JPH01187403A - Glass edge detecting device - Google Patents

Abstract

PURPOSE:To easily measure an edge part without contacting by projecting laser light on the seaming of plate glass and detecting its reflected light. CONSTITUTION:Three axes X, Y, and Z are set having their reference point, i.e. origin at an optional point of, for example, a glass inspection pattern 2 in a three-dimensional space, and the quantity of movement of a laser displacement gauge 5 is counted according to the point as a reference. The curved plate glass 1 in a three-dimensional curved shape which has the polished seaming part formed at its peripheral part is mounted on the inspection pattern 2 and the laser displacement gauge 5 is provided to the rotatable hand 3c of a robot 3 having >=5 axes. The laser light from the movable laser projector 5a of this displacement gauge 5 is projected on the seaming part and its reflected light is photodetected by the photodetection sensor 5b of the displacement gauge 5. Then when object glass 1 is displaced, a spot on the sensor 5b moves and its quantity of the displacement is converted by the displacement gauge 5 into an electric signal, which is outputted. Further, a position detector 6 detects the position of the displacement gauge 5 and stores driving information represented based upon the three-dimensional coordinate system in a computer 7.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for detecting the edge of a curved sheet glass whose peripheral edge is seamed, such as an automobile window glass having a three-dimensional curved shape.

[Conventional technology]

Conventionally, as such a device, there was a
As shown in Japanese Patent Application Laid-Open No. 08-08, measurement is performed using multiple probes arranged along the peripheral edge contour, and as shown in Japanese Patent Application Laid-open No. 1987-1987, a position measurement sensor is installed at the tip of a movable arm. It is known that the device is equipped with a standard model, learns and memorizes the position and order of measurements based on a reference pattern, and then repeatedly reproduces the memorized contents to perform measurements.

[Problem that the invention seeks to solve]

However, both sensors are contact type,
It was inevitable that the object would be damaged and the sensor itself would wear out.

The present invention has been made in view of these points, and an object of the present invention is to provide a device for easily measuring edge portions without contact.

Means for Solving Problem c] The present invention is a detection device for a seamed curved plate glass used as an automobile window glass, which comprises a movable laser projector that projects a laser beam onto the seaming portion; , comprising: a light receiving sensor that receives light reflected by the seaming portion; and a position detector that detects the position of the laser projector.

〔Example〕

Hereinafter, the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic configuration diagram showing the entire apparatus of the present invention, FIG. 2 is a three-dimensional coordinate system set based on the glass inspection mold, and FIG.
Figures 5 to 5 are diagrams showing the relationship between the designed virtual curved surface (glass inspection type) and curved plate glass, and the measurement method. Enlarged internal view, No. 4
The figure is a partial sectional view taken along line A-B in Figure 3, and Figure 5 is a partial cross-sectional view taken along line A-B in Figure 3.
It is a partial elevational view seen from direction A to B in the figure.

FIG. 6 is a position-laser displacement meter output characteristic diagram, and FIG. 7 is a schematic configuration diagram of the laser displacement needle.

In the drawings, reference numeral 1 denotes a curved plate glass having a three-dimensional curved shape placed on a glass inspection mold 2, and a polished seaming portion 1a is formed at the peripheral edge portion as shown in FIG.

3 is a robot having five or more axes, and includes an arm 3a that can move freely in three-dimensional space, an actuator 3b that is rotatably attached to the tip of the arm 3a, and a hand that is rotatably attached to the actuator 3b. 30 and the like, and is driven by the robot controller 4.

5 is a laser displacement meter that integrally incorporates a laser projector 5a and a light receiving sensor 5b such as an image sensor, as shown in Fig. 7.When the object is displaced, the spot on the light receiving sensor moves, so the spot of this spot is It is a distance sensor that converts the amount of movement into an electrical signal and outputs it.

Reference numeral 6 is a position detector for detecting the position of the laser displacement needle, which detects the movement of the robot in five axes using respective pulse generators, pulse counters, etc.

In order to operate such a device, we set an arbitrary point in three-dimensional space as a reference point, that is, the origin, and set up a three-dimensional coordinate system consisting of the Y-axis and Y-axis on the horizontal plane and the Y-axis on the vertical axis, and expressed based on this. The drive information is stored in the computer 7.

[Effect]

Set an arbitrary point in the three-dimensional space, for example, an arbitrary point Po of the glass inspection mold in Fig. 2, as a reference point, that is, the origin, and set the Y-axis and Y-axis on the horizontal plane and the Y-axis on the vertical axis, and use this point as the reference point. The amount of movement of the laser displacement meter 5 is counted based on the position P (X, Y, Z”), the direction vector U (u, v, w) as the driving direction of the laser displacement needle at the virtual measurement point P, and the normal vector I (i, j, , , The laser displacement meter 5 is driven based on information such as k).

That is, the positions near and on the opposite side of the virtual measurement point p (xp 1Yp-Zp) are respectively A (XA).

YAl ZA), B (XIllYB, ZB), and A
For example, if the distance between B is 10n, the computer 7 calculates that A is XA =XP +10/2X (-1)Xu,
YA = YP +10/2X (-1)Xv, zA=Z
r +10/2×(1)XwXB is X1l=XP+10
/2X u,yB =YP +10/2X vX Z
It is calculated as B=Zp110/2×W.

The laser displacement meter 5 uses the position information A obtained in this way.
, B, and the normal vector I(iXj
, k), the irradiation spot is shown in Figure 3(a) (
As shown in b), the normal A of the measurement point P in the X-Y plane
- Linear interpolation from A through measurement point P to B along P-B, and parallel to the tangential plane A-P-B of point P in x-y-z space as shown in Figure 4. The beam irradiation angle of the laser displacement needle is kept in the normal direction of point P in the X-Y-Z space, and the angle of the displacement needle is adjusted so that the laser beam irradiated to the seaming part and reflected is Adjust so that the laser beam returns to the light receiving sensor (therefore, the laser beam irradiated and reflected on the plate glass surface does not return to the light receiving sensor),
It is driven by the robot 3 via the robot controller 4.

At this time, the output of the laser displacement needle is A as shown in Figure 6.
There is no output from point Q to point Q, output from point Q to point P, and no output again at point 21.

Point Q is the starting point of seaming, and the curvature M is calculated by m-(
m'+t) is calculated by the computer 7.

Next, point P is the edge of the plate glass, the position of the laser displacement needle at this time is detected by a position detector, and the position coordinates (X, Y, Z) and normal vector U (u, v, w), the edge of the plate glass can be determined not only as the positional coordinates of the virtual edge P2 but also by calculating the difference in dimension with the virtual curved surface.

Hereinafter, by performing similar measurements at a plurality of points, the actual edge portion of the curved plate glass can be grasped as three-dimensional position coordinates.

Using such a device, for example, 30 points could be measured in about 6 minutes, and the measurement accuracy was as good as ±0.3 van.

As shown by the dotted line in FIG. 3(b), the present invention is capable of driving the virtual measuring point P away from the normal direction in the X-Y plane, and as shown by the dotted line in FIG. If the beam irradiation angle deviates from the normal line of the virtual measurement point P in the X-Y-2 space, the points to be measured, Q and P+, will deviate from the actual measurement points to Q/, P, and l, so correction is necessary. This prevents the inconvenience of having to perform the measurement again after the measurement has been completed, and improves the measurement accuracy.

In addition, by scanning the laser beam spot from the vicinity of the virtual measurement point P to the vicinity B on the opposite side, the virtual measurement point P
Even if the measurement point P2 is shifted, the measurement can be performed without fail.

Although this example has been explained based on a virtual curved surface, the glass inspection mold is precisely manufactured in imitation of this virtual curved surface, so it can be considered that they are substantially the same, so the glass inspection mold and the glass inspection mold are shown in the drawings. it's shown.

Previously, it was thought that it was impossible to measure the edges of plate glass, which has a three-dimensional curved shape, by irradiating light or ultrasonic waves onto the object to be measured and detecting the reflection. The edges are polished and seamed to remove irregularities that can be the starting point of fracture, or for safety reasons, but these seams have minute irregularities and are relatively opaque. If we focus on a certain thing and irradiate this area with a coherent, high-energy-density laser beam, the diffusion of the reflected light will be small, and the attenuation of the light will be small, making it possible for the light receiving sensor to detect it with sufficient precision. It made it possible.

Although the present invention has been described above using preferred embodiments, the present invention is not limited to these embodiments and can be applied in various ways.

In addition to a 5-axis robot, the robot may be any robot that has 5 or more axes, and it may not only be manufactured as an integrated robot, but also one in which drive devices for each axis are manufactured separately and combined. Of course.

Although the laser projector and the light-receiving sensor are integrated into one unit, as explained in the description of the laser displacement meter, they may be provided separately to detect the position and direction of the laser projector.

Further, in the embodiment, a point P on the glass inspection mold is an arbitrary point in three-dimensional space. was set, but P.

If the coordinates of the measurement point are given with reference point as P. can be anywhere. Furthermore, it is not always necessary to set three-dimensional coordinates; instead, you can teach the robot the measurement procedure.
It is also possible to detect glass edges based on the amount of movement.

In this example, the edge portion of a curved plate glass is detected. However, if an ultrasonic distance sensor is also used to measure the distance to a curved surface other than the edge portion, the degree of curvature (overlap) at any point can be detected. It can also be detected.

〔Effect of the invention〕

The present invention makes it possible to detect edge portions of curved glass plates in a non-contact manner, which was previously impossible, by irradiating the seaming of the glass plate with a laser beam and detecting the reflected light.

Furthermore, if a three-dimensional coordinate system is set and the laser displacement needle is driven using this coordinate, rapid and highly accurate detection can be achieved.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram showing the entire apparatus of the present invention, FIG. 2 is a three-dimensional coordinate system set based on the glass inspection mold, and FIG.
Figures 5 to 5 are diagrams showing the relationship between the designed virtual curved surface (glass inspection type) and curved plate glass, and the measurement method. Enlarged internal view, No. 4
The figure is a partial sectional view taken along line A-B in Figure 3, and Figure 5 is a partial cross-sectional view taken along line A-B in Figure 3.
It is a partial elevational view seen from direction A to B in the figure. FIG. 6 is a position-laser displacement meter output characteristic diagram, and FIG. 7 is a schematic configuration diagram of the laser displacement needle. 1...Curved plate glass, LA...Seaming part 2...Glass inspection type, 3...Robot 5...Laser displacement needle, 6...Position detector Patent applicant Central Glass Co., Ltd.

Claims (1)

[Claims] A detecting device for seamed curved plate glass, comprising:
It is characterized by comprising a movable laser projector that projects laser light onto the seaming section, a light receiving sensor that receives the light reflected by the seaming section, and a position detector that detects the position of the laser projector. Glass edge detection device.