Apparatus and method for detecting glass edges with a line scan camera

Abstract

The application discloses a device and method for detecting the edge of glass by using a line scanning camera, a first plane mirror conversion compensation system is installed between the flat glass to be detected and the scanning camera; a second plane mirror conversion compensation system is installed inside the scanning camera; the first plane mirror conversion compensation system is used for converting the three-dimensional light path of the edge of the flat glass to be detected into a collinear coplanar light path; the second plane mirror conversion compensation system is used for collinearly and coplanarly radiating the three-dimensional light path of the edge of the flat glass to be detected into the central line of the scanning camera sensor; through the three-dimensional space formed by the two sides and the middle end surface side of the edge of the flat glass, the light and shade field two kinds of light sources are used for illumination, the light path system is converted and compensated by means of twice plane mirror reflection, the three light beams of the three-dimensional space of the edge of the glass are precisely compensated and converted into a collinear coplanar light path, and the collinear coplanar light path is guided into the sensor of the line scanning camera, so that the high-precision detection of the falling piece, crack and grinding quality state of the edge of the glass is realized.

Description

Technical Field

[0001] This invention belongs to the field of glass defect detection technology, and relates to an apparatus and method for detecting the edge of a flat glass plate using a line scan camera. More specifically, it relates to a technique for using a two-stage plane mirror-assisted compensation system to guide three optical paths to adapt to the edge of the flat glass plate to be detected by the line scan camera. Background Technology

[0002] The manufacturing process of TFT-LCD involves multiple precision photolithography processes, including TFT Array process, Cell process, CF process and Module process, requiring the use of flat glass with a dimensional accuracy of 0.1mm error, while eliminating the occurrence of edge breakage defects of flat glass.

[0003] To avoid sharp edges on the glass substrate (which are prone to breakage upon impact with external objects), the edges are typically ground to obtuse angles after glass cutting to increase edge strength. However, improper grinding can cause defects such as micro-cracks, chipping, burns, and glass powder contamination at the edges of flat glass. During various operations on TFT-LCD manufacturing production lines, including roller transport, robot handling, exposure etching alignment, and other processes, external forces can easily cause large-area breakage or contamination of the flat glass, leading to production interruptions and reduced yield. Existing detection methods and equipment lack accuracy in detecting chipping, cracks, and grinding quality at the glass edges, resulting in a high rate of missed detections and significant quality losses for customers caused by TFT-LCD manufacturers. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides a device and method for detecting glass edges using a line scan camera, enabling high-precision detection of glass edge chipping, cracks, and grinding quality.

[0005] This invention is achieved through the following technical solution:

[0006] A device for detecting glass edges using a line scan camera includes a light source, a scanning camera, a first plane mirror conversion compensation system, and a second plane mirror conversion compensation system.

[0007] The scanning camera is perpendicularly and parallel to the flat glass to be inspected; the light source device includes a bright field light source device and a dark field light source device; the bright field light source device is installed at one end of the flat glass to be inspected, and the light path is perpendicularly illuminating both sides of the flat glass to be inspected; the dark field light source device is installed at the other end of the flat glass to be inspected; the first plane mirror conversion compensation system is installed between the flat glass to be inspected and the scanning camera; the second plane mirror conversion compensation system is installed inside the scanning camera; the first plane mirror conversion compensation system is used to convert the three-dimensional light path of the edge of the flat glass to be inspected into a collinear and coplanar light path; the second plane mirror conversion compensation system is used to ensure that the three-dimensional light path of the edge of the flat glass to be inspected is collinear and coplanar and is incident on the center line of the scanning camera sensor.

[0008] Preferably, the first plane mirror conversion compensation system includes a main plane mirror, an A-side auxiliary plane mirror, a B-side auxiliary plane mirror, and a sub-plane mirror conversion compensation system; the A-side auxiliary plane mirror and the B-side auxiliary plane mirror are symmetrically distributed on both sides of the plate glass to be tested, and are at a horizontal angle of ±45 degrees to the edge of the plate glass to be tested, and the center distance between them is 24mm; the sub-plane mirror conversion compensation system is installed between the main plane mirror and the plate glass, and the sub-plane mirror conversion compensation system is used to guide the light path of the middle end face side of the plate glass to be tested to be deflected and illuminate the main plane mirror.

[0009] Preferably, the sub-plane mirror conversion compensation system includes multiple auxiliary plane mirrors, which are distributed at the exact center between the main plane mirror and the flat glass to be tested, and are directly opposite the edge of the glass to be tested; the auxiliary plane mirrors are parallel to each other and form a 45-degree angle with each other.

[0010] Preferably, the angle between the main plane reflector and the detection glass is 45 degrees, and the center distance between them is 24mm.

[0011] Preferably, the second plane mirror conversion compensation system includes a first set of auxiliary plane mirrors, a second set of auxiliary plane mirrors, and a third set of auxiliary plane mirrors; the second set of auxiliary plane mirrors is vertically distributed on the horizontal center line of the sensor of the scanning camera; the first set of auxiliary plane mirrors and the third set of auxiliary plane mirrors are symmetrically distributed on both sides of the horizontal center line of the sensor of the scanning camera; the first set of auxiliary plane mirrors is connected to one side of the edge of the flat glass to be detected by light ray a; the second set of auxiliary plane mirrors is connected to the middle side of the edge of the flat glass to be detected by light ray b; and the third set of auxiliary plane mirrors is connected to the other side of the edge of the flat glass to be detected by light ray c.

[0012] Preferably, the first group of auxiliary plane mirrors includes a first auxiliary plane mirror and a second auxiliary plane mirror; the second group of auxiliary plane mirrors includes a third auxiliary plane mirror and a fourth auxiliary plane mirror; and the third group of auxiliary plane mirrors includes a fifth auxiliary plane mirror and a sixth auxiliary plane mirror.

[0013] The first auxiliary plane mirror is mounted on one side near the horizontal centerline of the scanning camera's sensor; the second auxiliary plane mirror is mounted on one side near the horizontal centerline of the scanning camera's lens; the third auxiliary plane mirror is mounted at the midpoint of the horizontal centerline of the scanning camera's sensor; the fourth auxiliary plane mirror is mounted at the midpoint of the horizontal centerline of the scanning camera's lens; the fifth auxiliary plane mirror is mounted on the other side near the horizontal centerline of the scanning camera's sensor; and the sixth auxiliary plane mirror is mounted on the other side near the horizontal centerline of the scanning camera's lens. The first, third, and fifth auxiliary plane mirrors are all connected to the optical path of the scanning camera's lens via light rays; the second, fourth, and sixth auxiliary plane mirrors are all connected to the optical path of the scanning camera's sensor plane mirror via light rays.

[0014] Preferably, the angles between the first auxiliary plane mirror and the fifth auxiliary plane mirror and the horizontal center line of the sensor of the scanning camera are both ±75 degrees; the angles between the second auxiliary plane mirror and the sixth auxiliary plane mirror and the horizontal center line of the lens of the scanning camera are both ±85 degrees.

[0015] Preferably, the bright field light source uses a set of infrared LED light sources in the 800-900nm band, which are homogenized by a gradient filter and lens, and then beam splitting and converted before being vertically irradiated onto both sides of the edge of the flat glass to be tested; the dark field light source uses two sets of white LED light sources, which are irradiated onto both sides and the middle side of the edge of the flat glass to be tested after passing through a transparent protective plate.

[0016] Preferably, the initial point to the end point of the sensor of the scanning camera relative to one side of the edge of the flat glass to be tested occupies 5%-20% of the sensing range; the initial point to the end point of the sensor of the scanning camera relative to the other side of the edge of the flat glass to be tested occupies 80%-95% of the sensing range; and the initial point to the end point of the sensor of the scanning camera relative to the middle end face of the edge of the flat glass to be tested occupies 45%-55% of the sensing range.

[0017] A method for detecting glass edges using a line scan camera, comprising,

[0018] The three-dimensional space of the two sides and the middle side of the edge of the flat glass to be inspected is illuminated by bright field light source and dark field light source. Through the first plane mirror conversion compensation system and the second plane mirror conversion compensation system, the three beams of light in the three-dimensional space of the edge of the flat glass to be inspected are precisely compensated and converted into collinear and coplanar optical paths, which are then guided into the photoelectric coupling sensor of the line scan camera. Through the detection system, the photoelectric signal is amplified, filtered and enhanced image processing, so as to realize high-precision detection of chipping, cracks and grinding quality of the edge of the flat glass to be inspected.

[0019] Compared with the prior art, the present invention has the following beneficial technical effects:

[0020] This invention discloses an apparatus and method for detecting the edge of a flat glass plate using a line scan camera. A bright-field light source is installed at one end of the flat glass plate, with the light path perpendicularly illuminating both edges of the plate. A dark-field light source is installed at the other end of the plate. A first plane mirror conversion compensation system is installed between the flat glass plate and the scanning camera. A second plane mirror conversion compensation system is installed inside the scanning camera. The first plane mirror conversion compensation system is used to convert the three-dimensional light path of the edge of the flat glass plate into a collinear and coplanar light path. The second plane mirror conversion compensation system is used to convert the three-dimensional light path of the edge of the flat glass plate into a collinear and coplanar light path. Three-dimensional light paths are collinear and coplanar, entering the center line of the scanning camera sensor. The three-dimensional space formed by the two sides and the middle end face of the edge of the flat glass is illuminated by two light sources, one bright and one dark. With the help of a two-stage plane mirror reflection conversion compensation optical path system, the three beams of light in the three-dimensional space of the glass edge are precisely compensated and converted into collinear and coplanar light paths, which are then guided into the optocoupler sensor of the line scanning camera. The detection system performs image processing such as amplification, filtering, and enhancement of the photoelectric signal to achieve high-precision detection of chipping, cracks, and grinding quality of the glass edge. After image signal processing by the detection system, micron-level defects on the edge of the flat glass are detected.

[0021] Furthermore, the method for detecting the edge of a flat glass panel according to the present invention is applicable to the method for detecting micro-defects on the edge of a flat glass panel using a three-dimensional optical path adapter line scan camera. It can detect and control micron-level defects on the edge of the flat glass panel online in real time, preventing missed detections at the TFT-LCD manufacturing plant and causing customer quality losses. Attached Figure Description

[0022] Figure 1 This represents the main view of the imaging system;

[0023] Figure 2 This represents a side view of the imaging system;

[0024] Figure 3 It represents a three-dimensional diagram of the imaging system;

[0025] Figure 4This represents the main view of the light source assembly;

[0026] Figure 5 This represents a side view of the light source assembly;

[0027] Figure 6 This is the main view representing a bright field light source;

[0028] Figure 7 This represents the front view of a dark field light source;

[0029] Figure 8 It represents a three-dimensional imaging video signal at the edge of a flat glass plate;

[0030] In the diagram: Scanning camera A-1, sub-plane mirror conversion compensation system A-2, second plane mirror conversion compensation system A-3, main plane mirror A-4, A-side auxiliary plane mirror A-5, flat glass to be tested A-6, B-side auxiliary plane mirror A-7, light beam aS1, light beam bS2, light beam cS3, first auxiliary plane mirror A-3-1, second auxiliary plane mirror A-3-2, third auxiliary plane mirror A-3-3, fourth auxiliary plane mirror A-3-4, fifth auxiliary plane mirror A-3-5, sixth auxiliary plane mirror A-3-6, beam splitter B1-1, 850-950nm infrared LED light source B1-2, graded filter B1-3, lens B1-4, white LED light source B2-1, LED transparent protective plate B2-2, black light shield B3-1, black LED encapsulation plate B3-2. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to specific embodiments. These descriptions are for explanation purposes only and are not intended to limit the scope of the invention.

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0033] The present invention relates to a three-dimensional optical path adapter line scan camera A-1 and a device for detecting the edge of a flat glass A-6, which has the following features:

[0034] like Figure 1 As shown, the edge of the flat glass to be tested is divided into three-dimensional spatial positions: side A, side B, and side C. High-precision micron-level detection is performed on grinding defects such as cracks, chipping, and glass powder contamination caused by grinding.

[0035] like Figure 2 and Figure 3 As shown, in the imaging system, a first plane mirror conversion compensation system is installed between the flat glass A-6 to be tested and the scanning camera A-1. The first plane mirror conversion compensation system includes a main plane mirror A-4, an A-side auxiliary plane mirror A-5, a B-side auxiliary plane mirror A-7, and a sub-plane mirror conversion compensation system A-2. The A-side auxiliary plane mirror A-5 and the B-side auxiliary plane mirror A-7 are symmetrically distributed on both sides of the flat glass A-6 to be tested, and are at ±45-degree angles to the edges of the flat glass A-6 to be tested, with a center distance of 24mm between them. The sub-plane mirror conversion compensation system A-2 is installed between the main plane mirror A-4 and the flat glass. The sub-plane mirror conversion compensation system A-2 is used to guide the light path of the middle end face of the flat glass A-6 to be tested to be deflected and illuminate the main plane mirror. The sub-plane mirror conversion compensation system A-2 includes multiple auxiliary plane mirrors. The auxiliary plane mirrors are distributed at the center between the main plane mirror A-4 and the flat glass A-6 to be tested, and are directly opposite the edge of the glass to be tested. The auxiliary plane mirrors are parallel to each other and form a 45-degree angle with each other. The main plane mirror A-4 and the glass to be tested are perpendicular to each other at a 45-degree angle, and the center distance between the two is 24mm.

[0036] The first plane mirror conversion compensation system specifically includes one main plane mirror A-4 and six auxiliary plane mirrors. The main plane mirror A-4 is approximately 16mm long and 5mm wide, and the auxiliary plane mirrors are approximately 5mm long and 3mm wide. Auxiliary plane mirrors A-5 (side A) and A-7 (side B) are symmetrically distributed on sides A and C of the flat glass to be tested, respectively, at ±45-degree angles to the glass edge, with a center-to-center distance of approximately 20mm. They can reflect and convert the light paths from sides A and C onto the main plane mirror. Additionally, the sub-plane mirror conversion compensation system A-2 contains four auxiliary plane mirrors facing the glass edge, distributed 12mm from the center between the main plane mirror A-4 and the test glass. They are parallel to each other and at 45-degree angles to each other, guiding the light path from side B to be deflected and illuminate the main plane mirror. The main plane mirror A-4 is perpendicular to the detection glass at an angle of approximately 45 degrees, with a center-to-center distance of approximately 24 mm. By finely adjusting the angles of all auxiliary plane mirror supports, the three beams of light from the three-dimensional planes A, B, and C at the edge of the receiving glass are made to be collinear on the main plane mirror A-4 and perpendicular to the camera sensor at a 45-degree angle. The beam from side B is exactly at the center of the main plane mirror A-4, while the beams from sides A and C are symmetrically positioned on either side of the beam from side B.

[0037] like Figure 2 and Figure 3As shown, in the imaging system, the second plane mirror conversion compensation system A-3 is installed inside the camera and consists of six auxiliary plane mirrors. The second plane mirror conversion compensation system A-3 includes a first group of auxiliary plane mirrors, a second group of auxiliary plane mirrors, and a third group of auxiliary plane mirrors. The second group of auxiliary plane mirrors is vertically distributed on the horizontal center line of the sensor of the scanning camera A-1. The first group of auxiliary plane mirrors and the third group of auxiliary plane mirrors are symmetrically distributed on both sides of the horizontal center line of the sensor of the scanning camera A-1. The first group of auxiliary plane mirrors is connected to one side of the edge of the flat glass A-6 to be tested via light ray aS1. The second group of auxiliary plane mirrors is connected to the middle side of the edge of the flat glass A-6 to be tested via light ray bS2. The third group of auxiliary plane mirrors is connected to the other side of the edge of the flat glass A-6 to be tested via light ray cS3. The first group of auxiliary plane mirrors includes a first auxiliary plane mirror A-3-1 and a second auxiliary plane mirror A-3-2; the second group of auxiliary plane mirrors includes a third auxiliary plane mirror A-3-3 and a fourth auxiliary plane mirror A-3-4; the third group of auxiliary plane mirrors includes a fifth auxiliary plane mirror A-3-5 and a sixth auxiliary plane mirror A-3-6; the first auxiliary plane mirror A-3-1 is installed on one side near the horizontal center line of the sensor of the scanning camera A-1; the second auxiliary plane mirror A-3-2 is installed on one side near the horizontal center line of the lens of the scanning camera A-1; the third auxiliary plane mirror A-3-3 is installed at the middle position of the horizontal center line of the sensor of the scanning camera A-1; the fourth auxiliary plane mirror A-3-4 is installed at the middle position of the horizontal center line of the lens of the scanning camera A-1; the fifth auxiliary plane mirror A-3-5 is installed on the other side near the horizontal center line of the sensor of the scanning camera A-1; and the sixth auxiliary plane mirror A-3-6 is on the other side near the horizontal center line of the lens of the scanning camera A-1. The first auxiliary plane mirror A-3-1, the third auxiliary plane mirror A-3-3, and the fifth auxiliary plane mirror are all connected to the lens optical path of the scanning camera A-1 via light rays; the second auxiliary plane mirror A-3-2, the fourth auxiliary plane mirror A-3-4, and the sixth auxiliary plane mirror A-3-6 are all connected to the sensor plane mirror optical path of the scanning camera A-1 via light rays. The angles between the first auxiliary plane mirror A-3-1 and the fifth auxiliary plane mirror A-3-5 and the horizontal center line of the sensor of the scanning camera A-1 are both ±75 degrees; the angles between the second auxiliary plane mirror A-3-2 and the sixth auxiliary plane mirror A-3-6 and the horizontal center line of the lens of the scanning camera A-1 are both ±85 degrees.

[0038] Each group consists of three sets of auxiliary plane mirrors: a first set, a second set, and a third set. These mirrors reflect and deflect light rays from the edges of the flat glass plate on sides A, B, and C, respectively. The angles of each group can be adjusted to ensure that the three-dimensional light paths are collinear and coplanar, entering the center line of the A-1 optocoupler sensor of the scanning camera. Each of the six auxiliary plane mirrors is a square with sides approximately 4mm. The horizontal center-to-center distance between the two mirrors in each group is approximately 12mm. The horizontal center-to-center distance between the mirror closest to the camera sensor in each group and the sensor is approximately 20mm. (Set B is an example of this.) The inner two plane mirrors are vertically distributed on the horizontal center line. The plane mirrors of the first group of auxiliary plane mirrors and the third group of auxiliary plane mirrors are symmetrically distributed on the upper and lower sides of the horizontal center line, respectively. The horizontal angle between the two plane mirrors near the lens in the first group of auxiliary plane mirrors and the third group of auxiliary plane mirrors is about ±85 degrees and the vertical center distance is about 15mm. The horizontal angle between the two plane mirrors near the camera sensor in the first group of auxiliary plane mirrors and the third group of auxiliary plane mirrors is about ±75 degrees and the vertical center distance is about 4mm.

[0039] In the imaging system, the camera is vertically and parallel to the flat glass A-6 to be inspected. The camera is a TDI dual-line array CMOS line scan camera A-1 with 4K pixels and a 100MHz pixel clock. The camera lens has a focal length of 80mm / maximum aperture of F5.6, a field of view of 20mm, a resolution of 20μm-30μm, and a center distance of about 40mm between the camera and the lens.

[0040] like Figure 4 and Figure 5 As shown, the light source uses both bright-field and dark-field illumination. The bright-field light source uses a set of 800-900nm infrared LED light sources B1-2, which are homogenized by a graded filter B1-3 and a lens B1-4, and then beam-splitting and converted before vertically illuminating both sides of the edge of the flat glass A-6 to be tested. The dark-field light source uses two sets of white LED light sources B2-1, which illuminate both sides and the middle of the edge of the flat glass A-6 to be tested after passing through a transparent protective plate. Figure 6 and Figure 7 As shown, a bright-field light source is installed above the flat glass A-6 to be inspected. It uses a set of four infrared LEDs in the 800-900nm wavelength band. After being homogenized by a graduated filter B1-3 and lens B1-4, the beam is split and converted before being vertically illuminated onto sides A and C of the flat glass. This is used for detecting minor cracks such as chipping and fissures at the glass edges. Additionally, two sets of 26 white LEDs (B2-1) installed below the bright-field light source illuminate the edges A, B, and C of the flat glass through a transparent protective plate B2-2, creating a dark-field illumination. This is used for detecting chipping, depth measurement, and monitoring the grinding status. Both light source brackets use black brackets to encapsulate the light sources. The LED spacing is approximately 3.8mm, and the illuminance is no less than 10 KLUX.

[0041] like Figure 8 As shown, in the entire flat glass edge system, the positional relationship between the camera sensor and the edges A, B, and C is as follows: starting from one end, the area from the initial point to the end point on edge A occupies 5%-20% of the sensing range; the area from the initial point to the end point on edge B occupies 45%-55% of the sensing range; and the area from the initial point to the end point on edge C occupies 80%-95% of the sensing range. The detection system performs image processing such as amplification, filtering, and enhancement on the original imaging signal of the glass edge, realizing the detection of the 3mm, 2mm, and 3mm field-of-view image ranges of the A, B, and C sides of the glass edge using the line scan camera A-1.

[0042] A method for detecting glass edges using a line scan camera.

[0043] The three-dimensional space of the two sides and the middle side of the edge of the flat glass to be inspected is illuminated by bright field light source and dark field light source. Through the first plane mirror conversion compensation system and the second plane mirror conversion compensation system, the three beams of light in the three-dimensional space of the edge of the flat glass to be inspected are precisely compensated and converted into collinear and coplanar optical paths, which are then guided into the photoelectric coupling sensor of the line scan camera. Through the detection system, the photoelectric signal is amplified, filtered and enhanced image processing, so as to realize high-precision detection of chipping, cracks and grinding quality of the edge of the flat glass to be inspected.

[0044] Preferred implementation method:

[0045] This invention relates to a method for detecting the edge of a flat glass A-6 to be inspected by a line scan camera A-1. The method uses a two-stage plane mirror conversion compensation system to reflect and deflect three beams of light and guide them to the line array sensor of the line scan camera to achieve edge detection of the flat glass.

[0046] Figure 1 , Figure 2 , Figure 3In the imaging optical path system, on the edges ABC of the flat glass A-6 to be inspected, corresponding to rays aS1, bS2, and cS3, the light rays first enter the first plane mirror conversion compensation system located between the camera and the flat glass. This system is installed between the glass and the camera and includes one main plane mirror A-4 and six auxiliary plane mirrors. The main plane mirror A-4 is approximately 16mm long and 5mm wide. The auxiliary plane mirrors A-5 (A-side), A-2 (sub-plane mirror conversion compensation system), and A-7 (B-side auxiliary plane mirror) are all approximately 5mm long and 3mm wide. The auxiliary plane mirrors A-5 and A-7 (A-side) are symmetrically and vertically distributed on the center line A and C sides of the glass A-6, respectively, forming ±45-degree angles with the horizontal edge of the glass A-6, with a center-to-center distance of approximately 20mm. They can reflect and convert the light rays aS1 and cS3 onto the main plane mirror A-4. The four auxiliary plane mirrors within the sub-plane mirror conversion compensation system A-2 are positioned 12mm from the edge of glass A-6, parallel to each other and at a 45-degree angle. They guide the light path from side B of the glass A-6 edge to irradiate the main plane mirror A-4. The main plane mirror A-4 and the detection glass A-6 are perpendicularly at a 45-degree angle, with a center-to-center distance of approximately 24mm. By fine-tuning the angles of all supports for the A-side auxiliary plane mirrors A-5, the sub-plane mirror conversion compensation system A-2, and the B-side auxiliary plane mirror A-7, the three light beams aS1, bS2, and cS3 are made collinear on the main plane mirror A-4. The main plane mirror A-4 is perpendicular to the camera sensor at approximately a 45-degree angle, with ray S2 precisely at the center of the main plane mirror A-4, and rays aS1 and cS3 symmetrically positioned on either side of ray bS2.

[0047] The aforementioned three light rays aS1, bS2, and cS3 are reflected and deflected by the auxiliary plane mirror A-5 on side A, the sub-plane mirror conversion and compensation system A-2, and the auxiliary plane mirror A-7 on side B, respectively, before collinearly illuminating the main plane mirror A-4. Finally, they are reflected into the second plane mirror conversion and compensation system A-3 inside the scanning camera A-1. This second plane mirror conversion and compensation system A-3, installed inside the scanning camera A-1, consists of six auxiliary plane mirrors, arranged in three groups of two. These mirrors reflect and deflect the light rays aS1, bS2, and cS3 from the edge of the flat glass. The angles can be adjusted to ensure that the three light rays aS1, bS2, and cS3 collinearly and coplanarly enter the center line of the optocoupler sensor of the scanning camera A-1. The plane mirrors are square with sides of approximately 4mm. The horizontal center-to-center distance between the two plane mirrors in each group is approximately 12mm. The horizontal center-to-center distance between the plane mirrors near the camera sensor and the camera sensor A-1 in each group is approximately 20mm. The third auxiliary plane mirror A-3-3 and the fourth auxiliary plane mirror A-3-4 are vertically distributed on the horizontal center line of the optical path. The plane mirrors for light rays aS1 and bS2 are symmetrically distributed on the upper and lower sides of the horizontal center line of the scanning camera A-1, respectively. The horizontal angle between the second auxiliary plane mirror A-3-2 and the fourth auxiliary plane mirror A-3-4 is approximately ±85 degrees and the vertical center-to-center distance is approximately 15mm. The horizontal angle between the first auxiliary plane mirror A-3-1 and the third auxiliary plane mirror A-3-3 is approximately ±75 degrees and the vertical center-to-center distance is approximately 4mm.

[0048] Figure 4 , Figure 5 , Figure 6 , Figure 7 In the light source system, one group of four 800-900nm infrared LED light sources (B1-2) is installed above the flat glass A-6 to be inspected. After passing through a graduated filter (B1-3) and a lens (B1-4), uniform light is formed and then, via a beam splitter (B1-1), vertically illuminates sides A and C of the flat glass, creating bright-field illumination. A black mounting bracket (B3-2) covers and shields this area, used for detecting minor cracks such as chipping and fissures at the edges of the flat glass. Two groups of 26 white LED light sources (B2-1) are located below the four 800-900nm infrared LED light sources (B1-2). After passing through a transparent protective plate (B2-2), the light illuminates sides A, B, and C of the flat glass, creating dark-field illumination. These are encapsulated by a black light-shielding plate (B3-1) and are used for detecting chipping, depth measurement, and monitoring the grinding status.

[0049] Figure 8In the 3D imaging video signal of the flat glass edge, light rays aS1, bS2, and cS3 are guided to the linear array scanning sensor of scanning camera A-1, corresponding to the detection of sides A, B, and C of the glass edge. Taking the left side of the linear array scanning optocoupler of scanning camera A-1 as the starting zero point position, the detection system sequentially corresponds to the sensing coupling ranges of 5%-20%, 45%-55%, and 80%-95%. The detection system performs image processing such as amplification, filtering, and enhancement on the original photoelectric signal of the glass edge, realizing the detection of the field of view of sides A, B, and C of the glass edge within 3mm, 2mm, and 3mm respectively using the linear scanning camera A-1.

[0050] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Those skilled in the art can readily implement the present invention based on the accompanying drawings and the above description. However, any modifications, alterations, or variations made by those skilled in the art without departing from the scope of the present invention, utilizing the disclosed technical content, are equivalent embodiments of the present invention. Furthermore, any modifications, alterations, or variations made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the present invention.

Claims

1. An apparatus for detecting the edge of a glass sheet using a line scan camera, comprising: The device comprises a light source device, a scanning camera (A-1), a first plane mirror conversion compensation system and a second plane mirror conversion compensation system (A-3), The scanning camera (A-1) is vertically parallel to the flat glass (A-6) to be detected; the light source device comprises a bright field light source device and a dark field light source device; the bright field light source device is installed at one end of the flat glass (A-6) to be detected and vertically irradiates the two side edges of the flat glass (A-6) to be detected; the dark field light source device is installed at the other end of the flat glass (A-6) to be detected; the first plane mirror conversion compensation system is installed between the flat glass (A-6) to be detected and the scanning camera (A-1); the second plane mirror conversion compensation system (A-3) is installed inside the scanning camera (A-1); the first plane mirror conversion compensation system is used for converting the three-dimensional light path of the edge of the flat glass (A-6) to be detected into a collinear coplanar light path; the second plane mirror conversion compensation system (A-3) is used for collinearly and coplanarly radiating the three-dimensional light path of the edge of the flat glass (A-6) to be detected into the central line of the sensor of the scanning camera (A-1); The first plane mirror conversion compensation system comprises a main plane mirror (A-4), an A-side auxiliary plane mirror (A-5), a B-side auxiliary plane mirror (A-7) and a sub-plane mirror conversion compensation system (A-2); the A-side auxiliary plane mirror (A-5) and the B-side auxiliary plane mirror (A-7) are symmetrically distributed on the two sides of the flat glass (A-6) to be detected and are respectively horizontally inclined at ±45 degrees to the edges of the flat glass (A-6) to be detected, and the center distance between the two is 24mm; the sub-plane mirror conversion compensation system (A-2) is installed between the main plane mirror (A-4) and the flat glass, and the sub-plane mirror conversion compensation system (A-2) is used for guiding the intermediate end surface side light path of the flat glass (A-6) to be detected to be deflected and irradiated onto the main plane mirror; The second plane mirror conversion compensation system (A-3) comprises a first group of auxiliary plane mirrors, a second group of auxiliary plane mirrors and a third group of auxiliary plane mirrors; the second group of auxiliary plane mirrors is vertically distributed on the horizontal center line of the sensor of the scanning camera (A-1); the first group of auxiliary plane mirrors and the third group of auxiliary plane mirrors are symmetrically distributed on the two sides of the horizontal center line of the sensor of the scanning camera (A-1), the first group of auxiliary plane mirrors is connected with the one side light path of the edge of the flat glass (A-6) to be detected through light ray a (S1); the second group of auxiliary plane mirrors is connected with the intermediate side light path of the edge of the flat glass (A-6) to be detected through light ray b (S2); the third group of auxiliary plane mirrors is connected with the other side light path of the edge of the flat glass (A-6) to be detected through light ray c (S3).

2. The apparatus for detecting the edge of glass according to claim 1, wherein The sub-plane mirror conversion compensation system (A-2) comprises a plurality of auxiliary plane mirrors, which are distributed at the middle position between the main plane mirror (A-4) and the to-be-detected flat glass (A-6) and are opposite to the edge of the to-be-detected flat glass; the auxiliary plane mirrors are parallel to each other and form an angle of 45 degrees with each other.

3. The apparatus for detecting the edge of glass according to claim 1, wherein The included angle between the main plane mirror (A-4) and the to-be-detected flat glass is 45 degrees, and the center distance between the main plane mirror (A-4) and the to-be-detected flat glass is 24 mm.

4. The apparatus for detecting the edge of glass according to claim 1, wherein The first group of auxiliary plane mirrors comprises a first auxiliary plane mirror (A-3-1) and a second auxiliary plane mirror (A-3-2); the second group of auxiliary plane mirrors comprises a third auxiliary plane mirror (A-3-3) and a fourth auxiliary plane mirror (A-3-4); and the third group of auxiliary plane mirrors comprises a fifth auxiliary plane mirror (A-3-5) and a sixth auxiliary plane mirror (A-3-6). The first auxiliary plane mirror (A-3-1) is installed on one side of the horizontal center line of the sensor of the scanning camera (A-1); the second auxiliary plane mirror (A-3-2) is installed on one side of the horizontal center line of the lens of the scanning camera (A-1); the third auxiliary plane mirror (A-3-3) is installed at the middle position of the horizontal center line of the sensor of the scanning camera (A-1); the fourth auxiliary plane mirror (A-3-4) is installed at the middle position of the horizontal center line of the lens of the scanning camera (A-1); the fifth auxiliary plane mirror (A-3-5) is installed on the other side of the horizontal center line of the sensor of the scanning camera (A-1); the sixth auxiliary plane mirror (A-3-6) is installed on the other side of the horizontal center line of the lens of the scanning camera (A-1); the first auxiliary plane mirror (A-3-1), the third auxiliary plane mirror (A-3-3) and the fifth auxiliary plane mirror (A-3-5) are connected with the light path of the lens of the scanning camera (A-1) through light rays; and the second auxiliary plane mirror (A-3-2), the fourth auxiliary plane mirror (A-3-4) and the sixth auxiliary plane mirror (A-3-6) are connected with the light path of the sensor of the scanning camera (A-1) through light rays. The included angle between the first auxiliary plane mirror (A-3-1) and the fifth auxiliary plane mirror (A-3-5) and the horizontal center line of the sensor of the scanning camera (A-1) is ±75 degrees; and the included angle between the second auxiliary plane mirror (A-3-2) and the sixth auxiliary plane mirror (A-3-6) and the horizontal center line of the lens of the scanning camera (A-1) is ±85 degrees.

5. The apparatus for detecting the edge of glass according to claim 4, wherein The bright field light source comprises a group of infrared LED light sources (B1-2) with a wavelength of 800-900 nm, which is homogenized through a gradual filter (B1-3) and a lens (B1-4) and then is converted through a beam splitter and is vertically irradiated to the two sides of the edge of the to-be-detected flat glass (A-6); and the dark field light source comprises two groups of white LED light sources (B2-1), which is irradiated to the two sides and the middle side of the edge of the to-be-detected flat glass (A-6) after passing through a transparent shield.

6. The apparatus for detecting the edge of glass according to claim 1, wherein ​ 7. The apparatus for detecting the edge of glass according to claim 1, wherein The initial point to the terminal point of the edge side of the flat glass (A-6) to be detected accounts for 5%-20% of the sensing interval of the sensor of the scanning camera (A-1); the initial point to the terminal point of the other edge side of the flat glass (A-6) to be detected accounts for 80%-95% of the sensing interval of the sensor of the scanning camera (A-1); and the initial point to the terminal point of the middle end surface side of the edge of the flat glass (A-6) to be detected accounts for 45%-55% of the sensing interval of the sensor of the scanning camera (A-1).

8. A method of detecting the edge of a glass sheet using the apparatus of any one of claims 1-7, the method comprising: Including, The three-dimensional space of the edge of the flat glass to be detected is irradiated by using a bright field light source and a dark field light source, three beams of light of the three-dimensional space of the edge of the flat glass to be detected are precisely compensated and converted into collinear coplanar light paths by a first plane mirror conversion compensation system and a second plane mirror conversion compensation system, the light paths are guided into a photoelectric coupling sensor of a line scanning camera, and the photoelectric signal is amplified, filtered and enhanced by a detection system for image processing, so that the high-precision detection of the falling piece, crack and grinding quality state of the edge of the flat glass to be detected is realized.

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