CN113218335B - 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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- CN113218335B CN113218335B CN202110694212.4A CN202110694212A CN113218335B CN 113218335 B CN113218335 B CN 113218335B CN 202110694212 A CN202110694212 A CN 202110694212A CN 113218335 B CN113218335 B CN 113218335B
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- 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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- 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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- 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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- 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 device and a quality detection method of glass products, wherein the three-dimensional imaging method comprises the following steps: a non-transparent layer is attached to the surface of the glass product; a three-dimensional image of the glass article to which the non-transparent layer is attached 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 quality detection of subsequent glass products.
Description
Technical Field
The invention belongs to the technical field of three-dimensional imaging, and particularly relates to a three-dimensional imaging method, device and quality detection method of glass products.
Background
Glass articles are widely used in industrial production and daily life, for example: automobile glass, window glass, or cell phone case glass, etc. Since glass production is thermoforming, its shape is a critical factor in whether a glass product is a good or not. With the increasing quality requirements of glass products, high-precision detection of the spatial shape of the glass products is required.
However, currently mainstream three-dimensional vision imaging devices, such as three-dimensional cameras based on structured light principle or line laser principle, cannot perform three-dimensional imaging on glass products due to the imaging principle of structured light and line laser. In addition, although the three-dimensional imaging device based on the spectrum principle can perform three-dimensional imaging on glass, the imaging speed is very slow no matter based on point spectrum imaging or line spectrum imaging, and the imaging device can only sample and scan, can not accurately reflect the three-dimensional information of the whole glass product, and the sensor contained in the imaging device is very high in price.
Disclosure of Invention
The invention aims to provide a three-dimensional imaging method, a device and a quality detection method of glass products, which are used for solving at least one problem existing in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in a first aspect, the present invention provides a method of three-dimensional imaging of a glass article, the method comprising:
a non-transparent layer is attached to the surface of the glass product;
a three-dimensional image of the glass article to which the non-transparent layer is attached is acquired based on a three-dimensional imaging device.
In one possible design, a non-transparent layer is attached to the surface of the glass article, comprising:
an elastic cloth layer is attached to the main convex surface of the glass product.
In one possible design, a non-transparent layer is attached to the surface of the 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 attached to the surface of the glass article, comprising:
and spraying a uniform powder layer on the main convex surface or the back surface of the main convex surface of the glass product.
In a second aspect, the present invention provides a three-dimensional imaging device for glass articles, the device acquiring three-dimensional images of glass articles based on the three-dimensional imaging method for glass articles as described in two possible designs of the first aspect, the device 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 arranged on the workbench surface (11), a sucker (13) is arranged on the supporting column (12), and glass products are arranged on the supporting column (12) through the sucker (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 feeding and discharging 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).
In one possible design, the three-dimensional imaging assembly (2) further comprises a second movement mechanism (25), and the three-dimensional camera (21) is slidably mounted at the movement end of the second movement mechanism (25).
In a third aspect, the present invention provides a method for quality inspection of a glass article, the method for three-dimensional imaging of a glass article as described in any one of the possible designs of the first aspect being used to obtain a three-dimensional image of a glass article, 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.
In one possible design, preprocessing the three-dimensional image includes:
calculating a normal line direction diagram of the three-dimensional image, and setting a first threshold value for the normal line direction diagram;
and acquiring the area where the glass product is located in the three-dimensional image according to the first threshold value.
In one possible design, detecting the preprocessed three-dimensional image based on an algorithm model, determining the product quality of the glass article includes:
based on a nearest neighbor iterative algorithm model, performing three-dimensional matching and alignment on the glass product datum point cloud and the currently detected three-dimensional point cloud of the glass product;
calculating the nearest distance from the three-dimensional point cloud of the currently detected glass product to the datum point cloud of the glass product point by point to obtain a distance map;
and when the point set which is larger than the second threshold value in the distance graph exceeds the preset quantity, judging that the currently detected glass product is a defective product.
The beneficial effects are 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 quality detection of subsequent glass products.
2. According to the invention, at least one support column is arranged on a workbench surface, a sucker is arranged on the support column, and glass products are arranged on the support column through the sucker; by mounting the three-dimensional camera over the glass article and attaching the non-transparent layer to the major convex surface of the glass article, the transparent glass article becomes opaque, thereby enabling the three-dimensional camera to capture the three-dimensional shape of the glass article.
3. According to the invention, 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, then the preprocessed three-dimensional image is detected based on the algorithm model, the number of point sets exceeding a second threshold in the three-dimensional image can be obtained, and when the number of clicks exceeding the second threshold is larger than the preset number, the glass product is considered to be a defective product, so that the transparent glass product can be detected by three-dimensional imaging.
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 device for glass articles provided by the present invention;
FIG. 3 is another block diagram of a three-dimensional imaging device for glass articles provided by the present invention;
fig. 4 is a flowchart of a quality inspection method for glass products provided by the invention.
Wherein, 1-feeding and discharging components; 11-a working table; 12-supporting columns; 13-sucking discs; 14-a first movement mechanism; 15-a first limiting piece; 16-a second limiting piece; a 2-three-dimensional imaging assembly; 21-a three-dimensional camera; 22-a non-transparent layer; 23-a non-transparent layer fixing frame; 24-a second movement mechanism; 25-a third movement mechanism.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present specification more clear, the technical solutions of the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is apparent that the described embodiments are some embodiments of the present specification, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present invention based on the embodiments herein.
Example 1
In a first aspect, as shown in fig. 1, the present embodiment provides a three-dimensional imaging method of a glass product, including, but not limited to, the implementation of steps S101 to S102:
s101, attaching a non-transparent layer on the surface of a glass product;
wherein, as one possible design, a non-transparent layer is attached on the surface of the glass product, comprising:
an elastic cloth layer is attached to the main convex surface of the glass product.
The elastic cloth is characterized in that the elastic cloth is very high-elasticity elastic cloth, the periphery of the super-strong elastic cloth is completely fixed, the glass product is horizontally arranged below the middle of the elastic cloth, the elastic cloth is tightly and uniformly attached to the main convex surface of the glass product from top to bottom through pressure, so that the main convex surface of the glass product is covered with a uniform non-transparent layer, and the main three-dimensional visual imaging product is arranged above the glass product, so that the main three-dimensional visual imaging product can rapidly and highly accurately perform three-dimensional imaging on the glass product. Wherein the three-dimensional visual imaging product includes, but is not limited to, monocular/binocular structured light cameras, line laser cameras, and the like; the super elastic cloth includes, but is not limited to, spandex fabric (spandex fiber, etc.) or latex elastic cloth.
Wherein, as one 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.
The elastic cloth is very elastic, and the super elastic cloth is made into a closed space (such as an air ball shape) and is placed under a fixed glass product; inflating the enclosed space and exhausting air between the elastic cloth and the glass product, so that the super-strong elastic cloth is tightly and uniformly attached to the back surface of the main convex surface of the glass product, thereby covering the back surface of the main convex surface of the glass product with a uniform non-transparent layer, and enabling the mainstream three-dimensional visual imaging product to perform 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, spandex fabric (spandex fiber, etc.) or latex elastic cloth.
In another alternative embodiment, the grooves are provided, the grooves are filled with non-newtonian fluid, such as water-mixed starch, then the glass product is placed on the fluid from top to bottom, and the air suction device is arranged on the back surface of the main convex surface of the glass product, so that the back surface of the main convex surface of the glass product is quickly clung to the fluid based on the characteristics of the fluid, and the non-transparent layer is clung to the back surface of the main convex surface of the glass.
In one possible design, a non-transparent layer is attached to the surface of the glass article, comprising:
and spraying a uniform powder layer on the main convex surface or the back surface of 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 the three-dimensional imaging device.
The three-dimensional imaging device includes a three-dimensional camera, such as a monocular/binocular structured light camera, a line laser camera, and the like.
Based on the disclosure, the problem that the three-dimensional imaging device in the prior art cannot collect 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 collecting 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 quality detection of subsequent glass products.
Example two
In a second aspect, as shown in fig. 2 and 3, the present embodiment provides a three-dimensional imaging device for glass articles, the device acquiring a three-dimensional image of a glass article based on the three-dimensional imaging method for glass articles as described in two possible designs of the first aspect, the device 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 support column 12 is arranged on the workbench surface 11, a sucker 13 is arranged on the support column 12, and glass products are arranged on the support column 12 through the sucker 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 is made to be no longer transparent, so that the three-dimensional camera 21 can acquire the molding shape of the glass, further the subsequent three-dimensional imaging and detection by using the rapid area array is 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 table top 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 table 11, and the sliding rails are provided with sliding grooves, and the bottom of the working table 11 is embedded in the two sliding grooves and can move along the axial direction of the sliding grooves, so that the three-dimensional camera 21 can more accurately collect images by adjusting the position of the glass product attached with the non-transparent layer 22.
In this embodiment, preferably, the three-dimensional imaging assembly 2 further includes a non-transparent layer fixing frame 23 and a third moving mechanism 25, the non-transparent layer fixing frame 23 is slidably mounted on 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 sliding rail disposed at one end of the non-transparent layer fixing frame 23, a sliding groove is disposed on the sliding rail, one end of the non-transparent layer fixing frame 23 is embedded in the sliding groove and can move along an axis direction of the sliding groove, specifically, the axis direction may be an up-down direction, and then the non-transparent layer fixing frame 23 can move up-down along the third moving mechanism 25; meanwhile, the table top 11 may 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 downward, and the non-transparent layer 22 is tightly and uniformly attached to the main convex surface of the glass product by the pressure applied during the movement.
In this embodiment, in order to enable the glass product to be mounted on the support column 12 in a flush manner, preferably, the table top 11 is further provided with a first limiting piece 15 and a second limiting piece 16 that are perpendicular to each other, two sides of the glass product are respectively abutted 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 perpendicular to each other, so that when the glass product is mounted on the support column 12, the mounting position of the glass product can be effectively corrected, and subsequent operations are facilitated.
In this embodiment, in order to firmly mount the glass product on the support column 12, preferably, the suction cup 13 is a rubber suction cup 13, 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 support column 12 through the vacuum air valve; when the glass product is installed, the vacuum air valve is opened by placing the glass product above the support column 12, and the vacuum air valve firmly adsorbs the glass product on the top end of the support column 12 through compressed air; wherein, support column 12 is a plurality of, can guarantee the steadiness of structure better.
In this embodiment, in order to enable the three-dimensional camera 21 to completely and clearly capture an image of the surface shape of the glass article, 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 on a moving end of the second moving mechanism 24; the second moving mechanism 24 may be a sliding rail disposed on one side of the three-dimensional camera 21, a sliding groove is disposed on the sliding rail, one end of the three-dimensional camera 21 is embedded in the sliding groove and can move along an axis direction of the sliding groove, specifically, the axis direction may be a left-right direction, and then the three-dimensional camera 21 may move left-right along the second moving mechanism 24, so as to adjust an image acquisition view of the three-dimensional camera 21, and further acquire 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 mounting at least one support column 12 on the table 11, mounting a suction cup 13 on the support column 12, and mounting a glass product on the support 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 opaque, 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, the present embodiment provides a quality detection method of a glass article, where a three-dimensional image of the glass article is obtained by using the three-dimensional imaging method of a glass article as described in any one of the possible designs of the first aspect, and the method further includes, but is not limited to, implementation of steps S103 to S104:
s103, preprocessing the three-dimensional image;
in this embodiment, preferably, preprocessing the three-dimensional image includes:
calculating a normal line direction diagram of the three-dimensional image, and setting a first threshold value for the normal line direction diagram;
and acquiring the area where the glass product is located 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, it is preferable that the detection of the preprocessed three-dimensional image based on the algorithm model, and the judgment of the product quality of the glass product, includes steps S104a to S104c:
s104a, carrying out three-dimensional matching and alignment on a glass product datum point cloud and a currently detected three-dimensional point cloud of the glass product based on a nearest neighbor iterative algorithm model;
s104b, calculating the nearest distance from the three-dimensional point cloud of the currently detected glass product to the datum point cloud of the glass product point by point to obtain a distance map;
and S104c, when the point set which is larger than the second threshold value in the distance map exceeds the preset quantity, 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 as to obtain a clearer three-dimensional image, then the preprocessed three-dimensional image is detected based on an algorithm model, the number of point sets exceeding a second threshold in the three-dimensional image can be obtained, and when the number of clicks exceeding the second threshold is larger than the preset number, the glass product is considered to be a defective product, so that the transparent glass product can be detected by three-dimensional imaging.
Finally, it should be noted that: the foregoing description is only of the preferred embodiments of the invention and is not intended to limit the scope of the invention. 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 (9)
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, wherein the non-transparent layer comprises elastic cloth;
acquiring a three-dimensional image of the glass product attached with the non-transparent layer based on a three-dimensional imaging device;
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 arranged on the workbench surface (11), a sucker (13) is arranged on the supporting column (12), and glass products are arranged on the supporting column (12) through the sucker (13);
the three-dimensional imaging assembly (2) comprises a three-dimensional camera (21) and a non-transparent layer (22), 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 three-dimensional imaging assembly (2) further comprises a non-transparent layer fixing frame (23) and a third moving mechanism (25), wherein the non-transparent layer fixing frame (23) is slidably arranged at the moving end of the third moving mechanism (25), and the non-transparent layer (22) is arranged on the non-transparent layer fixing frame (23); the third moving mechanism (25) is a sliding rail arranged at one end of the non-transparent fixing frame (23), a sliding groove is formed in the sliding rail, one end of the non-transparent layer fixing frame (23) is embedded in the sliding groove, and the non-transparent layer fixing frame (23) and the working table (11) move along the axis direction of the sliding groove.
2. The method of three-dimensional imaging of a glass article according to claim 1, wherein the attaching of the non-transparent layer to the surface of the glass article comprises:
an elastic cloth layer is attached to the main convex surface of the glass product.
3. The method of three-dimensional imaging of a glass article according to claim 1, wherein the attaching of the 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. The method of three-dimensional imaging of a glass article according to claim 1, wherein the attaching of the non-transparent layer to the surface of the glass article comprises:
and spraying a uniform powder layer on the main convex surface or the back surface of the main convex surface of the glass product.
5. The method of three-dimensional imaging of glass articles according to claim 1, characterized in that the loading and unloading assembly (1) further comprises a first moving mechanism (14), the bottom of the table top (11) being slidingly mounted at the moving end of the first moving mechanism (14).
6. The method of three-dimensional imaging of glass articles according to claim 1, characterized in that the three-dimensional imaging assembly (2) further comprises a second movement mechanism (25), the three-dimensional camera (21) being slidingly mounted at the movement end of the second movement mechanism (25).
7. A method for quality inspection of a glass article, wherein a three-dimensional image of the glass article is obtained using the three-dimensional imaging method of a glass article of any one of claims 1-6, 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.
8. The method of claim 7, wherein preprocessing the three-dimensional image comprises:
calculating a normal line direction diagram of the three-dimensional image, and setting a first threshold value for the normal line direction diagram;
and acquiring the area where the glass product is located in the three-dimensional image according to the first threshold value.
9. The method for detecting the quality of a glass product according to claim 8, wherein detecting the preprocessed three-dimensional image based on the algorithm model, and judging the product quality of the glass product, comprises:
based on a nearest neighbor iterative algorithm model, performing three-dimensional matching and alignment on the glass product datum point cloud and the currently detected three-dimensional point cloud of the glass product;
calculating the nearest distance from the three-dimensional point cloud of the currently detected glass product to the datum point cloud of the glass product point by point to obtain a distance map;
and when the point set which is larger than the second threshold value in the distance graph exceeds the preset quantity, judging that the currently detected glass product is a defective product.
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| CN103307989B (en) * | 2013-05-28 | 2016-04-27 | 江苏大学 | A kind of clear glass bottleneck internal-and external diameter measurement mechanism based on machine vision and method |
| CN103644858A (en) * | 2013-12-12 | 2014-03-19 | 大连理工大学 | Triaxial test three-dimensional deformation reconstruction and measurement method |
| CN105091784A (en) * | 2015-06-30 | 2015-11-25 | 东莞市盟拓光电科技有限公司 | 3D imaging system for measured object having mirror surface or transparent surface |
| CN105588511A (en) * | 2015-12-15 | 2016-05-18 | 中核（天津）机械有限公司 | Auxiliary method for facilitating the laser measurement on dimension of transparent member |
| DE102016222187A1 (en) * | 2016-11-11 | 2018-05-17 | Trumpf Laser- Und Systemtechnik Gmbh | Method for determining a beam profile of a laser beam and processing machine |
| CN208443350U (en) * | 2018-07-03 | 2019-01-29 | 广东震仪智能装备股份有限公司 | Detection device |
| CN208635738U (en) * | 2018-07-31 | 2019-03-22 | 苏州天准科技股份有限公司 | A kind of bend glass contour degree detection device |
| CN110838174A (en) * | 2019-11-18 | 2020-02-25 | 四川长虹电器股份有限公司 | Transparent object-oriented 3D scanning method |
| 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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