CN106079196A - A kind of generation method and device of burr cutting path - Google Patents
A kind of generation method and device of burr cutting path Download PDFInfo
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- CN106079196A CN106079196A CN201610465731.2A CN201610465731A CN106079196A CN 106079196 A CN106079196 A CN 106079196A CN 201610465731 A CN201610465731 A CN 201610465731A CN 106079196 A CN106079196 A CN 106079196A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/0053—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor combined with a final operation, e.g. shaping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/0053—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor combined with a final operation, e.g. shaping
- B29C2045/0077—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor combined with a final operation, e.g. shaping removing burrs or flashes
Abstract
The invention discloses the generation method and device of a kind of burr cutting path.The generation method of described burr cutting path includes: based on the Image Acquisition at least two marginal point comprising workpiece；Remove the invalid marginal point in described at least two marginal point；According to predetermined manner, residue edge is clicked on line displacement to process；Marginal point after processing is fitted, it is thus achieved that cutting path.The technical scheme that the embodiment of the present invention provides, make the path curve obtained based on the edge of work in image can be inside contracted or extend out, and then when workpiece being cut according to the cutting path obtained after extending out, it is possible to avoid the laser infringement to workpiece outer surface during deburring；When workpiece being cut according to the cutting path obtained after inside contracting, it is possible to realize the regulation of workpiece size after processing.
Description
Technical field
The present embodiments relate to work pieces process technology, particularly relate to generation method and the dress of a kind of burr cutting path
Put.
Background technology
The frequent jagged generation of workpiece using Shooting Technique to produce, affects the performance of workpiece, it is therefore desirable to gone by burr
Remove.
In prior art, the method for deburring has multiple, such as, laser processing method, grinding technics method and explosion method etc..
Wherein, laser processing method can the burr removing surface of the work more thoroughly, and environmental protection, thus used more and more widely.
When using laser processing method that workpiece is processed, it is necessary first to determine that the cutting path of laser, conventional method are according to work
The standard size used during part injection obtains cut path.But in actual application, due to the workpiece size produced and mark
Object staff cun is variant, so often occurring that infringement workpiece outer surface performance maybe cannot realize the situation of burr cutting function.
For solving the problems referred to above, pass through in the image comprise workpiece, identify that the edge of work obtains cutting path
Method, but for the more sensitive workpiece of surface nature, laser may defective work piece surface, impact in cutting process
Workpiece performance.On the other hand, the cutting path that this method obtains is only capable of obtaining the workpiece of specific dimensions, for being dimensioned slightly smaller than
The workpiece of this size, then need to reacquire corresponding workpiece image to define new cutting path.
Summary of the invention
The present invention provides the generation method and device of a kind of burr cutting path, with laser during avoiding deburring to work
The regulation of workpiece size after the infringement of part outer surface, or realization process.
First aspect, embodiments provides a kind of generation method of burr cutting path, and described method includes:
Based on the Image Acquisition at least two marginal point comprising workpiece；
Remove the invalid marginal point in described at least two marginal point；
According to predetermined manner, residue edge is clicked on line displacement to process；
Marginal point after processing is fitted, it is thus achieved that cutting path.
Second aspect, the embodiment of the present invention additionally provides the generating means of a kind of burr cutting path, and described device includes:
Edge acquisition module, for based on the Image Acquisition at least two marginal point comprising workpiece；
Module is removed at edge, for removing the invalid marginal point in described at least two marginal point；
Edge treated module, processes for residue edge being clicked on line displacement according to predetermined manner；
Path acquisition module, for being fitted the marginal point after processing, it is thus achieved that cutting path.
The technical scheme that the embodiment of the present invention provides, by based on comprising the Image Acquisition at least two marginal point of workpiece,
Remove the invalid marginal point in described at least two marginal point, according to predetermined manner, residue edge is clicked on line displacement and process, and
Marginal point after processing is fitted, it is thus achieved that cutting path, makes the path curve obtained based on the edge of work in image permissible
Inside contracted or extended out, and then when workpiece being cut according to the cutting path obtained after extending out, it is possible to avoid deburring
The laser infringement to workpiece outer surface in journey；When workpiece being cut according to the cutting path obtained after inside contracting, it is possible to
Realize the regulation of workpiece size after processing.
Accompanying drawing explanation
Fig. 1 is the generation method flow schematic diagram of the burr cutting path that the embodiment of the present invention one provides；
Fig. 2 a is the generation method flow schematic diagram of the burr cutting path that the embodiment of the present invention two provides；
Fig. 2 b is the human-computer interaction interface schematic diagram that the embodiment of the present invention two provides；
Fig. 2 c is view field's schematic diagram that the embodiment of the present invention two provides；
Fig. 2 d is image intensity value distribution schematic diagram in the direction of search in Fig. 2 c；
Fig. 3 is the generation method flow schematic diagram of the burr cutting path that the embodiment of the present invention three provides；
Fig. 4 is the generating means structural representation of the burr cutting path that the embodiment of the present invention four provides.
Detailed description of the invention
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention is illustrate only rather than full content in description, accompanying drawing.It is being discussed in greater detail exemplary reality
It should be mentioned that, some exemplary embodiments are described as process or the method described as flow chart before executing example.Although
Operations (or step) is described as the process of order by flow chart, but many of which operation can be by concurrently, concurrently
Ground or implement simultaneously.Additionally, the order of operations can be rearranged.The most described process can be by
Terminate, it is also possible to have the additional step being not included in accompanying drawing.Described process can correspond to method, function, code,
Subroutine, subprogram etc..
Embodiment one
Fig. 1 is the generation method flow schematic diagram of the burr cutting path that the embodiment of the present invention one provides.The present embodiment can
It is applicable for use with laser processing method and workpiece is carried out deburring process.The generation method of described burr cutting path can be by burr
The generating means of cutting path performs.This device can realize by the way of hardware and/or software, and typically can be integrated in laser
In deburring equipment.
Seeing Fig. 1, the generation method of described burr cutting path specifically may include that
Step 110, based on the Image Acquisition at least two marginal point comprising workpiece.
Laser deburring equipment includes image acquiring device, the image in the range of obtaining appointment, in practical operation, treats
In the range of process workpiece is positioned over above-mentioned appointment, the image that image acquiring device obtains is the image comprising workpiece.
The burr of workpiece typically results from the outer surface of workpiece, therefore, the usual edge of cutting path in laser processing method
The edge of workpiece image is arranged.It should be noted that different based on cutting target, cutting path includes closed curve and does not closes
Curve two kinds, exemplary, if desired outer surface whole to workpiece carries out deburring process, then the cutting path arranged be with
The closing of cutting path that workpiece image edge is corresponding；If desired specify outer surface to carry out deburring process workpiece, then arrange
Cutting path be and specify non-closed cutting path corresponding to outer surface.Further, cutting path is based on workpiece image limit
Being actually needed of edge and user can be straightway, circular arc line segment or by least one straightway and at least one circular arc line segment
The irregular curve of composition.
The present embodiment is by obtaining cutting path to the matching of marginal point, owing to a point cannot uniquely determine a song
Line, therefore obtains at least two marginal point.Concrete, first by user, at least one expectation is set based on workpiece image edge bent
Line segment, every expectation curve section is corresponding with a part of edge of workpiece image, then utilizes Projection Sampling method to obtain and at least one
At least two marginal point that bar curved section is corresponding.
Step 120, the invalid marginal point removed in described at least two marginal point.
Marginal point is divided into efficient frontier point and invalid marginal point two kinds, and the most invalid marginal point refers to owing to calculating error, no
The marginal point differed greatly with other marginal points or reference position that the appearance of regular point or other factors cause, these invalid edges
Edge point can cause the inaccurate of marginal point fit procedure, and the impact on fitting result is relatively big, therefore, for obtaining the most suitably cutting
Cutting path, above-mentioned invalid marginal point is removed before carrying out marginal point matching by the present embodiment.
It should be noted that the appearance of burr belongs to the situation of above-mentioned irregular point, therefore, burr position is corresponding
Marginal point belongs to invalid marginal point, can remove during removing invalid marginal point.
The mode identifying invalid marginal point is not specifically limited by the present embodiment, exemplary, it is possible to use marginal point is extremely
The distance of ad-hoc location determines invalid marginal point, it is also possible to utilize marginal point both sides gray scale difference value to determine invalid marginal point.
Step 130, according to predetermined manner to residue edge click on line displacement process.
Remain remaining marginal point, i.e. efficient frontier point after marginal point refers to remove invalid marginal point.
Migration processing includes inside contracting process and extending out process, wherein, inside contracts process and refers to marginal point to by through workpiece geometry
The mobile process that the direction at center is carried out, extends out and processes the movement referring to carry out marginal point to the direction away from workpiece geometric center
Process.
The move mode of all residue marginal points is identical, is i.e. and inside contracts process or be and extend out process, and movement away from
Equal from length.The purpose that edge clicks on line displacement process is: make workpiece can take into account its other party during deburring
The demand in face.Exemplary, when the workpiece that surface nature is sensitive is carried out deburring, if cutting directed along outer surface of workpiece
Cut, laser may defective work piece outer surface properties, therefore carry out extending out place by the efficient frontier point being used for being formed cutting path
Reason, in order to when the cutting path that post laser edge generates carries out deburring process to workpiece, laser and outer surface of workpiece impulse-free robustness
Part has certain gap, makes the outer surface of workpiece from laser damages.On the other hand, the workpiece size being molded by is slightly larger than mark
Quasi-workpiece size, if standard-sized workpiece need to be obtained, then needs to reduce the size of workpiece while to workpiece deburring, and
Carry out cutting the purpose being not reach and reduce workpiece size directed along outer surface of workpiece, it is contemplated that needs standard-sized
The workpiece shapes that workpiece shapes obtains with injection is identical, and the efficient frontier point being used for being formed cutting path is carried out interior by the present embodiment
Contracting processes, in order to post laser carries out can reducing when deburring processes the size of workpiece along the cutting path generated to workpiece,
And then obtain the satisfactory workpiece of size and shape.
If it should be noted that the outer surface properties of workpiece is insensitive, and the dimensional requirement to workpiece is not the highest, then without
Efficient frontier need to click on line displacement process, direct matching.
Step 140, to process after marginal point be fitted, it is thus achieved that cutting path.
Owing to being only fitted efficient frontier point, the marginal point after therefore processing only includes corresponding with efficient frontier point
Point.
When being fitted, respectively at least two marginal point that each expectation curve section is corresponding is fitted, obtain to
A few matched curve section corresponding with expectation curve section, when the quantity of matched curve section is not less than 2, in addition it is also necessary to each matching
Curved section is attached, and then obtains continuous print cutting path.Wherein, the mode being attached each matched curve section includes many
Kind, this is not specifically limited by the present embodiment.
The technical scheme that the present embodiment provides, by based on comprising the Image Acquisition at least two marginal point of workpiece, removing
Invalid marginal point in described at least two marginal point, clicks on line displacement according to predetermined manner to residue edge and processes, and to place
Marginal point after reason is fitted, it is thus achieved that cutting path, and making can be interior based on the path curve of edge of work acquisition in image
Contract or extend out, and then when workpiece being cut according to the cutting path obtained after extending out, it is possible to during avoiding deburring
The laser infringement to workpiece outer surface；When workpiece being cut according to the cutting path obtained after inside contracting, it is possible to realize
To the regulation of workpiece size after processing.
Embodiment two
Fig. 2 a is the generation method flow schematic diagram of the burr cutting path that the embodiment of the present invention two provides.Such as Fig. 2 a institute
Showing, the generation method of described burr cutting path specifically may include that
Step 210, the image obtaining and comprising workpiece described in showing.
After obtaining, by image acquiring device, the image comprising workpiece, image is shown on a display screen, in order to after
The continuous operation obtaining marginal point can be normally carried out.
Step 220, the acquisition user at least one expectation curve section that the edge of work is arranged along described image, adjacent described
Expectation curve section is connected.
User, when arranging expectation curved section, typically enables every expectation curve section substantially corresponding with workpiece image
Marginal portion overlaps, therefore, it is desirable to the basic marginal portion the most corresponding with workpiece image of the shape of curved section is identical.Should be noted that
, workpiece image edge is Guan Bi, at least one straightway and at least one circular arc line segment are formed by connecting, but
In actual application, the outer surface of workpiece is perhaps without all being cut, in this case, only at outer surface pair to be cut
The workpiece image marginal portion answered arranges expectation curved section, when the expectation curve section more than one arranged, and adjacent expectation
Curved section section is to connect.
Step 230, acquisition user are at least two view field that each described expectation curve section is arranged, wherein, institute
Stating view field is by projection limit and to be perpendicular to the rectangle that the search limit of described expectation curve section forms, and described view field
Geometric center point be positioned in described expectation curve section.
Exemplary, Fig. 2 b is the human-computer interaction interface schematic diagram that the embodiment of the present invention two provides, it should be noted that be
The disposition of clearer explanation expectation curve section, the not shown workpiece image of Fig. 2 b.As shown in Figure 2 b, straightway 21 and circular arc
Line segment 22 is respectively two expectation curve sections that user is arranged based on workpiece image corresponding edge, and two expectation curve sections are by even
Contact 23 connects.Straightway 21 and circular arc line segment 22 have been correspondingly arranged respectively multiple view field 23 and multiple adjustment by
Button.Adjust button and include that position adjustment button 25, switching button 26, angle adjusting button 27, region adjust button 28, searcher
To regulation button 29 and interpolation button 30.Wherein, position adjustment button 25, display interface is shown as expectation curve section
End points, user can realize the position adjustment of expectation curve section by dragging this button；Switching button 26, shows in display interface
For the arrow in the middle of expectation curved section, user can realize conversion or the circular arc of expectation curve segment type by dragging switching button
The change of radian；Angle adjusting button 27, is illustrated within the arrow at expectation curve section end points, Yong Huke in display interface
By dragging angle adjusting button, initial angle or the end angle of curved section are adjusted；Region adjusts button 28, on display circle
Being shown as an angle point of view field in face, the length on search limit and/or projection limit can be entered by user by dragging this angle point
Row regulation；Direction of search regulation button 29, is shown as searching for the arrow on limit at display interface, and user can be by dragging this button
The direction of search of view field；Add button 30, generate when mouse moves near expectation curve section, aobvious in display interface
Be shown as "+" number, user can add expectation curve section by this button.
It should be noted that each view field correspondence obtains a marginal point, consequently, to facilitate the plan of subsequent edges
Close, every expectation curve section arranges at least two view field.
Step 240, sample projection method is utilized to obtain the marginal point in each described view field.
Concrete, along default projecting direction, gradation of image information is projected in each view field, projection
In result, mutated site is image edge location.Exemplary, Fig. 2 c is that the view field that the embodiment of the present invention two provides shows
Being intended to, as shown in Figure 2 c, direction of search Y in view field 31 is vertical with projecting direction X, and edge 32 frame of its workpiece is within it
Portion.Fig. 2 d is image intensity value distribution schematic diagram in the direction of search in Fig. 2 c, as shown in Figure 2 d, the sudden change in projection result
Position, edge in position a and b i.e. corresponding diagram 2c, and then combine Fig. 2 c and Fig. 2 d and can obtain edge line 32.Determine edge
The midpoint of line 32 is the marginal point of this view field 31 correspondence.
Step 250, the invalid marginal point removed in described at least two marginal point.
Concrete, remove the invalid marginal point in described at least two marginal point, may include that the described at least two of acquisition
Marginal point and the distance of corresponding described view field geometric center point, determine that described distance is invalid more than the marginal point of threshold value
Marginal point, removes described invalid marginal point.
View field's geometric center point is positioned in the expectation curve section of correspondence, then marginal point and corresponding view field's geometry
The distance of central point is the distance of the corresponding expectation curve section of marginal point deviation, and this distance is invalid edges more than the marginal point of threshold value
Edge point, these invalid marginal points can affect the accuracy of subsequent edges point fit procedure, therefore remove it.
Step 260, according to predetermined manner to residue edge click on line displacement process.
Step 270, to process after marginal point be fitted, it is thus achieved that cutting path.
The technical scheme that the present embodiment provides, obtains, by sample projection method, at least two limit that workpiece image edge is corresponding
Edge point, removes the invalid marginal point at least two marginal point, according to predetermined manner, residue edge is clicked on line displacement and processes, and
Marginal point after processing is fitted, it is thus achieved that cutting path, makes the path curve obtained based on the edge of work in image permissible
Inside contracted or extended out, and then when workpiece being cut according to the cutting path obtained after extending out, it is possible to avoid deburring
The laser infringement to workpiece outer surface in journey；When workpiece being cut according to the cutting path obtained after inside contracting, it is possible to
Realize the regulation of workpiece size after processing.
Embodiment three
Fig. 3 is the generation method flow schematic diagram of the burr cutting path that the embodiment of the present invention three provides.As it is shown on figure 3,
The generation method of described burr cutting path specifically may include that
Step 310, based on the Image Acquisition at least two marginal point comprising workpiece.
Step 320, the invalid marginal point removed in described at least two marginal point.
Step 330, the bearing of trend searching for limit along each described view field, click at line displacement described residue edge
Reason.
Bearing of trend along view field's search limit clicks on line displacement to residue edge and processes, including along each view field
The bearing of trend on search limit, moves same distance by corresponding residue marginal point to the direction near geometric center, or, along every
The bearing of trend on individual view field search limit, corresponding residue marginal point is moved to the direction away from geometric center identical away from
From.
Owing to each residue marginal point all has the view field of correspondence, therefore, use aforesaid way that edge point is carried out partially
The mode stability that shifting processes is preferable, does not haves some marginal point and cannot determine the situation of moving direction.
It should be noted that the mode that residue edge clicks on line displacement process can also be: respectively to the phase every described
The marginal point hoping curved section carries out curve fitting, it is thus achieved that corresponding with described at least one expectation curve section at least one the first
Matched curve section, along with described at least one the first matched curve section vertical direction, residue edge is clicked on line displacement and processes.
Wherein, along with described at least one the first matched curve section vertical direction, residue edge is clicked on line displacement and processes,
Including along with described at least one the first matched curve section vertical direction, respectively by corresponding residue marginal point near described several
Same distance is moved in the direction at what center, or, along with described at least one the first matched curve section vertical direction, respectively by right
The residue marginal point answered moves same distance to the direction away from described geometric center.
If it should be noted that the fit operation failure at certain marginal point position, then this marginal point cannot be based on plan
Close curve to offset, so this, residue edge is clicked on its less stable of mode that line displacement processes, in fact it could happen that certain
A little marginal points cannot determine the situation of moving direction.
Step 340, to process after marginal point be fitted, it is thus achieved that cutting path.
Concrete, the marginal point after processing is fitted, it is thus achieved that cutting path, may include that when described expectation curve
During Duan Weiyi bar, the process back edge point that described expectation curve section is corresponding is carried out curve fitting, it is thus achieved that with described expectation curve
The second matched curve section that section is corresponding, in the image outside described workpiece, determines described second matched curve section place straight line
The upper point minimum with described expectation curve section end-point distances is cutting path end points, connects described end points bent with described second matching
Line, forms continuous print cutting path.
It should be noted that image outside workpiece determining, the reason of cutting path end points is: enable cutting path
Through workpiece portion to be removed, such as burr, in order to above-mentioned workpiece portion to be removed is cut according to cutting path at laser
Can separate with workpiece body completely after cutting.
Marginal point after processing is fitted, it is thus achieved that cutting path, it is also possible to including: as described expectation curve Duan Weizhi
When few two, respectively the process back edge point that expectation curve section every described is corresponding is carried out curve fitting, it is thus achieved that with described extremely
At least two the second matched curve sections that few two expectation curve sections are corresponding, determine adjacent described second matched curve section place
The intersection point of straight line is junction point, based on described junction point supplement described in the part that lacks at least two the second matched curves or go
Except part unnecessary in described at least two the second matched curves, form continuous print cutting path.
It should be noted that cutting path includes Guan Bi and does not close two kinds of situations.For the cutting path of Guan Bi, often
All there is adjacent two the second matched curve section in bar the second matched curve section, and two end points of this second matched curve section divide
Do not connect with above-mentioned two adjacent the second matched curve sections.In this case, the most adjacent two the second matched curve sections are obtained
Junction point, and will not extend to junction point by the second matched curve section of corresponding junction point, will be by corresponding junction point
Second matched curve section redundance outside junction point is removed, and then obtains seamlessly transitting continuously and between adjacent curve section
Cutting path.
For the cutting path of non-closed, two second matched curves adjacent with discontinuous part only with one other
Second matched curve is adjacent and connects, and the end points of its discontinuous part in cutting path is then unsettled, this situation
Under, obtain the junction point of the most adjacent two the second matched curve sections, and by not by the second matched curve section of corresponding junction point
Extend to junction point, the redundance outside junction point of the second matched curve section by corresponding junction point is removed, makes phase
Transition smooth between adjacent second matched curve section, and by two matched curves adjacent with the discontinuous part in cutting path
Unsettled end points moves to workpiece image edge along the bearing of trend of corresponding second matched curve, in order to laser is along the cutting generated
When workpiece is cut by path, the part to be removed of workpiece can separate with workpiece body completely.It should be noted that second
The length of matched curve changes with the change of its end points, if additionally, two adjacent with the discontinuous part in cutting path
The unsettled end points of matched curve is at workpiece image edge, then without processing above-mentioned end points again.
The technical scheme that the present embodiment provides, by based on comprising the Image Acquisition at least two marginal point of workpiece, removing
Invalid marginal point in described at least two marginal point, residue edge point is carried out by the bearing of trend along each view field search limit
Migration processing, and the marginal point after processing is fitted, it is thus achieved that cutting path, it is ensured that the stability of marginal point skew, make
The path curve obtained based on the edge of work in image can be inside contracted or be extended out, and then according to the cutting road obtained after extending out
When workpiece is cut by footpath, it is possible to avoid the laser infringement to workpiece outer surface during deburring；After according to inside contracting
When workpiece is cut by the cutting path obtained, it is possible to realize the regulation of workpiece size after processing.
Embodiment four
Fig. 4 is the generating means structural representation of the burr cutting path that the embodiment of the present invention four provides.The present embodiment carries
The generating means of the burr cutting path of confession may be provided in laser deburring equipment.See Fig. 4, the life of this burr cutting path
The concrete structure becoming device is as follows:
Edge acquisition module 410, for based on the Image Acquisition at least two marginal point comprising workpiece；
Module 420 is removed at edge, for removing the invalid marginal point in described at least two marginal point；
Edge treated module 430, processes for residue edge being clicked on line displacement according to predetermined manner；
Path acquisition module 440, for being fitted the marginal point after processing, it is thus achieved that cutting path.
In the present embodiment, edge acquisition module 410 specifically may include that
Image acquisition unit, for the image obtained and comprise workpiece described in display；
Curve acquisition unit, for obtaining user's at least one expectation curve that the edge of work is arranged along described image
Section, adjacent described expectation curve section is connected；
Area acquisition unit, for obtaining at least two projected area that user is arranged for each described expectation curve section
Territory；
Edge determining unit, for utilizing sample projection method to obtain the marginal point in each described view field；
Wherein, described view field is by projection limit and to be perpendicular to the square that the search limit of described expectation curve section forms
Shape, and the geometric center point of described view field is positioned in described expectation curve section.
In the present embodiment, removal module 420 in edge specifically may include that
Distance acquiring unit, for obtaining described at least two marginal point and corresponding described view field geometric center point
Distance；
Invalid determine unit, for determining that described distance is invalid marginal point more than the marginal point of threshold value；
Invalid removal unit, is used for removing described invalid marginal point.
In the present embodiment, edge treated module 430 specifically may include that
Distance mobile unit, for the bearing of trend along each described view field search limit, to described residue marginal point
Carry out migration processing.
In the present embodiment, edge treated module 430 specifically may include that
Curve fitting unit, for carrying out curve fitting to the marginal point of expectation curve section every described respectively, it is thus achieved that with
At least one the first matched curve sections that described at least one expectation curve section is corresponding；
Distance change unit, for along the direction vertical with described at least one the first matched curve sections, to described residue
Marginal point carries out migration processing.
In the present embodiment, path acquisition module 440 specifically may include that
Line segment fitting unit, is used for when described expectation curve Duan Weiyi bar, the process corresponding to described expectation curve section
Back edge point carries out curve fitting, it is thus achieved that the second matched curve section corresponding with described expectation curve section；
Path forms unit, in the image outside described workpiece, determines described second matched curve section place straight line
The upper point minimum with described expectation curve section end-point distances is cutting path end points, connects described end points bent with described second matching
Line, forms continuous print cutting path.
In the present embodiment, path acquisition module 440 specifically may include that
Line segment synthesis unit, for when described expectation curve section is at least two, respectively to expectation curve every described
The process back edge point of section correspondence carries out curve fitting, it is thus achieved that at least two corresponding with described at least two expectation curve sections
Second matched curve section；
Connect and determine unit, be junction point for determining the intersection point of adjacent described second matched curve section place straight line；
Path synthesis unit, the portion lacked at least two the second matched curves described in supplementing based on described junction point
Point or part unnecessary at least two the second matched curves described in removing, form continuous print cutting path.
The generating means of the burr cutting path that the present embodiment provides, the burr provided with any embodiment of the present invention is cut
The generation method cutting path belongs to same inventive concept, can perform the burr cutting path that any embodiment of the present invention provided
Generation method, possesses corresponding functional module and beneficial effect.The ins and outs of the most detailed description, can be found in
The generation process of the burr cutting path that any embodiment of the present invention provides.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious change,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although by above example, the present invention is carried out
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other Equivalent embodiments more can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (14)
1. the generation method of a burr cutting path, it is characterised in that including:
Based on the Image Acquisition at least two marginal point comprising workpiece；
Remove the invalid marginal point in described at least two marginal point；
According to predetermined manner, residue edge is clicked on line displacement to process；
Marginal point after processing is fitted, it is thus achieved that cutting path.
Method the most according to claim 1, it is characterised in that based on the Image Acquisition at least two edge comprising workpiece
Point, including:
The image obtained and comprise workpiece described in showing；
Obtain user's at least one expectation curve section that the edge of work is arranged along described image, adjacent described expectation curve section phase
Even；
Obtaining user is at least two view field that each described expectation curve section is arranged；
Sample projection method is utilized to obtain the marginal point in each described view field；
Wherein, described view field is by projection limit and to be perpendicular to the rectangle that the search limit of described expectation curve section forms, and
The geometric center point of described view field is positioned in described expectation curve section.
Method the most according to claim 2, it is characterised in that remove the invalid edge in described at least two marginal point
Point, including:
Obtain the distance of described at least two marginal point and corresponding described view field geometric center point；
Determine that described distance is invalid marginal point more than the marginal point of threshold value；
Remove described invalid marginal point.
Method the most according to claim 2, it is characterised in that residue edge is clicked at line displacement according to predetermined manner
Reason, including:
Along the bearing of trend on each described view field search limit, described residue edge is clicked on line displacement and processes.
Method the most according to claim 2, it is characterised in that residue edge is clicked at line displacement according to predetermined manner
Reason, including:
Respectively the marginal point of expectation curve section every described is carried out curve fitting, it is thus achieved that with described at least one expectation curve section
Corresponding at least one the first matched curve sections；
Along the direction vertical with described at least one the first matched curve sections, described residue edge is clicked on line displacement and processes.
Method the most according to claim 2, it is characterised in that the marginal point after processing is fitted, it is thus achieved that cutting road
Footpath, including:
When described expectation curve Duan Weiyi bar, the process back edge point that described expectation curve section is corresponding is carried out curve fitting,
Obtain the second matched curve section corresponding with described expectation curve section；
In image outside described workpiece, determine on described second matched curve section place straight line with described expectation curve section end points
The point of distance minimum is cutting path end points, connects described end points and described second matched curve, forms continuous print cutting path.
Method the most according to claim 2, it is characterised in that the marginal point after processing is fitted, it is thus achieved that cutting road
Footpath, including:
When described expectation curve section is at least two, respectively the process back edge that expectation curve section every described is corresponding is clicked on
Row curve matching, it is thus achieved that at least two the second matched curve sections corresponding with described at least two expectation curve sections；
The intersection point determining adjacent described second matched curve section place straight line is junction point；
Based on described junction point supplement described in the part that lacks at least two the second matched curves or described in removing at least two
Part unnecessary in second matched curve, forms continuous print cutting path.
8. the generating means of a burr cutting path, it is characterised in that including:
Edge acquisition module, for based on the Image Acquisition at least two marginal point comprising workpiece；
Module is removed at edge, for removing the invalid marginal point in described at least two marginal point；
Edge treated module, processes for residue edge being clicked on line displacement according to predetermined manner；
Path acquisition module, for being fitted the marginal point after processing, it is thus achieved that cutting path.
Device the most according to claim 8, it is characterised in that edge acquisition module, including:
Image acquisition unit, for the image obtained and comprise workpiece described in display；
Curve acquisition unit, for obtaining user's at least one expectation curve section that the edge of work is arranged along described image, phase
Adjacent described expectation curve section is connected；
Area acquisition unit, for obtaining at least two view field that user is arranged for each described expectation curve section；
Edge determining unit, for utilizing sample projection method to obtain the marginal point in each described view field；
Wherein, described view field is by projection limit and to be perpendicular to the rectangle that the search limit of described expectation curve section forms, and
The geometric center point of described view field is positioned in described expectation curve section.
Device the most according to claim 9, it is characterised in that module is removed at edge, including:
Distance acquiring unit, for obtain described at least two marginal point and corresponding described view field geometric center point away from
From；
Invalid determine unit, for determining that described distance is invalid marginal point more than the marginal point of threshold value；
Invalid removal unit, is used for removing described invalid marginal point.
11. devices according to claim 9, it is characterised in that edge treated module, including:
Distance mobile unit, for the bearing of trend along each described view field search limit, is carried out described residue edge point
Migration processing.
12. devices according to claim 9, it is characterised in that edge treated module, including:
Curve fitting unit, for carrying out curve fitting to the marginal point of expectation curve section every described respectively, it is thus achieved that with described
At least one the first matched curve sections that at least one expectation curve section is corresponding；
Distance change unit, for along the direction vertical with described at least one the first matched curve sections, to described residue edge
Click on line displacement to process.
13. devices according to claim 9, it is characterised in that path acquisition module, including:
Line segment fitting unit, is used for when described expectation curve Duan Weiyi bar, the process back corresponding to described expectation curve section
Edge point carries out curve fitting, it is thus achieved that the second matched curve section corresponding with described expectation curve section；
Path forms unit, in image outside described workpiece, determine on described second matched curve section place straight line with
The point of described expectation curve section end-point distances minimum is cutting path end points, connects described end points and described second matched curve,
Form continuous print cutting path.
14. devices according to claim 9, it is characterised in that path acquisition module, including:
Line segment synthesis unit, for when described expectation curve section is at least two, right to expectation curve section every described respectively
The process back edge point answered carries out curve fitting, it is thus achieved that at least two second corresponding with described at least two expectation curve sections
Matched curve section；
Connect and determine unit, be junction point for determining the intersection point of adjacent described second matched curve section place straight line；
Path synthesis unit, the part lacked at least two the second matched curves described in supplement based on described junction point or
Part unnecessary at least two the second matched curves described in removal, forms continuous print cutting path.
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| CN110298828A (en) * | 2019-06-19 | 2019-10-01 | 安徽工业大学 | A kind of localization method of sideslip slab burr |
| CN110757000A (en) * | 2019-11-04 | 2020-02-07 | 深圳市洲明科技股份有限公司 | Mask mold and mask processing method |
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| CN113182704A (en) * | 2021-04-29 | 2021-07-30 | 云谷（固安）科技有限公司 | Laser cutting method, control device and system |
| CN114378647A (en) * | 2021-12-03 | 2022-04-22 | 深圳群宾精密工业有限公司 | Method and system for intelligently removing burrs of wheel hub by 3D vision-guided robot |
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