CN114136211A - Method and system for improving positioning accuracy of large-format glass - Google Patents

Method and system for improving positioning accuracy of large-format glass Download PDF

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Publication number
CN114136211A
CN114136211A CN202111435776.2A CN202111435776A CN114136211A CN 114136211 A CN114136211 A CN 114136211A CN 202111435776 A CN202111435776 A CN 202111435776A CN 114136211 A CN114136211 A CN 114136211A
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glass
standard
edge
measuring
product
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黄再福
陈燕
杨林
胡柳平
冯建华
张勇
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Shenzhen Jixiangyun Technology Co ltd
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Shenzhen Jixiangyun Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/14—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by boring or drilling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)

Abstract

The invention provides a method and a system for improving positioning accuracy of large-format glass, and belongs to the technical field of glass processing. The method comprises the following steps: establishing a standard coordinate system and a standard glass position, wherein one vertex of the standard glass position is superposed with the origin of the standard coordinate system, two vertical edges are arranged on an X axis and a Y axis of the standard coordinate system, and the positions of four cameras are determined according to the standard coordinate system and four edges of a standard glass area; step two: in the product grinding process, the four cameras respectively take pictures of the glass product to be processed to obtain the position coordinates of the current glass product; step three: acquiring the appearance size and the corner size of the glass product according to the position coordinate of the current glass product; step four: and determining the pre-punching position according to the external dimension and the corner size of the product. The invention has the beneficial effects that: and the punching positioning precision is improved.

Description

Method and system for improving positioning accuracy of large-format glass
Technical Field
The invention relates to a glass processing technology, in particular to a method and a system for improving positioning accuracy of large-format glass.
Background
Before deep processing, the edge of the glass is ground and chamfered by the grinding wheel, in the whole grinding process, the size of the glass product and the quality of the edge grinding are determined by the straightness, the smoothness, the clamping force and the movement speeds of the two sides of the product of the transverse and longitudinal grinding wheels, and along with continuous abrasion of the grinding wheels, the appearance size and the edge angle of the glass are different. Meanwhile, after the grinding wheel is replaced, the position and parameters of the grinding wheel need to be adjusted again, the technical level of operators can influence the appearance size and the size of corners of glass, the glass product is not always rectangular, and the size of the corners cannot be an absolute 90-degree included angle.
The current visual positioning technology: and grabbing the image of the glass edge to be punched by adopting a three-phase machine, obtaining the position of the glass product to be punched and comparing the position with a preset standard position, and further obtaining the actual punching circle center on the glass product to be punched.
The disadvantages of this solution are:
firstly, the appearance size and the corner size of a glass product to be punched cannot be obtained in a three-camera edge-grabbing manner;
secondly, establishing an appearance model of the glass product in an ideal manner by a three-camera edge-grabbing manner without being close to the real condition of the glass;
the model algorithm of establishing can not adapt to the change of glass external dimension and corner size, and the requirement on the external dimension precision of glass products is higher, and the application environment receives the restriction, because glass's size and corner size are constantly changing, is obtained by last workshop section edging machine grinding, and the emery wheel of edging machine can constantly wear and tear, therefore the glass external dimension and the corner size that the different time quantums ground out differ.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a method and a system for improving the positioning accuracy of large-format glass.
The invention discloses a method for improving positioning accuracy of large-format glass, which comprises the following steps:
the method comprises the following steps: establishing a standard coordinate system and a standard glass position, wherein one vertex of the standard glass position is superposed with the origin of the standard coordinate system, two vertical edges are arranged on the X axis and the Y axis of the standard coordinate system, and the position coordinates of the four cameras are determined according to the standard coordinate system and four edges of the standard glass area;
step two: in the product grinding process, the four cameras respectively take pictures of the glass product to be processed to obtain the position coordinates of the current glass product;
step three: acquiring the appearance size and the corner size of the glass product according to the position of the current glass product;
step four: and determining the pre-punching position according to the external dimension and the corner size of the product.
The invention is further improved, and also comprises:
step five: measuring and calculating angle deviation: making a vertical line through two vertexes near the X direction of the glass product to obtain the theoretical glass appearance size, and obtaining the angle deviation between the real glass and the theoretical glass according to the theoretical glass appearance size and the actual size of the glass product obtained in the step three;
step six: according to the angle deviation, deviation average division is carried out on the appearance size and the corner size of the glass product, and a deviation correction value is obtained;
step seven: and correcting the pre-punching position according to the deviation correction value to obtain the corrected punching position.
The invention is further improved, in the first step, a pair of right-angle sides in the standard glass position is selected to establish a coordinate system XP0Y, namely the standard coordinate system, one side of an ideal glass product on an X axis is a first standard side, the extension direction of the first standard side is vertical to the conveying direction of the glass, the side falling on the Y axis is a second standard side, the other side parallel to the Y axis is a third standard side, and the extension directions of the second standard side and the third standard side are the same as the conveying direction of the glass; four cameras, 1# CCD, 2# CCD, 3# CCD and 4# CCD, are respectively disposed above an origin P0(0.0) and a vertex P1(X1, 0) on the first standard edge, P2(0, Y1) and P3(X2, Y2) on the second standard edge, and the centers of fields of view of the four cameras correspond to points P0(0.0), P1(X1, 0), P2(0, Y1) and P3(X2, Y2) on the standard coordinate system.
The invention is further improved, the coordinate positions P2(0, Y1) and P3(X2, Y2) of the 3# CCD and the 4# CCD are both arranged in the middle area of the position contour line of the standard glass, so that the situation that the end parts are ground and pinned in the glass grinding process and the glass near the center of the camera vision field cannot be shot is avoided.
The invention is further improved, in the second step, the four cameras are compared with the standard glass position to obtain the X-direction distance and the Y-direction distance between the vision center of the corresponding camera and the corresponding point of the glass product below the camera, and then the position coordinate of the current glass product is obtained according to the X-direction distance and the Y-direction distance
Figure BDA0003378095570000021
Figure BDA0003378095570000022
The invention is further improved, in the third step, according to four actual coordinates
Figure BDA0003378095570000023
Figure BDA0003378095570000024
Determining the width of the edge between the two point coordinates, obtaining the size of the corner of the glass product according to the coordinates of the three points, and then obtaining the appearance size and the size of the corner of the glass product according to the width and the size of the corner of each edge.
The invention is further improved, in the fourth step, if the pre-punching position is in the left half area of the glass, the second measuring edge close to the second standard edge is taken as the measuring reference, and the second measuring edge is used as the measuring reference
Figure BDA0003378095570000025
The point is taken as the perpendicular line of the first standard edge, the point A is intersected with the perpendicular line of the second standard edge which is taken as the point of the position to be punched, and the angle theta between the second measuring edge and the second standard edge is measured1And
Figure BDA0003378095570000026
Figure BDA0003378095570000027
angle theta between the edge between the point and the center of the hole and the vertical line2Then obtaining the punching position
Figure BDA0003378095570000028
And
Figure BDA0003378095570000029
linear distance L of1Finally according to the angle theta1、θ2And a linear distance L1Acquiring a pre-punching position coordinate;
when the pre-punching position is in the right half area of the glass, a third measuring edge close to a third standard edge is taken as a measuring reference, and the algorithm is the same as that of the left half area.
The invention is further improved, when the punching position is positioned in the middle area of the glass, the second measuring edge is taken as the measuring reference for measurement, or the third measuring edge is taken as the measuring reference for measurement, or the average value of the measured value of the second measuring edge as the measuring reference and the measured value of the third measuring edge as the measuring reference is taken as the position coordinate of the pre-punching position.
The invention is further improved, in the sixth step, the processing process adopting the deviation sharing method is as follows:
(1) calculating the width deviation Delta L between the real glass and the theoretical glass, wherein the Delta L is L1-LTheory of the invention；
(2) For the pre-punching position, the second measuring edge and the third measuring edge are respectively taken as the average difference measuring reference in the X-axis direction, namely, the original measurement is added with
Figure BDA0003378095570000031
A bias correction term.
The invention also provides a system for realizing the method for improving the positioning accuracy of the large-format glass, which comprises the following steps:
an initialization module: the system comprises a standard glass area, a standard coordinate system, two vertical edges and four cameras, wherein the standard glass area is used for establishing the standard coordinate system and the standard glass position, one vertex of the standard glass position is superposed with the origin of the standard coordinate system, the two vertical edges are arranged on the X axis and the Y axis of the standard coordinate system, and the positions of the four cameras are determined according to the standard coordinate system and the four edges of the standard glass area;
the current position measuring and calculating module of the glass product comprises: the four cameras are used for respectively photographing glass products to be processed in the product grinding process to acquire the current positions of the glass products;
the module for measuring and calculating the appearance size and the corner size of the glass product comprises: the device is used for acquiring the appearance size and the corner size of the glass product according to the position of the current glass product;
a pre-punch position acquisition module: the pre-punching device is used for determining the pre-punching position according to the external dimension and the corner size of a product.
Compared with the prior art, the invention has the beneficial effects that: the punching positioning precision is improved, the method can accurately measure and calculate the appearance size and the corner size of the glass product, the glass product to be punched is shot by the four cameras and compared with the preset standard position, and the coordinates of the pre-punching position are measured and calculated by adopting a centrosymmetric measuring and calculating mode and respectively taking the second measuring edge and the third measuring edge as measuring references. According to the comparison of the theoretical glass and the real glass, the deviation is equally divided according to the change of the appearance size and the corner size, the deviation caused by the actual size and the corner change of the product is corrected, and the punching positioning precision is further improved.
Drawings
FIG. 1 is a schematic diagram of a standard coordinate system and a standard glass position according to the present invention;
FIG. 2 is a schematic view showing the deviation between the actual glass position and the standard glass position;
FIG. 3 is a schematic vertical line diagram for measuring and calculating the position of the hole;
fig. 4-6 are schematic diagrams of three different glass shapes for calculating deviation angles, respectively.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The invention provides a method for accurately measuring and calculating the appearance size and the corner size of a glass product by adopting a four-camera coordinate system, thereby improving the positioning and punching precision of large-format glass, which comprises the following steps:
1. establishing a standard coordinate system and a standard glass position
As shown in fig. 1, the standard glass position in this embodiment is the position of an ideal glass product (the ideal glass product is rectangular) placed correctly, and a pair of right-angled sides is selected to establish a coordinate system XP0Y, which is a standard coordinate system. One side of the ideal glass product on the X axis is a first standard side, the extending direction of the first standard side is vertical to the conveying direction of the glass, the side of the glass falling on the Y axis is a second standard side, the other side parallel to the Y axis is a third standard side, and the extending directions of the second standard side and the third standard side are the same as the conveying direction of the glass plate; above the origin P0(0.0) and P1(X1, 0) on the first standard edge, P2(0, Y1) on the second standard edge, and P3(X2, Y2) on the third standard edge, are 1# CCD, 2# CCD, 3# CCD, and 4# CCD, respectively, and the center of the field of view of the CCD corresponds to the point P0(0.0), P1(X1, 0), P2(0, Y1), and P3(X2, Y2) on the standard coordinate system. The 1# CCD shoots an intersection point 1 of a first standard edge and a second standard edge of the glass product to obtain a coordinate of the intersection point 1; the 2# CCD shoots an intersection point 2 of the first standard edge and the third standard edge of the glass product to obtain a coordinate of the intersection point 2; shooting a second standard edge by the 3# CCD to obtain a point coordinate on the second standard edge; and the 4# CCD shoots a third standard edge to obtain the point coordinates on the third standard edge.
2. In the product grinding process, the four cameras respectively photograph the glass product to be processed to obtain the position of the current glass product.
As shown in fig. 2, the 1# CCD, the 2# CCD, the 3# CCD and the 4# CCD respectively photograph the glass product to obtain an image, obtain the position of the current glass product, and compare the position with the position of the standard glass to obtain the position of the current glass productThe distance from the center of the corresponding CCD visual field to the corresponding point of the glass product below the center in the X direction and the distance from the center in the Y direction are obtained
Figure BDA0003378095570000041
Figure BDA0003378095570000042
If X3, Y3, Y4, X5 is 0 and X6 is X2, the laser beam is perforated in a circle around the center (X7, Y7).
3. And acquiring the appearance size and the corner size of the glass product according to the position of the current glass product.
Specifically, as shown in FIG. 2, from
Figure BDA0003378095570000043
And
Figure BDA0003378095570000044
two-point coordinates can determine the front end width of the glass product
Figure BDA0003378095570000045
By
Figure BDA0003378095570000046
And
Figure BDA0003378095570000047
two-point coordinates can determine the width of the rear end of the glass product
Figure BDA0003378095570000048
By
Figure BDA0003378095570000049
And
Figure BDA00033780955700000410
two-point coordinates can determine the distance between the glass products
Figure BDA00033780955700000411
By
Figure BDA00033780955700000412
And
Figure BDA00033780955700000413
the glass product distance can be determined
Figure BDA00033780955700000414
By
Figure BDA00033780955700000415
And
Figure BDA00033780955700000416
the glass product distance can be determined
Figure BDA00033780955700000417
By
Figure BDA00033780955700000418
And
Figure BDA00033780955700000419
the glass product distance can be determined
Figure BDA00033780955700000420
By
Figure BDA00033780955700000421
And
Figure BDA00033780955700000422
three-point coordinates and distances can be determined
Figure BDA00033780955700000423
By
Figure BDA00033780955700000424
And
Figure BDA0003378095570000051
three-point coordinates and distances can be determined
Figure BDA0003378095570000052
The appearance size and the corner size of the glass product can be obtained from the data.
4. Measuring and calculating the position of the pre-punched hole,
as an embodiment of the present invention, the present example takes a centrosymmetric measurement method as an example, as shown in FIG. 3, to
Figure BDA0003378095570000053
Is an acute angle and is a straight angle,
Figure BDA0003378095570000054
for obtuse angles as an example, if the pre-punching position is in the left half of the real glass size 2 (i.e. the pre-punching position is in the left half of the real glass size
Figure BDA0003378095570000055
) Then, the second measurement edge is used as the measurement reference
Figure BDA0003378095570000056
Pointing as a perpendicular to the first standard edge and passing the position to be punched
Figure BDA0003378095570000057
The perpendicular line of the second standard edge is intersected with the point A, so that the angle theta between the second measurement edge and the second standard edge1Comprises the following steps:
Figure BDA0003378095570000058
then the second measuring edge is taken as the measuring reference, then
Figure BDA0003378095570000059
Position to be punched
Figure BDA00033780955700000510
And
Figure BDA00033780955700000511
linear distance L of1Equal distance from the points P and P0 of theoretical glass size 1, i.e.
Figure BDA00033780955700000512
Obtaining X8 ═ X3+ L1sin (θ 1+ θ 2), Y8 ═ Y3+ L1cos (θ 1+ θ 2), which is the position to be punched
Figure BDA00033780955700000513
Point coordinates. If the pre-punching position is in the right half area of the glass
Figure BDA00033780955700000514
Then the third measuring edge is used as the measuring reference
Figure BDA00033780955700000515
Pointing as a perpendicular to the first standard edge and passing the position to be punched
Figure BDA00033780955700000516
The perpendicular line of the third standard edge is intersected with the point B, so that the angle theta of the third measuring edge and the third standard edge4Comprises the following steps:
Figure BDA00033780955700000517
then the third measuring edge is taken as the measuring reference, then
Figure BDA00033780955700000518
Position to be punched
Figure BDA00033780955700000519
And
Figure BDA00033780955700000520
linear distance L of2Equal distance from the theoretical glass size 1 point Q and P1, i.e.
Figure BDA00033780955700000521
Obtaining XI0 ═ X4-L2sin (theta 5-theta 4), Y10 ═ Y4+ L2cos (theta 5-theta 4), namely the position to be punched
Figure BDA00033780955700000522
Point coordinates. Obviously, the hole site in the middle region of the glass
Figure BDA00033780955700000523
In order to improve the precision of the pre-punching position, the average value of the second measurement edge and the third measurement edge may be used as the position coordinate of the pre-punching position, that is, the average value of the second measurement edge and the third measurement edge may be used as the position coordinate of the pre-punching position
Figure BDA00033780955700000524
It is apparent that: the pre-perforation position may be measured and calculated separately according to the second measurement side as a reference and the third measurement side as a reference, respectively, in the measuring and calculating method as in step 4.
5. Measuring and calculating angular deviation
For treating
Figure BDA0003378095570000061
Points and
Figure BDA0003378095570000062
pointing a vertical line of the first measuring edge to obtain the theoretical glass appearance size, and obtaining the real size of the glass product according to the step 4 to obtain the glass product
Figure BDA0003378095570000063
Figure BDA0003378095570000064
To the reference point
Figure BDA0003378095570000065
Angle theta between theoretical glass and real glass6＝90°-θ3Then for the reference point
Figure BDA0003378095570000066
Angle theta between theoretical glass and real glass8＝θ7-90 °, i.e. the angular deviation (θ) of real glass and theoretical glass6Is more than 0 and is acute; theta8> 0, obtuse angle).
Also, as shown in FIG. 4, when
Figure BDA0003378095570000067
Is an obtuse angle, and the angle of the groove is,
Figure BDA0003378095570000068
acute, X8 ═ X3+ L1sin (θ 2 — θ 1), Y8 ═ Y3+ L1cos (θ 2 — θ 1); x10 ═ X4-L2sin (θ 5 — θ 4), Y10 ═ Y4+ L2cos (θ 5+ θ 4);
Figure BDA0003378095570000069
θ6＝90°-θ3，θ8＝θ7-90°(θ6< 0, an obtuse angle; theta8< 0, acute angle).
Also, as shown in FIG. 6,
Figure BDA00033780955700000610
is an acute angle and is a straight angle,
Figure BDA00033780955700000611
at an obtuse angle, X8 is X3+ L1sin (θ 1+ θ 2), and Y8 is Y3+ L1cos (θ 1+ θ 2); x10 ═ X4-L2sin (θ 5- θ 4), Y10 ═ Y4+ L2cos (θ 5- θ 4);
Figure BDA00033780955700000612
as shown in figure 5 of the drawings,
Figure BDA00033780955700000613
is an obtuse angle, and the angle of the groove is,
Figure BDA00033780955700000614
acute, X8 ═ X3+ L1sin (θ 2 — θ 1), Y8 ═ Y3+ L1cos (θ 2 — θ 1); XI0 ═ X4-L2sin (θ 5 — θ 4), Y10 ═ Y4+ L2cos (θ 5+ θ 4);
Figure BDA00033780955700000615
θ6＝90°-θ3，θ8＝θ7-90°。
6. and (3) carrying out deviation equalization on the external dimension and the corner size of the glass product according to the angle deviation to obtain a deviation correction value, correcting the pre-punching position according to the deviation correction value, and obtaining the corrected punching position.
In order to average the size deviation caused by the width and reduce the accumulated error caused by the change of the glass width, a deviation averaging method is adopted, and the specific measurement and calculation mode is as follows: calculating width deviation delta L between real glass and theoretical glass, wherein the width deviation delta L is L1-LTheory of the invention(ii) a Secondly, the pre-punching position is respectively based on the second measuring edge and the third measuring edge as the average difference measuring reference in the X-axis direction, namely, the pre-punching position is added with the original measuring reference
Figure BDA00033780955700000616
A deviation correction term, the corrected x coordinate of the pre-punched hole is
Figure BDA00033780955700000617
Also, in the same manner as above,
Figure BDA00033780955700000618
it is noted that the calculation of the central region X12 has taken into account the bias averaging problem.
The innovation points of the invention are as follows:
the prior art does not consider the actual form of glass, and the method is suitable for accurately positioning the full breadth of glass products in all forms;
the invention provides a positioning method of a four-camera coordinate system by considering the size of a real glass product, which can accurately measure and calculate the appearance size and the corner size of the glass product;
the method comprises the steps of shooting a glass product to be punched through four cameras, comparing the glass product with a preset standard position, and calculating coordinates of a pre-punching position by respectively taking a second measuring edge and a third measuring edge as measuring references in a centrosymmetric measuring and calculating mode;
the invention takes the changes of the glass appearance size and the corner size of the real product into consideration to carry out deviation sharing, corrects the deviation caused by the actual size and the corner change of the product and improves the positioning precision.
The above-described embodiments are intended to be illustrative, and not restrictive, of the invention, and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims (10)

1. A method for improving the positioning accuracy of large-format glass is characterized by comprising the following steps:
the method comprises the following steps: establishing a standard coordinate system and a standard glass position, wherein one vertex of the standard glass position is superposed with the origin of the standard coordinate system, two vertical edges are arranged on an X axis and a Y axis of the standard coordinate system, and the positions of four cameras are determined according to the standard coordinate system and four edges of a standard glass area;
step two: in the product grinding process, the four cameras respectively take pictures of the glass product to be processed to obtain the position coordinates of the current glass product;
step three: acquiring the appearance size and the corner size of the glass product according to the position coordinate of the current glass product;
step four: and determining the pre-punching position according to the external dimension and the corner size of the product.
2. The method of claim 1, further comprising the steps of:
step five: measuring and calculating angle deviation: making a vertical line through two vertexes near the X direction of the glass product to obtain the theoretical glass appearance size, and obtaining the angle deviation between the real glass and the theoretical glass according to the theoretical glass appearance size and the actual size of the glass product obtained in the step three;
step six: according to the angle deviation, deviation average division is carried out on the appearance size and the corner size of the glass product, and a deviation correction value is obtained;
step seven: and correcting the pre-punching position according to the deviation correction value to obtain the corrected punching position.
3. The method of claim 2, wherein the step of increasing the positioning accuracy of the large format glass comprises: in the first step, a pair of right-angle sides of a standard glass position is selected to establish a coordinate system XPOY, namely the standard coordinate system, one side of an ideal glass product on an X axis is a first standard side, the extension direction of the first standard side is vertical to the conveying direction of glass, the side falling on the Y axis is a second standard side, the other side parallel to the Y axis is a third standard side, and the extension directions of the second standard side and the third standard side are the same as the conveying direction of the glass; four cameras, i # CCD, 2# CCD, 3# CCD and 4# CCD, are respectively disposed above an origin P0(0.0) and a vertex P1(X1, 0) on the first standard edge, P2(0, Y1) and P3(X2, Y2) on the second standard edge, and the centers of fields of view of the four cameras correspond to points P0(0.0), P1(X1, 0), P2(0, Y1) and P3(X2, Y2) on the standard coordinate system.
4. The method of claim 3, wherein the step of improving the positioning accuracy of the large format glass comprises: the coordinate positions P2(0, Y1) and P3(X2, Y2) of the 3# CCD and the 4# CCD are arranged in the middle area of the outline of the standard glass position.
5. The method of claim 3, wherein the step of improving the positioning accuracy of the large format glass comprises: in the second step, the four cameras are compared with the standard glass position to obtain the X-direction distance and the Y-direction distance between the vision center of the corresponding camera and the corresponding point of the glass product below the corresponding camera, and then the position coordinate of the current glass product is obtained according to the X-direction distance and the Y-direction distance
Figure FDA0003378095560000011
6. The method of claim 5, wherein the step of improving the positioning accuracy of the large format glass comprises: in step three, according to four actual coordinates
Figure FDA0003378095560000021
Determining the width of the edge between the two point coordinates, obtaining the size of the corner of the glass product according to the coordinates of the three points, and then obtaining the appearance size and the size of the corner of the glass product according to the width and the size of the corner of each edge.
7. The method of claim 6, wherein the step of increasing the positioning accuracy of the large format glass comprises: in the fourth step, if the pre-punching position is in the left half area of the glass, taking the second measuring edge close to the second standard edge as the measuring reference
Figure FDA0003378095560000022
The point is taken as the perpendicular line of the first standard edge, the point A is intersected with the perpendicular line of the second standard edge which is taken as the point of the position to be punched, and the angle theta between the second measuring edge and the second standard edge is measured1And
Figure FDA0003378095560000023
angle theta between the edge between the point and the center of the hole and the vertical line2Then obtaining the punching position
Figure FDA0003378095560000024
And
Figure FDA0003378095560000025
linear distance L of1Finally according to the angle theta1、θ2And a linear distance L1Acquiring a pre-punching position coordinate;
when the pre-punching position is in the right half area of the glass, a third measuring edge close to a third standard edge is taken as a measuring reference, and the algorithm is the same as that of the left half area.
8. The method of claim 7, wherein the step of improving the positioning accuracy of the large format glass comprises: and when the punching position is positioned in the middle area of the glass, measuring and calculating by taking the second measuring edge as a measuring reference, or measuring and calculating by taking the third measuring edge as a measuring reference, or taking the average value of the measured value of the second measuring edge as the measuring reference and the measured value of the third measuring edge as the measuring reference as the position coordinate of the pre-punching position.
9. The method of claim 7, wherein the step of improving the positioning accuracy of the large format glass comprises: in the sixth step, the processing process adopting the deviation sharing method comprises the following steps:
(1) calculating the width deviation Delta L between the real glass and the theoretical glass, wherein the Delta L is L1-LTheory of the invention；
(2) For the pre-punching position, the second measuring edge and the third measuring edge are respectively taken as the average difference measuring reference in the X-axis direction, namely, the original measurement is added with
Figure FDA0003378095560000026
A bias correction term.
10. A system for implementing the method of any of claims 1-9 for improving positioning accuracy of large format glass, comprising:
an initialization module: the system comprises a standard glass area, a standard coordinate system, two vertical edges and four cameras, wherein the standard glass area is used for establishing the standard coordinate system and the standard glass position, one vertex of the standard glass position is superposed with the origin of the standard coordinate system, the two vertical edges are arranged on the X axis and the Y axis of the standard coordinate system, and the positions of the four cameras are determined according to the standard coordinate system and the four edges of the standard glass area;
the current position measuring and calculating module of the glass product comprises: the four cameras are used for respectively photographing glass products to be processed in the product grinding process to acquire the position coordinates of the current glass products;
the module for measuring and calculating the appearance size and the corner size of the glass product comprises: the device is used for acquiring the appearance size and the corner size of the glass product according to the position coordinate of the current glass product;
a pre-punch position acquisition module: the pre-punching device is used for determining the pre-punching position according to the external dimension and the corner size of a product.
CN202111435776.2A 2021-11-26 2021-11-26 Method and system for improving positioning accuracy of large-format glass Pending CN114136211A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114603715A (en) * 2022-03-10 2022-06-10 郴州旗滨光伏光电玻璃有限公司 Glass punching method, device and computer readable storage medium
CN116001113A (en) * 2022-12-29 2023-04-25 宁夏盾源聚芯半导体科技股份有限公司 Silicon ring surface punching method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114603715A (en) * 2022-03-10 2022-06-10 郴州旗滨光伏光电玻璃有限公司 Glass punching method, device and computer readable storage medium
CN116001113A (en) * 2022-12-29 2023-04-25 宁夏盾源聚芯半导体科技股份有限公司 Silicon ring surface punching method

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