Edge grinding machine rapid calibration method and system based on conical positioner and identification code

Abstract

The application relates to a rapid calibration method and system of an edging machine based on a conical positioner and a mark code. The method comprises the following steps: providing a conical positioner, presetting a first mark code on the surface of the conical positioner, coaxially clamping a grinding disc on a main shaft through the conical positioner, and unifying the conical surface of the conical positioner with the end surface positioning reference and the grinding working reference of the grinding disc; presetting a second mark code on the glass to be machined or a carrier thereof, and storing the identification information of the glass in association with the second mark code; scanning the first mark code by using a first code reader to obtain initial geometric parameters of the grinding disc, wherein the initial geometric parameters include an initial outer diameter, an initial thickness and a nominal roundness. According to the method, the overall point cloud of the grinding disc in the clamped state is obtained by scanning the outer contour of the grinding disc, the actual three-dimensional point cloud of the grinding disc is accurately segmented and extracted by using a space transformation relationship and a conical surface reference point cloud, the outer diameter wear, the end surface wear and the roundness error are obtained after the initial geometric parameters are matched and compared, and the overall digital representation of the wear state is realized.

Description

Technical Field

[0001] This application relates to the field of position calibration technology, and in particular to a rapid calibration method and system for edge grinding machines based on a conical locator and an identification code. Background Technology

[0002] With the rapid development of intelligent manufacturing and automated processing technologies, glass edging is increasingly widely used in architectural decoration, automotive glass, optoelectronic displays, and other fields. The introduction of technologies such as conical positioning, 3D point cloud scanning, and identification code recognition provides a technological foundation for the automated calibration of edging machines, potentially improving processing efficiency and accuracy. However, in actual production applications, the grinding disc of an edging machine undergoes multi-dimensional degradation after long-term use, including outer diameter wear, end face wear, and roundness errors. Existing calibration methods mostly rely on manual measurement or simple tool setting functions built into the machine tool. The actual spatial position of the grinding disc after clamping lacks precise quantification, and the clamping datum and grinding working datum are often inconsistent, making it difficult to eliminate accumulated errors and directly affecting the consistency of grinding accuracy.

[0003] In related technologies, wear measurement methods are relatively crude, typically using only calipers or dial indicators to roughly measure the outer diameter or thickness of the grinding disc. This fails to achieve comprehensive digital characterization in three-dimensional space and makes it difficult to simultaneously acquire roundness error information, resulting in incomplete wear compensation and large fluctuations in grinding quality. Furthermore, in the wear compensation stage, existing equipment usually only supports single radial or axial fixed compensation, unable to generate periodic micro-displacement compensation synchronized with the spindle rotation angle based on the phase and amplitude of the roundness error. Shape deviations during rotation cannot be dynamically corrected, and grinding accuracy gradually decreases with increasing wear and is difficult to recover. In addition, in the glass alignment stage, traditional methods rely on manual reading of glass specification parameters and manual adjustment of the positioning mechanism. There is a lack of a mechanism to automatically retrieve thickness and contour parameters based on the identification code and calculate the adjustment amount in conjunction with the actual spatial position of the grinding disc. Changeovers require repeated trial cuts and adjustments, resulting in long calibration and changeover times and low automation, severely restricting the efficiency and accuracy stability of edge grinding. Summary of the Invention

[0004] Therefore, it is necessary to provide a rapid calibration method and system for edge grinding machines based on conical positioners and identification codes to address the aforementioned technical problems.

[0005] Firstly, this application provides a rapid calibration method for an edge grinding machine based on a conical positioner and an identification code, including: A conical locator is provided, with a first identification code preset on its surface. The grinding disc is coaxially clamped to the spindle through the conical locator, so that the positioning reference of the conical surface and end face of the conical locator is consistent with the grinding working reference of the grinding disc. A second identification code is preset on the glass to be processed or its carrier, and the second identification code is associated with and stores the identification information of the glass. The first identification code is scanned using the first barcode reader to obtain the initial geometric parameters of the grinding disc, which include the initial outer diameter, initial thickness, and nominal roundness. The conical surface of the conical locator is scanned using a 3D point cloud scanning device to establish a spatial transformation relationship between the coordinate system of the scanning device and the coordinate system of the main axis. Then, the outer contour of the grinding disk in the clamping state is scanned to obtain the overall point cloud. The actual 3D point cloud of the grinding disk is accurately segmented and extracted from the overall point cloud using the spatial transformation relationship and the conical surface reference point cloud. The actual 3D point cloud is registered and compared with the initial geometric parameters to determine the wear parameters of the grinding disk. The wear parameters include at least the outer diameter wear amount, the end face wear amount, and the roundness error. Based on the wear parameters, the feed axis is controlled to drive the tapered positioner and the grinding disc as a whole, and to perform compensating displacements corresponding to the wear amount of the outer diameter and the wear amount of the end face along the radial and axial directions of the main shaft, respectively, and to synchronously compensate the rotation of the main shaft to correct the roundness error. The second identification code on the glass to be processed or its carrier is scanned using a second barcode reader to obtain the identification information of the glass, and the corresponding thickness parameters and edge contour parameters are retrieved from the database based on the identification information. Based on the actual spatial position of the compensated grinding disc in the spindle coordinate system, combined with the thickness parameters and edge contour parameters, the adjustment amount required for the glass positioning mechanism is calculated and automatically executed to align the glass edge to be ground with the grinding working area of ​​the grinding disc.

[0006] In one embodiment, the first identification code is a machine-readable code, which includes at least one of a QR code, a data matrix code, or a one-dimensional barcode; The first identification code is preset in a predetermined area on the outer cone surface or end face of the cone positioner by means of laser etching, electrical discharge etching or high wear-resistant label pasting; The initial geometric parameters are stored in the first identifier in a structured data format or in a parameter database that is mapped to the first identifier.

[0007] In one embodiment, the step of using a 3D point cloud scanning device to scan the conical surface of the conical locator and establishing the spatial transformation relationship between the scanning device coordinate system and the principal axis coordinate system includes: The three-dimensional point cloud scanning device is controlled to perform multi-view scanning of the cone surface of the cone locator with a preset scanning resolution and a preset scanning angle range to obtain the cone surface reference point cloud; Extract no fewer than three non-collinear cone feature points from the cone reference point cloud, and obtain the corresponding principal axis reference coordinate points in the principal axis coordinate system; Based on the correspondence between the conical feature points and the main axis reference coordinate points, the rotation and translation transformation matrix between the scanning device coordinate system and the main axis coordinate system is calculated by least squares fitting or iterative nearest point algorithm, which serves as the spatial transformation relationship.

[0008] In one embodiment, the step of accurately segmenting and extracting the actual three-dimensional point cloud of the grinding disc from the overall point cloud using the spatial transformation relationship and the conical reference point cloud includes: The overall point cloud is uniformly transformed to the principal axis coordinate system through the spatial transformation relationship to obtain the transformed overall point cloud; Using the cone-shaped reference point cloud as the spatial constraint boundary, the transformed overall point cloud is subjected to region segmentation processing to remove the point cloud of the cone-shaped locator body and the interference point cloud of the fixture, while retaining the point cloud data of the outer contour region of the grinding disc. Outlier removal and surface fitting smoothing are performed on the retained point cloud data to obtain the actual three-dimensional point cloud of the grinding disc.

[0009] In one embodiment, the step of registering and comparing the actual 3D point cloud with the initial geometric parameters to determine the wear parameters of the grinding wheel includes: Construct a nominal three-dimensional geometric model of the grinding disc based on the initial outer diameter and initial thickness; The iterative nearest point algorithm is used to perform rigid body registration between the actual 3D point cloud and the nominal 3D geometric model, and the deviation field after registration is calculated. The maximum radial deviation value is extracted from the deviation field as the outer diameter wear amount, and the maximum axial deviation value is extracted as the end face wear amount. The deviation between the radial cross section of the registered point cloud and the nominal roundness is obtained by performing a circular fitting analysis, which is used as the roundness error.

[0010] In one embodiment, based on the wear parameters, controlling the feed shaft to drive the tapered positioner and the grinding disc assembly to perform compensating displacements corresponding to the outer diameter wear and end face wear along the radial and axial directions of the main shaft, respectively, and synchronously compensating for the main shaft rotation to correct roundness errors, includes: Based on the outer diameter wear amount, a radial feed command is generated, and the radial feed axis is controlled to drive the tapered positioner and the grinding disc as a whole to move half of the outer diameter wear amount in a direction away from the spindle center. Based on the end face wear amount, an axial feed command is generated to control the axial feed axis to drive the tapered positioner and the grinding disc as a whole to move along the main shaft axially by the end face wear amount. Based on the phase and amplitude information of the roundness error, a periodic micro-displacement compensation command synchronized with the spindle rotation angle is generated and superimposed on the spindle rotation control signal to dynamically correct the roundness error during rotation.

[0011] In one embodiment, the second identification code is associated with and stores identification information of the glass, including: The second identification code is pre-set in the non-grinding area of ​​the glass to be processed or at a predetermined position on its carrier. The second identification code is bound to the identification information of the glass through an encrypted association table or a cloud database. The identification information includes at least the glass number, glass batch, glass material type, original glass thickness specification, and preset grinding process parameters.

[0012] In one embodiment, the step of using a second barcode reader to scan the second identification code on the glass to be processed or its carrier to obtain the identification information of the glass, and retrieving the corresponding thickness parameters and edge contour parameters from the database based on the identification information, includes: After reading the second identification code through the second barcode reader, the unique identification code of the glass is obtained by parsing. The corresponding thickness parameters and edge contour parameters are retrieved from the database using the unique identification code as the index key. The edge contour parameters include a preset grinding shape curve and a tolerance range.

[0013] In one embodiment, the step of calculating the required adjustment amount for the glass positioning mechanism based on the actual spatial position of the compensated grinding disc in the spindle coordinate system, combined with the thickness parameter and edge contour parameter, and automatically executing the adjustment to align the edge of the glass to be ground with the grinding working area of ​​the grinding disc, includes: The center coordinates and effective grinding radius range of the grinding working area of ​​the grinding disc in the spindle coordinate system are determined based on the actual spatial position of the grinding disc after compensation. The target distance between the glass edge to be ground and the grinding surface of the grinding disc in the axial direction is calculated based on the thickness parameters, and the target offset and target rotation angle of the glass edge to be ground in the radial plane are calculated based on the edge contour parameters. The multi-degree-of-freedom adjustment command of the glass positioning mechanism is generated by combining the target spacing, target offset, and target rotation angle, and sent to each drive shaft of the glass positioning mechanism to perform automatic adjustment.

[0014] Secondly, this application also provides a rapid calibration system for an edge grinding machine based on a conical positioner and an identification code, including: A conical positioning module is used to provide a conical positioner with a first identification code preset on its surface. The grinding disc is coaxially clamped to the spindle through the conical positioner, so that the positioning reference of the conical surface and end face of the conical positioner is consistent with the grinding working reference of the grinding disc. A second identification code is preset on the glass to be processed or its carrier, and the second identification code is associated with and stores the identification information of the glass. The first code reading module is used to scan the first identification code using a first code reader to obtain the initial geometric parameters of the grinding disc, the initial geometric parameters including the initial outer diameter, initial thickness and nominal roundness; The wear determination module is used to scan the conical surface of the conical locator using a three-dimensional point cloud scanning device, and establish the spatial transformation relationship between the coordinate system of the scanning device and the coordinate system of the main axis; then, it scans the outer contour of the grinding disk in the clamping state to obtain the overall point cloud, and uses the spatial transformation relationship and the conical surface reference point cloud to accurately segment and extract the actual three-dimensional point cloud of the grinding disk from the overall point cloud, and registers and compares the actual three-dimensional point cloud with the initial geometric parameters to determine the wear parameters of the grinding disk. The wear parameters include at least the outer diameter wear amount, the end face wear amount, and the roundness error. The first compensation module is used to control the feed shaft to drive the tapered positioner and the grinding disc as a whole based on the wear parameters, and to perform compensation displacements corresponding to the wear amount of the outer diameter and the wear amount of the end face along the radial and axial directions of the main shaft, respectively, and to synchronously compensate the rotation of the main shaft to correct the roundness error. The second code reading module is used to scan the second identification code on the glass to be processed or its carrier using the second code reader, obtain the identification information of the glass, and retrieve the corresponding thickness parameters and edge contour parameters from the database based on the identification information. The second compensation module is used to calculate the adjustment amount required by the glass positioning mechanism based on the actual spatial position of the grinding disc in the main axis coordinate system after compensation, combined with the thickness parameter and edge contour parameter, and automatically execute the adjustment so that the edge of the glass to be ground is aligned with the grinding working area of ​​the grinding disc.

[0015] The aforementioned rapid calibration method and system for edge grinding machines based on conical locators and identification codes unifies the positioning references of the conical surface and end face of the conical locator with the grinding working reference of the grinding disc. By establishing the spatial transformation relationship between the coordinate system of the scanning device and the coordinate system of the spindle through three-dimensional point cloud scanning, the actual spatial position of the grinding disc after clamping can be accurately quantified, eliminating the cumulative error caused by inconsistent references in traditional clamping methods. Moreover, by scanning the outer contour of the grinding disc in the clamping state to obtain the overall point cloud, the actual three-dimensional point cloud of the grinding disc is accurately segmented and extracted using the spatial transformation relationship and the conical surface reference point cloud. After registration and comparison with the initial geometric parameters, the outer diameter wear amount, end face wear amount, and roundness error are obtained simultaneously, realizing a comprehensive digital characterization of the wear state. Subsequently, the feed axis is driven by wear parameters to perform compensating displacements in the radial and axial directions respectively. At the same time, periodic micro-displacement compensation commands synchronized with the spindle rotation angle are generated based on the phase and amplitude of the roundness error. This dynamically corrects the shape deviation during the rotation process, so that the grinding accuracy after the grinding disc wears out can be systematically restored. Furthermore, the identification code on the glass to be processed or its carrier is scanned by the second barcode reader to automatically retrieve the corresponding thickness parameters and edge contour parameters. Combined with the actual spatial position of the compensated grinding disc, the multi-degree-of-freedom adjustment amount required by the glass positioning mechanism is calculated and the adjustment is automatically executed. This realizes full automation from grinding disc calibration to glass alignment, significantly shortening the changeover and calibration time. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating a rapid calibration method for an edge grinding machine based on a conical positioner and an identification code in one embodiment. Figure 2 This is a structural block diagram of a rapid calibration system for an edge grinding machine based on a conical locator and an identification code, as shown in one embodiment. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0019] In one exemplary embodiment, such as Figure 1 As shown, a rapid calibration method for an edge grinding machine based on a conical positioner and an identification code is provided, including: Step S102: Provide a conical locator with a first identification code preset on its surface. Coaxially clamp the grinding disc to the spindle through the conical locator, so that the positioning reference of the conical surface and end face of the conical locator is consistent with the grinding working reference of the grinding disc. Preset a second identification code on the glass to be processed or its carrier, and the second identification code is associated with and stores the identification information of the glass.

[0020] The conical locator is a rigid calibration element with an outer conical surface and an end face positioning step. Its conical surface mates with the conical hole inside the grinding disc to achieve automatic centering, and its end face abuts against the back of the grinding disc to ensure axial positioning. The first identification code refers to a QR code or barcode engraved or pasted on the non-mating surface of the conical locator, which encodes the geometric accuracy parameters of the locator and the specifications of the corresponding grinding disc. Coaxial clamping refers to pressing the grinding disc against the end face of the spindle via the spindle tie rod or locking nut, so that the grinding working reference surface of the grinding disc and the rotation axis of the spindle maintain the designed coaxiality. The glass to be processed or its carrier refers to the glass plate itself or the tooling tray used to fix the glass. The second identification code refers to the identification code preset on the edge of the glass or the side of the carrier, which stores the glass's order number, thickness, size, and edge grinding process parameters. Associative storage refers to using the second identification code as an index key to establish a database mapping with the corresponding glass identification information in the processing control system.

[0021] For example, before processing, the operator selects a conical locator corresponding to the specifications of the grinding disc to be installed. The surface roughness of the conical locator meets the sealing requirements, and the front end face is ground to serve as an axial reference. A handheld barcode scanner is used to read the first identification code on the surface of the conical locator, and the system automatically retrieves its factory-calibrated conical runout value and end face perpendicularity compensation parameters. Then, the locator is fitted onto the front end of the spindle, and the grinding disc's center hole is aligned with the conical surface and pushed in until the back of the grinding disc abuts against the locator's end face. The locking rod secures all three components together, thus limiting the coaxiality of the grinding disc's grinding surface and the spindle axis to within acceptable limits. At the glass loading end, a robotic arm picks up the glass to be processed, whose edge has a second laser-etched identification code pre-set. After scanning this code, the control system retrieves process data such as the glass's thickness, dimensions, and edge grinding amount to complete calibration preparation.

[0022] For example, the first identification code is a machine-readable code, including at least one of a QR code, a data matrix code, or a one-dimensional barcode; the first identification code is preset on a predetermined area of ​​the outer conical surface or end face of the conical positioner by laser etching, electrical discharge etching, or high-wear-resistant label affixing; the initial geometric parameters are stored in the first identification code in a structured data format or in a parameter database that establishes a mapping relationship with the first identification code. The second identification code is associated with and stores the identification information of the glass, including: the second identification code is preset on the non-grinding area of ​​the glass to be processed or at a predetermined position on its carrier; the second identification code and the identification information of the glass are bound through an encrypted association table or a cloud database; the identification information includes at least the glass number, glass batch, glass material type, original glass thickness specification, and preset grinding process parameters.

[0023] In this embodiment, when the conical positioner leaves the factory, a data matrix code is laser-etched in a circular area near the end face of its outer conical surface. This code encodes the positioner's unique serial number. Simultaneously, this serial number is recorded in the parameter database of the processing control system, corresponding to the positioner's initial geometric parameters, including the measured conical surface runout and end face perpendicularity deviation. When loading the material, the operator scans this code with a barcode scanner, and the system automatically retrieves the corresponding error compensation value and writes it into the CNC compensation table. At the glass end to be processed, a QR code is printed as a second identification code on the non-grinding area at the corner when the glass leaves the warehouse. Simultaneously, the glass's number, batch, material, original thickness, and preset grinding allowance, among other process parameters, are written into the encrypted association table. When loading the sheet, scanning this code retrieves the parameters and automatically sets the grinding wheel feed rate and edge grinding speed.

[0024] Step S104: Use the first code reader to scan the first identification code to obtain the initial geometric parameters of the grinding disc. The initial geometric parameters include the initial outer diameter, initial thickness, and nominal roundness.

[0025] The first barcode reader is an industrial image-based barcode scanner that is fixedly installed near the spindle box of the grinding machine or handheld. It illuminates the first identification code with structured light or visible light and collects the reflected image. The decoder then extracts the encoded content. The initial geometric parameters refer to the reference dimensions of the grinding disc measured by a metrology gauge before its first clamping and use. These dimensions serve as a reference for subsequent online measurement and wear compensation. The initial outer diameter is the nominal diameter of the grinding disc's grinding working surface, which determines the grinding linear speed and processing range. The initial thickness is the total axial height of the grinding disc substrate and the abrasive layer, which affects the spindle's axial positioning and grinding depth setting. The nominal roundness is the maximum radial deviation of the grinding disc's outer circle profile from the ideal circle, used to determine whether the grinding disc's manufacturing precision meets the process requirements.

[0026] For example, after the grinding machine starts the calibration process, the first code reader is triggered to scan the exposed surface of the tapered positioner clamped on the spindle. The red ring light source built into the code reader illuminates the first identification code at a low angle. The industrial camera automatically focuses and captures the code image. After image binarization and distortion correction, the decoding engine extracts the positioner serial number or directly embedded parameter data from the code. If the first identification code only stores the serial number, the system connects to the parameter database via the network and uses the serial number as an index to query the associated grinding disc initial outer diameter, initial thickness, and roundness values ​​calibrated by a coordinate measuring machine when the positioner was manufactured. If the first identification code directly encodes the above parameters in the form of a high-density data matrix code, the integrity is verified by a verification algorithm after decoding, and the three initial geometric parameters are directly parsed out. The system then writes these values ​​into the calibration register as a reference for online measurement of grinding disc wear and compensation feed during subsequent grinding processes.

[0027] Step S106: Use a 3D point cloud scanning device to scan the conical surface of the conical locator and establish the spatial transformation relationship between the coordinate system of the scanning device and the coordinate system of the main axis; then scan the outer contour of the grinding disk in the clamping state to obtain the overall point cloud. Use the spatial transformation relationship and the conical surface reference point cloud to accurately segment and extract the actual 3D point cloud of the grinding disk from the overall point cloud. Register and compare the actual 3D point cloud with the initial geometric parameters to determine the wear parameters of the grinding disk. The wear parameters include at least the outer diameter wear amount, the end face wear amount, and the roundness error.

[0028] The 3D point cloud scanning device is a line laser contour sensor or a structured light 3D camera, which is installed in the working area of ​​the grinding machine in a fixed or movable manner, and its field of view covers the clamping area at the front end of the spindle; the conical reference point cloud refers to the point cloud data with clear geometric features obtained by scanning the exposed conical surface of the conical positioner. The spatial direction of the spindle rotation axis and the position of the cone apex can be determined by conical surface fitting; the spatial transformation relationship between the coordinate system of the scanning device and the coordinate system of the spindle is a rigid body transformation matrix obtained by the conical reference point cloud, which is used to unify the point cloud collected by the scanning device to a coordinate system with the spindle axis as the reference; the actual 3D point cloud of the grinding disc refers to the point cloud of the grinding disc body after removing the spindle, positioner and background noise from the overall scanned point cloud.

[0029] For example, the 3D point cloud scanning device is a line laser profile sensor mounted on the crossbeam of the edge grinding machine. During calibration, the spindle rotates at a low speed, and the sensor moves along the spindle axis to scan the exposed conical surface of the conical locator, obtaining a reference point cloud of the conical surface. The system performs conical surface fitting on this point cloud, extracts the axis of the conical surface as the spindle rotation axis, and calculates the rigid body transformation matrix from the scanning device coordinate system to the spindle coordinate system. Subsequently, the sensor performs a complete outer contour scan of the grinding disc in the clamped state under the same coordinate system, obtaining an overall point cloud including the spindle end, the locator, and the grinding disc. Using the calibrated spatial transformation relationship, the overall point cloud is transformed to the spindle coordinate system. Based on the conical reference point cloud and the 3D model of the locator as a mask, the spindle and locator portions are removed from the overall point cloud, accurately segmenting the actual 3D point cloud of the grinding disc. The system performs iterative nearest-point registration between the actual point cloud of the grinding disc and the theoretical cylindrical model generated from the initial outer diameter and initial thickness obtained in step S104, calculates the deviation distribution after registration, and extracts the maximum negative deviation in the outer diameter direction as the outer diameter wear amount, the maximum negative deviation in the end face direction as the end face wear amount, and the roundness deviation of the outer diameter profile as the roundness error.

[0030] For example, a three-dimensional point cloud scanning device is used to scan the conical surface of a conical locator to establish a spatial transformation relationship between the scanning device coordinate system and the principal axis coordinate system. This includes: controlling the three-dimensional point cloud scanning device to perform multi-view scanning of the conical surface of the conical locator at a preset scanning resolution and a preset scanning angle range to obtain a reference point cloud of the conical surface; extracting no less than three non-collinear conical surface feature points from the reference point cloud of the conical surface and obtaining the corresponding principal axis reference coordinate points in the principal axis coordinate system; and calculating the rotation and translation transformation matrix between the scanning device coordinate system and the principal axis coordinate system based on the correspondence between the conical surface feature points and the principal axis reference coordinate points through least squares fitting or iterative nearest point algorithm, as the spatial transformation relationship.

[0031] In this embodiment, the 3D point cloud scanning device is a line laser contour sensor, which scans around the main axis at a preset step angle while simultaneously translating along the main axis to acquire multiple point clouds covering the entire exposed conical surface of the conical locator. After voxel filtering for noise reduction and overlapping region fusion, a complete conical reference point cloud is generated. The system uses a random sampling consensus algorithm to fit a conical model to the conical point cloud, obtaining the conical axis and apex angle. Then, taking the intersection of the conical axis and the locator end face as the origin, several equidistant sections are taken along the axis direction, and multiple intersections of the conical generatrices are extracted on each section as conical feature points. The corresponding main axis reference coordinate points are measured using a calibrated standard sphere when the main axis moves to the preset reference position. The system inputs two sets of points into an iterative nearest-point algorithm, with the optimization objective of minimizing the sum of squared distances between corresponding points, and iteratively calculates the rotation and translation transformation matrix. Each iteration uses singular value decomposition to solve the rigid transformation until the registration residual converges to a preset threshold. The output transformation matrix serves as the spatial transformation relationship for coordinate transformation of all subsequent scanned data.

[0032] For example, the actual three-dimensional point cloud of the grinding disc is accurately segmented and extracted from the overall point cloud using spatial transformation relationships and conical reference point clouds. This includes: transforming the overall point cloud to the principal axis coordinate system through spatial transformation relationships to obtain the transformed overall point cloud; using the conical region enclosed by the conical reference point cloud as the spatial constraint boundary, performing region segmentation processing on the transformed overall point cloud to remove the point cloud of the conical locator body and the interference point cloud of the fixture, while retaining the point cloud data of the outer contour region of the grinding disc; and performing outlier removal and surface fitting smoothing processing on the retained point cloud data to obtain the actual three-dimensional point cloud of the grinding disc.

[0033] In this embodiment, after the 3D point cloud scanning device completes the scanning, it transforms the entire point cloud to the principal axis coordinate system using a calibrated rotation and translation transformation matrix. Using the fitted cone axis as the Z-axis and the cone generatrix as the spatial constraint boundary, a spatially segmented cylindrical surface bounded by the cone is generated. Points within the cone envelope of the transformed point cloud are marked as locator body and fixture point clouds and removed. Points outside the cone envelope with radial coordinates greater than the cone's outer diameter are marked as grinding disc candidate points and retained. For the retained candidate point clouds, a filter based on neighborhood point distance statistics is used to calculate the average distance from each point to its nearest neighbors. Points with average distances exceeding a certain multiple of the global mean are removed as outliers. For the denoised point cloud, a moving least squares algorithm is used for surface fitting, approximating the grinding disc surface with a local polynomial to generate a smooth and continuous actual 3D point cloud for subsequent registration and comparison with the initial geometric parameters.

[0034] For example, the wear parameters of the grinding disc are determined by registering and comparing the actual three-dimensional point cloud with the initial geometric parameters. This includes: constructing a nominal three-dimensional geometric model of the grinding disc based on the initial outer diameter and initial thickness; performing rigid body registration between the actual three-dimensional point cloud and the nominal three-dimensional geometric model using an iterative nearest-point algorithm, and calculating the deviation field after registration; extracting the maximum deviation value in the radial direction from the deviation field as the outer diameter wear amount, extracting the maximum deviation value in the axial direction as the end face wear amount, and obtaining the deviation from the nominal roundness by performing a circular fitting analysis on the radial section of the registered point cloud as the roundness error.

[0035] In this embodiment, a standard cylindrical point cloud with uniform point sampling is constructed using the origin of the principal axis coordinate system as a reference, and initial outer diameter and initial thickness parameters, serving as the nominal three-dimensional geometric model. The actual three-dimensional point cloud and the nominal model are input into an iterative nearest-point algorithm for registration. In each iteration step, the algorithm finds the corresponding point pairs from each point in the actual point cloud to the nearest surface of the nominal model, aiming to minimize the sum of squared distances between corresponding points. The rigid transformation is solved through singular value decomposition, and the pose of the actual point cloud is updated. The algorithm stops when the change in registration residual between two adjacent iterations is less than a preset convergence threshold, resulting in the aligned actual point cloud and the registration transformation matrix. After registration, the radial distance from each point in the aligned point cloud to the nominal cylindrical surface and the axial distance to the nominal end face are calculated to form a deviation field. All points in the outer circular region of the grinding disc are traversed, and the absolute value of the maximum negative deviation along the radial direction is taken as the outer diameter wear; all points in the end face region of the grinding disc are traversed, and the absolute value of the maximum negative deviation along the axial direction is taken as the end face wear. Multiple radial sections are cut at equal intervals along the main axis. The point cloud of each section is fitted with a least-squares circle to obtain the radius of the section circle. The difference between the maximum and minimum values ​​of the radius of each section circle is taken as the roundness error.

[0036] Step S108: Based on the wear parameters, control the feed axis to drive the tapered positioner and the entire grinding disc, and perform compensation displacements corresponding to the outer diameter wear and end face wear along the radial and axial directions of the main shaft, respectively, and synchronously compensate the rotation of the main shaft to correct the roundness error.

[0037] Among them, the feed axis refers to the servo axis in the CNC system of the grinding machine used to drive the spindle box or grinding head to move radially and axially. Its compensation displacement command is automatically calculated and issued by the CNC system based on wear parameters. Compensation displacement refers to the additional displacement actively applied to make up for the deviation between the actual grinding position and the theoretical grinding position caused by the wear of the grinding disc. The radial compensation displacement is equal to the outer diameter wear, and the axial compensation displacement is equal to the end face wear. Synchronous compensation refers to coordinating the spindle rotation motion with the compensated feed motion in time. By finely adjusting the instantaneous speed of the spindle or the speed planning of the grinding path, the grinding disc removes material evenly in the circumferential direction within one revolution, thereby correcting the roundness error.

[0038] For example, after acquiring the wear parameters, radial compensation and axial compensation are generated respectively. The system sends a pulse command to the radial feed servo driver, driving the spindle head to move radially towards the glass to be processed by a distance equal to the outer diameter wear, so that the grinding surface of the grinding disc returns to the theoretical grinding line position; simultaneously, a command is sent to the axial feed servo driver, driving the spindle to move axially by a distance equal to the end face wear, so that the grinding surface of the grinding disc end face returns to the theoretical positioning plane. After the two compensation movements are completed, the system reads the feedback from the servo motor encoder to confirm that the actual displacement is in place. For the correction of roundness error, the system adopts a spindle rotation synchronous compensation strategy: based on the roundness error value, the radius deviation distribution of each angle interval within one revolution of the grinding disc is calculated, and the instantaneous speed of the spindle servo motor is periodically fine-tuned accordingly. In the angle interval with large roundness deviation of the grinding disc, the feed speed is appropriately reduced to increase the material removal time, and the normal speed is restored in the interval with small deviation, thereby achieving circumferential uniform grinding and gradually correcting the roundness error. After the compensation is completed, the system records the compensation amount and adds it to the cumulative wear compensation value.

[0039] For example, a radial feed command is generated based on the outer diameter wear amount, controlling the radial feed axis to drive the tapered positioner and the grinding disc as a whole to move half of the outer diameter wear amount away from the spindle center; an axial feed command is generated based on the end face wear amount, controlling the axial feed axis to drive the tapered positioner and the grinding disc as a whole to move the end face wear amount along the spindle axis; and a periodic micro-displacement compensation command synchronized with the spindle rotation angle is generated based on the phase and amplitude information of the roundness error, and superimposed on the spindle rotation control signal to dynamically correct the roundness error during rotation.

[0040] In this embodiment, after reading the phase and amplitude of the outer diameter wear, end face wear, and roundness error, a three-stage compensation command is generated. The radial feed axis driver receives a pulse command with a movement amount equal to half the outer diameter wear, driving the spindle head to feed towards the workpiece along the radial slide rail, and providing feedback confirmation upon reaching the desired position. Simultaneously, the axial feed axis driver receives a command with a movement amount equal to the end face wear, pushing the spindle to move axially, bringing the grinding disc end face to the theoretical reference position. For roundness error, the system performs harmonic analysis on the roundness deviation distribution, extracting the amplitude and phase angle of the dominant order, and generating a periodic position compensation table synchronized with the spindle encoder angle. Within the corresponding angular interval of each spindle revolution, the feed axis position is finely adjusted in real time through the additional torque or position offset signal of the servo driver, causing the grinding depth to change circumferentially according to a preset rule, thereby gradually correcting the roundness.

[0041] Step S110: Use the second barcode reader to scan the second identification code on the glass to be processed or its carrier to obtain the identification information of the glass, and retrieve the corresponding thickness parameters and edge contour parameters from the database based on the identification information.

[0042] The second barcode reader is an industrial image-based barcode scanner that is fixedly installed at the loading station or the entrance of the grinding station of the edging machine. It can share the same hardware as the first barcode reader or be configured independently. It is used to automatically read the identification of the glass before it enters the grinding area. The second identification code is a machine-readable code that is preset in step S102 in the non-grinding area of ​​the glass to be processed or at a predetermined position on its carrier. The internal code or associated storage contains the unique identifier of the glass. The identification information refers to the complete set of process parameters of the glass stored in the processing control system database with the identifier as the index. The thickness parameter is the actual measured thickness of the glass plate, and the edge contour parameters include the external dimensions of the glass, the chamfer angle, the edge grinding shape type, and the edge processing allowance. These parameters determine the feed rate and tool path of the edge grinding process.

[0043] For example, a loading robot picks up the glass to be processed from the loading table and transfers it to the feed roller conveyor of the edging machine. As the glass passes the loading station, a second barcode reader fixed to the crossbeam above the roller conveyor is automatically triggered, emitting a ring-shaped red light source to illuminate the non-grinding area at the corner of the glass. An industrial camera captures an image of this area at high speed. The image processing module first performs distortion correction and contrast enhancement on the image, then locates the QR code area and parses out the unique number of the glass. The system uses this number as a query key to initiate a query request to the database of the processing control system. The database returns the identification information record of the glass, including the actual thickness value measured by a laser thickness gauge upon entry into the warehouse, and the edge contour parameters imported from CAD drawings or manually entered. The system writes the thickness value into the thickness compensation register of the CNC system to calculate the grinding wheel feed rate; it loads the edge contour parameters into the toolpath planning module to automatically generate the motion trajectory and feed rate for the edging process, completing the parameter retrieval and calibration preparation for the glass end.

[0044] For example, after reading the second identification code through the second barcode reader, the unique identification code of the glass is obtained by parsing. The corresponding thickness parameters and edge contour parameters are retrieved from the database using the unique identification code as the index key. The edge contour parameters include the preset grinding shape curve and the tolerance range.

[0045] In this embodiment, the second barcode reader is fixed above the feed roller of the edging machine. When the glass to be processed is conveyed to the barcode reading station by the conveyor roller, the photoelectric sensor triggers the second barcode reader to scan the QR code on the non-grinding area of ​​the glass corner. The image processor built into the barcode reader performs binarization and distortion correction on the acquired code image, and the decoding module extracts the unique identification code of the glass. The system uses this identification code as the index key to initiate a structured query to the processing control system database. The database returns the complete process parameter record corresponding to the glass. The system extracts the thickness parameter from it and writes it into the thickness compensation register of the CNC system. At the same time, it reads the preset grinding shape curve data in the edge contour parameters, loads it into the tool path planning module to generate the edging motion trajectory, and reads the tolerance range to set the pass / fail threshold for online detection.

[0046] Step S112: Based on the actual spatial position of the compensated grinding disc in the spindle coordinate system, combined with the thickness parameters and edge contour parameters, calculate the adjustment amount required for the glass positioning mechanism and automatically perform the adjustment to align the glass edge to be ground with the grinding working area of ​​the grinding disc.

[0047] Among them, the glass positioning mechanism refers to the mechanical device used to fix and adjust the spatial posture of the glass to be processed, including the glass suction cup frame, back wheel set or servo centering platform, which can be finely adjusted in the vertical, horizontal and rotational directions; the adjustment amount refers to the displacement or angle value that each motion axis of the glass positioning mechanism needs to be adjusted so that the edge of the glass to be ground is precisely aligned with the grinding working area of ​​the grinding disc in space; alignment means that the starting point of the edge of the glass to be ground, the grinding curve trajectory and the actual grinding working surface of the grinding disc reach a predetermined relative positional relationship in three-dimensional space.

[0048] For example, the system reads the current coordinates of the grinding surface of the grinding disc in the spindle coordinate system, and calculates the target positions of the grinding start point and key points on the path in the spindle coordinate system by combining the preset grinding shape curve in the edge contour parameters. The system substitutes the glass thickness parameters into the vertical height calculation model to obtain the displacement that the glass positioning mechanism needs to adjust in the vertical direction, so that the center plane of the glass thickness coincides with the reference plane of the grinding disc end face. Simultaneously, based on the shape curve and tolerance range of the edge contour parameters, the system calculates the displacement and angle that the glass positioning mechanism needs to adjust in the horizontal feed direction and rotation direction, so that the starting point of the glass edge to be ground is aligned with the starting point of the grinding path. After interpolation by the CNC system, each adjustment is precisely adjusted by the servo drive controlling the lifting axis of the suction cup frame, the horizontal movement axis of the centering platform, and the rotation axis. Once in position, feedback from the grating ruler confirms the alignment, completing the automatic alignment of the glass with the grinding disc's grinding work area.

[0049] For example, the center coordinates and effective grinding radius range of the grinding working area of ​​the grinding disc in the spindle coordinate system are determined according to the actual spatial position of the grinding disc after compensation; the target distance between the glass edge to be ground and the grinding surface of the grinding disc in the axial direction is calculated according to the thickness parameter, and the target offset and target rotation angle of the glass edge to be ground in the radial plane are calculated according to the edge contour parameter; the multi-degree-of-freedom adjustment command of the glass positioning mechanism is generated by combining the target distance, target offset and target rotation angle, and sent to each drive axis of the glass positioning mechanism to perform automatic adjustment.

[0050] In this embodiment, the current position of the grinding surface of the grinding disc in the spindle coordinate system is read from the compensation register, and the center coordinates and effective grinding radius of its outer cylindrical grinding area are calculated. The target distance between the center plane of the glass edge to be ground and the end face of the grinding disc is calculated based on the thickness parameters, ensuring that the end face of the grinding disc makes uniform contact with the upper and lower edges of the glass during grinding. Based on the preset grinding shape curve in the edge contour parameters, the coordinates of the starting point of the grinding path in the spindle coordinate system are determined, and the required horizontal offset and rotation angle around the vertical axis of the glass positioning mechanism in the radial plane are calculated to align the glass edge with the grinding path. Combining the target distance, target offset, and target rotation angle, the system generates multi-degree-of-freedom adjustment commands, which, through servo drives, control the vertical lifting axis of the glass suction cup holder, the horizontal centering platform, and the rotary table to perform precise adjustments. Feedback confirmation is provided after each axis is in position, completing the automatic alignment of the glass with the grinding disc's grinding area.

[0051] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0052] Based on the same inventive concept, this application also provides a rapid calibration system for an edge grinding machine based on a conical positioner and an identification code, for implementing the aforementioned rapid calibration method for an edge grinding machine based on a conical positioner and an identification code. The solution provided by this system is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the rapid calibration system for an edge grinding machine based on a conical positioner and an identification code provided below can be found in the limitations of the rapid calibration method for an edge grinding machine based on a conical positioner and an identification code described above, and will not be repeated here.

[0053] In one exemplary embodiment, such as Figure 2 As shown, a rapid calibration system for an edge grinding machine based on a conical positioner and identification codes is provided, including: The conical positioning module 202 is used to provide a conical positioner with a first identification code preset on its surface. The grinding disc is coaxially clamped to the spindle through the conical positioner, so that the positioning reference of the conical surface and end face of the conical positioner is consistent with the grinding working reference of the grinding disc. A second identification code is preset on the glass to be processed or its carrier, and the second identification code is associated with and stores the identification information of the glass. The first code reading module 204 is used to scan the first identification code using the first code reader to obtain the initial geometric parameters of the grinding disc, including the initial outer diameter, initial thickness and nominal roundness. Wear determination module 206 is used to scan the conical surface of the conical locator using a three-dimensional point cloud scanning device, and establish the spatial transformation relationship between the coordinate system of the scanning device and the coordinate system of the main axis; then, it scans the outer contour of the grinding disk in the clamping state to obtain the overall point cloud, and accurately segments and extracts the actual three-dimensional point cloud of the grinding disk from the overall point cloud using the spatial transformation relationship and the conical surface reference point cloud, and registers and compares the actual three-dimensional point cloud with the initial geometric parameters to determine the wear parameters of the grinding disk. The wear parameters include at least the outer diameter wear amount, the end face wear amount, and the roundness error. The first compensation module 208 is used to control the feed axis to drive the tapered positioner and the grinding disc as a whole based on wear parameters, and to perform compensation displacements corresponding to the wear amount of the outer diameter and the wear amount of the end face along the radial and axial directions of the main shaft, respectively, and to synchronously compensate the rotation of the main shaft to correct the roundness error. The second code reading module 210 is used to scan the second identification code on the glass to be processed or its carrier using the second code reader, obtain the identification information of the glass, and retrieve the corresponding thickness parameters and edge contour parameters from the database based on the identification information. The second compensation module 212 is used to calculate the adjustment amount required by the glass positioning mechanism based on the actual spatial position of the grinding disc in the main axis coordinate system after compensation, combined with the thickness parameters and edge contour parameters, and automatically execute the adjustment so that the edge of the glass to be ground is aligned with the grinding working area of ​​the grinding disc.

[0054] The modules in the aforementioned rapid calibration system for edge grinding machines based on conical positioners and identification codes can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware within or independently of the processor in a computer device, or stored in software within the memory of the computer device, allowing the processor to call and execute the corresponding operations of each module.

[0055] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memories can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least relational and non-relational databases. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0056] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0057] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A rapid calibration method for an edge grinding machine based on a conical positioner and an identification code, characterized in that, The method includes: A conical locator is provided, with a first identification code preset on its surface. The grinding disc is coaxially clamped to the spindle through the conical locator, so that the positioning reference of the conical surface and end face of the conical locator is consistent with the grinding working reference of the grinding disc. A second identification code is preset on the glass to be processed or its carrier, and the second identification code is associated with and stores the identification information of the glass. The first identification code is scanned using the first barcode reader to obtain the initial geometric parameters of the grinding disc, which include the initial outer diameter, initial thickness, and nominal roundness. The conical surface of the conical locator is scanned using a 3D point cloud scanning device to establish a spatial transformation relationship between the coordinate system of the scanning device and the coordinate system of the main axis. Then, the outer contour of the grinding disk in the clamping state is scanned to obtain the overall point cloud. The actual 3D point cloud of the grinding disk is accurately segmented and extracted from the overall point cloud using the spatial transformation relationship and the conical surface reference point cloud. The actual 3D point cloud is registered and compared with the initial geometric parameters to determine the wear parameters of the grinding disk. The wear parameters include at least the outer diameter wear amount, the end face wear amount, and the roundness error. Based on the wear parameters, the feed axis is controlled to drive the tapered positioner and the grinding disc as a whole, and to perform compensating displacements corresponding to the wear amount of the outer diameter and the wear amount of the end face along the radial and axial directions of the main shaft, respectively, and to synchronously compensate the rotation of the main shaft to correct the roundness error. The second identification code on the glass to be processed or its carrier is scanned using a second barcode reader to obtain the identification information of the glass, and the corresponding thickness parameters and edge contour parameters are retrieved from the database based on the identification information. Based on the actual spatial position of the compensated grinding disc in the spindle coordinate system, combined with the thickness parameters and edge contour parameters, the adjustment amount required for the glass positioning mechanism is calculated and automatically executed to align the glass edge to be ground with the grinding working area of ​​the grinding disc.

2. The method according to claim 1, characterized in that, The first identification code is a machine-readable code, which includes at least one of a QR code, a data matrix code, or a one-dimensional barcode; The first identification code is preset in a predetermined area on the outer cone surface or end face of the cone positioner by means of laser etching, electrical discharge etching or high wear-resistant label pasting; The initial geometric parameters are stored in the first identifier in a structured data format or in a parameter database that is mapped to the first identifier.

3. The method according to claim 1, characterized in that, The step of using a 3D point cloud scanning device to scan the conical surface of the conical locator and establishing the spatial transformation relationship between the scanning device coordinate system and the principal axis coordinate system includes: The three-dimensional point cloud scanning device is controlled to perform multi-view scanning of the cone surface of the cone locator with a preset scanning resolution and a preset scanning angle range to obtain the cone surface reference point cloud; Extract no fewer than three non-collinear cone feature points from the cone reference point cloud, and obtain the corresponding principal axis reference coordinate points in the principal axis coordinate system; Based on the correspondence between the conical feature points and the main axis reference coordinate points, the rotation and translation transformation matrix between the scanning device coordinate system and the main axis coordinate system is calculated by least squares fitting or iterative nearest point algorithm, which serves as the spatial transformation relationship.

4. The method according to claim 3, characterized in that, The process of accurately segmenting and extracting the actual three-dimensional point cloud of the grinding disc from the overall point cloud using the spatial transformation relationship and the conical reference point cloud includes: The overall point cloud is uniformly transformed to the principal axis coordinate system through the spatial transformation relationship to obtain the transformed overall point cloud; Using the cone-shaped reference point cloud as the spatial constraint boundary, the transformed overall point cloud is subjected to region segmentation processing to remove the point cloud of the cone-shaped locator body and the interference point cloud of the fixture, while retaining the point cloud data of the outer contour region of the grinding disc. Outlier removal and surface fitting smoothing are performed on the retained point cloud data to obtain the actual three-dimensional point cloud of the grinding disc.

5. The method according to claim 1, characterized in that, The step of registering and comparing the actual 3D point cloud with the initial geometric parameters to determine the wear parameters of the grinding disc includes: Construct a nominal three-dimensional geometric model of the grinding disc based on the initial outer diameter and initial thickness; The iterative nearest point algorithm is used to perform rigid body registration between the actual 3D point cloud and the nominal 3D geometric model, and the deviation field after registration is calculated. The maximum radial deviation value is extracted from the deviation field as the outer diameter wear amount, and the maximum axial deviation value is extracted as the end face wear amount. The deviation between the radial cross section of the registered point cloud and the nominal roundness is obtained by performing a circular fitting analysis, which is used as the roundness error.

6. The method according to claim 1, characterized in that, Based on the wear parameters, the feed axis is controlled to drive the tapered positioner and the grinding disc as a whole, performing compensating displacements along the radial and axial directions of the main shaft corresponding to the outer diameter wear and end face wear, respectively, and synchronously compensating for the main shaft rotation to correct roundness errors, including: Based on the outer diameter wear amount, a radial feed command is generated, and the radial feed axis is controlled to drive the tapered positioner and the grinding disc as a whole to move half of the outer diameter wear amount in a direction away from the spindle center. Based on the end face wear amount, an axial feed command is generated to control the axial feed axis to drive the tapered positioner and the grinding disc as a whole to move along the main shaft axially by the end face wear amount. Based on the phase and amplitude information of the roundness error, a periodic micro-displacement compensation command synchronized with the spindle rotation angle is generated and superimposed on the spindle rotation control signal to dynamically correct the roundness error during rotation.

7. The method according to claim 1, characterized in that, The second identification code is associated with and stores the identification information of the glass, including: The second identification code is pre-set in the non-grinding area of ​​the glass to be processed or at a predetermined position on its carrier. The second identification code is bound to the identification information of the glass through an encrypted association table or a cloud database. The identification information includes at least the glass number, glass batch, glass material type, original glass thickness specification, and preset grinding process parameters.

8. The method according to claim 1, characterized in that, The step of scanning the second identification code on the glass to be processed or its carrier using a second barcode reader to obtain the identification information of the glass, and retrieving the corresponding thickness parameters and edge contour parameters from the database based on the identification information, includes: After reading the second identification code through the second barcode reader, the unique identification code of the glass is obtained by parsing. The corresponding thickness parameters and edge contour parameters are retrieved from the database using the unique identification code as the index key. The edge contour parameters include a preset grinding shape curve and a tolerance range.

9. The method according to claim 1, characterized in that, Based on the actual spatial position of the compensated grinding disc in the spindle coordinate system, combined with the thickness parameters and edge contour parameters, the required adjustment amount for the glass positioning mechanism is calculated and automatically executed to align the glass edge to be ground with the grinding working area of ​​the grinding disc, including: The center coordinates and effective grinding radius range of the grinding working area of ​​the grinding disc in the spindle coordinate system are determined based on the actual spatial position of the grinding disc after compensation. The target distance between the glass edge to be ground and the grinding surface of the grinding disc in the axial direction is calculated based on the thickness parameters, and the target offset and target rotation angle of the glass edge to be ground in the radial plane are calculated based on the edge contour parameters. The multi-degree-of-freedom adjustment command of the glass positioning mechanism is generated by combining the target spacing, target offset, and target rotation angle, and sent to each drive shaft of the glass positioning mechanism to perform automatic adjustment.

10. A rapid calibration system for an edge grinding machine based on a conical positioner and an identification code, characterized in that, The system includes: A conical positioning module is used to provide a conical positioner with a first identification code preset on its surface. The grinding disc is coaxially clamped to the spindle through the conical positioner, so that the positioning reference of the conical surface and end face of the conical positioner is consistent with the grinding working reference of the grinding disc. A second identification code is preset on the glass to be processed or its carrier, and the second identification code is associated with and stores the identification information of the glass. The first code reading module is used to scan the first identification code using a first code reader to obtain the initial geometric parameters of the grinding disc, the initial geometric parameters including the initial outer diameter, initial thickness and nominal roundness; The wear determination module is used to scan the conical surface of the conical locator using a three-dimensional point cloud scanning device, and establish the spatial transformation relationship between the coordinate system of the scanning device and the coordinate system of the main axis; then, it scans the outer contour of the grinding disk in the clamping state to obtain the overall point cloud, and uses the spatial transformation relationship and the conical surface reference point cloud to accurately segment and extract the actual three-dimensional point cloud of the grinding disk from the overall point cloud, and registers and compares the actual three-dimensional point cloud with the initial geometric parameters to determine the wear parameters of the grinding disk. The wear parameters include at least the outer diameter wear amount, the end face wear amount, and the roundness error. The first compensation module is used to control the feed shaft to drive the tapered positioner and the grinding disc as a whole based on the wear parameters, and to perform compensation displacements corresponding to the wear amount of the outer diameter and the wear amount of the end face along the radial and axial directions of the main shaft, respectively, and to synchronously compensate the rotation of the main shaft to correct the roundness error. The second code reading module is used to scan the second identification code on the glass to be processed or its carrier using the second code reader, obtain the identification information of the glass, and retrieve the corresponding thickness parameters and edge contour parameters from the database based on the identification information. The second compensation module is used to calculate the adjustment amount required by the glass positioning mechanism based on the actual spatial position of the grinding disc in the main axis coordinate system after compensation, combined with the thickness parameter and edge contour parameter, and automatically execute the adjustment so that the edge of the glass to be ground is aligned with the grinding working area of ​​the grinding disc.

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