CN114509021A - Edge imaging method for special-shaped plate glass - Google Patents
Edge imaging method for special-shaped plate glass Download PDFInfo
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- CN114509021A CN114509021A CN202210151402.6A CN202210151402A CN114509021A CN 114509021 A CN114509021 A CN 114509021A CN 202210151402 A CN202210151402 A CN 202210151402A CN 114509021 A CN114509021 A CN 114509021A
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- 239000005357 flat glass Substances 0.000 title claims abstract description 35
- 238000003384 imaging method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 72
- 230000005540 biological transmission Effects 0.000 claims abstract description 41
- 239000011521 glass Substances 0.000 claims abstract description 36
- 238000004519 manufacturing process Methods 0.000 claims abstract description 19
- 238000003708 edge detection Methods 0.000 claims description 27
- 238000000034 method Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 5
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 3
- 230000033764 rhythmic process Effects 0.000 abstract description 3
- 230000003287 optical effect Effects 0.000 description 6
- 230000007547 defect Effects 0.000 description 5
- 230000001788 irregular Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
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Classifications
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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
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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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
- G01N21/958—Inspecting transparent materials or objects, e.g. windscreens
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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
Abstract
The invention provides an edge imaging method of special-shaped plate glass, which comprises the following steps: set up nine check points around transmission platform check area, nine check points are including setting up a profile detection camera at transmission platform check area's pan feeding front end and setting up eight limit portion detection cameras all around transmission platform check area, and transmission side, operation side, pan feeding direction front end and the rear end of transmission platform check area equally divide and do not are provided with two upper and lower limit portion detection cameras, and are located four camera lenses of transmission side and operation side for the camera lens that accords with the schem's law. The invention has no harsh requirement on the rhythm of the production line and no complex mechanical motion structure, only needs to arrange nine detection points, and can complete the full circumferential imaging of the edge of the glass by one-time glass passing, thereby meeting the requirement of the production line flow speed, reducing the system complexity, simultaneously improving the system stability, but having lower cost.
Description
Technical Field
The invention relates to the field of glass edge detection, in particular to an edge imaging method for special-shaped flat glass.
Background
The irregular flat glass is limited by the difference of the depth of field and the size of a lens when the edge is imaged due to the irregular shape and the diversity of the irregular flat glass, so that the edge cannot be imaged clearly in the whole circumferential direction at one time, particularly on a production line, a pulse type short pause transmission line is mostly adopted at present, then a mechanical arm is used for driving a scanner to carry out a scanning imaging method for multiple times, or a laser ranging and dynamic zooming method is adopted for imaging, and finally the edge defect detection is researched on the basis.
The imaging of the edge of the special-shaped flat glass in the prior art is generally divided into a mechanical arm driving sensor dynamic scanning technology and a dynamic zooming technology based on laser ranging. The mechanical arm drives the dynamic scanning technology of the sensor to plan a path according to the priori known glass shape information, so that the sensor is driven to scan and image. The dynamic zooming technology based on laser ranging utilizes a real-time laser ranging result, converts the ranging result into focusing parameters, and inputs the focusing parameters into a zoom lens for focusing.
It has the following drawbacks: on a flat glass production line, the tact of most of the current production lines is 45m/min-60m/min, the maximum glass size can reach 1200mm x 850 mm, the tact of the production lines is difficult to meet by a mechanical arm driving sensor dynamic scanning technology, various optional paths are required to be designed for glass with different shapes and sizes, the system is high in complexity and poor in stability, the tact requirement of the production lines cannot be met, and the technology is more used for off-line detection; the dynamic zooming technology based on laser ranging often causes the problem of delayed or early shooting because the laser ranging point and the camera shooting point are not coaxial, and even causes imaging blur when the edge with larger curvature has certain technical defects and larger quality risks.
Disclosure of Invention
The invention provides an edge imaging method of special-shaped plate glass, which aims to solve at least one technical problem.
To solve the above problems, as an aspect of the present invention, there is provided a method for imaging an edge portion of a shaped plate glass, comprising:
nine detection points are arranged around a detection area of a transmission platform, the nine detection points comprise a profile detection camera arranged at the front end of a feeding material of the detection area of the transmission platform and eight edge detection cameras arranged around the detection area of the transmission platform, an upper edge detection camera and a lower edge detection camera are respectively arranged at the transmission side, the operation side, the front end and the rear end of the feeding direction of the detection area of the transmission platform, and four lenses positioned at the transmission side and the operation side are lenses according with the Schlemm's law;
the plate glass is driven by the production line to pass through the detection points in sequence;
firstly, obtaining a top view image of the whole glass through a contour detection camera, obtaining a marginal area of the whole glass, namely contour characteristics, according to a machine vision contour processing and segmentation algorithm, and mapping each pixel point on the contour to a space coordinate system of a transmission platform detection area;
then, according to the space distance from each point on the contour to each edge sensor and the focusing model y of the lens, calculating the focusing parameter value from each contour point to each detection point to form a focusing parameter lookup table, thereby completing the focusing parameter modeling of the whole piece of glass;
and finally, when the glass passes through each edge detection point, calculating the scanning interval time point of each contour point of the edge of the glass passing through each detection point according to S ═ vt +1/2at ^2 and the encoder signal, taking out corresponding focusing parameters, and inputting a lens module through a serial port or a network port to zoom so as to finish clear imaging, wherein S is the distance, v is the initial speed, and t is the time.
Preferably, the upper and lower edge detection cameras on the transmission side and the operation side are respectively used for detecting the upper and lower portions of the edge on the transmission side and the operation side of the transmission platform, the upper and lower detection points on the transmission side are provided with a common light source, and the upper and lower detection points on the operation side are provided with a common light source.
Preferably, the upper and lower edge detection cameras positioned at the front end and the rear end in the feeding direction are respectively used for detecting the upper and lower parts of the glass edge at the front end and the rear end in the feeding direction of the transmission platform, and each detection point at the front end and the rear end is respectively provided with a unique light source.
Preferably, the method further comprises: and establishing a space coordinate system for the detection area of the transmission platform, and sequentially calibrating the position of each sensor in the space coordinate system.
By adopting the technical scheme, the invention has no strict requirement on the rhythm of a production line and no complex mechanical motion structure, only nine detection points are needed to be arranged, the contour detection point arranged at the front end provides glass dimension information, the glass dimension information is input to the rear edge detection point for dynamic modeling, then the real-time model parameters are input to the special optical zoom lens for automatic focusing, and the glass edge full-circumferential imaging can be completed by one-time glass passing, so that the production line flow speed requirement is met, the system complexity is reduced, the system stability is improved, and the cost is lower.
Drawings
FIG. 1a is a side view of a detection point of a detection area of a transport platform.
FIG. 1b is a top view of the detection points in the detection area of the transport platform.
FIG. 2a is a front end elevation view of an edge detection point in the traveling direction of a sheet glass.
FIG. 2b is a rear end elevation view of an edge detection point in the traveling direction of the sheet glass.
FIG. 2c is a side view of an edge detection point in the traveling direction of the sheet glass.
FIG. 3a is a side view of the edge detection points of the side edge (with respect to the direction of travel) of the sheet glass.
FIG. 3b is a front view of the edge detection points of the side edge (with respect to the direction of travel) of the sheet glass.
Detailed Description
The following detailed description of embodiments of the invention, but the invention can be practiced in many different ways, as defined and covered by the claims.
The invention relates to an edge imaging method of special-shaped plate glass, which is used for full-covering clear imaging of edges of special-shaped common plate glass, float plate glass and the like, can be widely applied to edge imaging of special-shaped plate glass with various sizes, and is compatible with C-shaped and R-shaped edge chamfers or right-angle edges.
The invention adopts the motion control modeling and full closed-loop automatic rapid zooming technology, and is assisted with high-precision coding signals and special optical lenses to perform one-time imaging on the whole circumferential direction of the plate glass flowing through the production line, and the invention does not need pause and multiple scanning, and is suitable for the requirement of detecting the edge defect quality of the special-shaped plate glass on the production line.
Aiming at the problem that the imaging of the edge of the conventional special-shaped plate glass cannot meet the beat and imaging quality of a production line, the invention provides a scheme for obtaining clear full-circumferential imaging of the edge of the plate glass by utilizing a motion control modeling and full-closed-loop automatic rapid zooming technology and utilizing a special Schlemm lens and a camera.
The invention mainly comprises a black-and-white camera, a Samm lens, a light source and a high-resolution encoder, wherein the Samm lens is designed on the basis of a common lens according to the optical principle of the Samm law and is matched with the camera to complete the scanning of the edge of the glass, so that the aim of clear imaging at both far and near can be achieved.
In the invention, nine detection points are arranged in total and are arranged according to different positions. One of the detection points is a contour detection point which is arranged at the front end of the feeding material in the detection area of the transmission platform (the feeding direction is the advancing direction); the other eight detection points are edge detection points and are arranged on the periphery of a detection area of the transmission platform, and an upper detection point and a lower detection point are arranged in each direction.
In one embodiment, the rectangular detection area of the conveying platform in the invention comprises four directions of a transmission side, an operation side, a feeding direction front end and a rear end, wherein the edge detection points of the transmission side and the operation side adopt lenses designed according to the optical principle of the schemer's law, and the edge detection points of the feeding direction front end and the rear end adopt conventional common lenses (including but not limited to electric motor zooming, liquid zooming and the like).
As shown in fig. 1 a-1 b, 1 contour detection sensor is disposed at the front end of the feeding material in the advancing direction of the detection area of the conveying platform (the feeding direction is the platform conveying direction, and is also the platform length direction), 8 edge detection sensors are disposed around the edge detection area, and two sensors, one above the other, are disposed in each direction of edge detection.
As shown in fig. 2 a-2 c, a detection point 3 and a detection point 4 are arranged at the front end of the glass advancing direction, a detection point 1 and a detection point 2 are arranged at the rear end of the glass advancing direction and are used for inspecting the upper part and the lower part of the edge part of the flat glass advancing direction, and each detection point is provided with a corresponding light source for imaging.
As shown in fig. 3 a-3 b, detection points 5, 6, 7, 8 are arranged on the side edge of the transmission platform for detecting the upper and lower parts of the edge part of the transmission side and the operation side of the transmission platform, a light source is configured on the upper and lower detection points on the single side, and the lens is a special lens conforming to the schemer's law. That is, the upper and lower two detection points on each side of the transmission side and the operation side share one light source, and the upper and lower two detection points on each end of the front end and the rear end of the feeding material are respectively provided with one light source.
In all the detection points, the included angle between the light source and the plate glass and the included angle between the optical axis of the camera and the glass can be adjusted according to actual conditions.
Specifically, the method comprises the following steps:
firstly, a space coordinate system is established for a detection area of a transmission platform (assuming that the advancing direction is the Y direction, the X direction is the side direction, and the origin coordinate is the upper left corner of the detection area), the position of each sensor in the space coordinate system is calibrated in sequence, and the coordinate precision is sub-luxury meters (the X and Y directions).
Secondly, under the drive of the production line, the plate glass sequentially passes through all the detection points. In the process, the top-view image of the whole glass is firstly obtained from the most front contour detection point, the edge area of the whole glass, namely the contour feature, is obtained according to the machine vision contour processing and segmentation algorithm, and each pixel point on the contour is mapped into the space coordinate system of the detection area of the transmission platform.
And then, calculating a focusing parameter value from each contour point to each detection point according to the space distance (projected to an xy plane) from each point on the contour to each edge sensor and a focusing model y ═ f (x) (x is the space distance, and y is a focusing parameter) provided by a lens supplier, and forming a focusing parameter lookup table, thereby completing the focusing parameter modeling of the whole piece of glass.
And finally, when the glass passes through each edge detection point, calculating the scanning interval time point of each contour point of the edge of the glass passing through each detection point according to S ═ vt +1/2at ^2(S is distance, v is initial speed, and t is time) and high-resolution encoder signals, taking out corresponding focusing parameters, and inputting the focusing parameters into a lens module through a serial port or a network port to zoom, thereby completing clear imaging.
By adopting the technical scheme, the invention can utilize the motion control modeling and full closed-loop rapid zooming technology and initiatively apply the specially-made Schlemm lens to the edge imaging of the special-shaped plate glass, thereby solving the requirement of meeting the real-time detection of the edge defects of the special-shaped plate glass in the industrial production line and filling the blank in the field of the real-time detection of the edge defects of the special-shaped plate glass in the real-time production line at home and abroad.
For example, in an embodiment of taking a flat glass sheet for an automobile window as an example, because of the irregular size and diversity of the automobile window, the conventional imaging technology cannot clearly acquire all the characteristics of the edge of the glass at one time on a production line.
By adopting the technical scheme, the invention has no strict requirement on the rhythm of a production line and no complex mechanical motion structure, only nine detection points are needed to be arranged, the contour detection point arranged at the front end provides glass dimension information, the glass dimension information is input to the rear edge detection point for dynamic modeling, then the real-time model parameters are input to the special optical zoom lens for automatic focusing, and the glass edge full-circumferential imaging can be completed by one-time glass passing, so that the production line flow speed requirement is met, the system complexity is reduced, the system stability is improved, and the cost is lower.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A method for imaging an edge of a shaped sheet glass, comprising:
nine detection points are arranged around a detection area of a transmission platform, the nine detection points comprise a profile detection camera arranged at the front end of a feeding material of the detection area of the transmission platform and eight edge detection cameras arranged around the detection area of the transmission platform, an upper edge detection camera and a lower edge detection camera are respectively arranged at the transmission side, the operation side, the front end and the rear end of the feeding direction of the detection area of the transmission platform, and lenses of the four edge detection cameras positioned at the transmission side and the operation side are lenses according with the Schlemm's law;
the plate glass is driven by the production line to pass through the detection points in sequence;
firstly, obtaining a top view image of the whole glass through a contour detection camera, obtaining a marginal area of the whole glass, namely contour characteristics, according to a machine vision contour processing and segmentation algorithm, and mapping each pixel point on the contour to a space coordinate system of a transmission platform detection area;
then, according to the space distance from each point on the contour to each edge sensor and the focusing model y of the lens, calculating the focusing parameter value from each contour point to each detection point to form a focusing parameter lookup table, thereby completing the focusing parameter modeling of the whole piece of glass;
and finally, when the glass passes through each edge detection point, calculating the scanning interval time point of each contour point of the edge of the glass passing through each detection point according to S ═ vt +1/2at ^2 and the encoder signal, taking out corresponding focusing parameters, and inputting a lens module through a serial port or a network port to zoom so as to finish clear imaging, wherein S is the distance, v is the initial speed, and t is the time.
2. The method as claimed in claim 1, wherein the upper and lower edge inspection cameras on the transmission side and the operation side are respectively used for inspecting the upper and lower portions of the edge on the transmission side and the operation side of the transportation platform, and the upper and lower inspection points on the transmission side are provided with a common light source and the upper and lower inspection points on the operation side are provided with a common light source.
3. A shaped plate glass edge imaging method as claimed in claim 1, wherein upper and lower edge detection cameras located at the front and rear ends in the feeding direction are respectively used to detect upper and lower portions of the glass edge at the front and rear ends in the feeding direction of the conveying platform, and each detection point at the front and rear ends is respectively provided with a unique light source.
4. A method of imaging a shaped sheet glass edge as claimed in claim 1, further comprising: and establishing a space coordinate system for the detection area of the transmission platform, and sequentially calibrating the position of each sensor in the space coordinate system.
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| CN202210151402.6A CN114509021B (en) | 2022-02-18 | 2022-02-18 | Special-shaped plate glass edge imaging method |
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