CN115356355A - Automatic detection blanking conveying line and detection method for vacuum laminated glass - Google Patents
Automatic detection blanking conveying line and detection method for vacuum laminated glass Download PDFInfo
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- CN115356355A CN115356355A CN202211295988.XA CN202211295988A CN115356355A CN 115356355 A CN115356355 A CN 115356355A CN 202211295988 A CN202211295988 A CN 202211295988A CN 115356355 A CN115356355 A CN 115356355A
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- 239000005340 laminated glass Substances 0.000 title claims abstract description 124
- 238000001514 detection method Methods 0.000 title claims abstract description 92
- 238000003384 imaging method Methods 0.000 claims abstract description 76
- 238000012546 transfer Methods 0.000 claims abstract description 42
- 238000009413 insulation Methods 0.000 claims abstract description 33
- 238000000034 method Methods 0.000 claims abstract description 8
- 238000004364 calculation method Methods 0.000 claims abstract description 7
- 239000011521 glass Substances 0.000 claims description 48
- 238000006243 chemical reaction Methods 0.000 claims description 22
- 238000002834 transmittance Methods 0.000 claims description 13
- 238000001914 filtration Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000013527 convolutional neural network Methods 0.000 claims description 4
- 238000005286 illumination Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000003708 edge detection Methods 0.000 claims description 3
- 230000005284 excitation Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000011410 subtraction method Methods 0.000 claims description 2
- 239000012535 impurity Substances 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 9
- 239000005357 flat glass Substances 0.000 description 6
- 238000013528 artificial neural network Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/063—Transporting devices for sheet glass
- B65G49/064—Transporting devices for sheet glass in a horizontal position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
- G01N25/20—Investigating or analyzing materials by the use of thermal means by investigating the development of heat, i.e. calorimetry, e.g. by measuring specific heat, by measuring thermal conductivity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/24—Structural elements or technologies for improving thermal insulation
- Y02A30/249—Glazing, e.g. vacuum glazing
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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
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B80/00—Architectural or constructional elements improving the thermal performance of buildings
- Y02B80/22—Glazing, e.g. vaccum glazing
Abstract
The invention relates to a vacuum laminated glass automatic detection blanking conveying line and a detection method. The vacuum laminated glass is illuminated by using monochromatic infrared light and then detected, a T-R working curve of the vacuum laminated glass is calculated, and then the corresponding heat insulation coefficient can be obtained only by detecting the transmissivity under a single wavelength, so that the measurement is more convenient and faster, the accuracy is high, and the heat insulation coefficient is not required to be calculated by using simulated sunlight; imaging calculation is carried out on the grid plate by using a transfer function of the vacuum laminated glass, images of the grid plate under different rotation angles can be obtained, and theoretical image calculation is carried out by using the images; the position of the inclusion of the vacuum laminated glass is obtained by using the difference between the theoretical image and the real image, so that the positioning is more accurate, and the detection difficulty of the vacuum laminated glass caused by the non-plane is avoided; the position of the grid plate is rotated in the detection process, so that the false detection caused by single shooting errors can be avoided to a great extent, the false detection rate is reduced, and the system stability is improved.
Description
Technical Field
The invention relates to the field of detection of vacuum laminated glass, in particular to an automatic detection blanking conveying line and a detection method for vacuum laminated glass.
Background
The vacuum laminated glass is formed by sealing the peripheries of two pieces of flat glass, pumping a gap between the two pieces of flat glass into vacuum, filling glue and sealing an exhaust hole, and the heat dissipated by the vacuum laminated glass through the conduction, convection and radiation modes of the vacuum glass is reduced to the minimum, so that the best heat insulation effect is realized. In the actual production, due to process errors, inclusions or bubbles exist in the center of the vacuum laminated glass inevitably; the detection of the inclusion bubble is generally performed manually or by shooting with a camera.
Publication No. CN215768315U discloses a device for artificial optics inspection of laminated glass, including sample room and bar lamp, the bar lamp set up in the sample outdoor side, the sample room outer wall is close to bar lamp one side is provided with the light trap that inclination is 30 degrees, the bar lamp with the light trap height equals and is parallel to each other, and the light trap below is provided with the guiding hole of vertical extension, and this guiding hole inboard is provided with the seal assembly, sample room top center is provided with the eyepiece. The sample chamber for injecting light rays along the 30-degree inclined light hole is arranged, so that the middle layer of the laminated glass is conveniently illuminated, and the optical quality condition of the middle film of the laminated glass can be effectively checked.
In the prior art, the manual detection has low efficiency and poor effect; because the vacuum laminated glass usually uses curved glass, imaging is difficult when a camera shoots, and accurate positioning of inclusions cannot be realized.
Disclosure of Invention
Aiming at the content, the automatic detection blanking conveying line for the vacuum laminated glass comprises a blanking conveying roller and a detection station, wherein the blanking conveying roller is used for supporting the vacuum laminated glass and conveying the vacuum laminated glass to the detection station, and the vacuum laminated glass carries out heat insulation coefficient and inclusion detection on the detection station;
the automatic blanking machine is also provided with a blanking conveying controller, a rotating motor, a coordinate conversion module, a grating sensor, a rotating grid plate, a uniform light source, an imaging sensor and an image processor;
the blanking conveying controller is connected with the rotating motor, the grating sensor, the rotating grid plate, the light equalizing light source and the imaging sensor; the rotary motor, the grating sensor, the rotary grid plate, the uniform light source and the imaging sensor are arranged at the position of the detection station; the blanking conveying roller is horizontally arranged, and the detection station is arranged on a transmission line of the blanking conveying roller;
the blanking conveying roller is used on a blanking product line after glass is attached, and aims to analyze the attaching effect of the glass in the blanking process; because glass does not necessarily need to be plate glass in actual production, therefore when detecting, traditional light source can be because the shape of glass produces the deformation, inconvenient detection, and this application's scheme sets up grid plate, imaging sensor etc. and is just in order to solve this kind of problem.
The imaging sensor collects images of the vacuum laminated glass and sends the images to the image processor, and the images are processed by the image processor and uploaded to the upper computer to obtain the heat insulation coefficient and inclusion detection results of the vacuum laminated glass.
The vacuum laminated glass is non-planar glass, and the blanking conveying roller is an edge blanking conveying roller; the unloading conveying roller only supports vacuum doubling glass's edge, and the length of unloading conveying roller and vacuum doubling glass contact position is not more than 10mm to guarantee that the unloading conveying roller can not shelter from most from the light that passes vacuum doubling glass that all shines light source sent.
The non-planar glass comprises a front windshield, a rear windshield or a door glass of an automobile; the glue-added glass has good heat insulation performance and good mute performance, so the glue-added glass is widely used in the field of automobiles. Certainly, the application field is not limited, even the flat glass can be detected by using the scheme of the application, and the detection effect is as good, so that the scheme of the flat glass is reserved in the application.
The light equalizing source is arranged below the detection station and used for emitting monochromatic infrared light to the vacuum glue adding glass;
the rotating grid plate is arranged above the light source for homogenizing light, and monochromatic infrared light emitted from the light source for homogenizing light penetrates through the rotating grid plate to irradiate the lower surface of the vacuum rubberized glass; the rotating grid plate rotates at a constant speed under the driving of the rotating motor, and the rotating motor sends the rotating position of the rotating grid plate to the coordinate conversion module;
the design of the uniform light source and the grid plate is that a grid image is projected from bottom to top, the grid image can form a deformation pattern after being refracted by non-planar glass, the deformation of the pattern is related to the shape and the refractive index of the glass, and when the shapes of the glass are different, the generated pattern can be changed along with the deformation.
Infrared light penetrates through the vacuum laminated glass and then is incident on the imaging sensor; the imaging sensor is arranged above the detection station and used for receiving infrared light transmitted by the vacuum rubberized glass so as to image the vacuum rubberized glass; the imaging sensor continuously shoots a plurality of images at fixed time intervals, and the images collected by the imaging sensor are sent to the image processor.
Grid lines are printed on the rotary grid plate, the intervals of the grid lines are the same so as to form a plurality of small square grids, and the intervals of the grid lines are 5 mm to 10 mm; the infrared light penetrates through the rotating grid plate and then irradiates to the vacuum laminated glass, and then grid patterns are formed on the imaging sensor.
The purpose of rotating the grid plate is to change the projected grid image, and different grid images can be shot only when the grid image is changed continuously; since the distortion of the image is only related to glass, the change in the captured image caused by rotating the grid plate can be calculated using the transfer function and the grid image. In subsequent detection, the position of the flaw can be determined by only comparing the actually measured image with the theoretical image.
The image processor and the coordinate conversion module are connected to an upper computer, image registration and processing are carried out in the upper computer, and the heat insulation coefficient and inclusion detection result of the vacuum laminated glass are judged;
the image registration comprises the steps of determining the rotation position of the grid plate according to the rotation angle of the rotating motor, and calculating the coordinates of the pixels of the shot image according to the rotation position, wherein the coordinates of the pixels of the image are used for obtaining the positions of the inclusions in the image.
A blanking detection method of the blanking conveying line comprises the following steps:
step one, establishing a transfer function and measuring sunlight;
measuring the transmissivity T of vacuum laminated glass which is made of the same material as the vacuum laminated glass to be measured and emits monochromatic infrared light under the wavelength of the uniform light source, and simultaneously measuring the heat insulation coefficient R of the vacuum laminated glass by using sunlight; measuring a plurality of vacuum laminated glass samples with different thicknesses to obtain heat insulation coefficients corresponding to different transmittances; establishing a T-R working curve of transmissivity T and a thermal insulation coefficient R;
placing a flawless vacuum laminated glass with the same shape as that of the vacuum laminated glass to be detected on a detection station, and controlling a uniform light source to emit monochromatic infrared light to pass through a rotary grid plate and the vacuum laminated glass to reach an imaging sensor;
continuously shooting a plurality of images at fixed intervals by the imaging sensor, and sending the images to the image processor; the image processor performs image noise reduction and filtering and then performs background subtraction; the image with the background subtracted is sent to an upper computer, and the upper computer calculates a transfer function G of the vacuum laminated glass according to the grid shape of the rotary grid plate and the received images of the plurality of pieces of vacuum laminated glass;
step two, a blanking conveying step;
the laminated vacuum laminated glass is transferred to a blanking conveying roller by a sucker mechanical arm, and the edge of the vacuum laminated glass is supported by the blanking conveying roller and conveyed to a detection station; a grating sensor arranged on the detection station detects that a signal is excited, the excitation signal is transmitted to a blanking conveying controller, and the blanking conveying controller transmits a stop signal to a blanking conveying roller; stopping the feeding conveying roller to enable the vacuum laminated glass to stop on the detection station;
step three, detecting the heat insulation coefficient;
the light source emits monochromatic infrared light to penetrate through the rotary grid plate and irradiate the lower surface of the vacuum rubberized glass; the rotating grid plate rotates at a constant speed under the driving of a rotating motor, and the rotating motor sends the rotating position of the rotating grid plate to a coordinate conversion module; infrared light penetrates through the vacuum laminated glass and then is incident on the imaging sensor; the imaging sensor receives infrared light transmitted from the vacuum rubberized glass to image the vacuum rubberized glass; continuously shooting a plurality of images at fixed time intervals by the imaging sensor, and sending the images acquired by the imaging sensor to the image processor;
the size of the vacuum laminated glass is smaller than the illumination sizes of the light source and the rotary grid plate, namely, the image shot on the imaging sensor comprises light which penetrates through the vacuum laminated glass and light which does not penetrate through the vacuum laminated glass;
dividing the image into a background and a foreground according to the brightness difference of the image shot by the imaging sensor; an image formed by light penetrating through the vacuum laminated glass is marked as a foreground, and an image formed by light not penetrating through the vacuum laminated glass is marked as a background;
calculating the sum of luminance values of the background I 0 And the number of pixels P 0 Simultaneously calculating the sum I of luminance values of the foreground 1 And the number of pixels P 1 (ii) a Then T can be obtained 0 =(I 1 /P 1 )/(I 0 /P 0 ) Will calculate the obtained T 0 Inputting a T-R working curve to obtain a corresponding heat insulation coefficient R 0 ；
Generally, the glue-added glass has the requirements of high transmittance to visible light and low transmittance to infrared light, so that the heat insulation and the visual effect can be ensured; in addition, the thermal effect of infrared light is stronger, and the thermal effect of visible light is low, so this application adopts infrared light to carry out the detection of thermal-insulated coefficient.
Step four, inclusion detection
The rotating motor sends the rotating position of the rotating motor to the coordinate conversion module, and the coordinate conversion module determines the actual rotating position of the rotating grid plate at the shooting moment of the imaging sensor according to the angle of the rotating motor;
the coordinate conversion module sends the rotation angle of the rotating grid plate corresponding to each image shot by the imaging sensor to the upper computer;
the upper computer calculates a rotating image of the rotating grid plate under the angle according to the rotating angle of the rotating grid plate; calculating a theoretical image which is required to be obtained at the shooting moment in an upper computer according to the rotating image of the rotating grid plate and the transfer function G of the vacuum laminated glass;
therefore, images shot by a plurality of imaging sensors and theoretical images corresponding to the images shot by each imaging sensor are obtained in the upper computer;
differentiating the image shot by each imaging sensor and the corresponding theoretical image in the upper computer to obtain a differential image; all the difference images are superimposed to obtain the position of the inclusion.
Step four, the inclusion detection further comprises:
the image processor performs image noise reduction and filtering on each image shot by the imaging sensor and then performs background subtraction; and the image with the background subtracted is sent to an upper computer.
The background subtraction method is as follows: because the transmissivity of the foreground and the transmissivity of the background are different, the image is subjected to edge detection according to the gray value difference, the gray gradient of the image is calculated, the position where the gray value changes suddenly is marked as the edge of the laminated glass so as to divide the foreground and the background, and then the background image is deleted.
The transfer function G is calculated by taking the mesh image as a starting point of the transfer function and taking an actually photographed image as an output result of convolution calculation of the mesh image and the transfer function.
Alternatively, the transfer function G is a transfer model, and the transfer model is calculated by inputting a mesh image as an input of the transfer function model, inputting an actually photographed image as a mesh image to an output of the transfer function model, and calculating the transfer model using a convolutional neural network.
The invention has the beneficial effects that:
according to the invention, monochromatic infrared light is used for detecting the vacuum laminated glass after illumination, the T-R working curve of the vacuum laminated glass is calculated, and then the corresponding heat insulation coefficient can be obtained only by detecting the transmissivity under a single wavelength, so that the measurement is more convenient and faster, the accuracy is high, and the heat insulation coefficient is not required to be calculated by using simulated sunlight;
imaging calculation is carried out on the grid plate by using a transfer function of the vacuum laminated glass, images of the grid plate under different rotation angles can be obtained, and theoretical image calculation is carried out by using the images; the position of the inclusion of the vacuum laminated glass is obtained by using the difference between the theoretical image and the real image, so that the positioning is more accurate, and the detection difficulty of the vacuum laminated glass caused by the non-plane is avoided;
the position of the grid plate is rotated in the detection process, so that the false detection caused by single shooting errors can be avoided to a great extent, the false detection rate is reduced, and the system stability is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosed subject matter, are incorporated in and constitute a part of this specification. The drawings illustrate the implementations of the disclosed subject matter and, together with the detailed description, serve to explain the principles of implementations of the disclosed subject matter. No attempt is made to show structural details of the disclosed subject matter in more detail than is necessary for a fundamental understanding of the disclosed subject matter and its various modes of practice.
FIG. 1 is a schematic diagram of the overall architecture of the present invention;
FIG. 2 is a schematic view of the detection principle of the present invention;
FIG. 3 is a diagram illustrating the imaging results of the same defect rotated by different angles according to the present invention.
Detailed Description
The advantages, features and methods of accomplishing the same will become apparent from the drawings and the detailed description that follows.
Example 1:
with reference to fig. 1-3, an automatic detection blanking conveying line for vacuum laminated glass comprises a blanking conveying roller 3 and a detection station, wherein the blanking conveying roller 3 is used for supporting the vacuum laminated glass 2 and conveying the vacuum laminated glass to the detection station, and the vacuum laminated glass 2 is subjected to heat insulation coefficient and inclusion detection on the detection station;
as shown in fig. 2, the device is further provided with a blanking conveying controller, a rotating motor, a coordinate conversion module, a grating sensor, a rotating grid plate 4, a uniform light source 5, an imaging sensor 1 and an image processor;
the blanking conveying controller is connected with the rotating motor, the grating sensor, the rotating grid plate 4, the uniform light source 5 and the imaging sensor 1; the rotary motor, the grating sensor, the rotary grid plate 4, the uniform light source 5 and the imaging sensor 1 are arranged at the position of the detection station; the blanking conveying roller 3 is horizontally arranged, and the detection station is arranged on a transmission line of the blanking conveying roller 3;
the blanking conveying roller is used on a blanking product line after glass is attached, and aims to analyze the attaching effect of the glass in the blanking process; because glass does not necessarily need to be plate glass in the actual production, consequently when detecting, traditional light source can be because the shape of glass produces the deformation, inconvenient detection, and the scheme of this application sets up grid plate, imaging sensor etc. and is in order to solve this kind of problem.
The rotating motor can directly drive the rotating grid plate to rotate on one side by using a gear, the rotating motor is adopted to rotate, and the rotating angle of the rotating motor is directly sent to the coordinate conversion module by the stepping motor, so that the rotating angle of the rotating grid plate can be obtained, and the actual position of the rotating grid plate can be also obtained.
The imaging sensor 1 collects images of the vacuum laminated glass 2 and sends the images to the image processor, and the images are processed by the image processor and uploaded to the upper computer to obtain the heat insulation coefficient and inclusion detection results of the vacuum laminated glass 2.
The vacuum laminated glass 2 is non-planar glass, and the blanking conveying roller 3 is an edge blanking conveying roller 3; the blanking conveying roller 3 only supports the edge of the vacuum laminated glass 2, and the length of the contact position of the blanking conveying roller 3 and the vacuum laminated glass 2 is not more than 10mm, so that the blanking conveying roller 3 can not shield most of light emitted from the light homogenizing light source 5 and penetrating through the vacuum laminated glass 2.
The light source 5 is arranged below the detection station and used for emitting monochromatic infrared light to the vacuum glue-added glass;
the rotary grid plate 4 is arranged above the light source 5 for uniform light, and monochromatic infrared light emitted from the light source 5 for uniform light penetrates through the rotary grid plate 4 to irradiate the lower surface of the vacuum rubberized glass; the rotating grid plate 4 rotates at a constant speed under the driving of the rotating motor, and the rotating motor sends the rotating position of the rotating grid plate to the coordinate conversion module;
infrared light penetrates through the vacuum laminated glass 2 and then is incident on the imaging sensor 1; the imaging sensor 1 is arranged above the detection station and used for receiving infrared light transmitted by the vacuum rubberized glass so as to image the vacuum rubberized glass; the imaging sensor 1 continuously takes a plurality of images at fixed time intervals, and the images acquired by the imaging sensor 1 are sent to the image processor.
Generally, the glue-added glass has the requirements of high transmittance to visible light and low transmittance to infrared light, so that the heat insulation and the visual effect can be ensured; in addition, the thermal effect of infrared light is stronger, and the thermal effect of visible light is low, so this application adopts infrared light to carry out the detection of thermal-insulated coefficient.
As shown in fig. 3, and the enlarged view of fig. 2, the rotating grid plate 4 is printed with grid lines, the intervals of which are the same to form a plurality of small square grids, and the intervals of which are 5 mm to 10 mm; the infrared light passes through the rotating grid plate 4 and irradiates the vacuum laminated glass 2 to form a grid pattern on the imaging sensor 1.
The image processor and the coordinate conversion module are connected to an upper computer, image registration and processing are carried out in the upper computer, and the heat insulation coefficient and the inclusion detection result of the vacuum laminated glass 2 are judged;
the image registration comprises the steps of determining the rotation position of the grid plate according to the rotation angle of the rotating motor, and calculating the coordinates of the pixels of the shot image according to the rotation position, wherein the coordinates of the pixels of the image are used for obtaining the positions of the inclusions in the image.
Example 2:
a blanking detection method of the blanking conveying line comprises the following steps:
step one, establishing a transfer function and measuring sunlight;
measuring the transmissivity T of a piece of vacuum laminated glass 2 which is made of the same material as the vacuum laminated glass 2 to be measured and emits monochromatic infrared light at the wavelength of the light source 5, and simultaneously measuring the heat insulation coefficient R of the vacuum laminated glass 2 by using sunlight; measuring a plurality of vacuum laminated glass 2 samples with different thicknesses to obtain heat insulation coefficients corresponding to different transmittances; establishing a T-R working curve of transmissivity T and a heat insulation coefficient R;
the optional infrared light wavelength of the detection step is 1064nm, 10.6 μm, 5.2 μm and the like, and the laminated glass has higher absorptivity at the wavelengths, so that the transmittance can be more accurately calculated in the detection.
Placing an unblemished vacuum laminated glass 2 with the same shape as the vacuum laminated glass 2 to be detected on a detection station, and controlling a uniform light source 5 to emit monochromatic infrared light to pass through a rotary grid plate 4 and the vacuum laminated glass 2 to reach an imaging sensor 1;
the imaging sensor 1 continuously shoots a plurality of images at fixed intervals and sends the images to the image processor; the image processor performs image noise reduction and filtering and then performs background subtraction; the image with the background subtracted is sent to an upper computer, and the upper computer calculates a transfer function G of the vacuum laminated glass 2 according to the grid shape of the rotating grid plate 4 and the received images of the plurality of pieces of vacuum laminated glass 2;
step two, a blanking conveying step;
the laminated vacuum laminated glass 2 is transferred to a blanking conveying roller 3 by a sucker mechanical arm, and the edge of the vacuum laminated glass supported by the blanking conveying roller 3 is conveyed to a detection station; a grating sensor arranged on the detection station detects that a signal is excited, the excitation signal is transmitted to a blanking conveying controller, and the blanking conveying controller transmits a stop signal to a blanking conveying roller 3; stopping the rotation of the blanking conveying roller 3 to stop the vacuum laminated glass 2 on the detection station;
step three, detecting the heat insulation coefficient;
the light source 5 emits monochromatic infrared light to penetrate through the rotary grid plate 4 and irradiate the lower surface of the vacuum rubberized glass; the rotating grid plate 4 rotates at a constant speed under the driving of the rotating motor, and the rotating motor sends the rotating position of the rotating grid plate to the coordinate conversion module; infrared light penetrates through the vacuum laminated glass 2 and then is incident on the imaging sensor 1; the imaging sensor 1 receives infrared light transmitted from the vacuum rubberized glass to image the vacuum rubberized glass; the imaging sensor 1 continuously shoots a plurality of images at fixed time intervals, and the images collected by the imaging sensor 1 are sent to an image processor;
the purpose of rotating the grid plate is to change the projected grid image, and different grid images can be shot only when the grid image is changed continuously; since the distortion of the image is only related to glass, the change in the captured image caused by rotating the grid plate can be calculated using the transfer function and the grid image. In subsequent detection, the position of the flaw can be determined by only comparing the actually measured image with the theoretical image.
The size of the vacuum laminated glass 2 is smaller than the illumination sizes of the light homogenizing light source 5 and the rotating grid plate 4, namely, the image shot on the imaging sensor 1 comprises light which penetrates through the vacuum laminated glass 2 and light which does not penetrate through the vacuum laminated glass 2;
dividing the image into a background and a foreground according to the brightness difference of the image shot by the imaging sensor 1; an image formed by light transmitted through the vacuum laminated glass 2 is recorded as a foreground, and an image formed by light not transmitted through the vacuum laminated glass 2 is recorded as a background;
calculating the sum of the luminance values of the background I 0 And the number of pixels P 0 While calculating the sum I of the luminance values of the foreground 1 And the number of pixels P 1 (ii) a Then T can be obtained 0 =(I 1 /P 1 )/(I 0 /P 0 ) Will calculate the obtained T 0 Inputting a T-R working curve to obtain a corresponding heat insulation coefficient R 0 ；
In actual detection, since a plurality of images are captured, the transmittance of each image may be calculated when calculating the transmittance, and then averaged to obtain an average transmittance, and the average transmittance may be input to the T-R operation curve to obtain a corresponding thermal insulation coefficient.
Step four, inclusion detection
The rotating motor sends the rotating position to the coordinate conversion module, and the coordinate conversion module determines the actual rotating position of the rotating grid plate 4 at the shooting moment of the imaging sensor 1 according to the angle of the rotating motor;
the coordinate conversion module sends the rotation angle of the rotating grid plate 4 corresponding to each image shot by the imaging sensor 1 to the upper computer;
the upper computer calculates a rotation image of the rotating grid plate 4 at the angle according to the rotation angle of the rotating grid plate 4; calculating a theoretical image which is required to be obtained at the shooting moment in an upper computer according to the rotating image of the rotating grid plate 4 and the transfer function G of the vacuum laminated glass 2;
therefore, images shot by a plurality of imaging sensors 1 and theoretical images corresponding to the images shot by each imaging sensor 1 are obtained in the upper computer;
differentiating the image shot by each imaging sensor 1 and the corresponding theoretical image in the upper computer to obtain a differential image; all the difference images are superimposed to obtain the position of the inclusion.
As can be seen from fig. 3, the leftmost side is the theoretical image, and the right side is the real image of the corresponding angle and the real image rotated to another angle; when the theoretical image and the real image are differentiated, the gray level of the pixel is remained at the position with the flaw, so that the approximate position of the flaw can be seen; because the whole shape of the inclusion is difficult to obtain directly by one-time imaging by using grid shooting detection, a plurality of angles are selected for shooting, then difference is carried out, and then superposition is carried out.
Step four, the inclusion detection further comprises:
the image processor performs image noise reduction and filtering on each image shot by the imaging sensor 1 and then performs background subtraction; and sending the image with the background subtracted to an upper computer.
The method of background subtraction is: because the transmittances of the foreground and the background are different, the image is subjected to edge detection according to the gray value difference, the gray gradient of the image is calculated, the position where the gray value changes suddenly is marked as the edge of the laminated glass to divide the foreground and the background, and then the background image is deleted.
The transfer function G is calculated by taking the mesh image as a starting point of the transfer function and taking an actually photographed image as an output result of convolution calculation of the mesh image and the transfer function.
Alternatively, the transfer function G is a transfer model, and the transfer model is calculated by inputting a mesh image as an input of the transfer function model, inputting an actually photographed image as a mesh image to an output of the transfer function model, and calculating the transfer model using a convolutional neural network.
In practical use, the transfer model is not selected by the transfer function only, and a CNN, an RNN neural network, or other deep neural networks, BP neural networks, etc. may be used.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The automatic detection blanking conveying line for the vacuum laminated glass comprises a blanking conveying roller (3) and a detection station, wherein the blanking conveying roller (3) is used for supporting the vacuum laminated glass (2) and conveying the vacuum laminated glass to the detection station, and the vacuum laminated glass (2) is subjected to heat insulation coefficient and inclusion detection on the detection station; the method is characterized in that:
the automatic blanking machine is also provided with a blanking conveying controller, a rotating motor, a coordinate conversion module, a grating sensor, a rotating grid plate (4), a uniform light source (5), an imaging sensor (1) and an image processor;
the blanking conveying controller is connected with the rotating motor, the grating sensor, the rotating grid plate (4), the uniform light source (5) and the imaging sensor (1); the rotary motor, the grating sensor, the rotary grid plate (4), the uniform light source (5) and the imaging sensor (1) are arranged at the position of the detection station; the blanking conveying roller (3) is horizontally arranged, and the detection station is arranged on a transmission line of the blanking conveying roller (3);
the imaging sensor (1) collects images of the vacuum laminated glass (2) and sends the images to the image processor, and the images are processed by the image processor and uploaded to the upper computer to obtain the heat insulation coefficient and inclusion detection results of the vacuum laminated glass (2).
2. The automatic vacuum laminated glass detection and blanking conveying line according to claim 1, characterized in that:
the vacuum laminated glass (2) is non-planar glass, and the blanking conveying roller (3) is an edge blanking conveying roller (3); the blanking conveying roller (3) only supports the edge of the vacuum laminated glass (2), and the length of the contact position of the blanking conveying roller (3) and the vacuum laminated glass (2) is not more than 10mm, so that the blanking conveying roller (3) is ensured not to shield most of light which is emitted from the light homogenizing source (5) and penetrates through the vacuum laminated glass (2).
3. The automatic detecting and blanking conveying line for vacuum laminated glass according to claim 2, characterized in that:
the light source (5) is arranged below the detection station and used for emitting monochromatic infrared light to the vacuum glue-added glass;
the rotary grid plate (4) is arranged above the light source (5), and monochromatic infrared light emitted from the light source (5) penetrates through the rotary grid plate (4) to irradiate the lower surface of the vacuum rubberized glass; the rotating grid plate (4) rotates at a constant speed under the driving of a rotating motor, and the rotating motor sends the rotating position of the rotating grid plate to the coordinate conversion module;
infrared light penetrates through the vacuum laminated glass (2) and then is incident on the imaging sensor (1); the imaging sensor (1) is arranged above the detection station and used for receiving infrared light transmitted by the vacuum rubberized glass so as to image the vacuum rubberized glass; the imaging sensor (1) continuously shoots a plurality of images at fixed time intervals, and the images collected by the imaging sensor (1) are sent to the image processor.
4. The automatic vacuum laminated glass detection and blanking conveying line according to claim 3, characterized in that:
grid lines are printed on the rotary grid plate (4), the intervals of the grid lines are the same so as to form a plurality of small square grids, and the intervals of the grid lines are 5 mm to 10 mm; infrared light penetrates through the rotating grid plate (4) and then irradiates the vacuum laminated glass (2) to form a grid pattern on the imaging sensor (1).
5. The automatic vacuum laminated glass detection and blanking conveying line according to claim 4, characterized in that:
the image processor and the coordinate conversion module are connected to an upper computer, image registration and processing are carried out in the upper computer, and the heat insulation coefficient and inclusion detection results of the vacuum laminated glass (2) are judged;
the image registration comprises the steps of determining the rotation position of the grid plate according to the rotation angle of the rotating motor, and calculating the coordinates of the pixels of the shot image according to the rotation position, wherein the coordinates of the pixels of the image are used for obtaining the positions of the inclusions in the image.
6. The blanking detection method by using the automatic vacuum laminated glass detection blanking conveying line of claim 5 is characterized by comprising the following steps:
step one, establishing a transfer function and measuring sunlight;
measuring the transmissivity T of a piece of vacuum laminated glass (2) which is made of the same material as the vacuum laminated glass (2) to be measured under the wavelength of monochromatic infrared light emitted by a light equalizing source (5), and simultaneously measuring the heat insulation coefficient R of the vacuum laminated glass (2) by using sunlight; measuring a plurality of vacuum laminated glass (2) samples with different thicknesses to obtain heat insulation coefficients corresponding to different transmittances; establishing a T-R working curve of transmissivity T and a thermal insulation coefficient R;
placing a flawless vacuum laminated glass (2) with the same shape as that of the vacuum laminated glass (2) to be detected on a detection station, and controlling a light equalizing light source (5) to emit monochromatic infrared light to pass through a rotating grid plate (4) and the vacuum laminated glass (2) and reach an imaging sensor (1);
the imaging sensor (1) continuously shoots a plurality of images at fixed intervals and sends the images to the image processor; the image processor performs image noise reduction and filtering and then performs background subtraction; the image with the background subtracted is sent to an upper computer, and the upper computer calculates a transfer function G of the vacuum laminated glass (2) according to the grid shape of the rotating grid plate (4) and the received images of the plurality of pieces of vacuum laminated glass (2);
step two, a blanking conveying step;
the laminated vacuum laminated glass (2) is transferred to a blanking conveying roller (3) by a sucker mechanical arm, and the edge of the vacuum laminated glass supported by the blanking conveying roller (3) is conveyed to a detection station; a grating sensor arranged on the detection station detects that a signal is excited, the excitation signal is transmitted to a blanking conveying controller, and the blanking conveying controller transmits a stop signal to a blanking conveying roller (3); the blanking conveying roller (3) stops rotating, so that the vacuum laminated glass (2) stops on the detection station;
step three, detecting the heat insulation coefficient;
the light source (5) emits monochromatic infrared light to penetrate through the rotary grid plate (4) and irradiate the lower surface of the vacuum glue-added glass; the rotating grid plate (4) rotates at a constant speed under the driving of a rotating motor, and the rotating motor sends the rotating position of the rotating grid plate to the coordinate conversion module; infrared light penetrates through the vacuum laminated glass (2) and then is incident on the imaging sensor (1); the imaging sensor (1) receives infrared light transmitted from the vacuum rubberized glass to image the vacuum rubberized glass; the imaging sensor (1) continuously shoots a plurality of images at fixed time intervals, and the images acquired by the imaging sensor (1) are sent to the image processor;
the size of the vacuum laminated glass (2) is smaller than the illumination sizes of the light homogenizing light source (5) and the rotating grid plate (4), namely, the image shot on the imaging sensor (1) comprises light which penetrates through the vacuum laminated glass (2) and light which does not penetrate through the vacuum laminated glass (2);
dividing an image into a background and a foreground according to the brightness difference of the image shot by the imaging sensor (1); the image formed by the light penetrating through the vacuum laminated glass (2) is recorded as a foreground, and the image formed by the light not penetrating through the vacuum laminated glass (2) is recorded as a background;
calculating the sum of luminance values of the background I 0 And the number of pixels P 0 Simultaneously calculating the sum I of luminance values of the foreground 1 And the number of pixels P 1 (ii) a Then T can be obtained 0 =(I 1 /P 1 )/(I 0 /P 0 ) Will calculate the obtained T 0 Inputting a T-R working curve to obtain a corresponding heat insulation coefficient R 0 ；
Step four, detecting impurities
The rotating motor sends the rotating position of the rotating motor to the coordinate conversion module, and the coordinate conversion module determines the actual rotating position of the rotating grid plate (4) at the shooting moment of the imaging sensor (1) according to the angle of the rotating motor;
the coordinate conversion module sends the rotation angle of the rotating grid plate (4) corresponding to each image shot by the imaging sensor (1) to an upper computer;
the upper computer calculates a rotation image of the rotating grid plate (4) at the angle according to the rotation angle of the rotating grid plate (4); calculating a theoretical image which is required to be obtained at the shooting moment in an upper computer according to the rotating image of the rotating grid plate (4) and the transfer function G of the vacuum laminated glass (2);
therefore, images shot by a plurality of imaging sensors (1) and theoretical images corresponding to the images shot by each imaging sensor (1) are obtained in the upper computer;
differentiating the image shot by each imaging sensor (1) and the corresponding theoretical image in the upper computer to obtain a differential image; all the difference images are superimposed to obtain the position of the inclusion.
7. The blanking detection method of claim 6, wherein:
step four, the inclusion detection further comprises:
the image processor performs image noise reduction and filtering on each image shot by the imaging sensor (1) and then performs background subtraction; and the image with the background subtracted is sent to an upper computer.
8. The blanking detection method according to claim 7, characterized in that:
the background subtraction method is as follows: because the transmissivity of the foreground and the transmissivity of the background are different, the image is subjected to edge detection according to the gray value difference, the gray gradient of the image is calculated, the position where the gray value changes suddenly is marked as the edge of the laminated glass so as to divide the foreground and the background, and then the background image is deleted.
9. The blanking detection method of claim 6, wherein:
the transfer function G is calculated by taking the mesh image as a starting point of the transfer function and taking an actually photographed image as an output result of convolution calculation of the mesh image and the transfer function.
10. The blanking detection method of claim 6, wherein:
the transfer function G is a transfer model, and the transfer model is calculated by inputting a mesh image as an input of the transfer function model, inputting an actually photographed image as a mesh image into an output of the transfer function model, and calculating the transfer model using a convolutional neural network.
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Denomination of invention: A vacuum laminated glass automatic detection and feeding conveyor line and detection method Granted publication date: 20221227 Pledgee: Zhejiang Commercial Bank Co.,Ltd. Jinan Branch Pledgor: Wokam (Shandong) vacuum glass technology Co.,Ltd. Registration number: Y2024980012642 |