A method for visual inspection of edge flaws in glass production

Abstract

The application discloses a kind of glass production edge grinding flaw visual inspection methods, it is related to edge grinding detection technical field, comprising the following steps: according to target glass side point obtains first division side point;According to first division side point obtains division edge profile, according to division edge profile obtains first connecting line segment and real-time line segment angle;According to real-time line segment angle, first connecting line segment is divided into first bevel line segment and first straight edge line segment;According to first bevel line segment and first straight edge line segment, first section profile, second section profile and third section profile are obtained;According to second section profile and first bevel line segment, first kind of flaw is obtained;First section profile and third section profile construct first detection chamfer and second detection chamfer;According to first detection chamfer and second detection chamfer, second kind of flaw is obtained;The present application is used to solve the problem that there is no flaw detection for the chamfer area of the glass edge in the prior art, which leads to the problem that the edge grinding flaw is not comprehensive.

Description

Technical Field

[0001] This invention relates to the field of edge grinding inspection technology, specifically a visual inspection method for edge grinding defects in glass production. Background Technology

[0002] The main function is to perform grinding and finishing on the side surfaces of the glass after cutting, removing burrs and sharp edges to ensure the dimensional accuracy, flatness, and structural strength of the glass edges, and to prevent cracking and scratches during subsequent use and assembly. During the grinding process, factors such as grinding wheel wear, uneven feed speed, equipment vibration, glass conveying deviation, and inadequate cooling and dust removal can cause glass edge chipping defects, which directly reduce the mechanical stability of the glass and can easily lead to damage in subsequent processes and scrap of finished products. This is a serious defect that is the key focus of control in the glass grinding process. Existing glass edge grinding inspection methods only check the flatness of the glass side. However, existing glass edges have chamfered features, such as straight edges and rounded edges. The chamfered area is the area where the front and side of the glass connect. This chamfered surface is not on the same plane as the front and side of the glass. In other words, existing technologies cannot adapt to the detection of defects in the chamfered area of ​​the glass. For example, patent application CN118882518A discloses a digital inspection system and method for glass edge grinding based on 3D vision inspection. This solution only checks the flatness after edge grinding and does not check for defects in the chamfered area of ​​the glass. That is, existing technologies do not set up defect detection for the chamfered area of ​​the glass, resulting in an incomplete inspection of edge grinding defects. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in the prior art. It involves obtaining a real-time 3D point cloud image of the glass after edge grinding using laser technology; obtaining target glass side points based on the real-time 3D point cloud image; obtaining a first dividing side point based on the target glass side point; obtaining a dividing edge contour based on the first dividing side point; obtaining the angle between a first connecting line segment and a real-time line segment based on the dividing edge contour; dividing the first connecting line segment into a first inclined side segment and a first straight side segment based on the angle of the real-time line segment; obtaining a first segment contour, a second segment contour, and a third segment contour based on the first inclined side segment and the first straight side segment; obtaining a first type of defect based on the second segment contour and the first inclined side segment; constructing a first detection chamfer and a second detection chamfer based on the first segment contour and the third segment contour; and obtaining a second type of defect based on the first detection chamfer and the second detection chamfer. This addresses the problem in the prior art where defect detection is not specifically set for the chamfered area of ​​the ground glass, resulting in insufficient coverage of edge grinding defects.

[0004] To achieve the above objectives, this application provides a visual inspection method for edge grinding defects in glass production, comprising the following steps: S100: Obtain a real-time 3D point cloud image of the glass after edge grinding using laser technology; obtain the side points of the target glass based on the real-time 3D point cloud image. S200: Obtain the first dividing side point based on the target glass side point; obtain the dividing edge contour based on the first dividing side point; obtain the angle between the first connecting line segment and the real-time line segment based on the dividing edge contour; divide the first connecting line segment into the first hypotenuse line segment and the first straight line segment based on the angle between the real-time line segments; obtain the first segment contour, the second segment contour, and the third segment contour based on the first hypotenuse line segment and the first straight line segment. S300: Obtain a first type of defect based on the second contour and the first oblique edge segment; construct a first detection chamfer and a second detection chamfer based on the first contour and the third contour; obtain a second type of defect based on the first detection chamfer and the second detection chamfer.

[0005] Furthermore, S100 includes the following sub-steps: Based on the three-dimensional point cloud map of the glass after edge grinding obtained by laser, it is marked as a real-time three-dimensional point cloud map of the glass; Mark the point cloud coordinates in the real-time glass 3D point cloud map as the real-time glass coordinates. Establish a three-dimensional coordinate system and label it as a three-dimensional reference coordinate system; Obtain the plane below the glass and mark it as the first glass plane; Obtain the plane formed by the X-axis and Y-axis in the three-dimensional reference coordinate system, and label it as the first coordinate system plane; Make the first glass plane lie on the first coordinate system plane, while ensuring that the first glass plane is parallel to the first coordinate system plane, and place all real-time glass coordinate points in the three-dimensional comparison coordinate system. Obtain the thickness of the glass and designate it as the first thickness; Obtain two parallel planes with a first thickness interval, and both parallel planes are parallel to the first coordinate plane. Identify the two parallel planes as the first constructed parallel planes. Below the first coordinate system plane, the two first construction parallel planes are moved simultaneously in the positive Z-axis direction in the three-dimensional reference coordinate system. When the number of intersections between the two first construction parallel planes and the real-time glass coordinate points is the maximum, the movement of the two first construction parallel planes is stopped. When the two first construction parallel planes stop moving, the real-time glass coordinate points that intersect with the two first construction parallel planes are obtained and marked as real-time glass surface points. Obtain the real-time glass coordinates point minus the real-time glass surface point, and mark it as the real-time glass side point; Obtain the real-time glass edge point of any glass edge and mark it as the target glass edge point.

[0006] Furthermore, S200 includes the following sub-steps: The plane obtained by fitting the target glass side point to a plane is marked as the first glass side surface; Obtain the surface that is perpendicular to the side of the first glass and also perpendicular to the plane of the first coordinate system, and label it as the first vertical surface; Make the interval between two adjacent first vertical planes the first distance, obtain the second number of adjacent first vertical planes, and divide the target glass side point into multiple equal intervals through the first vertical planes; for any first vertical plane, obtain the target glass side point that intersects with this first vertical plane and mark it as the first dividing side point.

[0007] Furthermore, S200 also includes the following sub-steps: Construct a Cartesian coordinate system on the second set of parallel planes, and label it as a two-dimensional reference coordinate system; make the first dividing side point in the first quadrant of the two-dimensional reference coordinate system, and at the same time make the edge of the first glass plane parallel to the horizontal axis of the two-dimensional reference coordinate system, and the side of the first glass plane parallel to the vertical axis of the two-dimensional reference coordinate system. The first dividing side point is fitted to obtain the line segment, which is then marked as the dividing edge contour.

[0008] Furthermore, S200 also includes the following sub-steps: Using the adjacent interval as the second distance, a third set of coordinate points are uniformly obtained on the divided edge contour and marked as the coordinate points of the divided contour. Connect adjacent coordinate points of the defined contour to obtain a line segment, which is then marked as the first connecting line segment; Obtain the angle between the first connecting line segment and the vertical axis of the two-dimensional reference coordinate system, and label it as the real-time line segment angle.

[0009] Furthermore, S200 also includes the following sub-steps: Obtain the flat area of ​​the glass side without edge defects, and mark the corresponding maximum real-time line segment angle as the line segment angle threshold. The first connecting line segment whose real-time line segment angle is greater than the line segment angle threshold is marked as the first hypotenuse line segment; the first connecting line segment whose real-time line segment angle is less than or equal to the line segment angle threshold is marked as the first straight line segment.

[0010] Furthermore, S200 also includes the following sub-steps: Starting from one end of the dividing edge contour, search along the dividing edge contour for the first hypotenuse line segment. When the first straight edge line segment is encountered, stop the search and obtain the first hypotenuse line segment at the point where the search stops, marking it as the first search end line segment; obtain the dividing edge contour from one end of the dividing edge contour to the point where the search stops, marking it as the first segment contour. Starting from the other end of the dividing edge contour, search along the first hypotenuse line segment. When the first straight edge line segment is encountered, stop the search and obtain the first hypotenuse line segment at the time of stopping the search, and mark it as the third contour segment. Obtain the dividing edge contour between the first contour segment and the second contour segment, and label it as the second contour segment.

[0011] Furthermore, S300 includes the following sub-steps: Determine whether the second contour contains the first oblique edge segment. If it does not, the edge grinding of the second contour is normal. If it does, it indicates that there is a defect in the edge grinding, which is recorded as the first type of defect.

[0012] Furthermore, S300 also includes the following sub-steps: Within the first contour segment, obtain the change value of the angle between adjacent first hypotenuse line segments, and mark it as the first detected chamfer; Obtain the range of the first inspection chamfer corresponding to the chamfer of the flawless glass edge, and mark it as the first qualified range; Within the third contour segment, obtain the change value of the angle between adjacent third hypotenuse line segments, and mark it as the second detected chamfer; Obtain the range of the first inspection chamfer corresponding to the chamfer of the flawless glass edge, and mark it as the second qualified range.

[0013] Furthermore, S300 also includes the following sub-steps: If the first inspection of the chamfer is within the first acceptable range and the second inspection of the chamfer is within the second acceptable range, it indicates that the chamfer of the glass edge is normal. If the first inspection of the chamfer is outside the first acceptable range or the second inspection of the chamfer is outside the second acceptable range, it indicates that the chamfer of the glass edge has defects, which are recorded as second-type defects.

[0014] The beneficial effects of this invention are as follows: This invention obtains a real-time three-dimensional point cloud image of the glass after edge grinding based on laser; obtains target glass side points based on the real-time three-dimensional point cloud image; obtains a first dividing side point based on the target glass side point; obtains a dividing edge contour based on the first dividing side point; obtains the angle between the first connecting line segment and the real-time line segment based on the dividing edge contour; divides the first connecting line segment into a first inclined side segment and a first straight side segment based on the angle between the real-time line segments; obtains a first segment contour, a second segment contour, and a third segment contour based on the first inclined side segment and the first straight side segment; obtains a first type of defect based on the second segment contour and the first inclined side segment; constructs a first detection chamfer and a second detection chamfer based on the first segment contour and the third segment contour; and obtains a second type of defect based on the first detection chamfer and the second detection chamfer. The advantage is that it performs defect detection on edge grinding in areas with glass chamfers, making the detection of edge grinding defects in areas with glass chamfers more accurate. This invention obtains a first type of defect based on a second contour and a first beveled line segment; constructs a first detection chamfer and a second detection chamfer based on a first contour and a third contour; and obtains a second type of defect based on the first detection chamfer and the second detection chamfer. The advantage is that it performs defect detection on the edge grinding in areas with glass chamfers, making the edge grinding defect detection in areas with glass chamfers more accurate. Attached Figure Description

[0015] Figure 1 This is a flowchart of the steps of the method of the present invention; Figure 2 This is a schematic diagram of the boundary contour of the present invention; Figure 3 This is a schematic diagram of the first, second, and third outlines of the present invention; Figure 4 This is a schematic diagram of the first and second detection chamfers of the present invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 are within the scope of protection of the present invention.

[0017] Example 1, please refer to Figure 1 As shown, this application provides a visual inspection method for edge grinding defects in glass production, comprising the following steps: Step S100: Obtain a real-time 3D point cloud image of the glass after edge grinding using laser technology; obtain the target glass side points based on the real-time 3D point cloud image; Step S100 includes the following sub-steps: Step S101: Based on the laser-obtained three-dimensional point cloud map of the glass after edge grinding, it is marked as a real-time glass three-dimensional point cloud map; the point cloud coordinate points in the real-time glass three-dimensional point cloud map are marked as real-time glass coordinate points; the real-time glass coordinate points are three-dimensional coordinate points on the glass surface; after the glass edge grinding is formed, it is targeted at right-angled edges and rounded edges. Step S102: Establish a three-dimensional coordinate system and label it as the three-dimensional comparison coordinate system; obtain the plane below the glass and label it as the first glass plane; obtain the plane formed by the X-axis and Y-axis in the three-dimensional comparison coordinate system and label it as the first coordinate system plane; the bottom surface of the first glass plane when the glass is laid flat. Step S103: Make the first glass plane on the first coordinate system plane, while ensuring that the first glass plane is parallel to the first coordinate system plane, and place all real-time glass coordinate points in the three-dimensional comparison coordinate system; to facilitate the acquisition of real-time glass coordinate points on the front and side of the glass. Step S104: Obtain the thickness of the glass and mark it as the first thickness; obtain two parallel planes with a spacing equal to the first thickness, and both parallel planes are parallel to the first coordinate plane, and mark the two parallel planes as the first construction parallel plane; this facilitates obtaining the top and bottom of the glass when it is laid flat, i.e., the first construction parallel plane. Step S105: Below the first construction parallel plane, move the two first construction parallel planes simultaneously in the positive Z-axis direction of the three-dimensional reference coordinate system. When the number of intersections between the two first construction parallel planes and the real-time glass coordinate points is the maximum, stop moving the two first construction parallel planes. When the two first construction parallel planes stop moving, obtain the real-time glass coordinate points that intersect with the two first construction parallel planes and mark them as real-time glass surface points. The real-time glass surface points are the three-dimensional coordinate points on the top and bottom of the glass. Step S106: Obtain the real-time glass coordinates point minus the real-time glass surface point, and mark it as the real-time glass side point; Step S107: Obtain the real-time glass side point of any glass edge and mark it as the target glass side point.

[0018] Step S200: Obtain the first dividing side point based on the target glass side point; obtain the dividing edge contour based on the first dividing side point; obtain the angle between the first connecting line segment and the real-time line segment based on the dividing edge contour; divide the first connecting line segment into a first hypotenuse line segment and a first straight line segment based on the angle between the real-time line segments; obtain the first segment contour, the second segment contour, and the third segment contour based on the first hypotenuse line segment and the first straight line segment; Step S200 includes the following sub-steps: Step S201: Fit the target glass side point to a plane to obtain a plane, and mark it as the first glass side surface; obtain a plane that is perpendicular to the first glass side surface and also perpendicular to the first coordinate system plane, and mark it as the first vertical plane; make the first vertical plane to obtain the vertical cross-section of the glass edge side surface; Step S202: Make the adjacent interval of the two first vertical planes both equal to the first distance, obtain the second value of adjacent first vertical planes, and divide the target glass side point into multiple equal intervals through the first vertical planes; for any first vertical plane, obtain the target glass side point that intersects with this first vertical plane and mark it as the first dividing side point; the first vertical plane is the vertical cross-section of the glass edge side, and the second value is the number of vertical cross-sections of the glass edge side obtained; the larger the second value, the more accurate the glass edge defect detection, for example, the second value is 100. Step S203: Construct a Cartesian coordinate system on the second set of parallel planes, labeled as a two-dimensional reference coordinate system; ensure that the first dividing point is in the first quadrant of the two-dimensional reference coordinate system, and simultaneously ensure that the edge of the first glass plane is parallel to the horizontal axis of the two-dimensional reference coordinate system, and the first glass side surface is parallel to the vertical axis of the two-dimensional reference coordinate system; that is, the straight line edge of the vertical cross-sectional profile of the glass edge is parallel to the horizontal axis of the two-dimensional reference coordinate system; this facilitates the analysis of whether there are defects in the vertical cross-sectional profile of each glass edge. Step S204: Fit the first dividing side point to obtain a line segment, which is marked as the dividing edge contour; use the adjacent interval as the second distance, uniformly obtain a third number of coordinate points on the dividing edge contour, which are marked as dividing contour coordinate points; the dividing contour coordinate points are used to analyze whether there are any abnormalities in the dividing edge contour. For practical applications, please refer to Figure 2 As shown, a schematic diagram of the obtained dividing edge contour and the coordinate points of the dividing contour is presented. For example, the glass thickness is 6mm and the second distance is 0.5mm. With an adjacent interval of 0.5mm, 17 coordinate points are evenly obtained on the dividing edge contour and marked as the dividing contour coordinate points.

[0019] Step S205: Connect adjacent contour coordinate points to obtain line segments, which are marked as the first connecting line segments; obtain the angle between the first connecting line segments and the vertical axis of the two-dimensional reference coordinate system, which is marked as the real-time line segment angle; because the placed straight edge is placed parallel to the vertical axis of the two-dimensional reference coordinate system; therefore, the real-time line segment angle in the straight edge area is close to 0°, and the real-time line segment angle in the chamfered area of ​​the glass edge, whether it is a right angle or a rounded corner, is greater than 0°. Step S206: Obtain the glass side plane area with no edge defects and the corresponding maximum real-time line segment angle, which is marked as the line segment angle threshold. The line segment angle threshold is close to 0°, but the side grinding marks fluctuate slightly, that is, slightly greater than 0°. According to the grinding process, for example, the line segment angle threshold is 1°, which is a normal edge. Step S207: Mark the first connecting line segment whose real-time line segment angle is greater than the line segment angle threshold as the first hypotenuse line segment; mark the first connecting line segment whose real-time line segment angle is less than or equal to the line segment angle threshold as the first straight line segment; the first straight line segment is the straight line area that divides the edge contour, and the first hypotenuse line segment includes the edge contour of the chamfered area or the defect area. Step S208: Starting from one end of the dividing edge contour, search along the dividing edge contour for the first hypotenuse line segment. When the first straight edge line segment is encountered, stop the search and obtain the first hypotenuse line segment at the point where the search stops, marking it as the first search end line segment; obtain the dividing edge contour from one end of the dividing edge contour to the point where the search stops, marking it as the first segment contour; the first segment contour is the dividing edge contour of a chamfered area. Step S209: Starting from the other end of the dividing edge contour, search along the dividing edge contour for the first oblique edge segment. When the first straight edge segment is encountered, stop the search and obtain the first oblique edge segment at the time of stopping the search, which is marked as the third contour segment. The third contour segment is the dividing edge contour of another chamfered area. Step S210: Obtain the dividing edge contour between the first contour and the second contour, and mark it as the second contour; the third contour is the straight line contour of the dividing edge contour.

[0020] Step S300: Obtain a first type of defect based on the second contour segment and the first oblique edge segment; construct a first detection chamfer and a second detection chamfer based on the first contour segment and the third contour segment; obtain a second type of defect based on the first detection chamfer and the second detection chamfer; Step S300 includes the following sub-steps: Step S301: Determine whether the second contour contains the first oblique edge segment. If it does not contain it, the edge grinding of the second contour is normal. If it does contain it, it indicates that there is a defect in the edge grinding, which is recorded as the first type of defect. Step S302: Within the first contour segment, obtain the change value of the angle between adjacent first hypotenuse line segments and mark it as the first detected chamfer; the first detected chamfer is the change of the contour of the chamfered area; Step S303: Obtain the range of the first inspection chamfer corresponding to the chamfer of the flawless glass edge, and mark it as the first qualified range; if it is a right-angle chamfer, the first qualified range is close to 0; if it is a rounded chamfer, the first qualified range is the fixed value of the arc change, and the first inspection chamfer is close to a fixed value; for example, if the chamfer of the glass edge is a right angle, the first qualified range is -1° to 1°. Step S304: Within the third contour segment, obtain the change value of the angle between adjacent third hypotenuse line segments and mark it as the second detected chamfer; the second detected chamfer is the change of the contour of the chamfered area. Step S305: Obtain the range of the first inspection chamfer corresponding to the chamfer of the flawless glass edge, and mark it as the second qualified range; if it is a right-angle chamfer, the second qualified range is close to 0; if it is a rounded chamfer, the second qualified range is the fixed value of the arc change, and the second inspection chamfer is close to a fixed value; for example, if the chamfer of the glass edge is a right angle, the second qualified range is -1° to 1°. Step S306: If the first inspection chamfer is within the first acceptable range and the second inspection chamfer is within the second acceptable range, it indicates that the chamfer of the glass edge is normal; if the first inspection chamfer is not within the first acceptable range or the second inspection chamfer is not within the second acceptable range, it indicates that the chamfer of the glass edge has defects, which are recorded as second type defects. In practical applications, if all first-inspection chamfers are within the first acceptable range and all second-inspection chamfers are within the second acceptable range, it indicates that the chamfering of the glass edge is normal. For example, if the first-inspection chamfer is 0° within -1° to 1°, it means that the outlines of the two adjacent first beveled line segments corresponding to this first-inspection chamfer are normal.

[0021] Example 2: This application also provides an electronic device, which may include: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus. The memory stores computer-readable instructions. The processor can call the instructions in the memory. When the computer-readable instructions are executed by the processor, the steps in a visual inspection method for edge grinding defects in glass production are performed to achieve the following functions: acquiring a real-time three-dimensional point cloud image of the glass after edge grinding based on laser; acquiring a target glass side point based on the real-time three-dimensional point cloud image; acquiring a first dividing side point based on the target glass side point; acquiring a dividing edge contour based on the first dividing side point; acquiring the angle between a first connecting line segment and a real-time line segment based on the dividing edge contour; dividing the first connecting line segment into a first inclined edge segment and a first straight edge segment based on the angle between the real-time line segments; acquiring a first segment contour, a second segment contour, and a third segment contour based on the first inclined edge segment and the first straight edge segment; acquiring a first type of defect based on the second segment contour and the first inclined edge segment; constructing a first detection chamfer and a second detection chamfer based on the first segment contour and the third segment contour; acquiring a second type of defect based on the first detection chamfer and the second detection chamfer.

[0022] Furthermore, when the logical instructions in the aforementioned memory can be implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0023] Example 3: This application also provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute a visual inspection method for edge grinding defects in glass production provided by the above methods. The method includes: acquiring a real-time three-dimensional point cloud image of the glass after edge grinding based on a laser; acquiring a target glass side point based on the real-time three-dimensional point cloud image; acquiring a first dividing side point based on the target glass side point; acquiring a dividing edge contour based on the first dividing side point; acquiring the angle between a first connecting line segment and a real-time line segment based on the dividing edge contour; dividing the first connecting line segment into a first inclined edge segment and a first straight edge segment based on the angle between the real-time line segments; acquiring a first segment contour, a second segment contour, and a third segment contour based on the first inclined edge segment and the first straight edge segment; acquiring a first type of defect based on the second segment contour and the first inclined edge segment; constructing a first detection chamfer and a second detection chamfer based on the first segment contour and the third segment contour; and acquiring a second type of defect based on the first detection chamfer and the second detection chamfer.

[0024] Example 4: This application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it performs the steps of the above-described visual inspection method for edge grinding defects in glass production to achieve the following functions: acquiring a real-time three-dimensional point cloud image of the glass after edge grinding based on a laser; acquiring a target glass side point based on the real-time three-dimensional point cloud image; acquiring a first dividing side point based on the target glass side point; acquiring a dividing edge contour based on the first dividing side point; acquiring the angle between a first connecting line segment and a real-time line segment based on the dividing edge contour; dividing the first connecting line segment into a first inclined side segment and a first straight side segment based on the angle between the real-time line segments; acquiring a first segment contour, a second segment contour, and a third segment contour based on the first inclined side segment and the first straight side segment; acquiring a first type of defect based on the second segment contour and the first inclined side segment; constructing a first detection chamfer and a second detection chamfer based on the first segment contour and the third segment contour; acquiring a second type of defect based on the first detection chamfer and the second detection chamfer.

[0025] Based on the above description of the embodiments, the embodiments of the present invention can be provided as methods, systems, or computer program products. Based on this understanding, the above technical solutions, in essence or in terms of their contribution to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or certain parts of the embodiments.

[0026] In the embodiments provided in this application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of modules or units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple modules or units may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces. The indirect coupling or communication connection between systems, modules, and units may be electrical, mechanical, or other forms.

[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for visually inspecting edge grinding defects in glass production, characterized in that, Includes the following steps: S100: Obtain a real-time 3D point cloud image of the glass after edge grinding using laser technology; obtain the side points of the target glass based on the real-time 3D point cloud image. S200: Obtain the first dividing side point based on the target glass side point; obtain the dividing edge contour based on the first dividing side point; obtain the angle between the first connecting line segment and the real-time line segment based on the dividing edge contour; divide the first connecting line segment into the first hypotenuse line segment and the first straight line segment based on the angle between the real-time line segments; obtain the first segment contour, the second segment contour, and the third segment contour based on the first hypotenuse line segment and the first straight line segment. S300: Obtain a first type of defect based on the second contour and the first oblique edge segment; construct a first detection chamfer and a second detection chamfer based on the first contour and the third contour; obtain a second type of defect based on the first detection chamfer and the second detection chamfer.

2. The method for visual inspection of edge grinding defects in glass production according to claim 1, characterized in that, S100 includes the following sub-steps: Based on the three-dimensional point cloud map of the glass after edge grinding obtained by laser, it is marked as a real-time three-dimensional point cloud map of the glass; Mark the point cloud coordinates in the real-time glass 3D point cloud map as the real-time glass coordinates. Establish a three-dimensional coordinate system and label it as a three-dimensional reference coordinate system; Obtain the plane below the glass and mark it as the first glass plane; Obtain the plane formed by the X-axis and Y-axis in the three-dimensional reference coordinate system, and label it as the first coordinate system plane; Make the first glass plane lie on the first coordinate system plane, while ensuring that the first glass plane is parallel to the first coordinate system plane, and place all real-time glass coordinate points in the three-dimensional comparison coordinate system. Obtain the thickness of the glass and designate it as the first thickness; Obtain two parallel planes with a first thickness interval, and both parallel planes are parallel to the first coordinate plane. Identify the two parallel planes as the first constructed parallel planes. Below the first coordinate system plane, the two first construction parallel planes are moved simultaneously in the positive Z-axis direction in the three-dimensional reference coordinate system. When the number of intersections between the two first construction parallel planes and the real-time glass coordinate points is the maximum, the movement of the two first construction parallel planes is stopped. When the two first construction parallel planes stop moving, the real-time glass coordinate points that intersect with the two first construction parallel planes are obtained and marked as real-time glass surface points. Obtain the real-time glass coordinates point minus the real-time glass surface point, and mark it as the real-time glass side point; Obtain the real-time glass edge point of any glass edge and mark it as the target glass edge point.

3. The method for visual inspection of edge grinding defects in glass production according to claim 2, characterized in that, S200 includes the following sub-steps: The plane obtained by fitting the target glass side point to a plane is marked as the first glass side surface; Obtain the surface that is perpendicular to the side of the first glass and also perpendicular to the plane of the first coordinate system, and label it as the first vertical surface; Make the two adjacent first vertical planes have a first distance between them, obtain a second number of adjacent first vertical planes, and divide the target glass side point into multiple equal intervals through the first vertical planes; For any first vertical plane, obtain the target glass side point that intersects with this first vertical plane and mark it as the first dividing side point.

4. The method for visual inspection of edge grinding defects in glass production according to claim 3, characterized in that, S200 also includes the following sub-steps: Construct a Cartesian coordinate system on the second set of parallel planes, and label it as a two-dimensional reference coordinate system; make the first dividing side point in the first quadrant of the two-dimensional reference coordinate system, and at the same time make the edge of the first glass plane parallel to the horizontal axis of the two-dimensional reference coordinate system, and the side of the first glass plane parallel to the vertical axis of the two-dimensional reference coordinate system. The first dividing side point is fitted to obtain the line segment, which is then marked as the dividing edge contour.

5. The method for visual inspection of edge grinding defects in glass production according to claim 4, characterized in that, S200 also includes the following sub-steps: Using the adjacent interval as the second distance, a third set of coordinate points are uniformly obtained on the divided edge contour and marked as the coordinate points of the divided contour. Connect adjacent coordinate points of the defined contour to obtain a line segment, which is then marked as the first connecting line segment; Obtain the angle between the first connecting line segment and the vertical axis of the two-dimensional reference coordinate system, and label it as the real-time line segment angle.

6. The method for visual inspection of edge grinding defects in glass production according to claim 5, characterized in that, S200 also includes the following sub-steps: Obtain the flat area of ​​the glass side without edge defects, and mark the corresponding maximum real-time line segment angle as the line segment angle threshold. The first connecting line segment whose real-time line segment angle is greater than the line segment angle threshold is marked as the first hypotenuse line segment; The first connecting line segment whose real-time line segment angle is less than or equal to the line segment angle threshold is marked as the first straight side line segment.

7. The method for visual inspection of edge grinding defects in glass production according to claim 6, characterized in that, S200 also includes the following sub-steps: Starting from one end of the dividing edge contour, search along the dividing edge contour for the first hypotenuse line segment. When the first straight edge line segment is encountered, stop the search and obtain the first hypotenuse line segment at the point where the search stops, marking it as the first search end line segment; obtain the dividing edge contour from one end of the dividing edge contour to the point where the search stops, marking it as the first contour segment. Starting from the other end of the dividing edge contour, search along the first hypotenuse line segment. When the first straight edge line segment is encountered, stop the search and obtain the first hypotenuse line segment at the time of stopping the search, which is marked as the third contour segment. Obtain the dividing edge contour between the first contour segment and the second contour segment, and label it as the second contour segment.

8. The method for visual inspection of edge grinding defects in glass production according to claim 7, characterized in that, S300 includes the following sub-steps: Determine whether the second contour contains the first oblique edge segment. If it does not, the edge grinding of the second contour is normal. If it does, it indicates that there is a defect in the edge grinding, which is recorded as the first type of defect.

9. A visual inspection method for edge grinding defects in glass production according to claim 8, characterized in that, S300 also includes the following sub-steps: Within the first contour segment, obtain the change value of the angle between adjacent first hypotenuse line segments, and mark it as the first detected chamfer; Obtain the range of the first inspection chamfer corresponding to the chamfer of the flawless glass edge, and mark it as the first qualified range; Within the third contour segment, obtain the change value of the angle between adjacent third hypotenuse line segments, and mark it as the second detected chamfer; Obtain the range of the first inspection chamfer corresponding to the chamfer of the flawless glass edge, and mark it as the second qualified range.

10. A visual inspection method for edge grinding defects in glass production according to claim 9, characterized in that, S300 also includes the following sub-steps: If the first inspection of the chamfer is within the first acceptable range, and the second inspection of the chamfer is within the second acceptable range, it indicates that the chamfer of the glass edge is normal; if the first inspection of the chamfer is outside the first acceptable range, or the second inspection of the chamfer is outside the second acceptable range, it indicates that the chamfer of the glass edge has defects, which are recorded as second type defects.

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