CN107608393A - A kind of positioning cutting system and method based on machine vision technique - Google Patents
A kind of positioning cutting system and method based on machine vision technique Download PDFInfo
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- CN107608393A CN107608393A CN201710768850.XA CN201710768850A CN107608393A CN 107608393 A CN107608393 A CN 107608393A CN 201710768850 A CN201710768850 A CN 201710768850A CN 107608393 A CN107608393 A CN 107608393A
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Abstract
The invention provides a kind of positioning cutting system and method based on machine vision technique, it is related to paper and plastic basis material cuts technical field.Collection cuts the image information of object to image collecting device in real time in system, and is transferred to backend computer；Backend computer carries out image procossing to the image information for cutting object, it is determined that cutting the position data of the elements of fix on object；One location model is determined according to the position data of elements of fix, and position data is cut according to location model determination；Position data will be cut and be converted into the input data of programmable logic controller (PLC), and input data is transferred to programmable logic controller (PLC)；Input data is converted into electric signal by programmable logic controller (PLC), and electric signal is transferred into cut-off control；Cut-off control controls the cutting knife of cutting structure to carry out cutting action to cutting object according to electric signal.It can be seen that the present invention can directly determine to cut position by the position data of elements of fix, to complete to cut action.
Description
Technical field
The present invention relates to paper and plastic basis material to cut technical field, more particularly to a kind of is determined based on machine vision technique
Position cutting system and method.
Background technology
With the continuous development of printing industry and materials industry, it is also required to reach for cutting for paper and plastic basis material etc.
Higher requirement, particularly for example print in paper money flow, it is necessary to carry out accurately cutting control to paper (banknote).At present, right
In cutting in field for paper and plastic basis material etc., typically photoelectricity cutting system is used.As shown in figure 1, cut out for needing to position
The paper 100 (can also be plastic basis material etc.) cut, it is extra generally between paper 100 to make and (the i.e. product of elements of fix 101
Quality position is located the element of standard requirement, such as the fixing watermark of banknote paper or white watermark etc.) position relationship is relative
The mark that fixed slitter marks (i.e. photoelectricity mark 102) are cut as the positioning of the guillotine in photoelectricity cutting system, cuts
Machine needs to detect photoelectricity mark 102 by special photoelectric sensor to be detected as so as to realize with the position of photoelectricity mark 102
Basis cuts control.However, there are many problems, first light in the control that cuts based on the detection of the position of photoelectricity mark 102
Electric mark 102 needs pre-production, improves and cuts cost, in addition when photoelectricity mark 102 with the position of elements of fix 101 because various
When reason changes (such as：There are deviation, and deviation in cylinder mould photoelectricity mark 102 and the position of elements of fix 101 in manufacturing process
It is random, or in paper making process, the change of paper tension and the change of water and basis weight are likely to cause light
There is relatively large deviation electric mark 102 and elements of fix 101 position), so as to the distance for causing elements of fix 101 He cutting position 103
L1, L2, L3's is uncontrollable, and distance change is larger, causes actually to cut second-rate.
The content of the invention
Embodiments of the invention provide a kind of positioning cutting system and method based on machine vision technique, existing to solve
There is photoelectricity mark in control to cutting based on the detection of photoelectricity mark position in technology and elements of fix position deviation is larger,
Cause elements of fix and cut position distance it is uncontrollable, actually cut second-rate, and need to pre-set photoelectricity and be marked as
The problem of this is higher.
To reach above-mentioned purpose, the present invention adopts the following technical scheme that：
A kind of positioning cutting system based on machine vision technique, including：Backend computer, programmable logic controller (PLC),
The cutting structure of cut-off control including cutting knife and the image collecting device being arranged at the cutter location of cutting structure；
Described image harvester is connected with backend computer；The backend computer is also connected with the programmable logic controller (PLC)；
The programmable logic controller (PLC) is connected with the cut-off control；The cut-off control is used to control cutting structure
Cutting knife carries out cutting action；
Described image harvester, the image information of object is cut for gathering in real time, and is transferred to backend computer；
The backend computer, for carrying out image procossing to the image information for cutting object, it is determined that cutting object
On elements of fix position data；One location model is determined according to the position data of elements of fix, and according to the positioning mould
Type determines to cut position data；The input data of programmable logic controller (PLC) position data will be cut is converted into, and will be described defeated
Enter data transfer to programmable logic controller (PLC)；
The programmable logic controller (PLC), for the input data to be converted into electric signal, and electrically believe described
Number it is transferred to the cut-off control；
The cut-off control, for being controlled the cutting knife of cutting structure to be carried out to cutting object according to the electric signal
Cut action.
Further, the backend computer, it is additionally operable to cut image information, the position of elements of fix of object according to
Put data and what is obtained in advance cuts object-related information, correct the location model, to cut position data described in optimization, and
It is determined that cutting quality requirement condition, generation is unsatisfactory for the waste product mark corresponding to object that cuts for cutting quality requirement condition and believed
Number.
In addition, the backend computer, is specifically used for：
The position of each elements of fix in the position data of elements of fix, fits a target line：Y=aX+b,
Using the target line Y=aX+b as location model；
According to the elements of fix pre-set and the target range value for cutting position, determined on target line Y=aX+b
Cut in position data and respectively cut position.
In addition, described cut position data to cut position pixel data；The backend computer, is specifically used for：
According to the resolution information for the image information for cutting object, by it is described cut position pixel data and be converted into cut position
Glove manages unit data；
The position physical unit data that cut are converted into encoder line number data, as programmable logic controller (PLC)
Input data；
By the encoder line number data transfer to programmable logic controller (PLC).
In addition, the image information for cutting object includes：What image collecting device currently gathered cuts object packet
Paper total length A_sum；The object-related information that cuts obtained in advance includes：It is continuously multiple normally to cut what object was grouped
Yardage average value S, the paper number N being each groupedX, elements of fix deviate the qualified threshold value of normal place, cutting structure
Adjustment situation data of cutting knife when cut action；
The backend computer, is specifically used for：
According to the image collecting device paper total length A_sum for cutting object packet currently gathered and the paper being each grouped
Open number NXDetermine the yardage average value A for cutting object packet that image collecting device currently gathers；
Judge | A-S | whether it is less than or equal to default yardage difference threshold k1；| A-S | more than the poor threshold of default yardage
Value K1When, determine that the yardage for cutting object packet that image collecting device currently gathers has exception；In continuous multiple sanctions
When the yardage for cutting object packet has abnormal, the system of determination needs maintenance shut-downs；
Deviate the qualified threshold value of normal place according to elements of fix, an optimization range is set；
In the optimization range, elements of fix displacement is adjusted with default step-length, asks for location model, and according to described fixed
Bit model determines that elements of fix is corresponding in optimization range and optimal cuts position；
It is determined that it is optimal cut position and deviate the extreme position that pre-sets and reach the deviation threshold value pre-set when,
Waste product marking signal corresponding to object is cut described in generation；
According to formulaDetermine a Dynamic gene ξ；It is more than N in A_sumXDuring S, it is described most
The excellent opening position that cuts subtracts ξ, and optimal position is cut to update；It is less than N in A_sumXDuring S, optimal opening position is cut described
Increase ξ, optimal position is cut to update；
According to the cutting knife of cutting structure cut adjustment situation data during action, it is determined that front and rear cut action twice
Whether limit adjustment distance is more than or equal to the limit adjustment distance threshold pre-set；Adjusted in the front and rear limit for cutting action twice
When whole distance is more than or equal to the limit adjustment distance threshold pre-set, waste product mark letter corresponding to object is cut described in generation
Number；When the front and rear limit adjustment distance for cutting action twice is less than the limit adjustment distance threshold pre-set, image is determined
What harvester currently gathered cuts the yardage after object optimization；
It is pre- whether the yardage cut after object optimization and S deviation for judging that image collecting device currently gathers are less than
If deviation threshold, in the deviation for cutting the yardage after object optimizes and S that image collecting device currently gathers less than default
Cutting position during deviation threshold, corresponding to the yardage cut after object optimization that determines that image collecting device currently gathers is
Finally cut position；Image collecting device currently gather cut object optimization after yardage and S deviation be more than etc.
When predetermined deviation threshold value, waste product marking signal corresponding to object is cut described in generation.
A kind of positioning cutting method based on machine vision technique, cut out applied to a kind of positioning based on machine vision technique
Cutting system, the system include：Backend computer, programmable logic controller (PLC), cut-off control include the cutting structure of cutting knife
And it is arranged at the image collecting device at the cutter location of cutting structure；Described image harvester connects with backend computer
Connect；The backend computer is also connected with the programmable logic controller (PLC)；The programmable logic controller (PLC) is cut with described
Control device connects；The cut-off control is used to control the cutting knife of cutting structure to carry out cutting action；Methods described includes：
Collection cuts the image information of object to described image harvester in real time, and is transferred to backend computer；
The backend computer carries out image procossing to the image information for cutting object, determines it is determined that cutting on object
The position data of position key element；One location model is determined according to the position data of elements of fix, and determined according to the location model
Cut position data；Position data will be cut it is converted into the input data of programmable logic controller (PLC), and by the input data
It is transferred to programmable logic controller (PLC)；
The input data is converted into electric signal by the programmable logic controller (PLC), and the electric signal is transmitted
To the cut-off control；
The cut-off control controls the cutting knife of cutting structure to be cut to cutting object according to the electric signal
Action.
Further, the positioning cutting method based on machine vision technique, in addition to：
The backend computer cuts the image information of object, the position data of elements of fix according to and obtained in advance
Cut object-related information, correct the location model, to cut position data described in optimization, and determine to cut quality requirement
Condition, produce be unsatisfactory for it is described cut quality requirement condition cut waste product marking signal corresponding to object.
Specifically, the position data according to elements of fix determines a location model, and it is true according to the location model
Surely position data is cut, including：
The position of each elements of fix in the position data of elements of fix, fits a target line：Y=aX+b,
Using the target line Y=aX+b as location model；
According to the elements of fix pre-set and the target range value for cutting position, determined on target line Y=aX+b
Cut in position data and respectively cut position.
Specifically, described cut position data to cut position pixel data；It is described will cut that position data is converted into can
The input data of programmed logic controller, and the input data is transferred to programmable logic controller (PLC), including：
According to the resolution information for the image information for cutting object, by it is described cut position pixel data and be converted into cut position
Glove manages unit data；
The position physical unit data that cut are converted into encoder line number data, as programmable logic controller (PLC)
Input data；
By the encoder line number data transfer to programmable logic controller (PLC).
Specifically, the image information for cutting object includes：What image collecting device currently gathered cuts object packet
Paper total length A_sum；The object-related information that cuts obtained in advance includes：Continuous multiple normal objects that cut are grouped
Yardage average value S, the paper number N that is each groupedX, elements of fix deviate normal place qualified threshold value, cut knot
The cutting knife of structure cut adjustment situation data during action；
The backend computer cuts the image information of object, the position data of elements of fix according to and obtained in advance
Cut object-related information, correct the location model, to cut position data described in optimization, and determine to cut quality requirement
Condition, produce and be unsatisfactory for the waste product marking signal corresponding to object that cuts for cutting quality requirement condition, including：
According to the image collecting device paper total length A_sum for cutting object packet currently gathered and the paper being each grouped
Open number NXDetermine the yardage average value A for cutting object packet that image collecting device currently gathers；
Judge | A-S | whether it is less than or equal to default yardage difference threshold k1；| A-S | more than the poor threshold of default yardage
Value K1When, determine that the yardage for cutting object packet that image collecting device currently gathers has exception；In continuous multiple sanctions
When the yardage for cutting object packet has abnormal, the system of determination needs maintenance shut-downs；
Deviate the qualified threshold value of normal place according to elements of fix, an optimization range is set；
In the optimization range, elements of fix displacement is adjusted with default step-length, asks for location model, and according to described fixed
Bit model determines that elements of fix is corresponding in optimization range and optimal cuts position；
It is determined that it is optimal cut position and deviate the extreme position that pre-sets and reach the deviation threshold value pre-set when,
Waste product marking signal corresponding to object is cut described in generation；
According to formulaDetermine a Dynamic gene ξ；It is more than N in A_sumXDuring S, it is described most
The excellent opening position that cuts subtracts ξ, and optimal position is cut to update；It is less than N in A_sumXDuring S, optimal opening position is cut described
Increase ξ, optimal position is cut to update；
According to the cutting knife of cutting structure cut adjustment situation data during action, it is determined that front and rear cut action twice
Whether limit adjustment distance is more than or equal to the limit adjustment distance threshold pre-set；Adjusted in the front and rear limit for cutting action twice
When whole distance is more than or equal to the limit adjustment distance threshold pre-set, waste product mark letter corresponding to object is cut described in generation
Number；When the front and rear limit adjustment distance for cutting action twice is less than the limit adjustment distance threshold pre-set, image is determined
What harvester currently gathered cuts the yardage after object optimization；
It is pre- whether the yardage cut after object optimization and S deviation for judging that image collecting device currently gathers are less than
If deviation threshold, in the deviation for cutting the yardage after object optimizes and S that image collecting device currently gathers less than default
Cutting position during deviation threshold, corresponding to the yardage cut after object optimization that determines that image collecting device currently gathers is
Finally cut position；Image collecting device currently gather cut object optimization after yardage and S deviation be more than etc.
When predetermined deviation threshold value, waste product marking signal corresponding to object is cut described in generation.
A kind of positioning cutting system and method based on machine vision technique provided in an embodiment of the present invention, are adopted by image
Acquisition means collection in real time cuts the image information of object, and such backend computer is carried out at image to the image information for cutting object
Reason, it may be determined that cut the position data of the elements of fix on object；One positioning mould is determined according to the position data of elements of fix
Type, so as to be determined to cut position data according to location model；Position data will be cut and be converted into the defeated of programmable logic controller (PLC)
Enter data, and input data is transferred to programmable logic controller (PLC)；Input data is converted into electricity by programmable logic controller (PLC)
Gas signal, and electric signal is transferred to cut-off control；Cut-off control controls cutting structure according to electric signal
Cutting knife carries out cutting action to cutting object.It can be seen that the present invention can directly determine to cut by the position data of elements of fix
Position, to complete to cut action, without additionally setting photoelectricity to mark, avoid and additionally set cost needed for photoelectricity mark higher
The problem of, at the same can solve it is of the prior art by photoelectricity mark position detection based on the control that cuts photoelectricity mark be present
It is larger with elements of fix position deviation, cause elements of fix and cut position distance it is uncontrollable, actually cut second-rate
Problem.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is that the position that cuts for cutting control method in the prior art based on the detection of photoelectricity mark position determines to show
It is intended to；
Fig. 2 is a kind of structural representation of positioning cutting system based on machine vision technique provided in an embodiment of the present invention
Figure；
Fig. 3 is to cut object in the embodiment of the present invention, and determines to cut showing for position based on elements of fix
It is intended to；
Fig. 4 is a kind of flow chart one of positioning cutting method based on machine vision technique provided in an embodiment of the present invention；
Fig. 5 is a kind of flowchart 2 of positioning cutting method based on machine vision technique provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Machine vision technique described in the present invention be one be related to artificial intelligence, Neurobiology, psychophysics,
The cross discipline of the numerous areas such as computer science, image procossing, pattern-recognition.Machine vision technique mainly with computer come
The visual performance of people is simulated, information is extracted from the image of objective things, is handled and understood, eventually for actual inspection
Survey, measure and control.The characteristics of machine vision technique maximum is that speed is fast, contain much information, function is more.In the embodiment of the present invention
In, exactly then the information after processing is converted into electrically as the eyes of system and processing brain using machine vision technique
Signal directly controls the cutting knife of cutting structure precisely to be cut.
As shown in Fig. 2 the embodiment of the present invention provides a kind of positioning cutting system 20 based on machine vision technique, including：
Backend computer 201, programmable logic controller (PLC) 202 (Programmable Logic Controller, abbreviation PLC), cut
The cutting structure 204 of control device 203 including cutting knife and the IMAQ being arranged at the cutter location of cutting structure 204
Device 205 (such as charge-coupled device camera, i.e. CCD camera etc.)；Described image harvester 205 and backend computer 201
Connection；The backend computer 201 is also connected with the programmable logic controller (PLC) 202；The programmable logic controller (PLC) 202
It is connected with the cut-off control 203；The cut-off control 203 is used to controlling the cutting knife of cutting structure to carry out to cut dynamic
Make.
Described image harvester 205, the image information of object is cut for gathering in real time, and is transferred to backend computer
201。
The backend computer 201, the image information for cutting object to described carry out image procossing, it is determined that cutting pair
As the position data of upper elements of fix (such as watermark on banknote etc.)；One positioning is determined according to the position data of elements of fix
Model, and position data is cut according to location model determination；Position data will be cut and be converted into programmable logic controller (PLC)
202 input data, and the input data is transferred to programmable logic controller (PLC) 202.
Herein, backend computer 201 carries out image procossing to the image information for cutting object, it is determined that cutting on object
Elements of fix position data, principle is as follows：
Using pinhole imaging system principle, as size and location counter under conditions of known focal length can push away the big of testee
Small and position, therefore position of the elements of fix on image can be found out using image processing techniques and would know that elements of fix in reality
Border is measured under environment the physical location of (i.e. on the paper of reality).
The programmable logic controller (PLC) 202, for the input data to be converted into electric signal, and will be described electric
Signal is transferred to the cut-off control 203.
The cut-off control 203, for controlling the cutting knife of cutting structure according to the electric signal to cutting object
Carry out cutting action.
Further, the backend computer 201, it is additionally operable to cut image information, the elements of fix of object according to
Position data and what is obtained in advance cut object-related information, the location model is corrected, to cut positional number described in optimization
According to, and determine to cut quality requirement condition, produce be unsatisfactory for it is described cut quality requirement condition cut waste product corresponding to object
Marking signal.
In addition, the backend computer 201, is specifically used for：
The position of each elements of fix in the position data of elements of fix, fits a target line：Y=aX+b,
Using the target line Y=aX+b as location model.The target line that this place fits needs to meet each elements of fix
Position is minimum (a plurality of straight line may be fitted, wherein one is the target line) apart from sum to target line, so
Coefficient a and b can be obtained.
According to the elements of fix pre-set and the target range value for cutting position, determined on target line Y=aX+b
Cut in position data and respectively cut position.Herein, as shown in figure 3, on object 300 is cut, based on elements of fix 301
, it is necessary to set target range value to keep constant, i.e. L1=L2=L3 during determining to cut position 302.
In addition, described cut position data to cut position pixel data (being now the data in units of pixel)；
The backend computer 201, is specifically used for：
According to the resolution information for the image information for cutting object, by it is described cut position pixel data and be converted into cut position
Glove reason unit data (can be in units of millimeter).
The position physical unit data that cut are converted into encoder line number data, as programmable logic controller (PLC)
202 input data.
By the encoder line number data transfer to programmable logic controller (PLC) 202, and then programmable logic controller (PLC) 202
Encoder line number data are converted into electric signal, and electric signal is transferred to cut-off control 203, and then cut control
Device 203 controls the cutting knife of cutting structure to carry out cutting action to cutting object according to electric signal, so as to realize that computer is transported
The synchronization calculated and cut.
In addition, the image information for cutting object includes：What image collecting device 205 currently gathered cuts object packet
Paper total length A_sum；The object-related information that cuts obtained in advance includes：Continuous multiple normal objects that cut are grouped
Yardage average value S, the paper number N that is each groupedX, elements of fix deviate normal place qualified threshold value, cut knot
The cutting knife of structure cut adjustment situation data during action.Generally, one big cuts object and can have Nq, Ke Yi
Continuous N is chosen in the NqXMono- group of Zhang Zuowei.Herein normal cuts object packet and refers to each cut object (NX)
Packet of the error of measurement length value and the value manually measured with gauge within permissible range.
The backend computer 201, is specifically used for：
The paper total length A_sum for cutting object packet currently gathered according to image collecting device 205 and each packet
Paper number NXDetermine the yardage average value A for cutting object packet that image collecting device 205 currently gathers.
Judge | A-S | whether it is less than or equal to default yardage difference threshold k1；| A-S | more than the poor threshold of default yardage
Value K1When, determine that the yardage for cutting object packet that image collecting device 205 currently gathers has exception；Continuous multiple
Cutting object packet, (generally 5 are grouped, or can be each packet corresponding 1 cycles, then are 5 during cutting
Cycle) yardage when having abnormal, the system of determination needs maintenance shut-downs.
The qualified threshold value for deviateing normal place according to elements of fix (generally requires elements of fix and deviates normal place positive and negative
Between 3mm, i.e. the watermark of such as banknote can not go out frame), an optimization range (typically can be -2.5mm to+2.5mm) is set.
In the optimization range, elements of fix displacement is adjusted with default step-length, asks for location model, and according to described fixed
Bit model determines that elements of fix is corresponding in optimization range and optimal cuts position.Herein, because elements of fix displacement becomes
Change, therefore location model also respective change, the so optimal position that cuts is to refer to order and cut object yardage to connect the most with S
Near position.
It is determined that it is optimal cut position and deviate the extreme position that pre-sets reach the deviation threshold value (example that pre-sets
Such as deviate from more than 5mm) when, cutting waste product marking signal corresponding to object described in generation, (it is useless to determine that this cuts object
Product).
According to formulaDetermine a Dynamic gene ξ；It is more than N in A_sumXDuring S, it is described most
The excellent opening position that cuts subtracts ξ, and optimal position is cut to update；It is less than N in A_sumXDuring S, optimal opening position is cut described
Increase ξ, optimal position is cut to update.
According to the cutting knife of cutting structure cut adjustment situation data during action, it is determined that front and rear cut action twice
Whether limit adjustment distance is more than or equal to the limit adjustment distance threshold pre-set；Adjusted in the front and rear limit for cutting action twice
When whole distance is more than or equal to the limit adjustment distance threshold pre-set, waste product mark letter corresponding to object is cut described in generation
Number；In the front and rear limit adjustment distance for cutting action twice less than the limit adjustment distance threshold pre-set (generally
When 1.5mm), the yardage cut after object optimization that image collecting device 205 currently gathers is determined.Now, due in reality
During border is cut, cutting knife is movable to have limit adjustment distance, limit adjustment distance and (such as cut paper of cutting structure 204
Machine) mechanically and electrically precision is relevant for itself.
Whether the yardage cut after object optimization and S deviation for judging that image collecting device 205 currently gathers are small
It is small in the deviation for cutting the yardage after object optimizes and S that image collecting device 205 currently gathers in predetermined deviation threshold value
When predetermined deviation threshold value, corresponding to the yardage cut after object optimization that determines that image collecting device 205 currently gathers
Position is cut finally to cut position；Yardage and S after object optimizes are cut what image collecting device 205 currently gathered
Deviation when being more than or equal to predetermined deviation threshold value, cut waste product marking signal corresponding to object described in generation.
A kind of positioning cutting system based on machine vision technique provided in an embodiment of the present invention, passes through image collecting device
Collection in real time cuts the image information of object, and such backend computer carries out image procossing to the image information for cutting object, can
To determine to cut the position data of the elements of fix on object；One location model is determined according to the position data of elements of fix, from
And determined to cut position data according to location model；Position data will be cut it is converted into the input number of programmable logic controller (PLC)
According to, and input data is transferred to programmable logic controller (PLC)；Input data is converted into electric letter by programmable logic controller (PLC)
Number, and electric signal is transferred to cut-off control；Cut-off control controls the cutting knife of cutting structure according to electric signal
Carry out cutting action to cutting object.Believe it can be seen that the present invention can utilize intelligent image analysis to fluctuate elements of fix real time position
Breath is analyzed, and the data for integrating whole elements of fix station-keeping datas and cutting the fluctuation of object longitudinal length are counted
Calculate, with reference to continuous several data for cutting object carry out Automatic Optimals obtain it is optimal cut positional information, realize that positioning is cut,
So as to directly determine to cut position by the position data of elements of fix, to complete to cut action, set without extra
Photoelectricity marks, avoid it is extra set photoelectricity mark needed for cost it is higher the problem of, while can solve it is of the prior art with
There is photoelectricity mark in control to cutting based on the detection of photoelectricity mark position and elements of fix position deviation is larger, cause to be positioned to
Element and the distance for cutting position are uncontrollable, actually cut the problem of second-rate.
Corresponding to the positioning cutting system based on machine vision technique shown in above-mentioned Fig. 2, as shown in figure 4, the present invention is real
Apply example and a kind of positioning cutting method based on machine vision technique is also provided, including：
Collection cuts the image information of object in real time for step 401, image collecting device, and is transferred to backend computer.
Step 402, backend computer carry out image procossing to the image information for cutting object, determine it is determined that cutting on object
The position data of position key element；One location model is determined according to the position data of elements of fix, and determines to cut according to location model
Position data；Position data will be cut and be converted into the input data of programmable logic controller (PLC), and input data is transferred to can
Programmed logic controller.
Input data is converted into electric signal by step 403, programmable logic controller (PLC), and electric signal is transferred into sanction
Cutting control device.
Step 404, cut-off control control the cutting knife of cutting structure to be cut to cutting object according to electric signal
Action.
A kind of positioning cutting method based on machine vision technique provided in an embodiment of the present invention, can pass through elements of fix
Position data directly determine to cut position, to complete to cut action, photoelectricity mark is set without extra, avoids and additionally sets
The problem of cost needed for photoelectricity mark is higher is put, while can be solved of the prior art based on photoelectricity mark position detects
Cut that control has photoelectricity mark and elements of fix position deviation is larger, causing elements of fix and cut the distance of position can not
Control, actually cuts the problem of second-rate.
In order that those skilled in the art is better understood by the present invention, a more detailed embodiment is set forth below,
As shown in figure 5, the embodiment of the present invention provides a kind of positioning cutting method based on machine vision technique, including：
Collection cuts the image information of object in real time for step 501, image collecting device, and is transferred to backend computer.
Step 502, backend computer carry out image procossing to the image information for cutting object, determine it is determined that cutting on object
The position data of position key element.
Step 503, the position according to each elements of fix in the position data of elements of fix, fit a target line：Y
=aX+b, using the target line Y=aX+b as location model.
Target range value of the elements of fix that step 504, basis are pre-set with cutting position, in target line Y=aX+
Determine to cut in position data on b respectively to cut position.
Herein, it is described to cut position data to cut position pixel data.
Step 505, the resolution information according to the image information for cutting object, position pixel data conversion is cut by described
To cut position physical unit data.
Step 506, the position physical unit data that cut are converted into encoder line number data, as FPGA
The input data of controller, and by encoder line number data transfer to programmable logic controller (PLC).
Input data is converted into electric signal by step 507, programmable logic controller (PLC), and electric signal is transferred into sanction
Cutting control device.
Step 508, cut-off control control the cutting knife of cutting structure to be cut to cutting object according to electric signal
Action.
In addition, additionally provide to the algorithms of above-mentioned steps 501 to step 508 and cut at optimization in the embodiment of the present invention
Manage, in its detailed process, cutting the image information of object includes：What image collecting device currently gathered cuts the paper of object packet
Open total length A_sum；The object-related information that cuts obtained in advance includes：Continuous multiple normal paper length for cutting object packet
Spend average value S, the paper number N being each groupedX, elements of fix deviate the qualified threshold value of normal place, the cutting knife of cutting structure
Cut adjustment situation data during action.
Its detailed process is that the image information of object, the positional number of elements of fix are cut according to using backend computer
Object-related information is cut according to what is obtained in advance, the location model is corrected, to cut position data described in optimization, and determines
Cut quality requirement condition, produce be unsatisfactory for it is described cut quality requirement condition cut waste product marking signal corresponding to object,
Particular content is：
1., the paper total length A_sum for cutting object packet that is currently gathered according to image collecting device and each packet
Paper number NXDetermine the yardage average value A for cutting object packet that image collecting device currently gathers.
2., judge | A-S | whether be less than or equal to default yardage difference threshold k1；| A-S | more than default yardage
Poor threshold k1When, determine that the yardage for cutting object packet that image collecting device currently gathers has exception；Continuous more
When the individual yardage for cutting object packet has abnormal, the system of determination needs maintenance shut-downs.
3., according to elements of fix deviate normal place qualified threshold value, set an optimization range.
4., in the optimization range, elements of fix displacement is adjusted with default step-length, asks for location model, and according to institute
State location model and determine that elements of fix is corresponding in optimization range and optimal cut position.
5., it is determined that it is optimal cut position and deviate the extreme position that pre-sets reach the deviation threshold value that pre-sets
When, waste product marking signal corresponding to object is cut described in generation.
6., according to formulaDetermine a Dynamic gene ξ；It is more than N in A_sumXDuring S, described
The optimal opening position that cuts subtracts ξ, and optimal position is cut to update；It is less than N in A_sumXDuring S, optimal position is cut described
Place's increase ξ, optimal position is cut to update.
7., adjustment situation data when according to the cutting knife of cutting structure cut action, it is determined that it is front and rear cut twice it is dynamic
Whether the limit adjustment distance of work is more than or equal to the limit adjustment distance threshold pre-set；In the front and rear pole for cutting action twice
Waste product corresponding to object is cut when limit adjustment distance is more than or equal to the limit adjustment distance threshold pre-set, described in generation to mark
Signal；When the front and rear limit adjustment distance for cutting action twice is less than the limit adjustment distance threshold pre-set, it is determined that figure
As what harvester currently gathered cuts the yardage after object optimizes.
8., the yardage cut after object optimization that judges that image collecting device currently gathers and S deviation it is whether small
In predetermined deviation threshold value, it is less than in the deviation for cutting the yardage after object optimizes and S that image collecting device currently gathers
During predetermined deviation threshold value, position is cut corresponding to the yardage cut after object optimization that determines that image collecting device currently gathers
It is set to and finally cuts position；It is big in the deviation for cutting the yardage after object optimizes and S that image collecting device currently gathers
When equal to predetermined deviation threshold value, waste product marking signal corresponding to object is cut described in generation.
So, position is finally cut by this, step 505 can be continued through to step 508 to perform, completed to cutting
Object carries out cutting action.
A kind of specific implementation of positioning cutting method based on machine vision technique provided in an embodiment of the present invention can
So that referring to system embodiment corresponding to above-mentioned Fig. 2, here is omitted.
A kind of positioning cutting method based on machine vision technique provided in an embodiment of the present invention, passes through image collecting device
Collection in real time cuts the image information of object, and such backend computer carries out image procossing to the image information for cutting object, can
To determine to cut the position data of the elements of fix on object；One location model is determined according to the position data of elements of fix, from
And determined to cut position data according to location model；Position data will be cut it is converted into the input number of programmable logic controller (PLC)
According to, and input data is transferred to programmable logic controller (PLC)；Input data is converted into electric letter by programmable logic controller (PLC)
Number, and electric signal is transferred to cut-off control；Cut-off control controls the cutting knife of cutting structure according to electric signal
Carry out cutting action to cutting object.It can be seen that the present invention can directly determine to cut position by the position data of elements of fix,
To complete to cut action, set photoelectricity to mark without extra, avoid and extra set needed for photoelectricity mark that cost is higher to ask
Topic, while photoelectricity mark and fixed be present in the control that cuts based on can solving the detection of the prior art by photoelectricity mark position
Position elements position deviation it is larger, cause elements of fix and cut position distance it is uncontrollable, actually cut the problem of second-rate.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the present invention can use the computer for wherein including computer usable program code in one or more
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Apply specific embodiment in the present invention to be set forth the principle and embodiment of the present invention, above example
Explanation be only intended to help understand the present invention method and its core concept；Meanwhile for those of ordinary skill in the art,
According to the thought of the present invention, there will be changes in specific embodiments and applications, in summary, in this specification
Appearance should not be construed as limiting the invention.
Claims (10)
- A kind of 1. positioning cutting system based on machine vision technique, it is characterised in that including：Backend computer, it may be programmed and patrol Volume controller, the cutting structure of cut-off control including cutting knife and the image that is arranged at the cutter location of cutting structure Harvester；Described image harvester is connected with backend computer；The backend computer also with the FPGA control Device connection processed；The programmable logic controller (PLC) is connected with the cut-off control；The cut-off control is used to control The cutting knife of cutting structure carries out cutting action；Described image harvester, the image information of object is cut for gathering in real time, and is transferred to backend computer；The backend computer, for carrying out image procossing to the image information for cutting object, it is determined that cutting on object The position data of elements of fix；One location model is determined according to the position data of elements of fix, and it is true according to the location model Surely position data is cut；Position data will be cut it is converted into the input data of programmable logic controller (PLC), and by the input number According to being transferred to programmable logic controller (PLC)；The programmable logic controller (PLC), for the input data to be converted into electric signal, and the electric signal is passed It is defeated to arrive the cut-off control；The cut-off control, for being controlled the cutting knife of cutting structure to be cut to cutting object according to the electric signal Action.
- 2. the positioning cutting system according to claim 1 based on machine vision technique, it is characterised in that the rear end meter Calculation machine, it is additionally operable to cut the image information of object, the position data of elements of fix according to and what is obtained in advance cuts object Relevant information, the location model is corrected, to cut position data described in optimization, and determine to cut quality requirement condition, produce Quality requirement condition is cut described in being unsatisfactory for cuts waste product marking signal corresponding to object.
- 3. the positioning cutting system according to claim 2 based on machine vision technique, it is characterised in that the rear end meter Calculation machine, is specifically used for：The position of each elements of fix in the position data of elements of fix, fits a target line：Y=aX+b, by institute Target line Y=aX+b is stated as location model；According to the elements of fix pre-set and the target range value for cutting position, determine to cut on target line Y=aX+b Position is respectively cut in position data.
- 4. the positioning cutting system according to claim 3 based on machine vision technique, it is characterised in that described to cut position Data are put to cut position pixel data；The backend computer, is specifically used for：According to the resolution information for the image information for cutting object, by it is described cut position pixel data and be converted into cut position thing Manage unit data；The position physical unit data that cut are converted into encoder line number data, the input as programmable logic controller (PLC) Data；By the encoder line number data transfer to programmable logic controller (PLC).
- 5. the positioning cutting system according to claim 4 based on machine vision technique, it is characterised in that described to cut pair The image information of elephant includes：What image collecting device currently gathered cuts the paper total length A_sum of object packet；It is described advance The object-related information that cuts obtained includes：Continuous multiple normal yardage average value S for cutting object packet, each packet Paper number NX, elements of fix deviate the qualified threshold value of normal place, the tune when cutting knife of cutting structure cut action Whole situation data；The backend computer, is specifically used for：According to the image collecting device paper total length A_sum for cutting object packet currently gathered and the paper number being each grouped Mesh NXDetermine the yardage average value A for cutting object packet that image collecting device currently gathers；Judge | A-S | whether it is less than or equal to default yardage difference threshold k1；| A-S | more than the poor threshold k of default yardage1 When, determine that the yardage for cutting object packet that image collecting device currently gathers has exception；Multiple cut pair continuous When having abnormal as the yardage of packet, the system of determination needs maintenance shut-downs；Deviate the qualified threshold value of normal place according to elements of fix, an optimization range is set；In the optimization range, elements of fix displacement is adjusted with default step-length, asks for location model, and according to the positioning mould Type determines that elements of fix is corresponding in optimization range and optimal cuts position；It is determined that it is optimal cut position and deviate the extreme position that pre-sets and reach the deviation threshold value pre-set when, produce It is described to cut waste product marking signal corresponding to object；According to formulaDetermine a Dynamic gene ξ；It is more than N in A_sumXDuring S, optimal cut described Opening position subtracts ξ, and optimal position is cut to update；It is less than N in A_sumXDuring S, increase ξ in the optimal opening position that cuts, Optimal position is cut to update；According to the cutting knife of cutting structure cut adjustment situation data during action, it is determined that the front and rear limit for cutting action twice Whether adjustment distance is more than or equal to the limit adjustment distance threshold pre-set；The limit adjustment that action is cut twice front and rear away from During from adjusting distance threshold more than or equal to the limit pre-set, waste product marking signal corresponding to object is cut described in generation； When the front and rear limit adjustment distance for cutting action twice is less than the limit adjustment distance threshold pre-set, image collector is determined Put the yardage cut after object optimization currently gathered；It is default inclined whether the yardage cut after object optimization and S deviation for judging that image collecting device currently gathers are less than Poor threshold value, it is less than predetermined deviation in the deviation for cutting the yardage after object optimizes and S that image collecting device currently gathers During threshold value, it is final to cut position corresponding to the yardage cut after object optimization that determines that image collecting device currently gathers Cut position；It is more than or equal in advance in the deviation for cutting the yardage after object optimizes and S that image collecting device currently gathers If waste product marking signal corresponding to object is cut during deviation threshold, described in generation.
- 6. a kind of positioning cutting method based on machine vision technique, it is characterised in that be based on machine vision skill applied to one kind The positioning cutting system of art, the system include：Backend computer, programmable logic controller (PLC), cut-off control including cutting knife Cutting structure and the image collecting device that is arranged at the cutter location of cutting structure；Described image harvester and rear end Computer connects；The backend computer is also connected with the programmable logic controller (PLC)；The programmable logic controller (PLC) with The cut-off control connection；The cut-off control is used to control the cutting knife of cutting structure to carry out cutting action；It is described Method includes：Collection cuts the image information of object to described image harvester in real time, and is transferred to backend computer；The backend computer carries out image procossing to the image information for cutting object, is positioned to it is determined that cutting on object The position data of element；One location model is determined according to the position data of elements of fix, and determines to cut according to the location model Position data；Position data will be cut and be converted into the input data of programmable logic controller (PLC), and the input data is transmitted To programmable logic controller (PLC)；The input data is converted into electric signal by the programmable logic controller (PLC), and the electric signal is transferred into institute State cut-off control；The cut-off control controls the cutting knife of cutting structure to carry out cutting action to cutting object according to the electric signal.
- 7. the positioning cutting method according to claim 6 based on machine vision technique, it is characterised in that also include：The backend computer cuts the image information of object, the position data of elements of fix and the sanction obtained in advance according to Object-related information is cut, corrects the location model, to cut position data described in optimization, and determines to cut quality requirement bar Part, produce be unsatisfactory for it is described cut quality requirement condition cut waste product marking signal corresponding to object.
- 8. the positioning cutting method according to claim 7 based on machine vision technique, it is characterised in that the basis is determined The position data of position key element determines a location model, and cuts position data according to location model determination, including：The position of each elements of fix in the position data of elements of fix, fits a target line：Y=aX+b, by institute Target line Y=aX+b is stated as location model；According to the elements of fix pre-set and the target range value for cutting position, determine to cut on target line Y=aX+b Position is respectively cut in position data.
- 9. the positioning cutting method according to claim 8 based on machine vision technique, it is characterised in that described to cut position Data are put to cut position pixel data；The input data for position data will be cut being converted into programmable logic controller (PLC), And the input data is transferred to programmable logic controller (PLC), including：According to the resolution information for the image information for cutting object, by it is described cut position pixel data and be converted into cut position thing Manage unit data；The position physical unit data that cut are converted into encoder line number data, the input as programmable logic controller (PLC) Data；By the encoder line number data transfer to programmable logic controller (PLC).
- 10. the positioning cutting method according to claim 9 based on machine vision technique, it is characterised in that described to cut The image information of object includes：What image collecting device currently gathered cuts the paper total length A_sum of object packet；It is described pre- The object-related information that cuts first obtained includes：Continuous multiple normal yardage average value S, Mei Gefen for cutting object packet The paper number N of groupX, when elements of fix deviates the qualified threshold value of normal place, the cutting knife of cutting structure cut action Adjustment situation data；The backend computer cuts the image information of object, the position data of elements of fix and the sanction obtained in advance according to Object-related information is cut, corrects the location model, to cut position data described in optimization, and determines to cut quality requirement bar Part, produce and be unsatisfactory for the waste product marking signal corresponding to object that cuts for cutting quality requirement condition, including：According to the image collecting device paper total length A_sum for cutting object packet currently gathered and the paper number being each grouped Mesh NXDetermine the yardage average value A for cutting object packet that image collecting device currently gathers；Judge | A-S | whether it is less than or equal to default yardage difference threshold k1；| A-S | more than the poor threshold k of default yardage1 When, determine that the yardage for cutting object packet that image collecting device currently gathers has exception；Multiple cut pair continuous When having abnormal as the yardage of packet, the system of determination needs maintenance shut-downs；Deviate the qualified threshold value of normal place according to elements of fix, an optimization range is set；In the optimization range, elements of fix displacement is adjusted with default step-length, asks for location model, and according to the positioning mould Type determines that elements of fix is corresponding in optimization range and optimal cuts position；It is determined that it is optimal cut position and deviate the extreme position that pre-sets and reach the deviation threshold value pre-set when, produce It is described to cut waste product marking signal corresponding to object；According to formulaDetermine a Dynamic gene ξ；It is more than N in A_sumXDuring S, optimal cut described Opening position subtracts ξ, and optimal position is cut to update；It is less than N in A_sumXDuring S, increase ξ in the optimal opening position that cuts, Optimal position is cut to update；According to the cutting knife of cutting structure cut adjustment situation data during action, it is determined that the front and rear limit for cutting action twice Whether adjustment distance is more than or equal to the limit adjustment distance threshold pre-set；The limit adjustment that action is cut twice front and rear away from During from adjusting distance threshold more than or equal to the limit pre-set, waste product marking signal corresponding to object is cut described in generation； When the front and rear limit adjustment distance for cutting action twice is less than the limit adjustment distance threshold pre-set, image collector is determined Put the yardage cut after object optimization currently gathered；It is default inclined whether the yardage cut after object optimization and S deviation for judging that image collecting device currently gathers are less than Poor threshold value, it is less than predetermined deviation in the deviation for cutting the yardage after object optimizes and S that image collecting device currently gathers During threshold value, it is final to cut position corresponding to the yardage cut after object optimization that determines that image collecting device currently gathers Cut position；It is more than or equal in advance in the deviation for cutting the yardage after object optimizes and S that image collecting device currently gathers If waste product marking signal corresponding to object is cut during deviation threshold, described in generation.
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