CN109250927B - Method and device for visually identifying glass laminating stacking error - Google Patents
Method and device for visually identifying glass laminating stacking error Download PDFInfo
- Publication number
- CN109250927B CN109250927B CN201811479745.5A CN201811479745A CN109250927B CN 109250927 B CN109250927 B CN 109250927B CN 201811479745 A CN201811479745 A CN 201811479745A CN 109250927 B CN109250927 B CN 109250927B
- Authority
- CN
- China
- Prior art keywords
- angle
- laminated glass
- straight line
- glass
- corner
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- C—CHEMISTRY; METALLURGY
- C03—GLASS; MINERAL OR SLAG WOOL
- C03C—CHEMICAL COMPOSITION OF GLASSES, GLAZES OR VITREOUS ENAMELS; SURFACE TREATMENT OF GLASS; SURFACE TREATMENT OF FIBRES OR FILAMENTS MADE FROM GLASS, MINERALS OR SLAGS; JOINING GLASS TO GLASS OR OTHER MATERIALS
- C03C27/00—Joining pieces of glass to pieces of other inorganic material; Joining glass to glass other than by fusing
- C03C27/06—Joining glass to glass by processes other than fusing
- C03C27/10—Joining glass to glass by processes other than fusing with the aid of adhesive specially adapted for that purpose
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20112—Image segmentation details
- G06T2207/20164—Salient point detection; Corner detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Ceramic Engineering (AREA)
- Quality & Reliability (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Materials Engineering (AREA)
- Organic Chemistry (AREA)
- Joining Of Glass To Other Materials (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a method and a device for visually identifying glass lamination stacking error, belonging to the technical field of glass processing and comprising the following steps: shooting two opposite angles of the upper laminated glass and two opposite angles of the lower laminated glass respectively; capturing the position of a feature point of the feature value; calculating an included angle between a straight line formed by connecting characteristic points of two opposite angles of the upper laminated glass and a straight line formed by connecting characteristic points of two opposite angles of the lower laminated glass to obtain an angle deviation; judging whether the values of the characteristic points of the two angles at the same end of the two pieces of glass in the x direction and the y direction are the same or not, and calculating to obtain displacement deviation; through the bidirectional adjustment of the angle deviation and the displacement deviation, the precision of the sheet combination is ensured, and a device using the method is further provided. By using the method and the device for visually identifying the glass laminating stacking error, provided by the invention, the stacking error can be accurately calculated, the laminating accuracy is ensured, the precision of the laminating process is improved, the production cost is saved, and the production efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of glass processing, and particularly relates to a method and a device for visually identifying glass lamination stacking error.
Background
The laminated glass is formed by clamping a layer of PVB film between two or more pieces of glass, and the PVB laminated glass has multiple functions of safety, heat preservation, noise control, ultraviolet isolation and the like, so that the laminated glass is widely applied to industries such as buildings, automobiles and the like. In the production process of laminated glass, two pieces of glass need to be laminated, and in the actual laminating process, the upper glass and the lower glass cannot be completely aligned due to measurement errors, so that the stacking error occurs, the quality of a finished product is reduced, and meanwhile, the subsequent processing is increased. Therefore, the accurate identification of the lamination stacking error of the glass and the timely adjustment of the lamination stacking error are the crucial steps in the production of the laminated glass.
The traditional method for measuring the stacking error is to measure the difference value of the outlines of two pieces of glass by adopting a straight steel ruler or measure the difference value of the outlines of the corresponding positions of the two pieces of glass by using a caliper. The two methods have the problem of large measurement error, and the steel ruler is manually read when in use, so that large visual error exists; when the caliper is used for measuring, the measured part is difficult to ensure to be completely consistent, and the problem that the caliper is not parallel to the glass surface when the caliper is used for measuring is easy to occur, and a larger error also exists. The Chinese patent with the application number of 201810580477.X discloses a laminated glass stacking error instrument, which is used for measuring the outline dimension difference of two pieces of glass, can avoid the influence of the interlayer glue in the middle of the laminated glass, is convenient to use and has more accurate measuring result. Although the method has improved accuracy compared with the traditional method for measuring the stacking error by using the straight steel ruler and the caliper, the measuring process and the laminating process are still carried out separately, which undoubtedly reduces the laminating efficiency; and because the size of the measuring instrument is limited, the stacking error can be measured only for glass with certain size, and the measuring instrument is not applicable to glass with larger size.
Disclosure of Invention
In order to overcome the defects of the prior art, the technical problems to be solved by the invention are as follows: the method and the device are suitable for different sizes of glass and can accurately measure the glass lamination stacking error through visual identification.
In order to solve the technical problems, the invention adopts the technical scheme that: a method of visually identifying glass ply stacking error comprising the steps of:
step 1: stacking the upper laminated glass and the lower laminated glass;
shooting a first corner of the upper laminated glass and a corner corresponding to the corner on the lower laminated glass to obtain a first image;
shooting a second angle of the upper laminated glass and an angle corresponding to the angle on the lower laminated glass to obtain a second image;
step 2: extracting the features of the first image and the second image to obtain feature points;
the characteristic points of the first corner and the second corner on the upper laminated glass are connected to form a first straight line;
connecting the characteristic points of the corresponding angles on the lower laminated glass to form a second straight line;
and step 3: calculating to obtain an included angle a between the first straight line and the second straight line, and judging whether the included angle a exceeds a first threshold value;
if so, rotating the position of the upper laminated glass to adjust the included angle a between the first straight line and the second straight line;
if not, executing the step 4;
and 4, step 4: calculating the values of the characteristic points of the first angle of the upper laminated glass and the angle corresponding to the first angle on the lower laminated glass in the x direction and the y direction, and judging whether the values are the same;
calculating the values of the characteristic points of a second angle of the upper laminated glass and the angle corresponding to the second angle on the lower laminated glass in the x direction and the y direction, and judging whether the values are the same;
if yes, the lamination is finished;
if not, the position of the upper laminated glass is moved to adjust the values of the characteristic points of the first angle and the second angle of the upper laminated glass in the x direction and the y direction.
The invention has the beneficial effects that: the method for visually identifying the glass laminating error can be used in the laminating process, two corners of two pieces of glass are simultaneously selected for shooting, the positions of characteristic values to characteristic points are captured, the characteristic points of two opposite corners of the same piece of glass form a line, and the angle deviation of the two pieces of glass is calculated through the included angle of two straight lines of the two pieces of glass; then judging whether the values of the characteristic points of the two angles at the same end of the two pieces of glass in the x direction and the y direction are the same or not, and calculating to obtain displacement deviation; through the bidirectional adjustment of the angle deviation and the displacement deviation, the precision of the film combination is ensured. Meanwhile, the longer the straight line is, the smaller the error is, so that the method is suitable for glass laminating of various sizes. The method can not only accurately calculate the stacking error to ensure the accuracy of the laminating, but also be combined with the laminating process, thereby greatly improving the accuracy of the laminating process.
Detailed Description
In order to explain the technical content, the objects and the effects of the present invention in detail, the following description will be given with reference to the embodiments.
The most key concept of the invention is as follows: and the double-position grabbing characteristic is adopted, and the angular deviation and the displacement deviation are compared and adjusted at the same time, so that the calculation and compensation of the stacking difference between the two pieces of glass are realized.
The invention provides a method for visually identifying glass lamination stacking error, which comprises the following steps:
step 1: stacking the upper laminated glass and the lower laminated glass;
shooting a first corner of the upper laminated glass and a corner corresponding to the corner on the lower laminated glass to obtain a first image;
shooting a second angle of the upper laminated glass and an angle corresponding to the angle on the lower laminated glass to obtain a second image;
step 2: extracting the features of the first image and the second image to obtain feature points;
the characteristic points of the first corner and the second corner on the upper laminated glass are connected to form a first straight line;
connecting the characteristic points of the corresponding angles on the lower laminated glass to form a second straight line;
and step 3: calculating to obtain an included angle a between the first straight line and the second straight line, and judging whether the included angle a exceeds a first threshold value;
if so, rotating the position of the upper laminated glass to adjust the included angle a between the first straight line and the second straight line;
if not, executing the step 4;
and 4, step 4: calculating the values of the characteristic points of the first angle of the upper laminated glass and the angle corresponding to the first angle on the lower laminated glass in the x direction and the y direction, and judging whether the values are the same;
calculating the values of the characteristic points of a second angle of the upper laminated glass and the angle corresponding to the second angle on the lower laminated glass in the x direction and the y direction, and judging whether the values are the same;
if yes, the lamination is finished;
if not, the position of the upper laminated glass is moved to adjust the values of the characteristic points of the first angle and the second angle of the upper laminated glass in the x direction and the y direction.
From the above description, the beneficial effects of the present invention are: the method for visually identifying the glass laminating error can be used in the laminating process, two corners of two pieces of glass are simultaneously selected for shooting, the positions of characteristic values to characteristic points are captured, the characteristic points of two opposite corners of the same piece of glass form a line, and the angle deviation of the two pieces of glass is calculated through the included angle of two straight lines of the two pieces of glass; then judging whether the values of the characteristic points of the two angles at the same end of the two pieces of glass in the x direction and the y direction are the same or not, and calculating to obtain displacement deviation; through the bidirectional adjustment of the angle deviation and the displacement deviation, the precision of the film combination is ensured. Meanwhile, the longer the straight line is, the smaller the error is, so that the method is suitable for glass sheet combination with larger size. The method can not only accurately calculate the stacking error to ensure the accuracy of the laminating, but also be combined with the laminating process, thereby greatly improving the accuracy of the laminating process.
Further, between the step 3 and the step 4, the method further comprises: the first corner of the upper laminated glass and the characteristic point of the corner corresponding to the first corner of the lower laminated glass are connected to form a third straight line;
the second corner of the upper laminated glass and the characteristic point of the corner of the lower laminated glass corresponding to the second corner are connected to form a fourth straight line;
calculating to obtain an included angle b between the third straight line and the fourth straight line, and judging whether the included angle b exceeds a second threshold value;
if so, moving the position of the upper laminated glass to adjust the included angle b between the third straight line and the fourth straight line;
if not, executing the step 4.
From the above description, by adding the above steps between step 3 and step 4, the minimum deviation existing after the position of the upper laminated glass is rotated in step 2 can be compensated, and the precision of laminating can be further improved.
Further, the method for visually identifying the glass lamination stacking error is applied to a device for visually identifying the glass lamination stacking error;
the device comprises a first camera, a second camera, a computer, a transmission station and a robot; the first camera and the second camera are respectively arranged above the transmission station, and the first camera, the second camera and the robot are respectively connected with the computer;
the method specifically comprises the following steps:
step 1: the upper laminating glass is sucked by a robot, and the lower laminating device is sucked by a transmission station and kept still; the upper laminated glass is positioned above the lower laminated glass;
the first camera shoots a first angle of the upper sheet combining glass, namely an angle I and an angle corresponding to the angle I, namely an angle II, on the lower sheet combining glass, and the angle I is positioned above the angle II to obtain a first image;
the second camera shoots a second angle of the upper laminating glass, namely an angle III and an angle corresponding to the angle on the lower laminating glass, namely an angle IV, wherein the angle III is positioned above the angle IV to obtain a second image;
step 2: extracting the features of the first image and the second image to obtain feature points;
connecting characteristic points of the first angle and the third angle on the upper laminated glass to form a first straight line;
the characteristic points of the second corner and the fourth corner on the lower laminated glass are connected to form a second straight line;
and step 3: calculating to obtain an included angle a between the first straight line and the second straight line, and judging whether the included angle a exceeds a first threshold value;
if so, the computer controls the robot to rotate the position of the upper laminated glass and adjusts the included angle a between the first straight line and the second straight line;
if not, executing the step 4;
and 4, step 4: calculating the values of the characteristic points of the first angle of the upper laminated glass and the second angle of the lower laminated glass in the x direction and the y direction, and judging whether the values are the same;
calculating the values of the characteristic points of the angle III of the upper laminated glass and the angle IV of the lower laminated glass in the x direction and the y direction, and judging whether the values are the same;
if so, the computer controls the robot to place the upper glass sheet on the lower glass sheet, and the glass sheet combination is finished;
if not, the position of the upper laminated glass is moved to adjust the values of the characteristic points of the first angle and the second angle of the upper laminated glass in the x direction and the y direction.
From the above description, the device simple structure snatchs through setting up the characteristic that two cameras carried out two positions to angular deviation and displacement deviation carry out the comparison simultaneously, come to calculate the compensation to the stacking error between two glass, conveniently carry out direct improvement and application to current piece apparatus for producing that closes, need not to purchase new equipment again, greatly reduced the production finished product, promoted the efficiency and the product quality of production.
Further, in the above method for visually recognizing glass lamination stacking error, between the step 3 and the step 4, the method further includes: connecting the characteristic points of the first corner of the upper laminated glass and the second corner of the lower laminated glass to form a third straight line;
the characteristic points of the third corner of the upper laminated glass and the fourth corner of the lower laminated glass are connected to form a fourth straight line;
calculating to obtain an included angle b between the third straight line and the fourth straight line, and judging whether the included angle b exceeds a second threshold value;
if so, controlling the robot to move the position of the upper laminated glass by the computer, and adjusting the included angle b between the third straight line and the fourth straight line;
if not, executing step 4
Further, the first threshold is: 0.01 degree.
Further, the second threshold is: 0.01 degree.
As can be seen from the above description, the first threshold is: 0.01 °, and the second threshold is: 0.01 degrees, can guarantee the precision of piece process, the glass after the piece that closes need not to carry out secondary operation, can directly be used for follow-up processing production.
The first embodiment of the invention is as follows:
a method of visually identifying glass ply stacking error comprising the steps of:
step 1: stacking the upper laminated glass and the lower laminated glass;
shooting a first corner of the upper laminated glass and a corner corresponding to the corner on the lower laminated glass to obtain a first image;
shooting a second angle of the upper laminated glass and an angle corresponding to the angle on the lower laminated glass to obtain a second image;
the first corner and the second corner are opposite angles;
step 2: extracting the features of the first image and the second image to obtain feature points;
the characteristic points of the first corner and the second corner on the upper laminated glass are connected to form a first straight line;
connecting the characteristic points of the corresponding angles on the lower laminated glass to form a second straight line;
and step 3: calculating to obtain an included angle a between the first straight line and the second straight line, and judging whether the included angle a exceeds 0.01 degrees;
if so, rotating the position of the upper laminated glass to adjust the included angle between the first straight line and the second straight line;
if not, executing the step 4;
and 4, step 4:
the first corner of the upper laminated glass and the characteristic point of the corner corresponding to the first corner of the lower laminated glass are connected to form a third straight line;
the second corner of the upper laminated glass and the characteristic point of the corner of the lower laminated glass corresponding to the second corner are connected to form a fourth straight line;
calculating to obtain an included angle b between the third straight line and the fourth straight line, and judging whether the included angle b exceeds 0.01 degrees;
if so, moving the position of the upper laminated glass to adjust the included angle between the third straight line and the fourth straight line;
if not, executing the step 5;
and 5:
calculating the values of the characteristic points of the first angle of the upper laminated glass and the angle corresponding to the first angle on the lower laminated glass in the x direction and the y direction, and judging whether the values are the same;
calculating the values of the characteristic points of a second angle of the upper laminated glass and the angle corresponding to the second angle on the lower laminated glass in the x direction and the y direction, and judging whether the values are the same;
if yes, the lamination is finished;
if not, the position of the upper laminated glass is moved to adjust the values of the characteristic point of the first corner and the characteristic point of the second corner of the upper laminated glass in the x direction and the y direction.
The second embodiment of the invention is as follows:
a method for visually recognizing glass lamination stacking error is applied to a device for visually recognizing glass lamination stacking error;
the device comprises a first camera, a second camera, a computer, a transmission station and a robot; the first camera and the second camera are respectively arranged above the transmission station, and the first camera, the second camera and the robot are respectively connected with the computer;
the method specifically comprises the following steps:
step 1: stacking the upper laminated glass and the lower laminated glass; the upper laminating glass is sucked by a robot, and the lower laminating device is sucked by a transmission station and kept still; the upper laminated glass is positioned above the lower laminated glass;
the first camera shoots a first angle of the upper sheet combining glass, namely an angle I and an angle corresponding to the angle I, namely an angle II, on the lower sheet combining glass, and the angle I is positioned above the angle II to obtain a first image;
the second camera shoots a second angle of the upper laminating glass, namely an angle III and an angle corresponding to the angle on the lower laminating glass, namely an angle IV, wherein the angle III is positioned above the angle IV to obtain a second image;
the first corner and the third corner are opposite corners, and the second corner and the fourth corner are opposite corners;
step 2: extracting the features of the first image and the second image to obtain feature points;
connecting characteristic points of the first angle and the third angle on the upper laminated glass to form a first straight line;
the characteristic points of the second corner and the fourth corner on the lower laminated glass are connected to form a second straight line;
and step 3: calculating to obtain an included angle between the first straight line and the second straight line, and judging whether the angle deviation exceeds 0.01 degrees;
if so, the computer controls the robot to rotate the position of the upper laminated glass and adjusts the included angle between the first straight line and the second straight line;
if not, executing the step 4;
and 4, step 4:
connecting the characteristic points of the first corner of the upper laminated glass and the second corner of the lower laminated glass to form a third straight line;
the characteristic points of the third corner of the upper laminated glass and the fourth corner of the lower laminated glass are connected to form a fourth straight line;
calculating to obtain an included angle between the third straight line and the fourth straight line, and judging whether the displacement deviation exceeds 0.01 degrees;
if so, controlling the robot to move the position of the upper laminated glass by the computer, and adjusting the included angle between the third straight line and the fourth straight line;
if not, executing the step 5;
and 5: calculating the values of the characteristic points of the first angle of the upper laminated glass and the second angle of the lower laminated glass in the x direction and the y direction, and judging whether the values are the same;
calculating the values of the characteristic points of the angle III of the upper laminated glass and the angle IV of the lower laminated glass in the x direction and the y direction, and judging whether the values are the same;
if so, the computer controls the robot to place the upper glass sheet on the lower glass sheet, and the glass sheet combination is finished;
if not, the position of the upper laminated glass is moved to adjust the values of the characteristic points of the first angle and the second angle of the upper laminated glass in the x direction and the y direction
In summary, the method for visually identifying the glass lamination stacking error can be used in the lamination process, two corners of two pieces of glass are simultaneously selected for shooting, the positions of characteristic values to characteristic points are captured, the characteristic points of two opposite corners of the same piece of glass form a line, and the angle deviation of the two pieces of glass is calculated through the included angle of two straight lines of the two pieces of glass; then judging whether the values of the characteristic points of the two angles at the same end of the two pieces of glass in the x direction and the y direction are the same or not, and calculating to obtain displacement deviation; through the bidirectional adjustment of the angle deviation and the displacement deviation, the precision of the film combination is ensured. Meanwhile, the longer the straight line is, the smaller the error is, so that the method is suitable for glass sheet combination with larger size. The method can not only accurately calculate the stacking error to ensure the accuracy of the laminating, but also be combined with the laminating process, thereby greatly improving the accuracy of the laminating process. The device using the method for visually identifying the glass laminating error is simple in structure, can be directly arranged on a traditional laminating device, does not need to buy a new device, greatly saves the production cost and improves the production efficiency.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent modifications made by the present invention in the specification or directly or indirectly applied to the related technical field are included in the scope of the present invention.
Claims (4)
1. A method for visually identifying glass ply stacking error is characterized by comprising the following steps:
step 1: stacking the upper laminated glass and the lower laminated glass;
shooting a first corner of the upper laminated glass and a corner corresponding to the corner on the lower laminated glass to obtain a first image;
shooting a second angle of the upper laminated glass and an angle corresponding to the angle on the lower laminated glass to obtain a second image;
step 2: extracting the features of the first image and the second image to obtain feature points;
the characteristic points of the first corner and the second corner on the upper laminated glass are connected to form a first straight line;
connecting the characteristic points of the corresponding angles on the lower laminated glass to form a second straight line;
and step 3: calculating to obtain an included angle a between the first straight line and the second straight line, and judging whether the included angle a exceeds a first threshold value;
if so, rotating the position of the upper laminated glass to adjust the included angle a between the first straight line and the second straight line;
if not, executing the step 4;
and 4, step 4: calculating the values of the characteristic points of the first angle of the upper laminated glass and the angle corresponding to the first angle on the lower laminated glass in the x direction and the y direction, and judging whether the values are the same;
calculating the values of the characteristic points of a second angle of the upper laminated glass and the angle corresponding to the second angle on the lower laminated glass in the x direction and the y direction, and judging whether the values are the same;
if yes, the lamination is finished;
if not, moving the position of the upper laminated glass to adjust the values of the characteristic points of the first angle and the second angle of the upper laminated glass in the x direction and the y direction;
the method also comprises the following steps between the step 3 and the step 4: the first corner of the upper laminated glass and the characteristic point of the corner corresponding to the first corner of the lower laminated glass are connected to form a third straight line;
the second corner of the upper laminated glass and the characteristic point of the corner of the lower laminated glass corresponding to the second corner are connected to form a fourth straight line;
calculating to obtain an included angle b between the third straight line and the fourth straight line, and judging whether the included angle b exceeds a second threshold value;
if so, moving the position of the upper laminated glass to adjust the included angle b between the third straight line and the fourth straight line;
if not, executing the step 4.
2. The method of claim 1, applied to a device for visually identifying glass ply stacking error;
the device comprises a first camera, a second camera, a computer, a transmission station and a robot; the first camera and the second camera are respectively arranged above the transmission station, and the first camera, the second camera and the robot are respectively connected with the computer;
the method specifically comprises the following steps:
step 1: the upper glass sheet is sucked by a robot, and the lower glass sheet is sucked by a transmission station and kept still; the upper laminated glass is positioned above the lower laminated glass;
the first camera shoots a first angle of the upper sheet combining glass, namely an angle I and an angle corresponding to the angle I, namely an angle II, on the lower sheet combining glass, and the angle I is positioned above the angle II to obtain a first image;
the second camera shoots a second angle of the upper laminating glass, namely an angle III and an angle corresponding to the angle on the lower laminating glass, namely an angle IV, wherein the angle III is positioned above the angle IV to obtain a second image;
step 2: extracting the features of the first image and the second image to obtain feature points;
connecting characteristic points of the first angle and the third angle on the upper laminated glass to form a first straight line;
the characteristic points of the second corner and the fourth corner on the lower laminated glass are connected to form a second straight line;
and step 3: calculating to obtain an included angle a between the first straight line and the second straight line, and judging whether the included angle a exceeds a first threshold value;
if so, the computer controls the robot to rotate the position of the upper laminated glass and adjusts the included angle a between the first straight line and the second straight line;
if not, executing the step 4;
and 4, step 4: calculating the values of the characteristic points of the first angle of the upper laminated glass and the second angle of the lower laminated glass in the x direction and the y direction, and judging whether the values are the same;
calculating the values of the characteristic points of the angle III of the upper laminated glass and the angle IV of the lower laminated glass in the x direction and the y direction, and judging whether the values are the same;
if so, the computer controls the robot to place the upper laminated glass on the lower laminated glass, and the laminating is finished;
if not, moving the position of the upper laminated glass to adjust the values of the characteristic points of the first angle and the third angle of the upper laminated glass in the x direction and the y direction;
the method also comprises the following steps between the step 3 and the step 4: connecting the characteristic points of the first corner of the upper laminated glass and the second corner of the lower laminated glass to form a third straight line;
the characteristic points of the third corner of the upper laminated glass and the fourth corner of the lower laminated glass are connected to form a fourth straight line;
calculating to obtain an included angle b between the third straight line and the fourth straight line, and judging whether the included angle b exceeds a second threshold value;
if so, controlling the robot to move the position of the upper laminated glass by the computer, and adjusting the included angle b between the third straight line and the fourth straight line;
if not, executing the step 4.
3. The method of claim 1 or 2, wherein the second threshold is: 0.01 degree.
4. The method of claim 1 or 2, wherein the first threshold is: 0.01 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811479745.5A CN109250927B (en) | 2018-12-05 | 2018-12-05 | Method and device for visually identifying glass laminating stacking error |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811479745.5A CN109250927B (en) | 2018-12-05 | 2018-12-05 | Method and device for visually identifying glass laminating stacking error |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109250927A CN109250927A (en) | 2019-01-22 |
| CN109250927B true CN109250927B (en) | 2021-11-12 |
Family
ID=65042750
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811479745.5A Active CN109250927B (en) | 2018-12-05 | 2018-12-05 | Method and device for visually identifying glass laminating stacking error |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109250927B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111532823A (en) * | 2019-02-01 | 2020-08-14 | 无锡先导智能装备股份有限公司 | Battery material deviation rectifying method and battery material deviation rectifying equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003034559A (en) * | 2001-07-23 | 2003-02-07 | Sony Corp | Device for alignment |
| CN102937755A (en) * | 2008-09-04 | 2013-02-20 | 芝浦机械电子装置股份有限公司 | Bonding apparatus and method for controlling same |
| CN103553309A (en) * | 2013-09-30 | 2014-02-05 | 上海大学 | Method and system for realization of glass substrate pre-laminating |
| CN105118042A (en) * | 2015-08-18 | 2015-12-02 | 大族激光科技产业集团股份有限公司 | Aligned adhering method and device |
| CN105835507A (en) * | 2016-05-05 | 2016-08-10 | 厦门理工学院 | Method for attaching mobile phone cover lens to liquid crystal display |
| CN108100353A (en) * | 2018-01-29 | 2018-06-01 | 广东工业大学 | A kind of diaphragm positioning applying method and device |
-
2018
- 2018-12-05 CN CN201811479745.5A patent/CN109250927B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003034559A (en) * | 2001-07-23 | 2003-02-07 | Sony Corp | Device for alignment |
| CN102937755A (en) * | 2008-09-04 | 2013-02-20 | 芝浦机械电子装置股份有限公司 | Bonding apparatus and method for controlling same |
| CN103553309A (en) * | 2013-09-30 | 2014-02-05 | 上海大学 | Method and system for realization of glass substrate pre-laminating |
| CN105118042A (en) * | 2015-08-18 | 2015-12-02 | 大族激光科技产业集团股份有限公司 | Aligned adhering method and device |
| CN105835507A (en) * | 2016-05-05 | 2016-08-10 | 厦门理工学院 | Method for attaching mobile phone cover lens to liquid crystal display |
| CN108100353A (en) * | 2018-01-29 | 2018-06-01 | 广东工业大学 | A kind of diaphragm positioning applying method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109250927A (en) | 2019-01-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103453889B (en) | Ccd video camera calibration alignment method | |
| CN109013222B (en) | Glue-coated wood board transfer robot with vision automatic correction function and method | |
| CN105345254B (en) | Calibration method for positional relation between paraxial type visual system and laser vibrating mirror machining system | |
| CN104289748B (en) | A kind of large thin-wall covering adaptively equal wall thickness milling system and its processing method | |
| CN105290621B (en) | A kind of the high-speed, high precision lug cutting method and equipment of view-based access control model guiding | |
| CN109250927B (en) | Method and device for visually identifying glass laminating stacking error | |
| CN106112152B (en) | A kind of micropore Electrolyzed Processing machine vision positioning air navigation aid | |
| TWI530337B (en) | Metallic member shaping method | |
| CN107297399A (en) | A kind of method of robot Automatic-searching bending position | |
| CN105150658B (en) | A kind of double contraposition turnover panel make-up machine automatic attaching transshipment acitivity and its control methods | |
| CN104923593A (en) | Vision-based positioning method for top layer bending plate | |
| CN102179726A (en) | Instrument and method for measuring secondary clamping deviation during numerical control machining based on image technology | |
| CN103837097A (en) | Workpiece angle automatic measurement device based on image processing and measurement method thereof | |
| CN109489581B (en) | Large-pitch conical external thread detection device and method | |
| CN107414314A (en) | A kind of connecting rod vision auxiliary positioning laser grooving device and control method | |
| CN104070434A (en) | Polarized plate cutting edging device and polarized plate manufacturing method | |
| CN105891423B (en) | A kind of method of macromolecule plate progressive molding limit test | |
| CN111070210B (en) | Workpiece positioning and calibrating method | |
| CN205057308U (en) | High -speed high accuracy utmost point ear cutting equipment based on vision -guided | |
| CN104440070A (en) | Assembly device and method for panel component of air-conditioning indoor unit | |
| TW201444635A (en) | Processing method of laser engraving machine | |
| CN104227691B (en) | Single H profile steel component datum level draws method | |
| CN205720023U (en) | Friction plate Quality Inspection System | |
| CN206583405U (en) | Double-lens laser measuring system | |
| CN111015660B (en) | Use method of CCL (CCL) laminating production robot vision system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 350301 Fujian Province Fuzhou City Honglu Street Qishan Village Fuyao Industrial Village Area I Standard Factory Building 3 First Floor Applicant after: Fujian Shigao Intelligent Technology Co., Ltd. Address before: 350000 Fujian Fuzhou City Fuqing Honglu Street Qishan Village Fuyao Industrial Village Area I Standard Factory Building 3 First Floor Applicant before: Fujian three front Intelligent Technology Co., Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |