CN117381935B

CN117381935B - Flexible control method and control system for edge sealing of plate and intelligent production line for flexible edge sealing

Info

Publication number: CN117381935B
Application number: CN202311552389.6A
Authority: CN
Inventors: 倪子富; 陶新杨
Original assignee: Guangzhou Mesedge System Technology Co ltd
Current assignee: Guangzhou Mesedge System Technology Co ltd
Priority date: 2023-11-21
Filing date: 2023-11-21
Publication date: 2024-04-09
Anticipated expiration: 2043-11-21
Also published as: CN117381935A

Abstract

The invention provides a flexible control method and a flexible control system for edge sealing of a plate and an intelligent production line for flexible edge sealing, wherein the flexible control method for edge sealing of the plate comprises the following steps: according to the edge sealing process parameters and the sideband data of each edge of the plate, the edge sealing machine is controlled to switch the glue pan and the edge sealing band pass one by one, and flexible edge sealing is carried out on each edge of the plate; controlling the image pickup device to shoot each edge of the plate to obtain a target edge sealing image, marking an edge sealing area of the target edge sealing image according to an edge detection result and a communication area analysis method, calculating a first error value of a size parameter of the edge sealing area and a preset size parameter, calculating an evaluation value of the plate, detecting the color change of a gluing texture feature and the edge sealing area when the evaluation value is larger than the preset evaluation value, judging that the edge sealing quality of the plate is qualified when the gluing texture feature and the color change meet requirements, improving the accuracy and the efficiency of defect detection of the edge sealing area, and carrying out full-scale accurate evaluation on the edge sealing quality of the plate.

Description

Flexible control method and control system for edge sealing of plate and intelligent production line for flexible edge sealing

Technical Field

The invention relates to the technical field of plate edge sealing, in particular to a flexible control method and system for plate edge sealing and an intelligent flexible edge sealing production line.

Background

At present, a plurality of plate furniture has edge sealing, so that the friction of timber on a body can be reduced, the effect of attractive decoration is achieved, and the edge sealing process of the plate is finished by an edge sealing machine.

In the process of edge sealing of the plate, due to the influences of factors such as an edge sealing machine, edge sealing materials and an operation environment, the defects such as glue swelling, breakage, glue opening, overlong ends and the like of the edge sealing of the plate can occur, so that after the edge sealing of the plate, whether the edge sealing of the plate has defects or not is detected. In the prior art, manual mode is generally adopted to detect the edge sealing of the plate, but the detection efficiency of the mode is low, and the labor cost is high.

In the technical scheme with the application number of 202210701724.3, although an adaptive histogram equalization algorithm is adopted to equalize each divided sub-image and bilinear interpolation is carried out on the edges of any two sub-images positioned at adjacent positions, plate boundary information in a target image to be detected is detected, the position of an edge seal is obtained based on the plate boundary information, actual gray information of the edge seal is obtained according to the position of the edge seal, ideal gray information of the edge seal is obtained based on the actual gray information of the edge seal, whether a gray abnormal area exists or not is identified based on the actual gray information of the edge seal and the ideal gray information, whether an edge seal defect exists or not is determined based on the identification result of the gray abnormal area or not, automatic detection of the edge seal defect can be achieved, but the detection dimension is single, and the accuracy of edge seal defect detection is poor.

Disclosure of Invention

The invention provides a flexible control method and a flexible control system for edge sealing of a plate and an intelligent production line for flexible edge sealing, so as to realize accurate detection of quality of edge sealing of the plate.

In order to solve the problems, the invention adopts the following technical scheme:

the invention provides a flexible control method for edge sealing of a plate, which is applied to an intelligent production line for flexible edge sealing, and further comprises a scanner, a feeding robot, a camera device, an edge sealing machine and a control system, wherein the scanner, the feeding robot, the camera device and the edge sealing machine are respectively and electrically connected with the control system, and the flexible control method for edge sealing of the plate comprises the following steps:

controlling a feeding robot to unstacke and feed each pile of plates according to the plate stacking sequence and the plate stacking data provided by the material cutting working section; the feeding robot is used for grabbing the plates and placing the plates into the feeding port;

when the plate passes through the scanner, receiving the bar code which is scanned and stuck on the plate by the scanner to obtain bar code information of the plate, and inquiring according to the bar code information to obtain edge sealing process parameters and side band data of each edge of the plate;

controlling the edge banding machine to switch the glue pan and the banding band pass channel one by one according to the banding process parameters and the sideband data of each edge of the plate, and flexibly banding each edge of the plate; wherein, each glue pot melts different glue, each edge sealing belt is provided with a channel for storing edge sealing belts with different colors and thicknesses;

Controlling the camera to shoot each edge of the plate after the flexible edge sealing to obtain an edge sealing image, and performing image preprocessing on the edge sealing image to obtain a target edge sealing image;

performing edge detection on the target edge sealing image by using a Canny edge detection algorithm to obtain an edge detection result of the target edge sealing image, and marking an edge sealing area of the target edge sealing image according to the edge detection result and a connected area analysis method;

calculating the size parameter of the edge sealing area, and calculating a first error value of the size parameter of the edge sealing area and a preset size parameter; the size parameters of the edge sealing area comprise width and thickness;

and calculating an evaluation value of the plate according to the first error value and a weight preset for the size parameter, determining a gluing texture characteristic of an edge sealing area in the target edge sealing image when the evaluation value of the plate is larger than the preset evaluation value, detecting the color change of the edge sealing area in the target edge sealing image, and judging that the edge sealing quality of the plate is qualified when the gluing texture characteristic and the color change meet the requirements.

Preferably, determining the glue texture feature of the target edge banding image includes:

Converting the target edge sealing image into a gray image by using a weighted average method;

calculating the gray level of the gray image; wherein the gray level represents a gray value of a pixel in the gray image;

determining the size of a gray level co-occurrence matrix according to the gray level of the gray level image, comparing each pixel in the gray level image with the pixel value of the corresponding pixel neighborhood, and calculating to obtain the element value in the gray level co-occurrence matrix;

generating a target gray level co-occurrence matrix according to the size and the element value of the gray level co-occurrence matrix;

calculating the square sum of element values in the target gray level co-occurrence matrix to obtain the glue spreading texture intensity; wherein the glue pattern feature comprises a glue pattern intensity, the glue pattern intensity representing an overall intensity of the glue pattern.

In one embodiment, after converting the target edge banding image into a gray scale image using a weighted average method, before calculating the gray scale level of the gray scale image, further comprising:

dividing the gray level image into a plurality of non-overlapped first image areas, and calculating the average value, standard deviation and covariance of pixels in each first image area to obtain a first brightness value, a first contrast value and a first structure value of each first image area;

Dividing a preset standard edge sealing image into a plurality of non-overlapped second image areas, and calculating the average value, standard deviation and covariance of pixels in each second image area to obtain a second brightness value, a second contrast value and a second structure value of each second image area; the standard edge sealing image is an image with image quality meeting the requirement;

calculating SSIM indexes of each first image area by using an SSIM index calculation formula according to the first brightness value, the first contrast value and the first structure value of each first image area, and calculating the average value of the SSIM indexes of all the first image areas to obtain a first SSIM value of the gray scale image;

calculating SSIM indexes of each second image area by using an SSIM index calculation formula according to the second brightness value, the second contrast value and the second structure value of each second image area, and calculating the average value of the SSIM indexes of all the second image areas to obtain a second SSIM value of the standard edge sealing image;

calculating a second error value of the first SSIM value and a second SSIM value;

when the second error value of the first SSIM value and the second SSIM value is smaller than a preset error value, executing the step of calculating the gray level of the gray level image, otherwise, sequentially carrying out Gaussian smoothing processing, sharpening filtering processing and histogram equalization processing on the gray level image until the second error value of the first SSIM value and the second SSIM value is smaller than the preset error value;

Wherein, the SSIM index calculation formula comprises:

wherein L is a brightness value, C is a contrast value, S is a structural value, and C is ₁ And C ₂ Is constant and is used to stabilize the denominator and avoid zero denominator.

Preferably, detecting the color change of the edge sealing area in the target edge sealing image includes:

converting the pixel value of each channel in the target edge banding image from an 8-bit integer representation to a floating point number in the range of 0 to 1;

calculating the hue, saturation and brightness of the converted target edge sealing image;

multiplying the tone, saturation and brightness of the target edge sealing image by 255 respectively and rounding to obtain a target edge sealing image of HSV color space;

marking a pixel area with the color change exceeding a preset threshold value in a target edge sealing image of the HSV color space as an abnormal area;

and when detecting that the target edge sealing image does not have an abnormal area, determining that the color change of the edge sealing area in the target edge sealing image meets the requirement.

Preferably, the flexible edge sealing is performed on each edge of the plate, including:

when the plate is detected to be a rectangular plate, two first edge banding machines are controlled to carry out edge banding on two opposite short edges on the rectangular plate, and after the edge banding of the short edges is finished, a corner mechanism is controlled to adjust the direction of the rectangular plate so that two opposite long edges on the rectangular plate are aligned with two second edge banding machines, and the two second edge banding machines are controlled to carry out edge banding on two opposite long edges on the rectangular plate; the edge bonding machine comprises a first edge bonding machine and a second edge bonding machine, and the corner mechanism is used for adjusting the direction of the plate.

In one embodiment, the panel edge banding flexibility control method further comprises:

the control data acquisition module is used for collecting operation data on the flexible edge sealing intelligent production line; the operation data comprise the operation state of the edge bonding machine, edge bonding process parameters, side band data, consumption data of each edge bonding band and consumption data of gluing;

converting the operation data into a byte stream form by utilizing UTF-8 coding, and encrypting the operation data in the byte stream form according to a symmetric encryption algorithm to obtain encrypted data;

dividing the encrypted data into a plurality of data blocks, generating a plurality of copies for each data block to obtain a plurality of target data blocks, and setting an identifier for each target data block;

and determining the number and the size of the target data blocks and the storage capacity required by the distributed storage system, and storing each target data block on a corresponding node of the distributed storage system according to a corresponding identifier.

Preferably, marking the edge sealing area of the target edge sealing image according to the edge detection result and the connected area analysis method includes:

traversing each pixel of the target edge sealing image according to the edge detection result, and searching for an unviewed edge pixel in the target edge sealing image;

When the unviewed edge pixels are found, marking the pixels in the connected region in the target edge sealing image by using a depth-first search algorithm, recording the connected information of the connected region, and continuing to traverse the rest unviewed edge pixels until all the edge pixels are visited;

when all edge pixels are accessed, drawing a rectangular boundary box on the target edge sealing image by utilizing a minimum circumscribed rectangle according to the communication information of the communication area so as to mark the edge sealing area of the target edge sealing image.

Preferably, the method for unstacking and feeding each pack of sheets by controlling the feeding robot according to the stacking sequence of the sheets and the stacking data of the sheets provided by the cutting working section comprises the following steps:

analyzing and processing the stacking data of the plates of each pack of plates according to the stacking sequence of the plates provided by the material cutting working section to obtain the target stacking data of the plates of each pack of plates; wherein the plate stacking data comprise the number, the position and the model of each stack of plates;

and (3) formulating a corresponding unstacking path according to the target plate stacking data of each stack of plates, and controlling a robot to unstacke and load each stack of plates according to the unstacking path of each stack of plates.

The invention provides a control system comprising a memory and a processor, wherein the memory stores computer readable instructions which, when executed by the processor, cause the processor to perform the steps of the panel edge banding flexible control method as defined in any one of the above.

The invention also provides a flexible edge sealing intelligent production line which comprises a control system, a scanner, a feeding robot, a camera device and an edge sealing machine, wherein the scanner, the feeding robot, the camera device and the edge sealing machine are respectively and electrically connected with the control system, and the control system of the flexible edge sealing intelligent production line is used for executing the steps of the flexible plate edge sealing control method according to any one of the above steps.

Compared with the prior art, the technical scheme of the invention has at least the following advantages:

according to the flexible control method and the flexible control system for the edge sealing of the plates and the intelligent flexible production line for the edge sealing of the plates, the feeding robot is controlled to unstacke and feed each stack of plates according to the stacking sequence of the plates and the stacking data of the plates provided by the material opening working section, so that orderly feeding of each stack of plates is ensured; when a plate passes through the scanner, receiving a bar code which is stuck on the plate by the scanner to obtain bar code information of the plate, inquiring according to the bar code information to obtain edge sealing process parameters and edge sealing data of each edge of the plate, controlling an edge sealing machine to switch an adhesive pot and an edge sealing band pass one by one according to the edge sealing process parameters and the edge sealing data of each edge of the plate, carrying out flexible edge sealing on each edge of the plate, melting different adhesive coatings on each adhesive pot, and storing edge sealing bands with different colors and thicknesses on each edge sealing band pass so as to ensure that each plate can finish edge sealing orderly and accurately according to operation requirements; after flexible edge sealing, controlling the camera to shoot each edge of the plate to obtain an edge sealing image, carrying out image preprocessing on the edge sealing image to obtain a target edge sealing image, carrying out edge detection on the target edge sealing image by utilizing a Canny edge detection algorithm to obtain an edge detection result of the target edge sealing image, marking an edge sealing area of the target edge sealing image according to the edge detection result and a connected area analysis method, calculating the size parameter of the edge sealing area, calculating the first error value of the size parameter of the edge sealing area and the preset size parameter, calculating the evaluation value of the plate according to the first error value and the preset weight set for the size parameter, determining the gluing texture characteristics of the edge sealing area in the target edge sealing image when the evaluation value of the plate is larger than the preset evaluation value, detecting the color change of the edge sealing area in the target edge sealing image, and judging that the edge sealing quality of the plate is qualified when the gluing texture characteristics and the color change meet the requirements, thereby improving the accuracy and efficiency of the edge sealing area defect detection through the steps of edge detection, edge sealing area marking, size measurement, defect detection, quality evaluation and the like, carrying out full-aspect accurate evaluation on the edge sealing quality of the plate, and ensuring that the quality level of the product reaches the expected level.

Drawings

FIG. 1 is a flow chart of one embodiment of a flexible control method for edge banding of a sheet material in accordance with the present invention;

FIG. 2 is a block diagram of one embodiment of a flexible control device for edge banding of a sheet of material in accordance with the present invention;

FIG. 3 is a block diagram illustrating an internal configuration of a control system according to an embodiment of the present invention.

Detailed Description

In order to enable those skilled in the art to better understand the present invention, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present invention with reference to the accompanying drawings.

In some of the flows described in the specification and claims of the present invention and in the foregoing figures, a plurality of operations appearing in a particular order are included, but it should be clearly understood that the operations may be performed in other than the order in which they appear herein or in parallel, the sequence numbers of the operations such as S11, S12, etc. are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by one of ordinary skill in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.

It will be understood by those of ordinary skill in the art that unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.

Referring to fig. 1, the invention provides a flexible control method for edge sealing of a plate, which is applied to an intelligent flexible edge sealing production line, the intelligent flexible edge sealing production line further comprises a scanner, a feeding robot, a camera device, an edge sealing machine and a control system, wherein the scanner, the feeding robot, the camera device and the edge sealing machine are respectively and electrically connected with the control system, and the flexible control method for edge sealing of the plate comprises the following steps:

s11, controlling a feeding robot to unstack and feed each pack of plates according to the stacking sequence of the plates and the stacking data of the plates provided by the material cutting working section; the feeding robot is used for grabbing the plates and placing the plates into the feeding port;

S12, when the plate passes through a scanner, receiving a bar code which is scanned and stuck on the plate by the scanner to obtain bar code information of the plate, and inquiring according to the bar code information to obtain edge sealing process parameters and sideband data of each edge of the plate;

s13, controlling the edge banding machine to switch the glue pan and the banding band pass channel one by one according to the banding process parameters and the sideband data of each edge of the plate, and flexibly banding each edge of the plate; wherein, each glue pot melts different glue, each edge sealing belt is provided with a channel for storing edge sealing belts with different colors and thicknesses;

s14, controlling the camera to shoot each edge of the plate after the flexible edge sealing to obtain an edge sealing image, and performing image preprocessing on the edge sealing image to obtain a target edge sealing image;

s15, performing edge detection on the target edge sealing image by using a Canny edge detection algorithm to obtain an edge detection result of the target edge sealing image, and marking an edge sealing area of the target edge sealing image according to the edge detection result and a connected area analysis method;

s16, calculating the size parameter of the edge sealing area, and calculating a first error value of the size parameter of the edge sealing area and a preset size parameter; the size parameters of the edge sealing area comprise width and thickness;

S17, calculating an evaluation value of the plate according to the first error value and a weight preset for the size parameter, determining a gluing texture characteristic of an edge sealing area in the target edge sealing image when the evaluation value of the plate is larger than the preset evaluation value, detecting color change of the edge sealing area in the target edge sealing image, and judging that the edge sealing quality of the plate is qualified when the gluing texture characteristic and the color change meet requirements.

In this embodiment, edge sealing of the plate means that the peripheral edges of the plate are processed, so that the plate becomes smooth and attractive, and the performances of water resistance, moisture resistance, pollution resistance, ultraviolet resistance and the like of the plate can be enhanced. In actual production, the edge sealing is realized by processing and pressing PVC, ABS, PMMA, melamine and other materials on the peripheral edges of the plate according to certain specifications, and performing certain edge cutting, angle trimming, polishing and other treatment procedures, so that the plate achieves the edge sealing effect.

The edge banding machine is used for carrying out edge banding processing on the edges of plates, is generally used for industries such as furniture manufacturing, building decoration, woodworking processing and the like, is used for processing the edges of materials such as wood plates, artificial plates or plastic plates, and is used for bonding or fixing edge banding materials with the edges of the plates so as to realize protection, decoration and reinforcement of the edges of the plates.

As described in the above step S11, the present embodiment may acquire the stacking sequence of the sheets by using a scanner or other identifying device, where the stacking sequence of the sheets may include the placement position of each stack of sheets, and the stacking data of the sheets may include the number, position, model, etc. of each stack of sheets. For example, assuming that there is a stack of sheets to be unstacked and loaded, the specific information is as follows:

and stacking the plates in sequence: a-5, B-3, C-2;

plate stacking data: a1, A2, A3, A4, A5, B1, B2, B3, C1, C2;

based on the above information, the robot may operate as follows:

the sheet palletizing sequence and data are acquired from a scanner or identification device.

Analyzing the stacking data of the plates, knowing that 5A-type plates need to be detached firstly, then 3B-type plates, finally 2C-type plates, controlling a robot to unstacke, sequentially detaching 5A-type plates from the stack according to the analysis sequence, controlling the robot to feed, and respectively placing 5A-type plates into a feed inlet needing to be fed. After the A-type plates are detached, the robot is continuously controlled to unstacke, and the 3B-type plates are sequentially detached from the stack. And controlling the robot to feed, and respectively placing 3B-type plates into the feeding holes required to be fed. Finally, the robot is controlled to unstacke, and the 2C-shaped plates are detached from the stack. And controlling the robot to feed, and respectively placing 2C-shaped plates into a feeding hole needing to feed so as to ensure orderly feeding of each pack of plates.

As described in the above steps S12 to S13, each sheet is attached with a bar code, which is an identification of the sheet, has uniqueness, and is a coded identifier for identifying information of an article, typically consisting of black and white stripes, and can be read and decoded. The bar code may carry various information such as information identifying the name, model, specification, color, quality, etc. of the product, information identifying the date of manufacture, lot number, etc. of the product. When a bar code is scanned, the bar code information can be converted into readable information such as numbers or characters by a specific scanner. The method is fast and efficient, and is widely applied to the fields of commodity management, logistics distribution, inventory management, purchasing and the like. The bar code affixed to the sheet material can thus be scanned by a scanner to obtain the bar code information of the sheet material and the bar code information is sent to a control system, which may be a server or a computer device.

The control system obtains edge sealing process parameters and sideband data of each edge of the plate according to the bar code information query, wherein the edge sealing process parameters can comprise the following information:

temperature: the temperature at which the edge sealer heats the edge strip generally needs to be adjusted according to the nature of the edge sealing material and the sheet material. Different edge sealing materials may require different temperatures to ensure that the edge sealing strip is completely melted and bonded to the edges of the sheet.

Pressure: refers to the amount of pressure applied by the sealer between the edge strip and the edge of the panel. Proper pressure ensures tight adhesion of the edge-sealing tape to the sheet and avoids the creation of bubbles or cracks.

The sideband data may include the following information:

sideband material: namely the type of the material of the edge banding used, such as PVC, ABS, acrylic, etc.

Sideband thickness: i.e. the thickness of the tape. The thickness of the side bands is matched with the thickness of the plate, so that the parallel and level of the edge sealing is ensured, and the appearance is attractive.

Sideband width: i.e. the width of the tape. The width of the edge strip depends on the desired decorative effect and the requirements of the edge sealing process.

And then the edge banding machine is controlled to switch the glue pans and the edge banding bands one by one according to the edge banding process parameters and the side banding data of each edge of the plate, flexible edge banding is carried out on each edge of the plate, each glue pan melts different glue, and each edge banding band is provided with the edge banding bands with different colors and thicknesses.

After the flexible edge sealing is completed on the plate, the image capturing device of the plate cycle is controlled to capture each edge of the plate to obtain a plurality of edge sealing images, the edge sealing images are obtained after image preprocessing is performed on each edge sealing image, and finally edge sealing areas of the target edge sealing images are marked according to edge detection results obtained by detection of an edge detection algorithm and a connected area analysis method, so that image areas required to be processed in the follow-up process are reduced, image processing efficiency is improved, and interference of non-key image areas is reduced. Wherein the image preprocessing includes image denoising, image enhancement, image size adjustment, and the like.

The Canny edge detection algorithm is a computer vision and image processing algorithm that detects edges in an image. When edge detection is carried out on the target edge sealing image by using a Canny edge detection algorithm to obtain an edge detection result of the target edge sealing image, the target edge sealing image can be smoothed by applying a Gaussian filter so as to reduce the influence of noise on edge detection. The first partial derivative is then used to calculate the gradient magnitude and direction for each pixel point in the target edge banding image. The magnitude of the gradient represents the intensity of the gray scale change in the target edge banding image, and the direction represents the normal direction of the edge. And determining whether a more obvious edge exists in the adjacent area or not according to the gradient direction of each pixel point in the target edge sealing image. If the pixel point is not the local maximum gradient value, the pixel point is suppressed to 0 so as to achieve the purpose of thinning the edge. Edges in the target edge banding image are classified into strong edges and weak edges according to two preset thresholds (a high threshold and a low threshold). Strong edges are preserved, while weak edges are determined by connectivity whether they are true edges. For a weak edge, if the weak edge is connected with a strong edge, the weak edge is marked as a final edge, so that an edge detection result of the target edge sealing image is obtained.

According to the embodiment, the edges in the target edge sealing image can be effectively detected through a Canny edge detection algorithm, and the method has the advantages of being high in noise resistance, accurate in positioning and the like.

Based on the detected edges, connectivity analysis methods may be used to join the edges together, while thresholds may be set or some edges may be screened using morphological processing methods to exclude edges that are not of interest or that are caused by noise, prior to the calculation of the dimensional parameters. Finally, by processing and analyzing the edges after connection, dimensional parameters such as width, height, area, perimeter, etc. of the bounding box can be calculated. For the edge banding region, the average width, length, or other specific dimensional parameter of the edge banding can be calculated.

Comparing the size parameter of the edge sealing area with a preset size parameter, calculating a first error value of the size parameter of the edge sealing area and the preset size parameter, and calculating an evaluation value of the plate according to the first error value and a weight preset for the size parameter, wherein the evaluation value is used for evaluating whether the size of the plate meets the requirement or not after multiplying the first error value by the corresponding weight and carrying out normalization treatment; when the evaluation value of the plate is larger than a preset evaluation value, further detecting the gluing texture characteristic and the color change of the plate, namely determining the gluing texture characteristic of an edge sealing area in a target edge sealing image, detecting the color change of the edge sealing area in the target edge sealing image, and judging that the edge sealing quality of the plate is qualified when the gluing texture characteristic and the color change meet the requirements, so that the texture characteristic inconsistent with a normal edge sealing can be detected through analyzing the texture of the edge sealing area, and judging whether the bad edge sealing condition exists or not; meanwhile, whether the bad edge sealing condition exists or not can be further judged by analyzing the color change condition of the edge sealing area, so that the comprehensiveness and accuracy of defect detection of the edge sealing area are improved, problems of timely discovery and repair are solved, and the product quality is ensured to reach the expected level.

According to the flexible control method for edge sealing of the plates, provided by the invention, the feeding robot is controlled to perform unstacking and feeding on each pack of plates according to the stacking sequence of the plates and the stacking data of the plates provided by the material cutting working section so as to ensure orderly feeding of each pack of plates; when a plate passes through the scanner, receiving a bar code which is stuck on the plate by the scanner to obtain bar code information of the plate, inquiring according to the bar code information to obtain edge sealing process parameters and edge sealing data of each edge of the plate, controlling an edge sealing machine to switch an adhesive pot and an edge sealing band pass one by one according to the edge sealing process parameters and the edge sealing data of each edge of the plate, carrying out flexible edge sealing on each edge of the plate, melting different adhesive coatings on each adhesive pot, and storing edge sealing bands with different colors and thicknesses on each edge sealing band pass so as to ensure that each plate can finish edge sealing orderly and accurately according to operation requirements; after flexible edge sealing, controlling the camera to shoot each edge of the plate to obtain an edge sealing image, carrying out image preprocessing on the edge sealing image to obtain a target edge sealing image, carrying out edge detection on the target edge sealing image by utilizing a Canny edge detection algorithm to obtain an edge detection result of the target edge sealing image, marking an edge sealing area of the target edge sealing image according to the edge detection result and a connected area analysis method, calculating the size parameter of the edge sealing area, calculating the first error value of the size parameter of the edge sealing area and the preset size parameter, calculating the evaluation value of the plate according to the first error value and the preset weight set for the size parameter, determining the gluing texture characteristics of the edge sealing area in the target edge sealing image when the evaluation value of the plate is larger than the preset evaluation value, detecting the color change of the edge sealing area in the target edge sealing image, and judging that the edge sealing quality of the plate is qualified when the gluing texture characteristics and the color change meet the requirements, thereby improving the accuracy and efficiency of the edge sealing area defect detection through the steps of edge detection, edge sealing area marking, size measurement, defect detection, quality evaluation and the like, carrying out full-aspect accurate evaluation on the edge sealing quality of the plate, and ensuring that the quality level of the product reaches the expected level.

In one embodiment, determining the gummed texture feature of the target edge banding image may specifically include:

In this embodiment, converting the target edge banding image to a gray scale image using a weighted average method involves weighted averaging of the red (R), green (G), and blue (B) components in the RGB color image. For the RGB components (R, G, B) at each pixel point (x, y), assuming that they range between 0 and 255, the gray value (gray) can be calculated using the following formula:

gray＝(R*0.2989+G*0.5870+B*0.1140)；

Among other things, weights 0.2989, 0.5870, and 0.1140 can be selected based on experience to conform to the perception of different color intensities by the human visual system.

And finally, taking the gray value as a new intensity value of the pixel point (x, y) to generate a gray image, so that the RGB image is converted into the gray image by a weighted average method, and the structural information of the target edge sealing image can be well reserved.

The present embodiment can determine the pixel neighborhood required to calculate the gray level co-occurrence matrix, and typically selects 4 fixed directions, such as horizontal, vertical, 45 degree diagonal, and 135 degree diagonal. Traversing the whole gray image, recording the occurrence frequency of each gray value, calculating the number of different gray values, and taking the number of the gray values as the gray level of the gray image. The Gray Level Co-occurrence Matrix, GLCM is used for image texture analysis, which extracts texture features of an image by calculating the relationship and distribution between different pixels in the image. The gray co-occurrence matrix is based on the concept of neighborhood pixel pairs, which describes the probability of different gray level pixels appearing at a given location. Specifically, the gray co-occurrence matrix counts the number of times that two pixels have a specific gray value (gray level) in a specific distance and a specific direction.

The size of the gray co-occurrence matrix is determined by the number of gray levels. Thus, the size of the gray co-occurrence matrix may be determined according to the gray level of the image, which represents the gray value of a pixel in the gray image, such as 256. For each pixel, the element values in the gray level co-occurrence matrix are calculated by comparing it with the pixel values of the corresponding neighborhood. The element represents how often pixel pairs appear in those neighbors, a target gray level co-occurrence matrix is generated from the size of the gray level co-occurrence matrix and the element values, and in order to have texture features of similar proportions for different images, the target gray level co-occurrence matrix is normalized, based on which a plurality of texture features can be calculated. The texture feature comprises:

glue coating texture strength: the sum of the squares of the matrix elements represents the overall strength of the rubberized texture.

Contrast ratio: the weighted sum of the differences between the gray levels represents the contrast of the glue textures.

Correlation: the linear correlation between pixels in the gray level co-occurrence matrix is measured.

Entropy: the information entropy of the matrix element represents the complexity of the glue coating texture.

Degree of aggregation: and measuring the proximity degree of pixels corresponding to different gray values in the gray level co-occurrence matrix.

According to the embodiment, the gray level co-occurrence matrix of the target edge sealing image can be calculated, texture information in different directions and distances in the target edge sealing image can be extracted and used for describing and distinguishing different image texture features, and therefore the gluing texture features of the target edge sealing image can be accurately revealed.

In one embodiment, after converting the target edge banding image into a gray scale image using a weighted average method, before calculating the gray scale level of the gray scale image, the method may further include:

wherein, the SSIM index calculation formula comprises:

In this embodiment, SSIM (Structural Similarity Index) is an index for measuring the structural similarity between two images. SSIM calculates a similarity index by comparing the brightness, contrast, and structural information of the two images. Specifically, it measures three factors between images:

Brightness similarity: the degree of similarity of the brightness distribution of the image is measured.

Contrast similarity: the degree of similarity of the image contrast is measured.

Structural similarity: the similarity of the image structure, i.e. the similarity of the image hierarchy and the texture, is measured.

In the embodiment, a gray level image and a standard edge sealing image are divided into a plurality of non-overlapping image areas, the size of each image area is defined by a user, the average value of pixels in each first image area and each second image area is calculated, and a first brightness value of the first image area and a second brightness value of the second image area are obtained respectively; respectively calculating standard deviations of pixels in each first image area and each second image area to respectively obtain a first contrast value of the first image area and a second contrast value of the second image area; and finally, calculating covariance of pixels in each first image area and each second image area to respectively obtain a first structural value of the first image area and a second structural value of the second image area, and calculating SSIM indexes of each first image area and each second image area based on an SSIM index calculation formula, wherein the SSIM index calculation formula comprises the following steps:

Calculating the average value of SSIM indexes of all the first image areas to obtain a first SSIM value of a gray level image, calculating the average value of SSIM indexes of all the second image areas to obtain a second SSIM value of a standard edge sealing image, comparing the first SSIM value with the second SSIM value, and when the second error value of the first SSIM value and the second SSIM value is smaller than a preset error value, representing that the image quality of the gray level image of the target edge sealing image meets the requirement, so that the structural similarity between the two images can be accurately evaluated by comparing the SSIM values, and the image quality can be accurately evaluated.

In one embodiment, detecting the color change of the edge sealing area in the target edge sealing image may specifically include:

The present embodiment converts an RGB image into a floating point number in the range of 0-1, i.e., converting the pixel value of each channel in the target edge banding image from an 8-bit integer representation to a floating point number in the range of 0-1, may be accomplished by dividing the pixel value of each channel by 255.

And then calculating the hue, saturation and brightness of the converted target edge sealing image, multiplying the hue, saturation and brightness by 255, rounding, converting the hue, saturation and brightness into integers in the range of 0-255, and finally obtaining the target edge sealing image of the HSV color space, thereby realizing the conversion from the RGB image to the HSV color space. In the HSV color space, hue represents the type or position of a color, saturation represents the purity or vividness of the color, and brightness represents the darkness of the color.

And finally, marking a pixel region with the color change exceeding a preset threshold value in a target edge sealing image of the HSV color space as an abnormal region, wherein the preset threshold value can be set in a self-defined mode, and when the fact that the target edge sealing image does not have the abnormal region is detected, determining that the color change of the edge sealing region in the target edge sealing image meets the requirement, so that color information can be analyzed and processed more conveniently through color space conversion on the target edge sealing image, and accurate investigation of the abnormal region in the target edge sealing image is realized.

In one embodiment, the flexible edge sealing of each edge of the sheet material may specifically include:

The edge bonding machine of this embodiment includes two first edge bonding machines and two second edge bonding machines, and this two first edge bonding machines are used for at first banding two opposite minor faces on the rectangle panel to after the minor face banding is accomplished, control the direction of corner mechanism adjustment rectangle panel, control this two second edge bonding machines simultaneously and carry out the banding to two opposite long limits on the rectangle panel, with the banding of accomplishing rectangle panel high-efficiently.

In one embodiment, the panel edge banding flexibility control method may further include:

In this embodiment, UTF-8 (Unicode Transformation Format-8) is an encoding scheme for storing and transmitting Unicode characters. UTF-8 encoding uses 8 bits (i.e., one byte) as the base unit for encoding, and for ASCII characters (0-127) compatible with ASCII, a single byte representation is used, compatible with standard ASCII encoding.

A symmetric encryption algorithm is an encryption method that uses the same key (also referred to as a symmetric key) for encryption and decryption operations. In symmetric encryption, the key used can be used to either convert the plaintext into ciphertext (encryption process) or recover the ciphertext into the original plaintext (decryption process).

In the embodiment, the UTF-8 encoding is utilized to convert the operation data into a byte stream form, and the byte stream form operation data is encrypted according to the symmetric encryption algorithm to obtain encrypted data so as to avoid data leakage.

In addition, the embodiment divides the encrypted data into a plurality of data blocks, generates a plurality of copies for each data block, obtains a plurality of target data blocks, sets an identifier for each target data block, determines the number and the size of the plurality of target data blocks and the storage capacity required by the distributed storage system, and stores each target data block on a corresponding node of the distributed storage system according to the corresponding identifier. For example, it may be determined that 10 data blocks need to be stored according to storage requirements, a total of 200GB of storage capacity, design a data partitioning strategy, partition each data block into appropriately sized block segments, and assign a unique identifier to each block segment. For each data block, copying a plurality of copies to different nodes to improve the redundancy of the data, and configuring 3 nodes: node1, node2 and Node3, and ensures that each Node has sufficient storage space. For example, two copies of data block 1 are copied onto Node1 and Node2, two copies of data block 2 are copied onto Node2 and Node3, and so on. Meanwhile, according to the data partitioning strategy, the block fragments of each data block are distributed on different nodes. For example, block segment 1 of data block 1 is distributed at Node1, block segment 2 is distributed at Node2, block segment 3 is distributed at Node3, and so on. In addition, an appropriate access control policy may be set to ensure that only authorized users or nodes can access and manipulate the data.

According to the embodiment, the plurality of data blocks are stored on the plurality of nodes in a distributed mode, so that the reliability, redundancy and performance of operation data can be improved, and the distributed access and management of the data are realized.

In one embodiment, marking the edge sealing area of the target edge sealing image according to the edge detection result and the connected area analysis method may specifically include:

According to the embodiment, each pixel of the target edge sealing image is traversed according to the edge detection result, the edge of the target edge sealing image is initially detected according to the edge detection result obtained through the edge detection algorithm, the unviewed edge pixels in the target edge sealing image are found, when the unviewed edge pixels are found, the pixels in the connected region can be marked by using traversing algorithms such as Depth First Search (DFS) or Breadth First Search (BFS), and the connected information (such as the size and the position of the region) of the connected region is recorded. The connected region analysis is a process of forming adjacent pixels into connected regions, and each connected region is marked.

The above operation is repeated by continuing to traverse other non-accessed edge pixels until all edge pixels are accessed, and when all edge pixels are accessed, a different manner may be selected to mark the edge banding region. For example, a rectangular bounding box can be drawn on the target edge sealing image by utilizing the minimum circumscribed rectangle according to the communication information of the communication area, so that the edge sealing area of the target edge sealing image is marked to highlight the edge sealing area, and the edge sealing area of the target edge sealing image is effectively and accurately marked by utilizing an edge detection and communication area analysis method, so that subsequent image analysis and processing tasks are facilitated.

In one embodiment, the control of the feeding robot to unstack and feed each pack of sheets according to the stacking sequence and the stacking data provided by the blanking section may specifically include:

The embodiment can firstly analyze the stacking data of the plates of each stack according to the stacking sequence of the plates provided by the material opening working section, acquire the information of the model, the number, the position and the like of each plate according to the information in the data, and simultaneously determine the unstacking sequence of each stack of the plates according to the analyzed stacking data of the plates, for example, the unstacking sequence is ordered according to the priority or importance of the plates, the unstacking sequence (from bottom to top) of the plates or the unstacking is respectively carried out according to the types of the plates. The unstacking path of the robot is set according to the requirement, including determining the path that the robot needs to move and the action (such as grabbing, rotating and the like) that needs to be executed. The robot is controlled to execute corresponding actions (including moving to a designated position, identifying and grabbing the plates, carrying out proper rotation or position adjustment and the like) according to the unstacking path programming so as to unstacking and loading each stack of plates, thereby realizing efficient unstacking task.

Referring to fig. 2, an embodiment of the present invention further provides a panel edge sealing flexible control device, including:

the unstacking and feeding module 21 is used for controlling a feeding robot to unstacke and feed each stack of plates according to the stacking sequence of the plates and the stacking data of the plates provided by the material cutting working section; the feeding robot is used for grabbing the plates and placing the plates into the feeding port;

The query module 22 is configured to receive a bar code that is scanned by the scanner and adhered to the plate when the plate passes through the scanner, so as to obtain bar code information of the plate, and query and obtain edge sealing process parameters and sideband data of each edge of the plate according to the bar code information;

the control module 23 is used for controlling the edge bonding machine to switch the glue pan and the edge bonding band pass one by one according to the edge bonding process parameters and the side band data of each edge of the plate, and flexibly bonding each edge of the plate; wherein, each glue pot melts different glue, each edge sealing belt is provided with a channel for storing edge sealing belts with different colors and thicknesses;

the preprocessing module 24 is configured to control the image capturing device to capture each edge of the sheet after the flexible edge is sealed, obtain a sealed edge image, and perform image preprocessing on the sealed edge image to obtain a target sealed edge image;

the edge detection module 25 is configured to perform edge detection on the target edge-sealed image by using a Canny edge detection algorithm, obtain an edge detection result of the target edge-sealed image, and mark an edge-sealed region of the target edge-sealed image according to the edge detection result and a connected region analysis method;

The calculating module 26 is configured to calculate a size parameter of the edge sealing area, and calculate a first error value between the size parameter of the edge sealing area and a preset size parameter; the size parameters of the edge sealing area comprise width and thickness;

and the judging module 27 is configured to calculate an evaluation value of the board according to the first error value and a weight preset for the size parameter, determine a glue-coated texture feature of the edge sealing area in the target edge sealing image when the evaluation value of the board is greater than the preset evaluation value, detect a color change of the edge sealing area in the target edge sealing image, and judge that the edge sealing quality of the board is qualified when the glue-coated texture feature and the color change meet requirements.

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

The control system provided by the invention comprises a memory and a processor, wherein the memory stores computer readable instructions, and the computer readable instructions, when executed by the processor, enable the processor to execute the steps of the flexible control method for edge sealing of the plate.

In one embodiment, the control system provided in one embodiment of the present application, referring to fig. 3, may be a computer device, and the internal structure thereof may be as shown in fig. 3. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the computer is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer equipment is used for storing relevant data of the flexible control method of the edge sealing of the plate. The network interface of the computer device is used for communicating with an external control system through a network connection. The computer program, when executed by a processor, implements the panel edge banding flexibility control method described in the above embodiments.

In one embodiment, the invention further provides a flexible edge banding intelligent production line, which comprises a control system, a scanner, a feeding robot, a camera device and an edge banding machine, wherein the scanner, the feeding robot, the camera device and the edge banding machine are respectively and electrically connected with the control system, and the control system of the flexible edge banding intelligent production line is used for executing the steps of the flexible board edge banding control method according to any one of the above.

In one embodiment, the invention also provides a storage medium storing computer readable instructions that, when executed by one or more processors, cause the one or more processors to perform the panel edge banding flexibility control method described above. Wherein the storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of a computer program stored in a storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a nonvolatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a random access Memory (Random Access Memory, RAM).

As can be seen from the above embodiments, the present invention has the following advantages:

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. The flexible control method for the edge sealing of the plate is characterized by being applied to an intelligent production line for the flexible edge sealing, the intelligent production line for the flexible edge sealing comprises a scanner, a feeding robot, a camera device, an edge sealing machine and a control system, wherein the scanner, the feeding robot, the camera device and the edge sealing machine are respectively and electrically connected with the control system, and the flexible control method for the edge sealing of the plate comprises the following steps:

2. The panel edge banding flexibility control method of claim 1, wherein determining a rubberized texture feature of said target edge banding image comprises:

3. The panel edge banding flexibility control method according to claim 2, further comprising, after converting the target edge banding image into a gray scale image by a weighted average method, before calculating a gray scale level of the gray scale image:

wherein, the SSIM index calculation formula comprises:

4. The method of claim 1, wherein detecting color change of the edge banding region in the target edge banding image comprises:

5. The flexible panel edge banding control method of claim 1, wherein flexible edge banding is performed on each edge of the panel, comprising:

6. The panel edge banding flexibility control method according to claim 1, further comprising:

7. The flexible control method for edge banding of a sheet material according to claim 1, wherein marking the edge banding area of the target edge banding image according to the edge detection result and a connected area analysis method includes:

8. A flexible control method for edge sealing of sheet material according to claim 1, wherein controlling the loading robot to unstack and load each pack of sheet material according to the stacking sequence of sheet material and the stacking data provided by the blanking section comprises:

9. A control system comprising a memory and a processor, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to perform the steps of the panel edge banding flexibility control method of any one of claims 1 to 8.

10. The utility model provides a flexible banding intelligence production line, its characterized in that includes control system, scanner, material loading robot, camera device and bag sealer respectively with control system electric connection, the control system of flexible banding intelligence production line is used for carrying out the step of the flexible control method of panel banding of any one of claims 1 to 8.