CN103593860B - A kind of cut-out method for the most irregular blank - Google Patents

Abstract

A kind of cut-out method for the most irregular blank, relates to a kind of blank manufacture field.Step is: gather the data treating tailored blank;Genetic algorithm is utilized to determine the rectangular profile of blank, as the border that blank is cut out；This is cut out scheme input control system, the blank to be processed of step 1 is cut out, it is thus achieved that meet blank flat needed for the stock layout of technique.The present invention is directed to irregular blank shape and find maximum area rectangle therein, can obtain in irregular blank available or can the part of stock layout rapidly and accurately, just as an interface, both being combined closely, the rectangle obtained can directly utilize nesting and carry out stock layout.The substantial amounts of artificial stock layout time saved, improve the utilization rate of productivity ratio and material, saved cost of labor and material cost for factory, created economic benefit.

Description

A kind of cut-out method for the most irregular blank

Technical field

The present invention relates to a kind of blank manufacture field, particularly to a kind of cut-out method for the most irregular blank.

Background technology

The problem of cutting out on arbitrarily irregular blank border be widely present in boats and ships, furniture, clothing, machine-building, large stone material plate, And the industry such as light industry.Currently mainly using artificial repeated measurement to be cut out after testing for cutting out of irregular obstacle body, this is right The technical merit of workman requires the highest, depends on the experience of workman, and efficiency is the lowest, and the workman that level is different can obtain Different blank utilization rate, causes the waste of material.For this problem present invention, a kind of cutting for irregular blank border is proposed Sanction method, obtains the most available maximum area rectangle.

Summary of the invention

The deficiency existed for prior art, the present invention proposes a kind of cut-out method for the most irregular blank, to reach joint The substantial amounts of artificial stock layout time about, improve the utilization rate of productivity ratio and material, saved cost of labor for factory and become with material This, create economic benefit

The technical scheme is that and be achieved in that: a kind of cut-out method for the most irregular blank, comprise the following steps:

Step 1: gather the data treating tailored blank, including:

Step 1-1: shoot blank to be processed, shoots two width images；

First width is the blank drawing picture that band is had powerful connections；

Second width is the background image identical with the first width background;

Step 1-2: deduct the second width image with the first sub-picture, remove background, obtain blank drawing picture；

Step 1-3: the blank drawing picture utilizing Sobel operator to obtain step 1-2 carries out rim detection, determines blank profile Border；

Step 1-4: the edge image obtaining step 1-3 progressively scans, in units of pixel, with image lower-left angle point As initial point, setting up coordinate system, the pixel coordinate matrix [u, v] obtaining edge image is:

$[u,v]=\left[\begin{array}{cc}{x}_1& y_1\\ x_2& y_2\\ .& .\\ .& .\\ .& .\\ x_n& y_n\end{array}\right]---\left(1\right)$

In formula, u, v are pixel coordinate value in camera coordinates system, and n is the pixel quantity of profile；x₁, x₂..., x_nRepresent profile The abscissa of point；y₁, y₂..., y_nRepresent the vertical coordinate of profile point；

Step 1-5: the profile matrix under blank pixel coordinate is converted into the profile matrix under world coordinates, comprises the following steps that；

Step 1-5-1: the scaling method provided by industrial camera supplier obtains the internal reference f of video camera_x、f_y、c_x、c_yWith Outer ginseng R, T, wherein: R is the spin matrix of a 3*3, T is the translation matrix of a 3*1；

Step 1-5-2: calculating transition matrix A, the computing formula of A is as follows:

$A=\left[\begin{array}{cccc}{f}_x& 0& c_x& 0\\ 0& f_y& c_y& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0& 1\end{array}\right]---\left(2\right)$

Step 1-5-3: the blank profile obtained by step 1-3 is the profile under camera coordinates, its actual profile with its at image In corresponding point between relation be to be determined by the geometric model of video camera, between pixel coordinate value and real world coordinates value Functional relationship meet equation below:

$\left[\begin{array}{c}{X}_w\\ Y_w\\ Z_w\\ 1\end{array}\right]=A^{-1}*Z_w*\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]---\left(3\right)$

In formula, Z_WFor conversion coefficient, X_W、Y_W、Z_WIt it is the coordinate in world coordinate system；

Pixel coordinate profile step 1-4 obtained brings formula (3) into, thus calculates the world coordinates of blank profile；

Step 1-6: the profile matrix coordinate points utilizing step 1-5 to obtain determines 4 boundary extremum points of blank profile, i.e. X The maximum X of coordinate axes_max, minima X of X-coordinate axle_min, the maximum Y of Y coordinate axle_maxAnd minima Y of Y coordinate axle_min；

Four coordinate points utilizing the circumscribed rectangle that aforementioned four extreme value is combined into blank profile are respectively as follows:

RP₁(X_min, Y_min), RP₂(X_max, Y_min), RP₃(X_max, Y_max) and RP₄(X_max, Y_min)

Aforementioned four coordinate points line i.e. obtains the circumscribed rectangle being parallel to coordinate axes of blank profile；

Step 2: utilize genetic algorithm to determine the rectangular profile of blank, as the border that blank is cut out, comprise the following steps:

Step 2-1: in circumscribed rectangular extent determined by step 1-6, stochastic generation m little rectangle as initial population, Specific as follows:

Step 2-1-1: take two coordinate points P the most at random₁(x₁, y₁) and P₂(x₂, y₂) so that coordinate points meets such as simultaneously Lower three conditions:

Condition 1: coordinate points P randomly selected₁Abscissa x₁、P₂Abscissa x₂Can not exceed circumscribed rectangle abscissa border:

X_min<x₁, x₂<X_max

Condition 2: coordinate points P randomly selected₁Vertical coordinate y₁、P₂Vertical coordinate y₂Can not exceed circumscribed rectangle vertical coordinate border:

Y_min<y₁, y₂<Y_max,

Condition 3: preventing exceed blank profile border too much at other 2 of little rectangle, length of side L being formed little rectangle should meet:

L<max{Y_max-Y_min, X_max-X_min}

According to coordinate points P₁And P₂Coordinate figure and length of side L, be calculated the coordinate figure P thirdly of little rectangle₃(x₃, y₃), Formula is:

$\left\{\begin{array}{c}(y_3-y_1)\&times;(y_2-y_1)+(x_3-x_1)\&times;(x_2-x_1)=0\\ {(y_3-y_1)}^2+{(x_3-x_1)}^2-L^2=0\end{array}\right.---\left(4\right)$

In formula, x₃Represent P₃Abscissa, y₃Represent P₃Vertical coordinate；

Solved by formula (4) and obtain two coordinate figures and meet equation, randomly choose wherein as little rectangle coordinate thirdly Value；

Then according to P₁、P₂、P₃Calculate little rectangle the 4th point coordinates P₄(x₄, y₄), formula is:

$\left\{\begin{array}{c}{x}_4=x_1+x_3-x_2\\ y_4=y_1+y_3-y_2\end{array}\right.---\left(5\right)$

In formula, x₄Represent P₄Abscissa, y₄Represent P₄Vertical coordinate；

Step 2-1-2: coordinate and the step 1-5 blank profile coordinate to four points of the little rectangle obtained by step 2-1-1, Use ray method to differentiate the relation of these four points of randomly generating and blank profile, confirm four points of little rectangle and little rectangle Within four edges is entirely located in the border of blank profile, if not within blank profile border, utilizing step 2-1-1 again to give birth to Become another little rectangle；

Cheng Shengyi, four summits chromogene CH of the little rectangle that recycling is formed, the coding rule of chromogene CH For: by four coordinate points according to { x1y1x2y2x3y3x4y4} order arranges；

Step 2-1-3: utilizing step 2-1-1 and m little rectangle of step 2-1-2 generation as initial population N, N is a m*8 Matrix, and have N >=100；

The coding rule of population N is:

Every a line of N represents a chromogene CH, and the columns of N represents scale m of population;

Step 2-2: the initial population produced step 2-1 on the basis of meeting rectangle constraint and area maximum is evaluated, The degree the least expression chromogene retrained owing to the area of little rectangle is the biggest, violate rectangle is the most outstanding, the face of arbitrary quadrilateral Long-pending formula is:

S=0.5×|x₁×y₂-x₂×y₁+x₂×y₃-x₃×y₂+x₃×y₄-x₄×y₃+x₄×y₁-x₁×y₄| (6)

In formula, S represents the area of tetragon;

What little rectangle should meet is constrained to:

Parallel Constraint: any opposite side of rectangle should be parallel, and formula is as follows:

$\left\{\begin{array}{c}(y_4-y_1)\&times;(x_3-x_2)-(y_3-y_2)\&times;(x_4-x_1)=0\\ (y_2-y_1)\&times;(x_4-x_3)-(y_4-y_3)\&times;(x_2-x_1)=0\end{array}\right.---\left(7\right)$

Vertical constraint: rectangle arbitrary neighborhood both sides angle is 90 degree, and formula is as follows:

(y₂-y₁)×(y₄-y₁)-(x₂-x₁)×(x₁-x₄)=0 (8)

Arbitrary quadrilateral is violated the degree of rectangle constraint and is defined as penalty term, and formula is:

penatly1=|(y₄-y₁)×(x₃-x₂)-(y₃-y₂)×(x₄-x₁)|

penatly2=|(y₂-y₁)×(x₄-x₃)-(y₄-y₃)×(x₂-x₁) | (9)

penatly3=|(y₂-y₁)×(y₄-y₁)-(x₂-x₁)×(x₁-x₄)|

In formula: penatly1 represents first penalty term, penatly2 represents second penalty term, and penatly3 represents that the 3rd is punished Penalize item；

In area formula, add penalty term obtain the fitness function of population and be:

Fitness=S-100 × (penatly1+penatly2+penatly3)/max{penatly1, penatly2, penatly3} (10)

In formula: fitness represents fitness function；

Bring the initial population that step 2-1 produces into fitness function formula (10) and chromogene is carried out fitness evaluation, and It is ranked up according to the size of fitness value；

Step 2-3: set up selection opertor, uses the mode of roulette to select adaptive value high in the colony that step 2-2 obtains Chromogene, as the population of next step cross-reference, is embodied as:

The mode using roulette selects to produce a new generation population: the selected desired amt of each chromogene and its adaptive value The ratio of shared colony adaptive value summation, as select probability, generates a new generation population；

For the colony N (Ch that given scale is m₁, CH₂..., CH_m), individual fitness is fitness (Ch_i), it selects Probability is:

$P\left({\mathrm{CH}}_i\right)=\frac{\mathrm{fitness}\left({\mathrm{CH}}_i\right)}{\underset{j=1}{\overset{n}{\mathrm{\&Sigma;}}}\mathrm{fitness}\left({\mathrm{CH}}_j\right)},j=\mathrm{1,2},...,m---\left(11\right)$

In formula: P (Ch_i) represent the selected probability of this chromogene；Fitness (Chi) represents the adaptive value of this chromosome；

I.e. calculate the ratio that each individual fitness is shared in colony's adaptive value summation, represent this chromosome in the selection process Selected probability；Then the random number rand between [0,1] is generated, if met:

∑[P(CH₁)+P(CH₂)+.......+P(CH_i-1)]≤rand≤∑[P(CH₁)+P(CH₂)+.......+P(CH_i)]

Then select i-th chromosome CH_i；Selected population N is obtained after repetitive operation m time_ch, footmark ch represents the meaning of English selection;

Step 2-4；The selected population N that step 2-3 is obtained_chCarry out intersecting and operate, use single-point to intersect, by adjacent dyeing Body gene C h_iAnd Ch_i+1Intersect, randomly generate the random number P between [0,1]_cIf, P_c< 0.3 in interval [1,7] In randomly generate a crossover location, by chromogene Ch_iAnd Ch_i+1Genetic fragment after being positioned at crossover location swaps, If P_c>=0.3 chromogene does not do and intersects, the selected population N so obtained step 2-4_chCarry out the friendship of gene two-by-two Fork obtains cross-species N_cr, footmark cr represents the meaning of English intersection;

Step 2-5: the population obtaining step 2-4 carries out mutation operation, arbitrarily produces the random number P between [0,1]_m, as Really P_m< 0.7 randomly generates a variable position in interval [1,8], the number of variable position becomes step 1-6 and produces Circumscribed rectangle in a random number；If P_m>=0.7 chromogene does not carry out mutation operation, so to step 2-4 The cross-species N obtained_crEach genome walking obtain make a variation population N_va, footmark ch represents the meaning of English variation;

Step 2-6: the population N that step 2-3,2-4 and 2-5 are obtained_ch、N_cr、N_vaForm a gene pool N_gp, to gene 3 × m chromogene in pond utilizes ray method to carry out little rectangular dots, minor matrix four edges differentiates with the relation of blank profile, Chromogene for being positioned at outside blank profile makes fitness function value be zero, to the chromogene in blank profile according to step Rapid 2-2 is evaluated and sorts;

Step 2-7: before chromosome step 2-6 obtained selects, m is individual as follow-on initial population, and will come first The chromosome of position, as elite gene, is not made any change and is directly entered follow-on gene pool N_gpIn guarantee the most excellent of every generation Gene will not be destroyed；

Step 2-8: repeated execution of steps 2-3 step 2-7, until cycle-index reaches default iterations It, stops seeking Excellent, It >=100；

Step 2-9: the chromogene that gene pool step 2-8 obtained makes number one as optimal base because of output, it is thus achieved that Optimum blank cutting scheme；

Step 3: this is cut out scheme input control system, is cut out the blank to be processed of step 1, it is thus achieved that meet work Blank flat needed for the stock layout of skill.

Beneficial effects of the present invention: most nesting is all based on what rectangular plate just can be carried out, and the blank shape of reality Shape is all irregular, needs manually to participate in, and the present invention is directed to irregular blank shape and finds largest face product moment therein Shape, can obtain rapidly and accurately in irregular blank available or can the part of stock layout, just as an interface, will both be tight Close combination, the rectangle obtained can directly utilize nesting and carry out stock layout.The substantial amounts of artificial stock layout time saved, improve life Productivity and the utilization rate of material, saved cost of labor and material cost for factory, created economic benefit.

Accompanying drawing explanation

Fig. 1 is the embodiment of the present invention cut-out method flow chart for the most irregular blank；

Fig. 2 is that the stone material blank drawing of embodiment of the present invention band background is as schematic diagram；

Fig. 3 is embodiment of the present invention background blank schematic diagram；

Fig. 4 is that the bright embodiment of this law blank drawing that background is black after treatment is as schematic diagram；

Fig. 5 is this law bright embodiment blank edge image schematic diagram after rim detection；

Fig. 6 is this law bright embodiment blank profile circumscribed rectangle schematic diagram；

Fig. 7 is that the imperial palace of this law bright embodiment blank irregular figure connects rectangle schematic diagram.

Detailed description of the invention

Below in conjunction with the accompanying drawings embodiments of the present invention are described in further detail.

The cut-out method for the most irregular blank that present embodiment uses, its flow process is as it is shown in figure 1, comprise the following steps:

Step 1: gather blank data, including:

Step 1-1: shoot blank to be processed, shoots two width images；Use Microvision MV-500UC colour industrial digital Video camera obtains large stone material plate image and background image, as shown in Figures 2 and 3.

Step 1-2: with Fig. 2 image subtraction Fig. 3, remove background, obtain blank drawing picture as shown in Figure 4.

Step 1-3: the blank drawing picture utilizing Sobel operator to obtain step 1-2 carries out rim detection, Sobel operator is a kind of The edge detection algorithm of first order differential operator, utilize pixel up and down, the gray scale difference of left and right adjoint point, reach extremum extracting in edge Edge, removes part pseudo-edge, and it has certain smoothing effect to noise.The blank drawing picture obtaining step 1-2 directly should Use this operator, the blank edge image obtained.The blank edge image obtained is as shown in Figure 5.

Step 1-4: progressively scan Fig. 5, in units of pixel, using image lower-left angle point as initial point, with the length of image As x-axis, using the width of image as y-axis, the pixel coordinate obtaining edge image it is:

$[u,v]=\left[\begin{array}{cc}1103& 801\\ 1104& 800\\ .& .\\ .& .\\ .& .\\ 1103& 801\end{array}\right]$

Step 1-5: the profile matrix under blank pixel coordinate is converted into the profile matrix under world coordinates, and concrete mode is as follows；

Step 1-5-1: the calibration software provided by industrial camera supplier obtains the internal reference f of video camera_x=2368.91440、 f_y=2368.39288、c_x=1448.11856、c_y=881.75401 and outer parameter R and T, wherein, the formula of outer parameter R is:

$R=\left[\begin{array}{ccc}0.430810& 0.902408& 0.007913\\ 0.902292& -0.430882& 0.014464\\ 0.016462& 0.000909& -0.999864\end{array}\right]$

The formula of outer parameter T is:

$T=\left[\begin{array}{c}-203.653609\\ 32.256832\\ 1938.387387\end{array}\right].$

Step 1-5-2: calculating transition matrix A, formula is as follows:

$A=\left[\begin{array}{cccc}{f}_x& 0& c_x& 0\\ 0& f_y& c_y& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0& 1\end{array}\right]=\left[\begin{array}{cccc}1044.39094& 2139.043645& -1429.176396& 2324576.784612\\ 2151.49738& -1019.696346& -847.377656& 1785577.70266\\ 0.016462& 0.000909& -0.999864& 1938.387387\end{array}\right]$

Step 1-5-3: bringing the pixel coordinate array of step 1-4 into formula (3) and obtain the world coordinates of profile, formula is as follows:

$[X_w,Y_w]=\left[\begin{array}{cc}0.6& 317.4\\ 1.4& 318.2\\ .& .\\ .& .\\ .& .\\ 0.6& 317.4\end{array}\right]$

Step 1-6: utilize step 1-5 to utilize the profile matrix coordinate points obtained to seek the maximum X of X-coordinate axle_max=239.8 Hes Minima X_min=0.6 and the maximum Y of Y coordinate axle_max=341.4 and minima Y_min=139.8, utilize X-axis and Y-axis These four extreme values can be combined into four coordinate points RP of rectangle₁(0.6,139.8), RP₂(239.8,139.8), RP₃(239.8,341.4) And RP₄(0.6,341.4), four coordinate points lines can obtain blank profile parallel in the circumscribed rectangle of coordinate axes, blank profile Circumscribed rectangle as shown in Figure 6.

Step 2: utilize genetic algorithm to determine the rectangular profile cutting out blank, comprise the following steps:

Step 2-1: in circumscribed rectangular extent determined by step 1-6, stochastic generation m=100 little rectangle is planted as initial Group, including:

Step 2-1-1: take two coordinate points P the most at random₁(x₁, y₁) and P₂(x₂, y₂) coordinate points is met the most about Bundle:

Constraint 1:X_min＜ x₁,x₂<X_max

Constraint 2:Y_min＜ y₁,y₂<Y_max

Constraint 3: each little rectangle length of side L so that length of side L < max{Y_max-Y_min, X_max-X_min}

Purpose is to prevent exceed blank profile border too much at other 2 of rectangle, calculates according to this coordinate figure of 2 and the length of side Obtain the coordinate figure P thirdly of rectangle₃(x₃, y₃), formula is:

$\left\{\begin{array}{c}(y_3-y_1)\&times;(y_2-y_1)+(x_3-x_1)\&times;(x_2-x_1)=0\\ {(y_3-y_1)}^2+{(x_3-x_1)}^2-L^2=0\end{array}\right.---\left(4\right)$

Can be solved by formula (4) and obtain two coordinate figures and meet equation, randomly choose wherein as rectangle thirdly Coordinate figure.Then according to P₁、P₂、P₃Calculate rectangle the 4th point coordinates P₄(x₄, y₄), formula is:

$\left\{\begin{array}{c}{x}_4=x_1+x_3-x_2\\ y_4=y_1+y_3-y_2\end{array}\right.---\left(5\right)$

Step 2-1-2: coordinate and the data of step 1-5 blank profile to four summits of the rectangle obtained by step 2-1-1 Point, uses ray method to differentiate four summits of the rectangle randomly generated and the relation of blank profile, confirms four summits of little rectangle And within whether the four edges of little rectangle is entirely located in the border of blank profile, if not within blank profile border, utilized Step 2-1-1 regenerates another little rectangle and substitutes original little rectangle.

Four points utilizing little rectangle become a raw chromogene CH, and the coding rule of chromogene CH is: by four seats Punctuate is according to { x1y1x2y2x3y3x4y4} order arranges.

Step 2-1-3: utilizing step 2-1-1 and step 2-1-2 100 rectangles of generation as initial population N, N is one 100 The matrix of × 8, such as:

If population N is:

$\left[\begin{array}{cccccccc}185& 281& 22& 312& 3.3165& 213.7609& 166.3165& 192.7609\\ 194& 165& 171& 293& 46.9862& 270.7162& 69.9862& 142.7263\\ .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .\\ 95& 291& 107& 229& 107.9818& 229.1900& 95.9818& 291.1900\end{array}\right]$

Wherein, every a line represents four coordinates of a rectangle, is exactly by P for the first rectangle₁(185,281), P₂(22,312), P₃(3.3165,213.7609) and P₄(166.3165,192.7609) four some compositions；This matrix N has 100 row, with regard to table It is shown with 100 rectangle compositions.

Step 2-2: the initial population produced step 2-1 on the basis of meeting rectangle constraint and area maximum is evaluated.By The degree the least expression chromogene that area in little rectangle is the biggest, violate rectangle retrains is the most outstanding, the area of arbitrary quadrilateral Formula is:

S=0.5×|x₁×y₂-x₂×y₁+x₂×y₃-x₃×y₂+x₃×y₄-x₄×y₃+x₄×y₁-x₁×y₄| (6)

What rectangle should meet is constrained to:

Parallel Constraint: any opposite side of rectangle should be parallel, and formula is as follows:

$\left\{\begin{array}{c}(y_4-y_1)\&times;(x_3-x_2)-(y_3-y_2)\&times;(x_4-x_1)=0\\ (y_2-y_1)\&times;(x_4-x_3)-(y_4-y_3)\&times;(x_2-x_1)=0\end{array}\right.---\left(7\right)$

Vertical constraint: rectangle arbitrary neighborhood both sides angle is 90 degree, and formula is as follows:

(y₂-y₁)×(y₄-y₁)-(x₂-x₁)×(x₁-x₄)=0 (8)

Arbitrary quadrilateral is violated the degree of rectangle constraint and is defined as penalty term, and formula is:

penatly1=|(y₄-y₁)×(x₃-x₂)-(y₃-y₂)×(x₄-x₁)|

penatly2=|(y₂-y₁)×(x₄-x₃)-(y₄-y₃)×(x₂-x₁)| (9)

penatly3=|(y₂-y₁)×(y₄-y₁)-(x₂-x₁)×(x₁-x₄)|

In area formula, add penalty term obtain the fitness function of population and be:

Fitness=S-100 × (penatly1+penatly2+penatly3)/max{penatly1, penatly2, penatly3} (10)

Bring the initial population that step 2-1 produces into fitness function formula (10) and chromogene is carried out fitness evaluation, and It is ranked up according to the size of fitness value.

Step 2-3: set up selection opertor, sets up selection opertor, uses the mode of roulette to select in the colony that step 2-2 obtains Select the high chromogene of adaptive value as next step cross-reference, be embodied as:

The mode using roulette selects to produce a new generation population, the selected expectation of each chromogene in the new colony of generation Shared by quantity and its adaptive value, the ratio of colony's adaptive value summation is relevant.For the colony N (Ch that given scale is 100₁, CH₂..., CH_m), individual fitness is fitness (Ch_i), its select probability is:

$P\left({\mathrm{CH}}_i\right)=\frac{\mathrm{fitness}\left({\mathrm{CH}}_i\right)}{\underset{j=1}{\overset{n}{\mathrm{\&Sigma;}}}\mathrm{fitness}\left({\mathrm{CH}}_j\right)},j=\mathrm{1,2},...,m---\left(11\right)$

In formula, P (Ch_i) represent the selected probability of this chromogene；fitness(Ch_i) represent the adaptive value of this chromosome；

I.e. calculate the ratio that each individual fitness is shared in colony's adaptive value summation, represent this chromosome in the selection process Selected probability；Then the random number rand between [0,1] is generated, if met:

∑[P(CH₁)+P(CH₂)+.......+P(CH_i-1)]<rand<∑[P(CH₁)+P(CH₂)+.......+P(CH_i)]

Then select i-th chromosome CH_i；Selected population N is obtained after repetitive operation m time_ch。

Step 2-4: the selected population N that step 2-3 is obtained_chCarry out intersecting and operate, use single-point to intersect, by adjacent dyeing Body gene C h_iAnd Ch_i+1Intersect, randomly generate the random number P between [0,1]_cIf, P_c< 0.3 in interval [1,7] In randomly generate a crossover location, by chromogene Ch_iAnd Ch_i+1Genetic fragment after being positioned at crossover location swaps, If P_c>=0.3 chromogene does not do and intersects, the selected population N so obtained step 2-4_chCarry out the friendship of gene two-by-two Fork obtains cross-species N_cr。

Step 2-5: the population obtaining step 2-4 carries out mutation operation, arbitrarily produces the random number P between [0,1]_m, as Really P_m< 0.7 randomly generates a variable position in interval [1,8], and the number of variable position becomes what step 1-6 produced A random number in circumscribed rectangle；If P_m>=0.7 chromogene does not carry out mutation operation, so obtains step 2-4 The cross-species N arrived_crEach genome walking obtain make a variation population N_va。

Step 2-6: the population N that step 2-3,2-4 and 2-5 are obtained_ch、N_cr、N_vaForm a gene pool N_gp, to gene 300 chromogenes in pond utilize the relation of four edges that ray method carries out little rectangular dots and little rectangle and blank profile to sentence Not, the chromosome for being positioned at outside blank profile makes fitness function value be zero, to the chromogene in blank profile according to step Rapid 2-2 is evaluated and sorts.

Step 2-7: chromosome that step 2-6 is obtained select front 100 as follow-on initial population, and first will be come The chromosome of position, as elite gene, is not made any change and is directly entered follow-on gene pool N_gpIn guarantee the optimum of every generation Well-founded is because being destroyed.

Step 2-8: repeated execution of steps 2-3 step 2-7, until cycle-index reaches default iterations 300, stops seeking Excellent.

Step 2-9: the chromogene that gene pool step 2-8 obtained makes number one is not advised as optimal base because of output blank Then the imperial palace of figure connects rectangle as shown in Figure 7, it is thus achieved that optimum blank cutting scheme.

Step 3: this is cut out scheme input control system, is cut out the blank to be processed of step 1, it is thus achieved that meet work Blank flat needed for the stock layout of skill.

Utilize formula (12) to calculate the area of blank profile and imperial palace connects the area of rectangle, and the ratio calculating them is worth to blank The utilization rate of profile, step 2-9 the data obtained and step 1-5 blank outline data are brought into and are obtained the utilization rate of blank and be 94.10%.Thus the effectiveness of embodiment of the present invention is described.

$S=0.5\&times;\underset{k=1}{\overset{m}{\mathrm{\&Sigma;}}}(x_k{y}_{k+1}-x_{k+1}{y}_k)---\left(12\right)$

Wherein: S represents area, x_k, y_kRepresent abscissa and the vertical coordinate of polygon vertex respectively, k=1,2 ..., m, is m Polygonal summit, polygonal according to counterclockwise arranging.

Although the foregoing describing the detailed description of the invention of the present invention, but the those skilled in the art in this area should be appreciated that this It is merely illustrative of, these embodiments can be made various changes or modifications, without departing from principle and the essence of the present invention. The scope of the present invention is only limited by the claims that follow.

Claims (1)

1. the cut-out method for the most irregular blank, it is characterised in that: comprise the following steps:

Step 1: gather the data treating tailored blank, including:

Step 1-1: shoot blank to be processed, shoots two width images；

First width is the blank drawing picture that band is had powerful connections；

Second width is the background image identical with the first width background；

Step 1-2: deduct the second width image with the first sub-picture, remove background, obtain blank drawing picture；

Step 1-3: the blank drawing picture utilizing Sobel operator to obtain step 1-2 carries out rim detection, determines blank profile Border；

Step 1-4: the edge image obtaining step 1-3 progressively scans, in units of pixel, with image lower-left angle point As initial point, setting up coordinate system, the pixel coordinate matrix [u, v] obtaining edge image is:

$\&lsqb;u,v\&rsqb;=\left[\begin{array}{cc}{x}_1& y_1\\ x_2& y_2\\ .& .\\ .& .\\ .& .\\ x_n& y_n\end{array}\right]---\left(1\right)$

In formula, u, v are pixel coordinate value in camera coordinates system, and n is the pixel quantity of profile；x₁,x₂,……,x_nRepresent profile The abscissa of point；y₁,y₂,……,y_nRepresent the vertical coordinate of profile point；

Step 1-5: the pixel coordinate matrix conversion of blank edge image is become the profile matrix under world coordinates, and concrete steps are such as Under；

Step 1-5-1: the scaling method provided by industrial camera supplier obtains the internal reference f of video camera_x、f_y、c_x、c_yWith Outer ginseng R, T, wherein: R is the spin matrix of a 3*3, T is the translation matrix of a 3*1；

Step 1-5-2: calculating transition matrix A, the computing formula of A is as follows:

$A=\left[\begin{array}{cccc}{f}_x& 0& c_x& 0\\ 0& f_y& c_y& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0& 1\end{array}\right]---\left(2\right)$

Step 1-5-3: the blank profile obtained by step 1-3 is the profile under camera coordinates, its actual profile with its at image In corresponding point between relation be to be determined by the geometric model of video camera, between pixel coordinate value and real world coordinates value Functional relationship meet equation below:

$\left[\begin{array}{c}{X}_w\\ Y_w\\ Z_w\\ 1\end{array}\right]=A^{-1}*Z_w*\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]---\left(3\right)$

In formula, Z_WFor conversion coefficient, X_W、Y_W、Z_WIt it is the coordinate in world coordinate system；

The pixel coordinate matrix of edge image step 1-4 obtained brings formula (3) into, thus the world calculating blank profile sits Mark；

Step 1-6: the profile matrix coordinate points utilizing step 1-5 to obtain determines 4 boundary extremum points of blank profile, i.e. X The maximum X of coordinate axes_max, minima X of X-coordinate axle_min, the maximum Y of Y coordinate axle_maxAnd minima Y of Y coordinate axle_min；

Four coordinate points utilizing the circumscribed rectangle that aforementioned four extreme value is combined into blank profile are respectively as follows:

RP₁(X_min, Y_min), RP₂(X_max, Y_min), RP₃(X_max, Y_max) and RP₄(X_max, Y_min)

Aforementioned four coordinate points line i.e. obtains the circumscribed rectangle being parallel to coordinate axes of blank profile；

Step 2: utilize genetic algorithm to determine the rectangular profile of blank, as the border that blank is cut out, comprise the following steps:

Step 2-1: in circumscribed rectangular extent determined by step 1-6, stochastic generation m little rectangle as initial population, Specific as follows:

Step 2-1-1: take two coordinate points P the most at random₁(x₁, y₁) and P₂(x₂, y₂) so that coordinate points meets such as simultaneously Lower three conditions:

Condition 1: coordinate points P randomly selected₁Abscissa x₁、P₂Abscissa x₂Can not exceed circumscribed rectangle abscissa border:

X_min<x₁,x₂<X_max

Condition 2: coordinate points P randomly selected₁Vertical coordinate y₁、P₂Vertical coordinate y₂Can not exceed circumscribed rectangle vertical coordinate border:

Y_min<y₁,y₂<Y_max,

Condition 3: preventing exceed blank profile border too much at other 2 of little rectangle, length of side L being formed little rectangle should meet:

L<max{Y_max-Y_min, X_max-X_min}

According to coordinate points P₁And P₂Coordinate figure and length of side L, be calculated the coordinate figure P thirdly of little rectangle₃(x₃, y₃), Formula is:

$\left\{\begin{array}{c}(y_3-y_1)\&times;(y_2-y_1)+(x_3-x_1)\&times;(x_2-x_1)=0\\ {(y_3-y_1)}^2+{(x_3-x_1)}^2-L^2=0\end{array}\right.---\left(4\right)$

In formula, x₃Represent P₃Abscissa, y₃Represent P₃Vertical coordinate；

Solved by formula (4) and obtain two coordinate figures and meet equation, randomly choose wherein as little rectangle coordinate thirdly Value；

Then according to P₁、P₂、P₃Calculate little rectangle the 4th point coordinates P₄(x₄, y₄), formula is:

$\left\{\begin{array}{c}{x}_4=x_1+x_3-x_2\\ y_4=y_1+y_3-y_2\end{array}\right.---\left(5\right)$

In formula, x₄Represent P₄Abscissa, y₄Represent P₄Vertical coordinate；

Step 2-1-2: under the coordinate of four points of the little rectangle obtained by step 2-1-1 and step 1-5 world coordinates Blank profile coordinate, uses ray method to differentiate the relation of these four points and the blank profile randomly generated, confirms four of little rectangle Within the four edges of point and little rectangle is entirely located in the border of blank profile, if not within blank profile border, utilize step Rapid 2-1-1 regenerates another little rectangle；

Four summits of the little rectangle that recycling is formed generate a chromogene CH, the coding rule of chromogene CH For: by four coordinate points according to { x1y1x2y2x3y3x4y4} order arranges；

Step 2-1-3: utilizing step 2-1-1 and m little rectangle of step 2-1-2 generation as initial population N, N is a m*8 Matrix, and have N >=100；

The coding rule of population N is:

Every a line of N represents a chromogene CH, and the columns of N represents scale m of population；

Step 2-2: the initial population produced step 2-1 on the basis of meeting rectangle constraint and area maximum is evaluated, The degree the least expression chromogene retrained owing to the area of little rectangle is the biggest, violate rectangle is the most outstanding, the face of arbitrary quadrilateral Long-pending formula is:

S=0.5 × | x₁×y₂-x₂×y₁+x₂×y₃-x₃×y₂+x₃×y₄-x₄×y₃+x₄×y₁-x₁×y₄| (6)

In formula, S represents the area of tetragon；

What little rectangle should meet is constrained to:

Parallel Constraint: any opposite side of rectangle should be parallel, and formula is as follows:

$\left\{\begin{array}{c}(y_4-y_1)\&times;(x_3-x_2)-(y_3-y_2)\&times;(x_4-x_1)=0\\ (y_2-y_1)\&times;(x_4-x_3)-(y_4-y_3)\&times;(x_2-x_1)=0\end{array}\right.---\left(7\right)$

Vertical constraint: rectangle arbitrary neighborhood both sides angle is 90 degree, and formula is as follows:

(y₂-y₁)×(y₄-y₁)-(x₂-x₁)×(x₁-x₄)=0 (8)

Arbitrary quadrilateral is violated the degree of rectangle constraint and is defined as penalty term, and formula is:

$\begin{array}{c}penatly1=|(y_4-y_1)\&times;(x_3-x_2)-(y_3-y_2)\&times;(x_4-x_1)|\\ penatly2=|(y_2-y_1)\&times;(x_4-x_3)-(y_4-y_3)\&times;(x_2-x_1)|\\ penatly3=|(y_2-y_1)\&times;(y_4-y_1)-(x_2-x_1)\&times;(x_1-x_4)|\end{array}---\left(9\right)$

In formula: penatly1 represents first penalty term, penatly2 represents second penalty term, and penatly3 represents that the 3rd is punished Penalize item；

In area formula, add penalty term obtain the fitness function of population and be:

Fitness=S-100 × (penatly1+penatly2+penatly3)/max{penatly1, penatly2, penatly3} (10)

In formula: fitness represents fitness function；

Bring the initial population that step 2-1 produces into fitness function formula (10) and chromogene is carried out fitness evaluation, and It is ranked up according to the size of fitness value；

Step 2-3: set up selection opertor, uses the mode of roulette to select adaptive value high in the colony that step 2-2 obtains Chromogene, as the population of next step cross-reference, is embodied as:

The mode using roulette selects to produce a new generation population: the selected desired amt of each chromogene and its adaptive value The ratio of shared colony adaptive value summation, as select probability, generates a new generation population；

For the colony N (CH that given scale is m₁, CH₂..., CH_m), individual fitness is fitness (CH_i), it selects Probability is:

$P\left({\mathrm{CH}}_i\right)=\frac{fitness\left({\mathrm{CH}}_i\right)}{\underset{j=1}{\overset{n}{\&Sigma;}}fitness\left({\mathrm{CH}}_j\right)},j=1,2,...,m---\left(11\right)$

In formula: P (CH_i) represent the selected probability of this chromogene；fitness(CH_i) represent the adaptive value of this chromosome；

I.e. calculate the ratio that each individual fitness is shared in colony's adaptive value summation, represent this chromosome in the selection process Selected probability；Then the random number rand between [0,1] is generated, if met:

∑[P(CH₁)+P(CH₂)+.......+P(CH_i-1)]≤rand≤∑[P(CH₁)+P(CH₂)+.......+P(CH_i)]

Then select i-th chromosome CH_i；Selected population N is obtained after repetitive operation m time_ch, footmark ch represents the meaning of English selection；

Step 2-4: the selected population N that step 2-3 is obtained_chCarry out intersecting and operate, use single-point to intersect, by adjacent dyeing Body gene C H_iAnd CH_i+1Intersect, randomly generate the random number P between [0,1]_cIf, P_c< 0.3 in interval [1,7] In randomly generate a crossover location, by chromogene CH_iAnd CH_i+1Genetic fragment after being positioned at crossover location swaps, If P_c>=0.3 chromogene does not do and intersects, the selected population N so obtained step 2-3_chCarry out the friendship of gene two-by-two Fork obtains cross-species N_cr, footmark cr represents the meaning of English intersection；

Step 2-5: the population obtaining step 2-4 carries out mutation operation, arbitrarily produces the random number P between [0,1]_m, as Really P_m< 0.7 randomly generates a variable position in interval [1,8], the number of variable position becomes step 1-6 and produces Circumscribed rectangle in a random number；If P_m>=0.7 chromogene does not carry out mutation operation, so to step 2-4 The cross-species N obtained_crEach genome walking obtain make a variation population N_va, footmark ch represents the meaning of English variation；

Step 2-6: the population N that step 2-3,2-4 and 2-5 are obtained_ch、N_cr、N_vaForm a gene pool N_gp, to gene 3 × m chromogene in pond utilizes ray method to carry out little rectangular dots, minor matrix four edges differentiates with the relation of blank profile, Chromogene for being positioned at outside blank profile makes fitness function value be zero, to the chromogene in blank profile according to step Rapid 2-2 is evaluated and sorts；

Step 2-7: before chromosome step 2-6 obtained selects, m is individual as follow-on initial population, and will come first The chromosome of position, as elite gene, is not made any change and is directly entered follow-on gene pool N_gpIn guarantee the most excellent of every generation Gene will not be destroyed；

Step 2-8: repeated execution of steps 2-3 to step 2-7, until cycle-index reaches default iterations It, stops Optimizing, It >=100；

Step 2-9: the chromogene that gene pool step 2-8 obtained makes number one as optimal base because of output, it is thus achieved that Optimum blank cutting scheme；

Step 3: this is cut out scheme input control system, is cut out the blank to be processed of step 1, it is thus achieved that meet work Blank flat needed for the stock layout of skill.