CN208673130U - A kind of glass processing device of view-based access control model guidance - Google Patents
A kind of glass processing device of view-based access control model guidance Download PDFInfo
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- CN208673130U CN208673130U CN201820070131.0U CN201820070131U CN208673130U CN 208673130 U CN208673130 U CN 208673130U CN 201820070131 U CN201820070131 U CN 201820070131U CN 208673130 U CN208673130 U CN 208673130U
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Abstract
A kind of glass processing device of view-based access control model guidance, including the first video camera, the second video camera, first video camera is mounted on the surface of glass to be processed, and the optical axis of camera lens is vertical with glass top surface, for obtaining position, angle point and the boundary information of glass to be processed；Second video camera, three-dimensional motion processing machine are mounted on the top of glass to be processed, the camera lens optical axis of the second video camera and the optical axis of semiconductor laser and glass planar is a certain included angle inclination；First video camera, the second video camera are connect with image pick-up card；Controller is used to receive the instruction of computer sending, and control three-dimensional motion processing machine completes processing.The utility model can be effectively solved the manual polishing problem of inefficient, low precision, while improve the degree of intelligence of processing.
Description
Technical field
The utility model relates to glass processing device technical fields, and in particular to the glass guided to a kind of view-based access control model adds
Tooling is set.
Background technique
Glass is one of the ornament materials most generally used in architectural engineering.Its main performance have perspective, sound insulation and
Heat preservation etc. is material indispensable in life, therefore people are also to pay much attention to his processing technology.The processing of glass
Technique it is most basic be exactly glass cutting, however Glazed fence after the completion of rigid cutting is usually very sharp, if it is
Its four angles are even more very sharp if rectangle, either all easily to work during carrying is still further processed
Personnel bring injury, thus glass production producer after having cut glass all can edge to it or angle carry out round and smooth or rounding,
But the particularity and all trades and professions due to glass material lead to the side of glass to each opposite sex of the features such as glass shape and specification
Boundary is round and smooth or rounded corner also becomes more complex and heavy workload a problem.In glass processing, the processing capacity of glass is non-
Normal is big, however the BORDER PROCESSING technique of glass is still comparatively traditional at present, i.e., artificial treatment still occupies biggishly
Position.This processing mode not only low efficiency, and be easy to be influenced that processing is caused to make mistakes by human factor, easily waste of manpower, object
Power and financial resources, even numerical control glass processing machine popular at present also has biggish limitation, it is needed by artificial
Carry out a series of cumbersome processes such as input to knife and machined parameters.
Summary of the invention
In order to solve the above technical problems, the utility model provides a kind of glass processing device of view-based access control model guidance,
Combine computer vision technique on the basis of general NC glass common process, to its glass to be processed by video camera into
Row image obtains, and detects the information such as the boundary angle point of glass to be processed by image processing software and image processing algorithm, then
The thickness information of actual Glazed fence, angular coordinate and glass is calculated by handling, finally controls sander and completes
The processing of Glazed fence and angle point.The invention can be effectively solved the manual polishing problem of inefficient, low precision, improve simultaneously
The degree of intelligence of processing.
The technical solution that the utility model is taken are as follows:
A kind of glass processing device of view-based access control model guidance, including the first video camera, the second video camera, three-dimensional motion processing
Machine, semiconductor laser, image pick-up card, numerically controlled machining platform, controller, computer.
First video camera is mounted on the surface of glass to be processed, and the optical axis of camera lens is vertical with glass top surface,
For obtaining position, angle point and the boundary information of glass to be processed；
Second video camera, three-dimensional motion processing machine are mounted on the top of glass to be processed, the camera lens of the second video camera
The optical axis of the optical axis and semiconductor laser and glass planar are a certain included angle inclination；
First video camera, the second video camera are connect with image pick-up card；
Described image capture card, controller connect computer；
The three-dimensional motion processing machine connects controller, and controller is used to receive the instruction of computer sending, and control is three-dimensional
It moves processing machine and completes processing.
First video camera, the second video camera are all made of CCD camera, and the CCD camera connects CCD driver.
The controller is the PLC control module of S7-200 model.
A kind of glass processing device of view-based access control model guidance of the utility model, beneficial effect are:
1: the boundary angle point and thickness information of glass to be processed are fast and accurately obtained by vision technique.
2: can accurately obtain the actual boundary and angular coordinate information of glass to be processed, and intelligent control and guide polishing
Machine completes Glazed fence and angle point processing.
3: relative to other general NC glass processing machines, the utility model is complete more to improve machining accuracy, removal
It is cumbersome to a series of processes such as the input of knife, machined parameters, while also improving the degree of intelligence of processing.
Detailed description of the invention
Fig. 1 is the mounting structure schematic diagram of the utility model.
Fig. 2 is the connection schematic diagram of the utility model.
Fig. 3 is the process flow diagram of the utility model.
Fig. 4 (a) is the glass light band figure of Noise；
Fig. 4 (b) is that filtering removes dryness+light belt enhancing processing figure；
Fig. 4 (c) is glass edge detection grayscale image；
Fig. 4 (d) is the discontinuous profile diagram of removal；
Fig. 4 (e) is the prospect blank map of monolithic glass；
Fig. 4 (f) is position coordinates figure.
Fig. 5 (a) is that the utility model thickness of glass obtains schematic diagram.
Fig. 5 (b) is that the utility model glass position obtains schematic diagram.
Fig. 5 (c) is that the utility model machined parameters obtain schematic diagram.
Specific embodiment
It is by the following examples and attached to make the effect of being reached to the utility model have further understanding and understanding
Figure cooperation is described in detail, specific as follows:
A kind of glass processing device of view-based access control model guidance, including the first video camera 1, the second video camera 2, three-dimensional motion add
Work machine 3, semiconductor laser 4, image pick-up card 5, numerically controlled machining platform 6, controller 7, computer 8 and interface circuit and phase
Answer peripheral circuit.
First video camera 1 is mounted on the surface of glass to be processed, and the optical axis of camera lens is vertical with glass top surface,
For obtaining position, angle point and the boundary information of glass to be processed；
Second video camera 2, three-dimensional motion processing machine 3 are mounted on the top of glass to be processed, the mirror of the second video camera 2
The optical axis and glass planar of the head optical axis and semiconductor laser 4 are a certain included angle inclination；
First video camera 1, the second video camera 2 are connect with image pick-up card 5；
Described image capture card 5, controller 7 connect computer 8；
The three-dimensional motion processing machine 3 connects controller 7, and controller 7 is used to receive the instruction of the sending of computer 8, control
Three-dimensional motion processing machine 3 completes processing.
First video camera 1, the second video camera 2 are all made of CCD camera, and the CCD camera connects CCD driver 9.
CCD driver 9 drives method using FPGA, and FPGA is selected in Xilinx company Spartan-3AN series
XC3S400AN。
The controller 7 is the PLC control module of S7-200 model.
After carrying out camera calibration and establishing the relationship between glass numerical control system of processing and vision system, picture 1-4
It is shown.Glass processing in order to complete rigid cutting then needs by glass feeder or manually will just cut at fillet, safety angle
Starting vision system is sequentially completed following steps after the glass of completion is sent to processing platform:
Step 1: the extraction of the thickness of glass information of view-based access control model technology, comprising:
Step 1.1: opening semiconductor laser 4 and generate light source required for thickness of glass measures, and is orthogonal using two
Cylindrical mirror by semiconductor laser 4 generation elliptical spot be converted into line-structured light after, be irradiated on glass to be processed and generate
Refraction and diffusing reflection.
Step 1.2: by 2 pairs of the second video camera after glass refraction light source be acquired, then on plate glass
Lower surface occurs irreflexive two points and is establishing linear relationship between imaging spacing and thickness of glass in CCD camera, i.e., to inspection
Relationship in examining system between thickness of glass and double light belt center pixels difference is set；
Step 1.3: the band that diffuses for entering CCD camera is handled and analyzed；
Step 1.3.1: the image transmitting that CCD camera obtains is subjected to image procossing into computer.It first will acquisition
The light belt image arrived realizes the denoising to noisy gray level image using 4 layers of wavelet function feedback.
Step 1.3.2: it since the weaker feature of light belt that previous step obtains is not obvious enough, will be converted using linear gradation to figure
As numerical characteristic is enhanced.
Step 1.3.3: carrying out edge detection using Canny operator to previous step treated light belt, and selected threshold >
119 part separates light belt and background area, then determines light belt center using grey scale centre of gravity method and obtain two
The pixel difference at light belt center.
Step 1.3.: the relationship of setting working depth d=0.1H, cutting-tool angle and thickness of glass and working depth can be free
It determines；
Step 2: the measurement of the actual glass thickness of view-based access control model technology, it is characterized in that: utilize thickness of glass and double light belts
Center-spaced linear relationship completes the acquisition of thickness of glass information, i.e. the actual (real) thickness of glass can obtain by following formula:
Wherein H is the actual (real) thickness of glass, and l is unit pixel spacing, λ2For system magnifying power and camera lens enlargement ratio
Product (system magnifying power is equal with camera lens enlargement ratio), n are refractive index, and a is that light returns again from glass top surface to lower surface
Extraneous incidence angle is returned, sees that Fig. 5 (a), b are refraction angle of the light from glass top surface to lower surface, L is two light belt center pixels
Difference.
Step 2: the profile of the glass of view-based access control model technology, edge, Corner Detection, comprising:
Step 2.1: image acquisition is carried out by entire plane of first video camera 1 to glass；And the image that will acquire passes
It is defeated that image procossing is carried out into computer, and linear relationship is established between actual glass and image glass.
Step 2.1.1: the glass image that will acquire use Canny operator and be arranged the first and second hysteresis thresholds for
260 and 350 carry out edge detection.
Step 2.1.2: converting grayscale image for the image after edge detection, is converted and is arranged using accumulated probability Hough line
Cumulative plane threshold parameter is 50 to find out the straight line in bianry image.
Step 2.1.3: it is removed as index in some backgrounds by the length and inclination angle that control straight line and mixes entrance
Straight line, the connected domain finally surrounded to straight line are filled, and obtain edge smoothing, the glass image of angle point standard.
Step 2.1.3: the centre coordinate and boundary (angle point) coordinate of glass are obtained.Wherein centre coordinate O (x, y) can by with
Lower formula obtains:
O.x=(x1+x2+...+xn)/size (2)
O.y=(y1+y2+...+yn)/size (3)
Wherein x1,x2...xnIndicate the abscissa of all pixels point in glass connected domain, y1,y2...ynIndicate glass connection
The ordinate of all pixels point in domain, size indicate all pixels in glass connected domain.
Step 3: the glass top surface boundary of view-based access control model technology, the actual position coordinate of angle point obtain.
Step 3.1: establishing camera coordinates system by origin of the central point of the first video camera 1, choose one piece of machined glass
Glass puts workbench as template, measures it with a thickness of H, the first video camera 1 is fixed, image center and the template glass are measured
Distance be S, while world coordinate system is established as origin using the central point of the first video camera 1 and (allows the origin of camera coordinates system
Z axis is overlapped with the origin of world coordinate system to be also overlapped) then Z coordinate value is S in world coordinates, if in image coordinate system in image
Heart pixel coordinate (u0,v0), as plane coordinates (xc,yc) then:
Wherein dx and dy respectively indicate physical size of each pixel on horizontal axis x and longitudinal axis y.
If coordinate is (X in camera coordinates systemc,Yc,Zc), then the transformational relation of camera coordinates system and photo coordinate system are as follows:
Wherein f is camera focus.
If coordinate is (X, Y, Z), the transformational relation of world coordinate system and camera coordinates system in world coordinate system are as follows:
Wherein R is 3 × 3 spin matrixs, and T is 3 × 1 transposed matrixs.
The transformational relation of pixel coordinate and world coordinates is obtained by formula (4) (5) (6) are as follows:
Due to the origin of camera coordinates system is overlapped with the origin of world coordinate system, Z axis is also overlapped and world coordinates (X, Y,
Z Z=S in) can then acquire Zc, the value of X, Y.When thickness of glass H changes, if it is H' then Z=S+ (H-H').It is getting
The instruction in computer as glass numerical control processing is stored into after all data.
Step 4: computer 8 is carried out at analysis by informations such as Glazed fences, angle point and position coordinates to storage
Controller 7 is issued after reason and is instructed, three-dimensional motion system and the movement of glass sander are then controlled.
Step 4.1: controller 7 controls glass sander blade rotation after receiving instruction first, and according to the glass of acquisition
After control mechanical arm adjusts grinding angle (angle for referring to blade) and grinding depth after thickness information, then control three-dimensional dynamic system
The surface being sent to glass sander at Glazed fence or angle point initial buff is moved in X or Y-direction, then controls Z-direction fortune
It is dynamic that blade is made to sink.
Step 4.2: boundary and angle point after glass sander moves to initial buff position, then along monolithic glass carry out
Polishing, until completing processing.
Claims (3)
1. a kind of glass processing device of view-based access control model guidance, including the first video camera (1), the second video camera (2), three-dimensional motion
Processing machine (3), semiconductor laser (4), image pick-up card (5), numerically controlled machining platform (6), controller (7), computer (8)；
It is characterized by:
First video camera (1) is mounted on the surface of glass to be processed, and the optical axis of camera lens is vertical with glass top surface, uses
In the position, angle point and the boundary information that obtain glass to be processed；
Second video camera (2), three-dimensional motion processing machine (3) are mounted on the top of glass to be processed, the second video camera (2)
The optical axis of the camera lens optical axis and semiconductor laser (4) and glass planar are a certain included angle inclination；
First video camera (1), the second video camera (2) are connect with image pick-up card (5)；
Described image capture card (5), controller (7) connection computer (8)；
The three-dimensional motion processing machine (3) connects controller (7), and controller (7) is used to receive the instruction of computer (8) sending,
It controls three-dimensional motion processing machine (3) and completes processing.
2. a kind of glass processing device of view-based access control model guidance according to claim 1, it is characterised in that: first camera shooting
Machine (1), the second video camera (2) are all made of CCD camera, and the CCD camera connects CCD driver (9).
3. a kind of glass processing device of view-based access control model guidance according to claim 1, it is characterised in that: the controller
It (7) is the PLC control module of S7-200 model.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820070131.0U CN208673130U (en) | 2018-01-16 | 2018-01-16 | A kind of glass processing device of view-based access control model guidance |
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| CN201820070131.0U CN208673130U (en) | 2018-01-16 | 2018-01-16 | A kind of glass processing device of view-based access control model guidance |
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| CN208673130U true CN208673130U (en) | 2019-03-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108107837A (en) * | 2018-01-16 | 2018-06-01 | 三峡大学 | A kind of glass processing device and method of view-based access control model guiding |
| CN114147539A (en) * | 2021-11-16 | 2022-03-08 | 中机智能装备创新研究院(宁波)有限公司 | Cylindrical surface machining device and clamping deviation judgment method for cylindrical surface included angle |
-
2018
- 2018-01-16 CN CN201820070131.0U patent/CN208673130U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108107837A (en) * | 2018-01-16 | 2018-06-01 | 三峡大学 | A kind of glass processing device and method of view-based access control model guiding |
| CN114147539A (en) * | 2021-11-16 | 2022-03-08 | 中机智能装备创新研究院(宁波)有限公司 | Cylindrical surface machining device and clamping deviation judgment method for cylindrical surface included angle |
| CN114147539B (en) * | 2021-11-16 | 2022-12-02 | 中机智能装备创新研究院(宁波)有限公司 | Cylindrical surface machining device and clamping deviation judgment method for cylindrical surface included angle |
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Granted publication date: 20190329 Termination date: 20200116 |