CN114509021B - Special-shaped plate glass edge imaging method - Google Patents
Special-shaped plate glass edge imaging method Download PDFInfo
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- CN114509021B CN114509021B CN202210151402.6A CN202210151402A CN114509021B CN 114509021 B CN114509021 B CN 114509021B CN 202210151402 A CN202210151402 A CN 202210151402A CN 114509021 B CN114509021 B CN 114509021B
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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 32
- 238000001514 detection method Methods 0.000 claims abstract description 81
- 230000005540 biological transmission Effects 0.000 claims abstract description 49
- 239000011521 glass Substances 0.000 claims abstract description 37
- 238000003708 edge detection Methods 0.000 claims abstract description 29
- 238000004519 manufacturing process Methods 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 4
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 2
- 241001441571 Hiodontidae Species 0.000 claims 1
- 230000001133 acceleration Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 description 12
- 230000003287 optical effect Effects 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 230000001788 irregular Effects 0.000 description 3
- RVGRUAULSDPKGF-UHFFFAOYSA-N Poloxamer Chemical compound C1CO1.CC1CO1 RVGRUAULSDPKGF-UHFFFAOYSA-N 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229960000502 poloxamer Drugs 0.000 description 2
- 229920001983 poloxamer Polymers 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
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
-
- 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
-
- 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
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- Physics & Mathematics (AREA)
- General 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)
- Immunology (AREA)
- Pathology (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a special-shaped plate glass edge imaging method, which comprises the following steps: nine detection points are arranged around the detection area of the transmission platform, each detection point comprises a contour detection camera arranged at the front end of the feeding of the detection area of the transmission platform and eight edge detection cameras arranged around the detection area of the transmission platform, 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 are respectively provided with an upper edge detection camera and a lower edge detection camera, and four lenses positioned on the transmission side and the operation side are lenses conforming to the law of the Kram. The invention has no strict requirement on the beat of the production line, has no complex mechanical movement structure, only needs to arrange nine detection points, can complete the full circumferential imaging of the glass edge part after glass passes once, meets the requirement of the production line on the flow speed, reduces the complexity of the system, improves the stability of the system, and has lower cost.
Description
Technical Field
The invention relates to the field of glass edge detection, in particular to an imaging method for the edge of special-shaped flat glass.
Background
The irregular plate glass is limited by the difference of depth of field and size of a lens when imaging the edge due to irregular and diversified shapes, so that the edge cannot be imaged clearly once in the whole circumferential direction, 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 multi-time scanning imaging method, or a laser ranging and dynamic zooming method is used for imaging, and finally, the edge defect detection is studied on the basis.
The imaging of the edge of the special-shaped plate glass in the prior art is generally divided into a dynamic scanning technology of a mechanical arm driving sensor and a dynamic zooming technology based on laser ranging. The dynamic scanning technology of the mechanical arm driving sensor is to carry out path planning according to the prior known glass shape information, so as to drive the sensor to carry out scanning imaging. The dynamic zooming technology based on laser ranging is a technology that utilizes real-time laser ranging results, converts the ranging results into focusing parameters, and inputs the focusing parameters to a zoom lens for focusing.
It has the following drawbacks: on a flat glass production line, the current beat of most production lines is 45-60 m/min, the maximum glass size can reach 1200mm x 850 mm, the dynamic scanning technology of a mechanical arm driving sensor is difficult to meet the beat of the production line, and various optional paths are required to be designed for glass with different shapes and sizes, so that the system has high complexity and poor stability, and meanwhile, the beat requirement of the production line 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 shooting delay or early because the laser ranging point is not coaxial with the shooting point of the camera, and even causes imaging blurring at the edge with larger curvature, certain technical flaws and larger quality risks are caused.
Disclosure of Invention
The invention provides a special-shaped plate glass edge imaging method for solving at least one of the technical problems.
In order to solve the above-described problems, as an aspect of the present invention, there is provided a method for forming an image of an edge portion of a shaped sheet glass, comprising:
nine detection points are arranged around a detection area of the transmission platform, each detection point comprises a contour detection camera arranged at the front end of a feeding material in the detection area of the transmission platform and eight edge detection cameras arranged at the periphery of 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 material in the detection area of the transmission platform, and four lenses positioned at the transmission side and the operation side are lenses conforming to the law of the Kram;
enabling the plate glass to sequentially pass through the detection points under the drive of a production line;
firstly, obtaining a top view image of the whole glass by a contour detection camera, obtaining an edge region of the whole glass, namely a contour feature according to a machine vision contour processing and segmentation algorithm, and mapping each pixel point on the contour into a space coordinate system of a detection region of a transmission platform;
then, according to the space distance from each point to each edge sensor on the contour and the focusing model y=f (x) 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 focusing parameter modeling of the whole glass;
finally, when the glass passes through each edge detection point, calculating a scanning interval time point when each contour point of the glass edge passes through each detection point according to S=vt+1/2at≡2 and encoder signals, taking out corresponding focusing parameters, and inputting the focusing parameters into a lens module through a serial port or a net port for zooming, thereby completing clear imaging, wherein S is distance, v is initial speed, and t is 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 edge parts of 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 shared light source, and the upper and lower detection points on the operation side are provided with a shared light source.
Preferably, the upper and lower edge detection cameras at the front end and the rear end of the feeding direction are respectively used for detecting the upper and lower parts of the glass edges at the front end and the rear end of the feeding direction of the transmission platform, and each detection point at the front end and the rear end is respectively provided with an independent 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 beat of the production line, has no complex mechanical movement structure, only needs to arrange nine detection points, the contour detection points arranged at the front end provide glass size information, the information is input to the rear edge detection points for dynamic modeling, then real-time model parameters are input to the special optical zoom lens for automatic focusing, the glass can complete the full-circumferential imaging of the glass edge after one pass, 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 transport table inspection area inspection point.
FIG. 1b is a top view of a detection point of a detection area of a transmission platform.
Fig. 2a is a front end elevation view of a sheet glass traveling direction edge detection point.
Fig. 2b is a rear end front view of the sheet glass traveling direction edge detection point.
Fig. 2c is a side view of a sheet glass traveling direction edge detection point.
Fig. 3a is a side view of a side edge detection point of a side edge (with respect to the traveling direction) of a sheet glass.
Fig. 3b is a front view of a side (with respect to the traveling direction) edge detection point of the sheet glass.
Detailed Description
The following describes embodiments of the invention in detail, but the invention may be practiced in a variety of different ways, as defined and covered by the claims.
The invention relates to a special-shaped plate glass edge imaging method which is used for full-coverage clear imaging of edges of special-shaped common plate glass, float plate glass and the like, can be widely applied to imaging of edges of special-shaped plate glass with various sizes, and can be compatible with C-shaped and R-shaped edge chamfers or right-angle edges.
The invention adopts motion control modeling and full-closed loop automatic rapid zooming technology, is assisted with high-precision coding signals and special optical lenses to image the whole circumference of the plate glass flowing on the production line once, does not need pause and multiple scanning, and is suitable for the quality detection requirement of the edge defect of the special plate glass on the production line.
Aiming at the problem that the beat and imaging quality of a production line cannot be met in the existing special-shaped plate glass edge imaging, the invention provides a full-circumference imaging scheme for obtaining the clear plate glass edge by utilizing a motion control modeling and full-closed-loop automatic rapid zooming technology and utilizing a special-purpose-made poloxamer lens and a camera.
The invention mainly comprises a black-and-white camera, a lens, a light source and a high-resolution encoder, wherein the lens is designed based on the principles of the law of the optics of the lens, and the lens is matched with the camera to complete the scanning of the glass edge, thereby achieving the purpose of clearly imaging both far and near.
In the present invention, a total of nine detection points are provided, which are arranged in different positions. One is a contour detection point, which is arranged at the feeding front end of the detection area of the transmission platform (the feeding direction is the advancing direction); the other eight detection points are edge detection points which are arranged around the detection area of the transmission platform, and the upper detection point and the lower detection point are arranged in each direction.
In one embodiment, the rectangular detection area of the transmission platform comprises four directions of a transmission side, an operation side, a front end and a rear end of a feeding direction, wherein the detection points of the edges of the transmission side and the operation side adopt lenses designed according to the optical principle of the law of the Moire, and the detection points of the edges of the front end and the rear end of the feeding direction adopt conventional common lenses (including but not limited to electric motor zooming, liquid state zooming and the like).
As shown in fig. 1 a-1 b, 1 contour detection sensor is arranged at the front end of the feeding in the travelling direction of the detection area of the transmission platform (the feeding direction is the transmission direction of the platform and is also the length direction of the platform), 8 edge detection sensors are arranged around the edge detection area, and two sensors are arranged in each direction of edge detection, one above the other.
As shown in fig. 2a to 2c, a detection point 3 and a detection point 4 are arranged at the front end of the glass traveling direction, a detection point 1 and a detection point 2 are arranged at the rear end of the glass traveling direction, for inspecting the upper and lower parts of the edge of the sheet glass traveling 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 and 8 are arranged on the side of the transmission platform and are used for detecting the upper and lower parts of the side parts of the transmission side and the operation side of the transmission platform, a light source is arranged at the upper and lower detection points of a single side, and the lens is a special lens conforming to the law of the samer. That is, the upper and lower detection points on each of the driving side and the operating side share one light source, and the upper and lower detection points on each of the front end and the rear end of the feeding are respectively provided with one light source.
In all 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:
first, a spatial coordinate system is established for the detection area of the transmission platform (assuming that the traveling direction is the Y direction, the X direction is the side direction, the origin coordinates are the upper left corner of the detection area), and the position of each sensor in the spatial coordinate system is calibrated in turn, and the coordinate precision is sub-milli meters (X and Y directions).
Secondly, under the drive of the production line, the plate glass sequentially passes through each detection point. In the process, firstly, a top view image of the whole glass is obtained at a forefront contour detection point, an edge region of the whole glass, namely a contour feature, is obtained according to a machine vision contour processing and segmentation algorithm, and each pixel point on the contour is mapped into a space coordinate system of a detection region of a transmission platform.
Then, according to the spatial distance from each point to each edge sensor on the contour (projection onto xy plane) and the focusing model y=f (x) (x is the spatial distance, y is the focusing parameter) provided by the lens provider, the focusing parameter value from each contour point to each detection point is calculated, and a focusing parameter lookup table is formed, so that the focusing parameter modeling of the whole glass is completed.
Finally, when the glass passes through each edge detection point, calculating the scanning interval time point of each contour point of the glass edge passing through each detection point according to S=vt+1/2 at 2 (S is distance, v is initial speed, t is time) and the high-resolution encoder signal, taking out the corresponding focusing parameters, and inputting the focusing parameters into a lens module through a serial port or a net port for zooming, thereby completing clear imaging.
By adopting the technical scheme, the invention can utilize motion control modeling and full-closed loop rapid zooming technology, and initiatively apply the special-made poloxamer lens to the special-shaped flat glass edge imaging, thereby solving the requirement of meeting the real-time detection of the special-shaped flat glass edge defect of the industrial production line and filling the blank of the real-time production line edge defect detection field of the special-shaped flat glass at home and abroad.
For example, in an embodiment taking a flat glass of an automobile window as an example, because of irregular and diversified dimensions of the automobile window, all features of the glass edges cannot be clearly obtained at one time by the conventional imaging technology on a production line, and according to the method of the present invention, detection sensors are arranged around a transmission platform, then the glass of the automobile window is placed on the transmission platform, and under the transmission of the production line, imaging of all edges of the glass can be completed after the glass completely passes through the detection points.
By adopting the technical scheme, the invention has no strict requirement on the beat of the production line, has no complex mechanical movement structure, only needs to arrange nine detection points, the contour detection points arranged at the front end provide glass size information, the information is input to the rear edge detection points for dynamic modeling, then real-time model parameters are input to the special optical zoom lens for automatic focusing, the glass can complete the full-circumferential imaging of the glass edge after one pass, 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 of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The special-shaped plate glass edge imaging method is characterized by comprising the following steps of:
nine detection points are arranged around a detection area of the transmission platform, each detection point comprises a contour detection camera arranged at the front end of a feeding material in 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 material in 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 conforming to the law of the Mooney;
enabling the plate glass to sequentially pass through the detection points under the drive of a production line;
firstly, obtaining a top view image of the whole glass by a contour detection camera, obtaining an edge region of the whole glass, namely a contour feature according to a machine vision contour processing and segmentation algorithm, and mapping each pixel point on the contour into a space coordinate system of a detection region of a transmission platform;
then, according to the space distance from each point to each edge sensor on the contour and the focusing model y=f (x) of the lens, wherein x is the space distance and y is the focusing distance, calculating the focusing parameter value from each contour point to each detection point to form a focusing parameter lookup table, so as to complete focusing parameter modeling of the whole glass;
finally, when the glass passes through each edge detection point, calculating a scanning interval time point when each contour point of the glass edge passes through each detection point according to S=vt+1/2at≡2 and encoder signals, taking out corresponding focusing parameters, and inputting the focusing parameters into a lens module through a serial port or a net port for zooming, thereby completing clear imaging, wherein S is distance, v is initial speed, t is time and a is acceleration.
2. The method for imaging the edges of the special-shaped flat glass according to claim 1, wherein upper and lower edge detection cameras on the transmission side and the operation side are respectively used for detecting upper and lower edge parts of 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.
3. The method for imaging the edges of the special-shaped flat glass according to claim 1, wherein 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 edges of the glass 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 single light source.
4. The method for imaging an edge of a shaped sheet glass according to 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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