CN117491377A - Glass contour defect detection and posture positioning method - Google Patents
Glass contour defect detection and posture positioning method Download PDFInfo
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- CN117491377A CN117491377A CN202311263129.7A CN202311263129A CN117491377A CN 117491377 A CN117491377 A CN 117491377A CN 202311263129 A CN202311263129 A CN 202311263129A CN 117491377 A CN117491377 A CN 117491377A
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- 238000001514 detection method Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 32
- 238000003708 edge detection Methods 0.000 claims abstract description 7
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- 230000036544 posture Effects 0.000 claims description 32
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- 230000003068 static effect Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000005329 float glass Substances 0.000 abstract description 5
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- 238000005286 illumination Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
- G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
- G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
- G01N21/896—Optical defects in or on transparent materials, e.g. distortion, surface flaws in conveyed flat sheet or rod
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
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- Computer Vision & Pattern Recognition (AREA)
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- Textile Engineering (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
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Abstract
The invention relates to a glass contour defect detection and gesture positioning method, which uses a conveying device, an image acquisition device and a control device, wherein the image acquisition device comprises a linear array camera and an image processing device, a glass plate is arranged below the conveying device and conveyed through the linear array camera, the linear array camera scans the glass plate to obtain an image, the image processing device processes the image by applying an edge detection and contour fitting algorithm, the geometric defect is judged, the gesture is obtained by calculation, information is output to the control device, and the control device controls the conveying device to reject or grasp according to the result. Compared with the prior art, the method realizes automatic high-precision detection, can adapt to glass plates with different specifications, can judge defects and learn gestures, avoids manual operation, improves detection efficiency, and is beneficial to improving the production quality of float glass.
Description
Technical Field
The invention relates to the technical field of glass defect detection, in particular to a glass contour defect detection and posture positioning method.
Background
In the prior art, with the rapid development of national economy, the demand for high quality glass products is increasing. Float glass is widely used in the fields of construction, home appliances, automobiles and the like because of its good optical properties and small internal stress. But the cold end of the float glass during production can also lead to breakage of the glass. Common defects include corner fracture, notch, crack and the like, and seriously affect the quality of products.
Traditional glass defect detection is mainly finished manually. Operators need to judge the shape, the size and the defects of the glass by visual inspection and simple measuring tools, but the detection precision is low, and the judgment of different operators has larger deviation. Meanwhile, a large number of repeated visual inspection works lead operators to be easy to generate fatigue and directly influence the detection result. With the improvement of the national requirements on the product quality, the requirement is difficult to meet only by manual detection.
In addition, some glass factories introduce foreign automatic detection equipment. Such devices are costly, present a technical barrier, and cannot be locally maintained and upgraded. The detection assembly also needs to be replaced for glass with different specifications, and the application range is limited. In general, the existing glass defect detection device and method have the problems of low detection precision, narrow application range and the like, and are difficult to meet the requirements of float glass product quality control.
Therefore, developing a method capable of accurately detecting defects and gestures of a glass plate has important significance in improving quality of float glass products and realizing intelligent production.
Disclosure of Invention
In order to solve the problems, the invention provides a glass contour defect detection and posture positioning method for accurately acquiring the geometric defect and posture information of a glass plate and effectively solving contour defect detection and posture positioning before stacking finished glass products in a glass production line.
In order to achieve the above purpose, the glass contour defect detection and posture positioning method designed by the invention uses a conveying device, an image acquisition device and a control device, wherein the image acquisition device comprises a linear camera and an image processing device; the control device is connected with the image processing device and is used for controlling the conveying device according to the glass information output by the image processing device; the detection is carried out according to the following steps:
s1, placing a glass plate to be detected on a conveying device, and driving the glass plate to be detected to pass through the visual field range of an image acquisition device at a constant speed by the conveying device;
s2, the image acquisition device is arranged above the conveying device and keeps static, and the linear array camera scans the glass plate dynamically conveyed into the target area line by line and forms a glass plate image to be detected;
s3, the image processing device processes the glass plate image obtained by the linear camera through an edge detection algorithm and detects the boundary contour of the glass plate;
s4, the image processing device fits the detected boundary contour of the glass plate through a contour fitting algorithm so as to obtain an effective boundary of the glass plate;
s5, the image processing device judges the geometric defect of the glass plate based on the effective boundary of the glass plate, calculates and obtains posture information, and sends the defect information and the posture information of the glass plate to the control device in real time;
s6, the control device controls the conveying device to reject or grasp and stack the glass plates according to the detection result of the image acquisition device.
In a further scheme, in step S2, a light field light source is used to illuminate the glass plate on the conveyor, so as to enhance the contrast between the glass plate and the background in the image acquired by the line camera.
In a further scheme, in the step S3, the boundary contour of the glass plate is detected through an edge detection algorithm according to the following steps:
A. searching the left and right and upper and lower boundaries of the glass plate image to determine the approximate effective range of the glass plate image;
B. scanning the glass plate image line by line from bottom to top to obtain effective left and right boundaries of the glass of each line;
C. counting each line of scanning information to obtain boundary information of glass in the image;
D. counting the width of each piece of glass to obtain the real width of the glass and the left and right boundary coordinate points;
E. and (3) scanning the glass plate image column by column from left to right to obtain effective upper and lower boundaries of each column so as to obtain boundary contour information of glass in the image.
Further, in step S4, the detected glass plate boundary contour is fitted as follows: a. counting the length of the glass according to the obtained boundary contour information of the glass in the glass plate image to obtain the real length of the glass and upper and lower boundary coordinate points;
b. fitting the left side, the right side, the upper side and the lower side to obtain an accurate glass boundary straight line: let the width of the glass plate be w, the length be h, a set of coordinate points scanned be (xi, yi), wherein xi e [0w-1], yi= e [0h-1], establish the intercept formula equation of the correction line: y=kx+b;
wherein,
further, in step S5, the geometric defect information includes a glass plate corner defect and a glass plate size defect.
In the step S6, the conveying device is a conveying roller way, and is provided with a manipulator thereon, and the control device controls the corresponding conveying roller way to perform plate dropping treatment on the glass plate with defects according to the defect information acquired by the image processing device; and the control device controls the manipulator to adapt to glass plates with different postures according to the posture information acquired by the image processing device to carry out grabbing and stacking treatment.
The glass contour defect detection and posture positioning method provided by the invention can accurately acquire the geometric defect and posture information of the glass plate, and effectively solve the contour defect detection and posture positioning before stacking finished glass products in the glass production line.
Drawings
FIG. 1 is a schematic diagram of a glass profile defect detection flow in example 1;
FIG. 2 is a schematic diagram showing the boundary profile of the detected glass sheet in example 1;
FIG. 3 is a schematic representation of the results of fitting the glass sheet boundary profile in example 1;
FIG. 4 is a schematic diagram showing the judgment of the geometrical defect of a glass sheet according to the effective boundary of the glass sheet in example 1;
FIG. 5 is a schematic view of the calculation of the posture of a glass plate in example 1;
fig. 6 is a functional schematic diagram of the upper computer in embodiment 1.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Example 1
As shown in fig. 1, the glass contour defect detection and posture positioning method described in this embodiment uses a conveying device, an image acquisition device and a control device, where the image acquisition device includes a line camera and an image processing device; the control device is connected with the image processing device and is used for controlling the conveying device according to the glass information output by the image processing device; the detection is carried out according to the following steps:
s1, placing a glass plate to be detected on a conveying device, and driving the glass plate to be detected to pass through the visual field range of an image acquisition device at a constant speed by the conveying device; in the embodiment, the conveying device is a conveying roller way for conveying glass, and during working, stable conveying of the glass plate can be effectively realized by using the conveying roller way, so that the glass plate is ensured to pass through an image acquisition area at a uniform speed, and a foundation is provided for subsequent image acquisition and detection;
s2, the image acquisition device is arranged above the conveying device and keeps static, and the linear array camera scans the glass plate dynamically conveyed into the target area line by line and forms a glass plate image to be detected; the linear array camera is kept static during working, and scans the glass plate to obtain an image, and in the embodiment, the scanning width of the linear array camera can be adjusted according to the specific width of the glass plate;
s3, the image processing device processes the glass plate image obtained by the linear camera through an edge detection algorithm to detect the boundary contour of the glass plate; specifically, as shown in fig. 2, the boundary profile of the glass sheet is detected by an edge detection algorithm as follows:
A. searching the left and right and upper and lower boundaries of the glass plate image to determine the approximate effective range of the glass plate image;
B. scanning the glass plate image line by line from bottom to top to obtain effective left and right boundaries of the glass of each line;
C. counting each line of scanning information to obtain boundary information of glass in the image;
D. counting the width of each piece of glass to obtain the real width of the glass and the left and right boundary coordinate points;
E. column scanning is carried out on the glass plate image column by column from left to right, so that effective upper and lower boundaries of each column are obtained, and boundary contour information of glass in the image is obtained;
s4, the image processing device fits the detected boundary contour of the glass plate through a contour fitting algorithm so as to obtain the effective boundary of the glass plate. Specifically, as shown in fig. 3, the detected glass sheet boundary profile is fitted as follows:
a. counting the length of the glass according to the obtained boundary contour information of the glass in the glass plate image to obtain the real length of the glass and upper and lower boundary coordinate points;
b. fitting the left side, the right side, the upper side and the lower side to obtain an accurate glass boundary straight line: let the width of the glass plate be w, the length be h, a set of coordinate points scanned be (xi, yi), wherein xi e [0w-1], yi= e [0h-1], establish the intercept formula equation of the correction line: y=kx+b;
wherein,
by utilizing the steps, in the step S3, the boundary contour information of the glass in the current detection image is obtained through row scanning and column scanning, coordinate points corresponding to the left boundary, the right boundary, the upper boundary and the lower boundary of the glass are obtained, the possibility of deviation caused by defining the contour according to the original pixels is avoided, and the correction straight line obtained through calculation in the step is the true effective boundary of the glass plate.
S5, the image processing device judges the geometric defect of the glass plate based on the effective boundary of the glass plate, calculates and obtains posture information, and sends the defect information and the posture information of the glass plate to the control device in real time; comparing the obtained effective boundary of the glass plate with the known contour and standard size of the glass plate, judging whether the glass plate has defects of corners or edges, as shown in fig. 5, wherein the attitude calculation is to obtain accurate effective boundary straight lines of the glass plate, namely, the intersection point of four straight lines of the boundary of the glass plate is a positioning coordinate point of the glass, the intersection point of the diagonal lines is the central position of the glass, the angles of the left and right straight lines and the left edge of the image represent the inclination angle of the glass, so as to calculate attitude information such as the rotation angle of the glass plate in the conveying direction, and in the embodiment, the geometric defect information comprises the corner defects of the glass plate and the size defects of the glass plate;
s6, the control device controls the conveying device to reject or grasp and stack the glass plates according to the detection result of the image acquisition device. In this embodiment, the control device may be a PLC or an industrial personal computer, and according to the detection result output by the image processing device, the conveying roller way is controlled to reject the glass plate with serious defects, or the subsequent manipulator is controlled to grasp according to different glass plate postures, so as to ensure the consistency of the finished glass stack.
In a further scheme, in step S2, a light field light source is used to illuminate the glass plate on the conveyor, so as to enhance the contrast between the glass plate and the background in the image acquired by the line camera. The illumination is carried out by using the light field light source, so that enough and uniform illuminance can be provided, and the recognition degree of the surface details of the glass plate is improved; the edges of the glass plate are made more prominent in the image, in contrast to the dark background, which helps the line camera to obtain higher quality images, thereby improving the accuracy and reliability of subsequent image processing.
In the step S6, the conveying device is a conveying roller way, and is provided with a manipulator thereon, and the control device controls the corresponding conveying roller way to perform plate dropping treatment on the glass plate with defects according to the defect information acquired by the image processing device; and the control device controls the manipulator to adapt to glass plates with different postures according to the posture information acquired by the image processing device to carry out grabbing and stacking treatment. When the device works, the image processing device analyzes the glass plate image acquired by the linear camera, judges whether the glass plate has defects or not and calculates to obtain posture information of the glass plate, the information is sent to the control device, and when judging that the glass plate has defects, the control device controls the corresponding conveying roller ways to reject the glass plate with serious defects according to the defect position, the type and other information output by the image processing device, namely, the defective glass plates are kicked away from the conveying roller ways, so that automatic reject is realized. And for the glass plates with no defects and different postures, the control device can control the manipulator above the transmission roller table to change the grabbing posture according to the glass plate posture data calculated by the image processing device so as to adapt to the glass plates with different angles or positions, and grab and stack the glass plates.
In addition, in this embodiment, as shown in fig. 6, the upper computer software may also be developed under the Windows operating system using the ViSual Studio environment, and the upper computer software has: displaying the original measurement data, the equipment monitoring state, the system working state and the fault alarm interface; setting parameters and processing faults; a function of storing the original data in a file or database; generating a data report and performing data playback; and querying, analyzing and printing historical data.
The glass contour defect detection and posture positioning method provided by the embodiment can accurately acquire the geometric defect and posture information of the glass plate, and effectively solves the problem of contour defect detection and posture positioning before stacking finished glass products in a glass production line.
In the description of the present invention, it should be noted that the azimuth or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. 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 (6)
1. The glass contour defect detection and posture positioning method uses a conveying device, an image acquisition device and a control device, and is characterized in that the image acquisition device comprises a linear camera and an image processing device; the control device is connected with the image processing device and is used for controlling the conveying device according to the glass information output by the image processing device; the detection is carried out according to the following steps:
s1, placing a glass plate to be detected on a conveying device, and driving the glass plate to be detected to pass through the visual field range of an image acquisition device at a constant speed by the conveying device;
s2, the image acquisition device is arranged above the conveying device and keeps static, and the linear array camera scans the glass plate dynamically conveyed into the target area line by line and forms a glass plate image to be detected;
s3, the image processing device processes the glass plate image obtained by the linear camera through an edge detection algorithm and detects the boundary contour of the glass plate;
s4, the image processing device fits the detected boundary contour of the glass plate through a contour fitting algorithm so as to obtain an effective boundary of the glass plate;
s5, the image processing device judges the geometric defect of the glass plate based on the effective boundary of the glass plate, calculates and obtains the posture information of the glass plate, and sends the defect information and the posture information of the glass plate to the control device in real time;
s6, the control device controls the conveying device to reject or grasp and stack the glass plates according to the detection result of the image acquisition device.
2. The method according to claim 1, wherein in step S2, the glass plate on the conveyor is illuminated by a light field source to enhance the contrast between the background and the glass plate in the image obtained by the line camera.
3. The method for detecting and locating glass contour defects according to claim 1, wherein in step S3, the boundary contour of the glass sheet is detected by an edge detection algorithm as follows:
A. searching the left and right and upper and lower boundaries of the glass plate image to determine the approximate effective range of the glass plate image;
B. scanning the glass plate image line by line from bottom to top to obtain effective left and right boundaries of the glass of each line;
C. counting each line of scanning information to obtain boundary information of glass in the image;
D. counting the width of each piece of glass to obtain the real width of the glass and the left and right boundary coordinate points;
E. and (3) scanning the glass plate image column by column from left to right to obtain effective upper and lower boundaries of each column so as to obtain boundary contour information of glass in the image.
4. The method for detecting and locating glass contour defects according to claim 3, wherein in step S4, the detected glass plate boundary contour is fitted as follows:
a. counting the length of the glass according to the obtained boundary contour information of the glass in the glass plate image to obtain the real length of the glass and upper and lower boundary coordinate points;
b. fitting the left side, the right side, the upper side and the lower side to obtain an accurate glass boundary straight line: let the width of the glass plate be w, the length be h, a set of coordinate points scanned be (xi, yi), wherein xi e [0w-1], yi= e [0h-1], establish the intercept formula equation of the correction line: y=kx+b;
wherein,
5. the method according to claim 1, wherein in step S5, the geometric defect information includes glass plate corner defects and glass plate size defects.
6. The method for detecting and positioning defects of glass contours according to claim 1, wherein in step S6, the conveying device is a conveying roller way, and a manipulator is arranged on the conveying device, and the control device controls the corresponding conveying roller way to perform plate dropping treatment on the glass plate with defects according to the defect information acquired by the image processing device; and the control device controls the manipulator to adapt to glass plates with different postures according to the posture information acquired by the image processing device to carry out grabbing and stacking treatment.
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