraction effect.
- reflective lighting can also be used to illuminate the foreign bodies so that it reflects the light towards the camera. According to another embodiment, it may be envisaged to implement both reflective lighting and transmission lighting.
- the first imaging system 10 makes it possible to take at least one image when a foreign body 3 present inside the container is inevitably positioned in the confinement zone 5.
- an image II of the confinement zone 5 reveals the foreign body 3 present.
- the camera 12 is placed relative to the container so that the image taken Ii makes part of the container 2 appear as the wall of the container corresponding to the junction between the body 6 and the bottom 7 of the container or the cap fitted to the container 2.
- the image shows the interface zone between the liquid and the container so that the part of the container appearing on the image constitutes a reference zone for the image processing.
- the installation 1 comprises means 4 'for moving the container so that it occupies a second characteristic position, known as a foreign body, in which a foreign body 3 present is placed outside the selected confinement zone 5.
- the displacement means 4 ' make it possible to incline the container relative to the vertical by a determined angle ai of sign opposite to the angle ⁇ chosen to place the container in its first characteristic position.
- the angle ai may have a value equal to or different from the value ⁇ .
- the angle ai may be of the order of -15 °.
- the displacement means 4 ' are adapted so that a foreign body 3 present inside the container is brought by gravity into a positioning or recovery zone 5' which is different from the selected confinement zone 5.
- the recovery zone 5 'of the foreign body 3 corresponds to a part of the jabl located at the opposite part of the jable corresponding to the confinement zone 5.
- the confinement zone 5 corresponds to the portion of the jabla located at the highest level while the recovery zone 5 'corresponds to the part of the jabla located at the lowest level.
- the confinement 5 and recovery 5 'zones are therefore disjoint.
- the installation 1 also comprises a second imaging system 20 adapted to take at least one image of the confinement zone 5 of the container when the latter occupies its second characteristic position illustrated in FIG. 2.
- This second imaging system 20 comprises a lighting source 21 of any known type and a video camera 22 of any type known also.
- the camera 22 and the light source 21 are arranged on either side of the container so that the foreign bodies are detected by transmission.
- the second image pickup system 20 includes reflective illumination possibly associated with transmission lighting.
- the camera 22 has a line of sight Xi inclined with respect to the longitudinal axis of the container by an angle ⁇ i of value equal to the angle ⁇ but being of opposite sign.
- the second imaging system 20 makes it possible to take at least one image when a foreign body 3 present is inevitably positioned outside the selected confinement zone 5.
- the image I 2 of the confinement zone 5 does not include the foreign body 3.
- the camera 22 takes, when the container occupies its second characteristic position, an image of the confinement zone 5 which is identical to the confinement zone 5 taken in the first characteristic position of the container. So, it appears on the image I 2 , the same part of the container 2 that appears on the image Ii.
- the image I 2 is identical to the image Ii with the exception of the foreign body 3.
- the detection device 1 also comprises a unit for processing and analyzing the images taken by the imaging systems 10, 20, in order to determine the presence or absence of a foreign body to the inside the container.
- This unit not shown, comprises processing means and image analysis Ii, I 2 taken in the two characteristic positions of the container. These means compare the images taken to detect the presence or absence of a foreign body 3.
- the installation 1 described above makes it possible to implement a detection method that derives directly from the foregoing description.
- a zone of the so-called confinement container 5 is chosen in which a foreign body 3 present inside the container 2 is inevitably brought by gravity.
- the confinement zone 5 corresponds to a part of the jable of the container.
- the method consists of moving the container 2 so as to place the foreign body 3 present inside the confinement zone 5 (FIG 1).
- the method consists in taking at least one image of the confinement zone 5 when the container occupies this first characteristic position in which the foreign body 3 present is placed in the confinement zone 5. An image II is thus obtained, revealing the presence of a foreign body 3.
- the image taken takes into account at least part of the container namely a part of the wall or part of the plug in the case where the confinement zone is located at the neck of the container.
- the method according to the invention then consists in moving the container so as to place the foreign body 3 present outside the selected confinement zone 5.
- the foreign body 3 is thus placed in another part of the jail, namely a recovery zone 5 'which is disjunct from the confinement zone 5 chosen.
- At least one image I 2 of the confinement zone 5 is then taken when the container occupies this second characteristic position in which the foreign body present 5 is placed outside the confinement zone (FIG 2).
- the image taken I 2 corresponds to the same zone of the container appearing in the image Ii but in which the foreign body 3 is absent.
- the images Ii, I 2 taken are then analyzed for the presence of a foreign body inside the container 2. Insofar as the images taken reveal the same part of the container and possibly a foreign body 3 for the first time.
- image II the comparative analysis of the two images makes it possible to highlight the presence or absence of a foreign body 3.
- the analysis of the images can consist in making a difference between the images or in extracting the characteristics (geometrical and photometric) each of the images to compare them later. It should be noted that the image I 2 free of foreign bodies can constitute a reference image.
- the method aims to first move the container 2 so as to place the foreign body 3 present in the confinement zone 5 and then move the container 2 so as to place the foreign body 3 present out of the confinement zone, that is to say in the recovery zone 5 '.
- the method consists in moving the container 2 first so as to place the foreign body 3 present outside the confinement zone 5, that is to say in the zone 5 'recovery (Fig 2) and then move the container 2 so as to place the foreign body 3 present in the confinement zone 5 (Fig 1).
- the F ⁇ g. 5 illustrates an exemplary embodiment of an installation implementing the method according to the invention.
- the installation 1 comprises a carousel rotating around a vertical axis A provided as displacement means 4, 4 ', of a series of gripping tongs 31 circumferentially distributed next to each other and mounted to each grasp a container 2 for example by its neck.
- the installation comprises an input station 32 adapted to successively bring the containers 2 in the upright position to be grasped by the gripping tongs 31.
- the installation also comprises an exit station 33 situated near the entry station allowing transferring, on the one hand, the receptacles containing foreign bodies to an ejection outlet 34 and, on the other hand, the receptacles containing no foreign bodies 3 to an exit conveyor 35.
- each container 2 passes successively in front of the imaging systems 20, which are fixed.
- the gripping tongs 31 are controlled in displacement so that on one turn of the carousel, each container 2 occupies the two characteristic positions defined above.
- Each container 2 is thus moved to be placed in front of the imaging system 20 in an inclined position making it possible to place the foreign body present 3 outside the confinement zone 5, that is to say in the recovery zone. 5 '(Fig. 2) to then be moved to the imaging system 10 in which the foreign body 3 present is placed in the confinement zone 5 (Fig. 1).
- Each container 2 is thus subjected to tilting movements in the opposite direction.
- upstream of the imaging systems 10, 20, the container 2 can undergo different movements in order to surely cause all the foreign bodies 3 present in or outside the selected confinement zone 5.
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- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP06808282A EP1931974A1 (fr) | 2005-09-05 | 2006-09-05 | Procede et installation pour detecter des corps etrangers a l'interieur d'un recipient |
BRPI0615467-0A BRPI0615467A2 (pt) | 2005-09-05 | 2006-09-05 | processo e instalação para detectar, no interior de um recipiente transparente ou translúcido que contém um lìquido, a presença de um corpo estranho de densidade superior àquela do lìquido |
US11/991,413 US20100220919A1 (en) | 2005-09-05 | 2006-09-05 | Method and installation for detecting foreign bodies inside a container |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0509035 | 2005-09-05 | ||
FR0509035A FR2890447B1 (fr) | 2005-09-05 | 2005-09-05 | Procede et installation pour detecter des corps etrangers a l'interieur d'un recipient |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007028924A1 true WO2007028924A1 (fr) | 2007-03-15 |
Family
ID=36467862
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2006/050843 WO2007028924A1 (fr) | 2005-09-05 | 2006-09-05 | Procede et installation pour detecter des corps etrangers a l'interieur d'un recipient |
Country Status (7)
Country | Link |
---|---|
US (1) | US20100220919A1 (fr) |
EP (1) | EP1931974A1 (fr) |
CN (1) | CN101287981A (fr) |
BR (1) | BRPI0615467A2 (fr) |
FR (1) | FR2890447B1 (fr) |
WO (1) | WO2007028924A1 (fr) |
ZA (1) | ZA200802082B (fr) |
Cited By (1)
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RU2777618C2 (ru) * | 2018-06-20 | 2022-08-08 | Хойфт Зюстемтехник Гмбх | Способ протоколирования испытательных бутылок |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006011803A2 (fr) * | 2004-07-30 | 2006-02-02 | Eagle Vision Systems B.V. | Appareil et procede de verification de contenants |
EP3195902B1 (fr) | 2010-02-24 | 2019-07-10 | Accuray, Inc. | Système de radiothérapie guidée par image de portique |
DE102010012570A1 (de) * | 2010-03-23 | 2011-09-29 | Krones Ag | Vorrichtung und Verfahren zum Untersuchen von befüllten Behältnissen auf Fremdkörper |
DE102011004584A1 (de) * | 2011-02-23 | 2012-08-23 | Krones Aktiengesellschaft | Verfahren und Vorrichtung zum Erkennen von Blasen und/oder Falten auf etikettierten Behältern |
JP5920828B2 (ja) * | 2012-07-06 | 2016-05-18 | サントリーホールディングス株式会社 | 製品処理装置 |
DE102013103992A1 (de) | 2013-04-19 | 2014-10-23 | Krones Ag | Testbehältnis zum Testen von Inspektionseinrichtungen |
CN103604810A (zh) * | 2013-11-22 | 2014-02-26 | 桂林湘山酒业有限公司 | 不透明小口瓶内部检测装置 |
DE102016209722A1 (de) * | 2016-06-02 | 2017-12-07 | Robert Bosch Gmbh | Vorrichtung und Verfahren zur Inspektion von Behältnissen |
DE102016209716A1 (de) * | 2016-06-02 | 2017-12-07 | Robert Bosch Gmbh | Vorrichtung und Verfahren zur Inspektion von Behältnissen |
CN109564692B (zh) * | 2016-08-03 | 2023-11-14 | 皇家飞利浦有限公司 | 使用局部修改的飞行时间(tof)内核进行tof pet图像重建 |
CN109580628B (zh) * | 2016-10-29 | 2021-07-02 | 烟台知兴知识产权咨询服务有限公司 | 一种液体药剂异物检测设备 |
CN108107005A (zh) * | 2016-11-25 | 2018-06-01 | 北京小米移动软件有限公司 | 液体质量检测的方法及装置 |
JP6932185B2 (ja) | 2017-04-28 | 2021-09-08 | 株式会社小松製作所 | 油の状態検出装置、作業機械、管理システム、及び油の状態検出方法 |
CN108426893B (zh) * | 2017-12-06 | 2021-12-03 | 广州华研制药设备有限公司 | 透明容液器皿的异常检测方法 |
EP4141423A4 (fr) * | 2020-04-20 | 2023-05-31 | NEC Corporation | Dispositif de préhension |
CN113000398B (zh) * | 2021-02-20 | 2022-09-27 | 国网黑龙江省电力有限公司鸡西供电公司 | 一种三极转换开关静触头导电杆检测安装装置 |
DE102021115493A1 (de) * | 2021-06-15 | 2022-12-15 | Heuft Systemtechnik Gmbh | Verfahren und Vorrichtung zur Vollbehälterinspektion |
CN114235844A (zh) * | 2021-10-28 | 2022-03-25 | 上海珂明注塑***科技有限公司 | 一种利用反射获取容器外表面图像的检测装置及方法 |
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US4209802A (en) * | 1978-09-25 | 1980-06-24 | Gerber Products Company | Glass fragment detector |
JPH01272948A (ja) * | 1988-04-26 | 1989-10-31 | Mitsubishi Heavy Ind Ltd | 実ビン内異物検査方法 |
EP0704696A1 (fr) * | 1994-09-30 | 1996-04-03 | FRANCOIS VALENTIN (Société Anonyme) | Procédé de détection pour le repérage de débris de verre à l'intérieur de bouteilles |
JPH08210992A (ja) * | 1995-02-02 | 1996-08-20 | N Tec:Kk | 容器内の沈澱異物の検査方法および装置 |
EP0797092A1 (fr) * | 1996-03-22 | 1997-09-24 | Brasseries KRONENBOURG Société dite : S.A. | Procédé et dispositif de détection de débris de verre |
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FR2827044A1 (fr) * | 2001-07-04 | 2003-01-10 | Perrier Sa | Procede et machine pour amener des recipients a defiler devant un poste de detection de corps etrangers |
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2005
- 2005-09-05 FR FR0509035A patent/FR2890447B1/fr not_active Expired - Fee Related
-
2006
- 2006-09-05 ZA ZA200802082A patent/ZA200802082B/xx unknown
- 2006-09-05 EP EP06808282A patent/EP1931974A1/fr not_active Withdrawn
- 2006-09-05 WO PCT/FR2006/050843 patent/WO2007028924A1/fr active Application Filing
- 2006-09-05 CN CN200680032297.3A patent/CN101287981A/zh active Pending
- 2006-09-05 US US11/991,413 patent/US20100220919A1/en not_active Abandoned
- 2006-09-05 BR BRPI0615467-0A patent/BRPI0615467A2/pt not_active IP Right Cessation
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EP0704696A1 (fr) * | 1994-09-30 | 1996-04-03 | FRANCOIS VALENTIN (Société Anonyme) | Procédé de détection pour le repérage de débris de verre à l'intérieur de bouteilles |
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JPH08210992A (ja) * | 1995-02-02 | 1996-08-20 | N Tec:Kk | 容器内の沈澱異物の検査方法および装置 |
EP0797092A1 (fr) * | 1996-03-22 | 1997-09-24 | Brasseries KRONENBOURG Société dite : S.A. | Procédé et dispositif de détection de débris de verre |
EP0871028A1 (fr) * | 1997-04-11 | 1998-10-14 | BSN Société Anonyme | Procédé et dispositif pour détecter des corps étrangers à l'intérieur d'un récipient translucide ou transparent |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2777618C2 (ru) * | 2018-06-20 | 2022-08-08 | Хойфт Зюстемтехник Гмбх | Способ протоколирования испытательных бутылок |
Also Published As
Publication number | Publication date |
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FR2890447A1 (fr) | 2007-03-09 |
CN101287981A (zh) | 2008-10-15 |
ZA200802082B (en) | 2010-03-31 |
BRPI0615467A2 (pt) | 2011-05-17 |
US20100220919A1 (en) | 2010-09-02 |
FR2890447B1 (fr) | 2007-11-23 |
EP1931974A1 (fr) | 2008-06-18 |
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