CN113218335A - Three-dimensional imaging method and device for glass product and quality detection method - Google Patents
Three-dimensional imaging method and device for glass product and quality detection method Download PDFInfo
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- CN113218335A CN113218335A CN202110694212.4A CN202110694212A CN113218335A CN 113218335 A CN113218335 A CN 113218335A CN 202110694212 A CN202110694212 A CN 202110694212A CN 113218335 A CN113218335 A CN 113218335A
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/001—Industrial image inspection using an image reference approach
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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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
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- 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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Abstract
The invention discloses a three-dimensional imaging method, a three-dimensional imaging device and a quality detection method of a glass product, wherein the three-dimensional imaging method comprises the following steps: attaching a non-transparent layer to the surface of the glass product; a three-dimensional image of a glass article having a non-transparent layer affixed thereto is acquired based on a three-dimensional imaging device. According to the invention, the non-transparent layer is attached to the surface of the glass product, and the three-dimensional image of the glass product attached with the non-transparent layer is acquired based on the three-dimensional imaging device, so that the problem that the three-dimensional imaging device in the prior art cannot acquire the three-dimensional image of the transparent glass product is solved, and data support is provided for the subsequent quality detection of the glass product.
Description
Technical Field
The invention belongs to the technical field of three-dimensional imaging, and particularly relates to a three-dimensional imaging method and device for a glass product and a quality detection method.
Background
Glass articles are widely used in industrial production and daily life, for example: automobile glass, window glass or mobile phone shell glass, and the like. Since the production of glass is thermal forming, the forming shape is a key factor for determining whether the glass product is qualified or not. As the quality of glass products is required to be higher, the spatial shape of the glass products needs to be detected with high precision.
However, the current mainstream three-dimensional visual imaging device, such as a three-dimensional camera based on the structured light principle or the line laser principle, is limited by the imaging principle of the structured light and the line laser, and thus the current mainstream three-dimensional visual imaging device cannot perform three-dimensional imaging on the glass product. In addition, although the three-dimensional imaging device based on the spectrum principle can perform three-dimensional imaging on glass, no matter the imaging is performed based on point spectrum imaging or line spectrum, the imaging speed is very slow, only sampling scanning is performed, the three-dimensional information of the whole glass product cannot be accurately reflected, and the price of a sensor included in the imaging device is very high.
Disclosure of Invention
It is an object of the present invention to provide a method, apparatus and quality inspection method for three-dimensional imaging of glass articles that solves at least one of the problems of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present disclosure provides a method of three-dimensional imaging of a glass article, the method comprising:
attaching a non-transparent layer to the surface of the glass product;
a three-dimensional image of a glass article having a non-transparent layer affixed thereto is acquired based on a three-dimensional imaging device.
In one possible design, a non-transparent layer is affixed to a surface of a glass article, comprising:
and a layer of elastic cloth is attached to the main convex surface of the glass product.
In one possible design, a non-transparent layer is affixed to a surface of a glass article, comprising:
and a layer of elastic cloth is attached to the back surface of the main convex surface of the glass product.
In one possible design, a non-transparent layer is affixed to a surface of a glass article, comprising:
and a uniform powder layer is sprayed on the back surface of the main convex surface or the main convex surface of the glass product.
In a second aspect, the present invention provides a three-dimensional imaging device for glass products, which is used for acquiring three-dimensional images of the glass products based on the three-dimensional imaging method for the glass products as described in the first aspect, wherein the three-dimensional imaging device comprises a loading and unloading assembly (1) and a three-dimensional imaging assembly (2);
the feeding and discharging assembly (1) comprises a workbench surface (11), at least one supporting column (12) is installed on the workbench surface (11), a sucking disc (13) is installed on the supporting column (12), and a glass product is installed on the supporting column (12) through the sucking disc (13);
the three-dimensional imaging assembly (2) comprises a three-dimensional camera (21) and a non-transparent layer (22), wherein the three-dimensional camera (21) is arranged above the glass product, and the non-transparent layer (22) is attached to the main convex surface of the glass product.
In one possible design, the loading and unloading assembly (1) further comprises a first moving mechanism (14), and the bottom of the working table top (11) is slidably mounted at the moving end of the first moving mechanism (14).
In one possible design, the three-dimensional imaging assembly (2) further comprises a second moving mechanism (25), and the three-dimensional camera (21) is slidably mounted at a moving end of the second moving mechanism (25).
In a third aspect, the present invention provides a method of quality inspection of a glass article, the method comprising the steps of:
preprocessing the three-dimensional image;
and detecting the preprocessed three-dimensional image based on the algorithm model, and judging the product quality of the glass product.
In one possible design, the three-dimensional image is preprocessed, including:
calculating a normal directional diagram of the three-dimensional image, and setting a first threshold value for the normal directional diagram;
and acquiring the area of the glass product in the three-dimensional image according to the first threshold value.
In one possible design, the detecting the preprocessed three-dimensional image based on the algorithm model to judge the product quality of the glass product comprises the following steps:
based on a nearest neighbor iterative algorithm model, performing three-dimensional matching and alignment on the glass product reference point cloud and the currently detected three-dimensional point cloud of the glass product;
calculating the closest distance from the three-dimensional point cloud of the glass product to the reference point cloud of the glass product to obtain a distance map point by point;
and when the point sets which are larger than the second threshold value in the distance map exceed the preset number, judging that the currently detected glass product is a defective product.
Has the advantages that:
1. according to the invention, the non-transparent layer is attached to the surface of the glass product, and the three-dimensional image of the glass product attached with the non-transparent layer is acquired based on the three-dimensional imaging device, so that the problem that the three-dimensional imaging device in the prior art cannot acquire the three-dimensional image of the transparent glass product is solved, and data support is provided for the subsequent quality detection of the glass product.
2. According to the invention, at least one supporting column is arranged on the working table top, the sucking disc is arranged on the supporting column, and the glass product is arranged on the supporting column through the sucking disc; the three-dimensional camera is enabled to capture the three-dimensional shape of the glazing by mounting the three-dimensional camera over the glazing and attaching a non-transparent layer to the major convex surface of the glazing such that the transparent glazing becomes no longer transparent.
3. According to the invention, the three-dimensional image is preprocessed to separate the area of the glass product from the three-dimensional image to obtain a clearer three-dimensional image, then the preprocessed three-dimensional image is detected based on the algorithm model, the number of point sets exceeding the second threshold value in the three-dimensional image can be obtained, and when the number of clicks exceeding the second threshold value is larger than the preset number, the glass product is considered as a defective product, so that the product detection mode of the transparent glass product through three-dimensional imaging becomes possible.
Drawings
FIG. 1 is a flow chart of a method of three-dimensional imaging of a glass article provided by the present invention;
FIG. 2 is a block diagram of a three-dimensional imaging apparatus for glass articles provided by the present invention;
FIG. 3 is another block diagram of a three-dimensional imaging apparatus for glass articles provided by the present invention;
fig. 4 is a flow chart of a method for detecting the quality of a glass product provided by the invention.
Wherein, 1-a feeding and discharging component; 11-a work table; 12-a support column; 13-a suction cup; 14-a first movement mechanism; 15-a first limiting sheet; 16-a second limiting sheet; 2-a three-dimensional imaging assembly; 21-a three-dimensional camera; 22-a non-transparent layer; 23-a non-transparent layer holder; 24-a second movement mechanism; 25-third moving mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments in the present description, belong to the protection scope of the present invention.
Example one
In a first aspect, as shown in fig. 1, the present embodiment provides a method for three-dimensional imaging of a glass article, including but not limited to the steps of S101 to S102:
s101, attaching a non-transparent layer to the surface of a glass product;
wherein, as a possible design, a non-transparent layer is attached on the surface of the glass product, comprising:
and a layer of elastic cloth is attached to the main convex surface of the glass product.
The elastic cloth is very elastic, the glass product is horizontally placed below the elastic cloth, the elastic cloth is tightly and uniformly attached to the main convex surface of the glass product through pressure from top to bottom, so that the main convex surface of the glass product is covered with an even non-transparent layer, and the three-dimensional visual imaging product is placed above the glass product, so that the glass product can be rapidly and highly accurately three-dimensionally imaged by the mainstream three-dimensional visual imaging product. The three-dimensional visual imaging product comprises but is not limited to a monocular/binocular structured light camera, a line laser camera and the like; the super-elastic cloth includes, but is not limited to, an elastic cloth containing spandex fabric (spandex fiber, etc.) or latex.
Wherein, as a possible design, a non-transparent layer is attached on the surface of the glass product, comprising:
and a layer of elastic cloth is attached to the back surface of the main convex surface of the glass product.
Wherein, it should be noted that the elastic cloth is an elastic cloth with very large elasticity, and the super elastic cloth is made into a closed space (such as a balloon shape) and is placed right below the fixed glass product; inflating the closed space, and exhausting air between the elastic cloth and the glass product to enable the super-elastic cloth to be tightly and uniformly attached to the back surface of the main convex surface of the glass product, so that a uniform non-transparent layer covers the back surface of the main convex surface of the glass product, and enabling a mainstream three-dimensional visual imaging product to carry out rapid and high-precision three-dimensional imaging on the glass product by placing the three-dimensional visual imaging product above the glass product, wherein the three-dimensional visual imaging product comprises but is not limited to a monocular/binocular structured light camera, a line laser camera and the like; the super-elastic cloth includes, but is not limited to, an elastic cloth containing spandex fabric (spandex fiber, etc.) or latex.
As another alternative, the non-transparent layer is tightly attached to the back surface of the main convex surface of the glass by arranging the groove, filling the non-newtonian fluid such as starch water in the groove, then placing the glass product on the fluid from top to bottom, and arranging the air extractor on the back surface of the main convex surface of the glass product.
In one possible design, a non-transparent layer is affixed to a surface of a glass article, comprising:
and a uniform powder layer is sprayed on the back surface of the main convex surface or the main convex surface of the glass product.
Step S102, acquiring a three-dimensional image of the glass product attached with the non-transparent layer based on a three-dimensional imaging device.
It should be noted that the three-dimensional imaging device includes a three-dimensional camera, such as a monocular/binocular structured light camera and a line laser camera.
Based on the disclosure, the problem that the three-dimensional imaging device in the prior art cannot acquire the three-dimensional image of the transparent glass product is solved by attaching the non-transparent layer on the surface of the glass product and acquiring the three-dimensional image of the glass product attached with the non-transparent layer based on the three-dimensional imaging device, and data support is provided for the quality detection of the subsequent glass product.
Example two
In a second aspect, as shown in fig. 2 and 3, the present embodiment provides a three-dimensional imaging apparatus for a glass product, the apparatus acquiring a three-dimensional image of the glass product based on the three-dimensional imaging method for the glass product as described in two possible designs of the first aspect, the apparatus comprising a loading and unloading assembly 1 and a three-dimensional imaging assembly 2; the feeding and discharging assembly 1 comprises a working table 11, at least one supporting column 12 is arranged on the working table 11, a sucking disc 13 is arranged on the supporting column 12, and a glass product is arranged on the supporting column 12 through the sucking disc 13; the three-dimensional imaging assembly 2 comprises a three-dimensional camera 21 and a non-transparent layer 22, wherein the three-dimensional camera 21 is arranged above the glass product, and the non-transparent layer 22 is attached to the main convex surface of the glass product; the transparent glass product becomes no longer transparent, so that the three-dimensional camera 21 can collect the formed shape of the glass, the subsequent three-dimensional imaging and detection by utilizing the rapid area array become possible, and the detection efficiency is greatly improved.
In this embodiment, preferably, the loading and unloading assembly 1 further includes a first moving mechanism 14, and the bottom of the work table 11 is slidably mounted at a moving end of the first moving mechanism 14; the first moving mechanism 14 may be two parallel sliding rails disposed at the bottom of the working platform 11, the sliding rails are provided with sliding grooves, the bottom of the working platform 11 is embedded in the two sliding grooves and can move along the axial direction of the sliding grooves, so that the position of the glass product attached with the non-transparent layer 22 can be adjusted, and the three-dimensional camera 21 can acquire an image more accurately.
In this embodiment, preferably, the three-dimensional imaging assembly 2 may further include a non-transparent layer fixing frame 23 and a third moving mechanism 25, the non-transparent layer fixing frame 23 is slidably mounted at a moving end of the third moving mechanism 25, and the non-transparent layer 22 is mounted on the non-transparent layer fixing frame 23; the third moving mechanism 25 may be a slide rail disposed at one end of the non-transparent layer fixing frame 23, the slide rail is provided with a sliding slot, one end of the non-transparent layer fixing frame 23 is embedded in the sliding slot and can move along an axial direction of the sliding slot, specifically, the axial direction may be an up-down direction, and then the non-transparent layer fixing frame 23 can move up and down along the third moving mechanism 25; meanwhile, the working table 11 can move along the axial direction of the third moving mechanism 25, so as to drive the glass product to move below the non-transparent layer 22, and the non-transparent layer fixing frame 23 drives the non-transparent layer 22 to move downwards, and the non-transparent layer 22 is tightly and uniformly attached to the main convex surface of the glass product through the pressure applied in the moving process.
In this embodiment, in order to enable the glass product to be mounted on the supporting pillar 12 in a flush manner, preferably, the working table 11 is further provided with a first limiting piece 15 and a second limiting piece 16 which are perpendicular to each other, two sides of the glass product respectively abut against between the first limiting piece 15 and the second limiting piece 16, and the first limiting piece 15 and the second limiting piece 16 are arranged perpendicular to each other, so that when the glass product is mounted on the supporting pillar 12, the mounting position of the glass product can be effectively corrected, and subsequent operation is facilitated.
In this embodiment, in order to firmly mount the glass product on the supporting pillar 12, preferably, the suction cup 13 is a rubber suction cup 13, and more preferably, the suction cup 13 is a rubber three-layer organ type suction cup 13, wherein a vacuum air valve is arranged in the suction cup 13, and the glass product is adsorbed on the supporting pillar 12 through the vacuum air valve; during installation, the glass product is placed above the supporting column 12, and the vacuum air valve is opened and is used for firmly adsorbing the glass product on the top end of the supporting column 12 through compressed air; wherein, the support column 12 is a plurality of, can guarantee the steadiness of structure better.
In this embodiment, in order to allow the three-dimensional camera 21 to completely and clearly acquire the surface shape image of the glass product, it is preferable that the three-dimensional imaging assembly 2 further includes a second moving mechanism 24, and the three-dimensional camera 21 is slidably mounted at a moving end of the second moving mechanism 24; the second moving mechanism 24 may be a slide rail disposed on one side of the three-dimensional camera 21, the slide rail is provided with a sliding slot, one end of the three-dimensional camera 21 is embedded in the sliding slot and can move along an axis direction of the sliding slot, specifically, the axis direction may be a left-right direction, and the three-dimensional camera 21 can move left and right along the second moving mechanism 24, so as to adjust an image capturing view of the three-dimensional camera 21, and further capture a complete and clear surface shape image of the glass product. The three-dimensional camera 21 may be a structured light camera (including a monocular structured light camera and a binocular structured light camera), or may be a line laser camera.
Based on the above disclosure, by installing at least one supporting column 12 on the working table 11, installing a suction cup 13 on the supporting column 12, the glass product is installed on the supporting column 12 through the suction cup 13; by mounting the three-dimensional camera 21 over the glazing and attaching the non-transparent layer 22 to the major convex surface of the glazing, the transparent glazing becomes no longer transparent, thereby enabling the three-dimensional camera 21 to capture the three-dimensional shape of the glazing.
EXAMPLE III
In a third aspect, as shown in fig. 4, this embodiment provides a method for quality inspection of a glass product, wherein a three-dimensional image of the glass product is obtained by using the method for three-dimensional imaging of the glass product as described in any one of the possible designs of the first aspect, and the method further includes, but is not limited to, steps S103 to S104:
s103, preprocessing the three-dimensional image;
in this embodiment, preferably, the preprocessing the three-dimensional image includes:
calculating a normal directional diagram of the three-dimensional image, and setting a first threshold value for the normal directional diagram;
and acquiring the area of the glass product in the three-dimensional image according to the first threshold value.
And S104, detecting the preprocessed three-dimensional image based on the algorithm model, and judging the product quality of the glass product.
In this embodiment, preferably, the step of detecting the preprocessed three-dimensional image based on the algorithm model to determine the product quality of the glass product includes steps S104a to S104 c:
s104a, based on a nearest neighbor iterative algorithm model, performing three-dimensional matching and alignment on a glass product reference point cloud and a currently detected three-dimensional point cloud of a glass product;
s104b, calculating the closest distance from the three-dimensional point cloud of the currently detected glass product to the glass product reference point cloud point by point to obtain a distance map;
and S104c, when the distance map contains more than a preset number of point sets larger than a second threshold value, judging that the currently detected glass product is a defective product.
Based on the disclosure, the three-dimensional image is preprocessed to separate the area where the glass product is located from the three-dimensional image, so that a clearer three-dimensional image is obtained, the preprocessed three-dimensional image is detected based on the algorithm model, the number of point sets exceeding the second threshold value in the three-dimensional image can be obtained, and when the number of clicks exceeding the second threshold value is larger than the preset number, the glass product is considered as a defective product, so that the mode that the transparent glass product is subjected to product detection through three-dimensional imaging becomes possible.
Finally, it should be noted that: the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. 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 (10)
1. A method of three-dimensional imaging of a glass article, the method comprising:
attaching a non-transparent layer to the surface of the glass product;
a three-dimensional image of a glass article having a non-transparent layer affixed thereto is acquired based on a three-dimensional imaging device.
2. A method of three-dimensional imaging of a glass article according to claim 1, wherein the affixing of a non-transparent layer to the surface of the glass article comprises:
and a layer of elastic cloth is attached to the main convex surface of the glass product.
3. A method of three-dimensional imaging of a glass article according to claim 1, wherein the affixing of a non-transparent layer to the surface of the glass article comprises:
and a layer of elastic cloth is attached to the back surface of the main convex surface of the glass product.
4. A method of three-dimensional imaging of a glass article according to claim 1, wherein the affixing of a non-transparent layer to the surface of the glass article comprises:
and a uniform powder layer is sprayed on the back surface of the main convex surface or the main convex surface of the glass product.
5. An apparatus for three-dimensional imaging of glass products, characterized in that it acquires a three-dimensional image of a glass product based on the method for three-dimensional imaging of a glass product according to claim 2 or 4, said apparatus comprising a loading and unloading assembly (1) and a three-dimensional imaging assembly (2);
the feeding and discharging assembly (1) comprises a workbench surface (11), at least one supporting column (12) is installed on the workbench surface (11), a sucking disc (13) is installed on the supporting column (12), and a glass product is installed on the supporting column (12) through the sucking disc (13);
the three-dimensional imaging assembly (2) comprises a three-dimensional camera (21) and a non-transparent layer (22), wherein the three-dimensional camera (21) is arranged above the glass product, and the non-transparent layer (22) is attached to the main convex surface of the glass product.
6. Glass product three-dimensional imaging device according to claim 5, characterized in that the loading and unloading assembly (1) further comprises a first moving mechanism (14), and the bottom of the working table (11) is slidably mounted at the moving end of the first moving mechanism (14).
7. Glass product three-dimensional imaging device according to claim 5, characterized in that the three-dimensional imaging assembly (2) further comprises a second moving mechanism (25), the three-dimensional camera (21) being slidably mounted at a moving end of the second moving mechanism (25).
8. A quality inspection method for a glass article, characterized in that a three-dimensional image of the glass article is obtained by the three-dimensional imaging method for a glass article according to any one of claims 1 to 4, the method further comprising:
preprocessing the three-dimensional image;
and detecting the preprocessed three-dimensional image based on the algorithm model, and judging the product quality of the glass product.
9. The method for quality inspection of glass articles according to claim 8, wherein preprocessing the three-dimensional image comprises:
calculating a normal directional diagram of the three-dimensional image, and setting a first threshold value for the normal directional diagram;
and acquiring the area of the glass product in the three-dimensional image according to the first threshold value.
10. The method for detecting the quality of the glass product according to claim 9, wherein the step of detecting the preprocessed three-dimensional image based on the algorithm model to judge the product quality of the glass product comprises the following steps:
based on a nearest neighbor iterative algorithm model, performing three-dimensional matching and alignment on the glass product reference point cloud and the currently detected three-dimensional point cloud of the glass product;
calculating the closest distance from the three-dimensional point cloud of the glass product to the reference point cloud of the glass product to obtain a distance map point by point;
and when the point sets which are larger than the second threshold value in the distance map exceed the preset number, judging that the currently detected glass product is a defective product.
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| CN214747814U (en) * | 2021-06-22 | 2021-11-16 | 广东艾视智能有限公司 | Three-dimensional imaging system of glass product |
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