| 摘要 |
In an industrial bakery system, the control of quality of bakery products is carried out by a process comprising submitting said products when present in their respective locations on a moulding plate to a first visiometric inspection step wherein they are inspected from above and digital image data are produced comprising at least location data indicative of their respective positions on said plate, then seizing individually said products out of said plate depending on said location data by prehensors arranged in a gripping matrix of prehensors, and further submitting said seized products to a second visiometric inspection step wherein they are inspected from underneath while they are hanging from said gripping matrix.
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