CN109954983A - Automatic cutting method - Google Patents
Automatic cutting method Download PDFInfo
- Publication number
- CN109954983A CN109954983A CN201711421437.2A CN201711421437A CN109954983A CN 109954983 A CN109954983 A CN 109954983A CN 201711421437 A CN201711421437 A CN 201711421437A CN 109954983 A CN109954983 A CN 109954983A
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- CN
- China
- Prior art keywords
- coordinate
- cut
- product
- cutting
- industrial camera
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
Abstract
The invention discloses a kind of automatic cutting methods, comprising: when product to be cut is moved to vision-based detection region, treats cutting products by industrial camera and takes pictures, obtain the image information of product to be cut；The cutting pattern of vision algorithm Program extraction product to be cut, and spline curve fitting is carried out to the contour edge information of cutting pattern, form smoothed curve profile information；Product to be cut is moved to cutting region, hand and eye calibrating is carried out by the relationship of industrial camera image pixel coordinates and laser end, the smoothed curve profile coordinate is converted to the motion profile coordinate of laser end；Vision industrial personal computer is according to the motion profile coordinate of laser end, and driving laser is along motion profile operation.Automatic cutting method versatility of the invention is extremely strong, and obtains image automatically by industrial camera, and by the running track of coordinate conversion acquisition laser end, and when cutting can compensate for improving the precision of cutting due to tooling and product itself bring error.
Description
Technical field
The present invention relates to automation fields, more particularly, to a kind of automatic cutting method.
Background technique
Traditional cutting method is executed by the motion profile that motion control program is pre-set, processed
Product needs fixed fixture and is fixed, and when cutting cannot compensate the mistake due to tooling bring error and product itself
Difference, it is generally not high so as to cause the precision of cutting, and can be different due to product, it carries out rewriting motor program
Specific fixture is processed with design, versatility is not strong.
Summary of the invention
Based on this, the invention reside in overcoming the prior art that particular jig is needed to treat cutting products to be fixed, and cut
Precision is not high, and the not strong defect of versatility provides a kind of automatic cutting method.
Its technical solution is as follows:
A kind of automatic cutting method, comprising:
Product to be cut is placed in conveyer belt, when product to be cut is moved to vision-based detection region, by industrial camera to be cut
It cuts product to take pictures, obtains the image information of product to be cut；
Described image information is transmitted to vision industrial personal computer, is handled by vision algorithm program；
The cutting pattern of vision algorithm Program extraction product to be cut, and it is bent to carry out batten to the contour edge information of cutting pattern
Line fitting, forms smoothed curve profile information；
Product to be cut is moved to cutting region by conveyer belt, passes through industrial camera image pixel coordinates and laser end
Relationship carry out hand and eye calibrating, the smoothed curve profile coordinate is converted to the motion profile coordinate of laser end；
Vision industrial personal computer is according to the motion profile coordinate of laser end, and driving laser is along motion profile operation, completion cutting.
The technical program obtains the image information of product to be cut by industrial camera, and pattern will be cut on industrial camera
Profile and the coordinate of laser end be associated, the profile coordinate for cutting pattern can be converted to the fortune of laser end
Trajectory coordinates are moved, the cutting pattern-information that the motion control program on vision industrial personal computer is given to by visual program directly drives sharp
It is cut along motion profile operation light device end.In addition, since industrial camera is taken pictures the cutting pattern contour side directly acquired
The information of edge be it is rough, influence laser end cutting precision, thus to cutting pattern contour edge information carry out
Spline curve fitting forms smoothed curve profile information, improves cutting accuracy.The technical program does not need specific fixture and comes in fact
The positioning of existing product to be cut, without writing motion control program in advance, more without the difference because of product to be cut
Different fixture and motion control program are changed, versatility is extremely strong；And the technical program obtains image by industrial camera automatically,
And the running track for obtaining laser end is converted by coordinate, when cutting, can compensate for due to tooling bring error and product
The error of itself improves the precision of cutting.
The spline curve fitting is fitted using Quadric spline curve in one of the embodiments,.
Specific step is as follows for the Quadric spline curve fitting in one of the embodiments:
Determine Quadric spline curve fitting formula: D(x)=Ax+Bx+Cx (0≤x≤1)；
Obtain three point D in the contour edge of cutting pattern1、D2、D3Coordinate, wherein D1For the starting point of the contour edge, D3
For the terminal of the contour edge, as x=0.5, the contour edge crosses D2Point, and tangent vector is D3-D1；Pass through D1、D2、D3
It determines the value of A, B, C, completes Quadric spline curve fitting.
Specific step is as follows for the hand and eye calibrating method in one of the embodiments:
Scaling board is placed in vision-based detection region, is taken pictures by industrial camera to scaling board, is obtained on scaling board image
Each angle point pixel coordinate (u, v)；
Scaling board is moved to laser end by conveyer belt, and by demarcating manually, each angle point obtained on scaling board is swashing
The coordinate (x, y) of light device end；
Calculate scaling board image pixel coordinate to laser end coordinate transformation matrices R it is as follows
R=(u, v, 1)-1(x, y, 1)；
Turn of the image pixel coordinates and laser end running track coordinate in industrial camera is completed by the transformation matrices R
It changes.
In one of the embodiments, the industrial camera by sensor sensing to product to be cut in place after, treat
Cutting products are taken pictures.
The sensor is optoelectronic switch in one of the embodiments,.
While the industrial camera is taken pictures in one of the embodiments, order control light source controller is sent
It treats cutting products and carries out polishing.
The polishing time of the light source controller and polishing frequency and the industrial camera in one of the embodiments,
Photo opporunity and frequency matching of taking pictures.
Soft limit is carried out to the motion profile of laser end in one of the embodiments, laser end is set
The threshold value of motion profile in all directions.
The position where the coordinate points of the threshold value is no more than the plane model of cutting region in one of the embodiments,
It encloses.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, below in conjunction with specific embodiment, to this
Invention is described in further detail.It should be understood that the specific embodiments described herein are only to explain this hair
It is bright, and the scope of protection of the present invention is not limited.
A kind of automatic cutting method, comprising:
Product to be cut is placed in conveyer belt, when product to be cut is moved to vision-based detection region, by industrial camera to be cut
It cuts product to take pictures, obtains the image information of product to be cut；
Described image information is transmitted to vision industrial personal computer, is handled by vision algorithm program；
The cutting pattern of vision algorithm Program extraction product to be cut, and it is bent to carry out batten to the contour edge information of cutting pattern
Line fitting, forms smoothed curve profile information；
Product to be cut is moved to cutting region by conveyer belt, passes through industrial camera image pixel coordinates and laser end
Relationship carry out hand and eye calibrating, the smoothed curve profile coordinate is converted to the motion profile coordinate of laser end；
Vision industrial personal computer is according to the motion profile coordinate of laser end, and driving laser is along motion profile operation, completion cutting.
Present embodiment obtains the image information of product to be cut by industrial camera, and pattern will be cut on industrial camera
Profile and the coordinate of laser end be associated, the profile coordinate for cutting pattern can be converted to the fortune of laser end
Trajectory coordinates are moved, the cutting pattern-information that the motion control program on vision industrial personal computer is given to by visual program directly drives sharp
It is cut along motion profile operation light device end.In addition, since industrial camera is taken pictures the cutting pattern contour side directly acquired
The information of edge be it is rough, influence laser end cutting precision, thus to cutting pattern contour edge information carry out
Spline curve fitting forms smoothed curve profile information, improves cutting accuracy.Present embodiment does not need specific fixture and comes in fact
The positioning of existing product to be cut, without writing motion control program in advance, more without the difference because of product to be cut
Different fixture and motion control program are changed, versatility is extremely strong；And present embodiment obtains image by industrial camera automatically,
And the running track for obtaining laser end is converted by coordinate, when cutting, can compensate for due to tooling bring error and product
The error of itself improves the precision of cutting.
The spline curve fitting includes the batten of Quadric spline curve fitting, cubic spline interpolation or other forms
Curve matching, present embodiment are fitted using Quadric spline curve, and fitting is not difficult, and can satisfy the need of present embodiment
It asks.
Specific step is as follows for the Quadric spline curve fitting:
Determine Quadric spline curve fitting formula: D(x)=Ax+Bx+Cx (0≤x≤1)；
Obtain three point D in the contour edge of cutting pattern1、D2、D3Coordinate, wherein D1For the starting point of the contour edge, D3
For the terminal of the contour edge, as x=0.5, the contour edge crosses D2Point, and tangent vector is D3-D1；Pass through D1、D2、D3
It determines the value of A, B, C, completes Quadric spline curve fitting.
Specific step is as follows for hand and eye calibrating method described in present embodiment:
Scaling board is placed in vision-based detection region, is taken pictures by industrial camera to scaling board, is obtained on scaling board image
Each angle point pixel coordinate (u, v)；
Scaling board is moved to laser end by conveyer belt, and by demarcating manually, each angle point obtained on scaling board is swashing
The coordinate (x, y) of light device end；
Calculate scaling board image pixel coordinate to laser end coordinate transformation matrices R it is as follows
R=(u, v, 1)-1(x, y, 1)；
Present embodiment obtains the pixel coordinate and corresponding laser of the no less than image of three points by scaling board respectively
Ending coordinates obtain the value of transformation matrices R；For example, present embodiment uses three points, ((u1, v1), (u2, v2), (u3, v3)；Swash
Coordinate (the x of light device end1,y1), (x2,y2), (x3,y3).
The image pixel coordinates and laser end running track coordinate in industrial camera are completed by the transformation matrices R
Conversion, i.e. (x, y, 1)=(u, v, 1) R.
It is described in order to guarantee precision that industrial camera is taken pictures since product to be cut is placed on conveyer belt in motion state
Industrial camera by sensor sensing to product to be cut be moved to vision-based detection region and completely in place after, treat cutting products
It takes pictures.Sensor described in present embodiment is optoelectronic switch.
In addition, in order to guarantee the stability of image that industrial camera takes, and avoid industrial camera by ambient
Interference while the industrial camera is taken pictures, sends order control light source controller and treats cutting products progress polishing, have
Help industrial camera and obtains more characteristics of image.
The photo opporunity and frequency of taking pictures of the polishing time of the light source controller and polishing frequency and the industrial camera
Matching guarantees that industrial camera obtains the stability of image.
Soft limit is carried out to the motion profile of laser end, the motion profile of laser end is set in all directions
Threshold value.Position where the coordinate points of threshold value described in present embodiment is no more than the planar range of cutting region.That is laser end
The motion profile at end will be limited within the scope of cutting region, prevent from causing laser because of accident or parts thereof failure
End is cut outside cutting region, ensure that the personal safety of staff.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of automatic cutting method characterized by comprising
Product to be cut is placed in conveyer belt, when product to be cut is moved to vision-based detection region, by industrial camera to be cut
It cuts product to take pictures, obtains the image information of product to be cut；
Described image information is transmitted to vision industrial personal computer, is handled by vision algorithm program；
The cutting pattern of vision algorithm Program extraction product to be cut, and it is bent to carry out batten to the contour edge information of cutting pattern
Line fitting, forms smoothed curve profile information；
Product to be cut is moved to cutting region by conveyer belt, passes through industrial camera image pixel coordinates and laser end
Relationship carry out hand and eye calibrating, the smoothed curve profile coordinate is converted to the motion profile coordinate of laser end；
Vision industrial personal computer is according to the motion profile coordinate of laser end, and driving laser is along motion profile operation, completion cutting.
2. automatic cutting method according to claim 1, which is characterized in that the spline curve fitting uses quadratic spline
Curve matching.
3. automatic cutting method according to claim 2, which is characterized in that the specific step of the Quadric spline curve fitting
It is rapid as follows:
Determine Quadric spline curve fitting formula: D(x)=Ax+Bx+Cx (0≤x≤1)；
Obtain three point D in the contour edge of cutting pattern1、D2、D3Coordinate, wherein D1For the starting point of the contour edge, D3
For the terminal of the contour edge, as x=0.5, the contour edge crosses D2Point, and tangent vector is D3-D1；Pass through D1、D2、D3
It determines the value of A, B, C, completes Quadric spline curve fitting.
4. automatic cutting method according to claim 1, which is characterized in that the specific steps of the hand and eye calibrating method are such as
Under:
Scaling board is placed in vision-based detection region, is taken pictures by industrial camera to scaling board, is obtained on scaling board image
Each angle point pixel coordinate (u, v)；
Scaling board is moved to laser end by conveyer belt, and by demarcating manually, each angle point obtained on scaling board is swashing
The coordinate (x, y) of light device end；
Calculate scaling board image pixel coordinate to laser end coordinate transformation matrices R it is as follows
R=(u, v, 1)-1(x, y, 1)；
Turn of the image pixel coordinates and laser end running track coordinate in industrial camera is completed by the transformation matrices R
It changes.
5. automatic cutting method according to claim 1, which is characterized in that the industrial camera is arrived by sensor sensing
Product to be cut in place after, treat cutting products and take pictures.
6. automatic cutting method according to claim 5, which is characterized in that the sensor is optoelectronic switch.
7. automatic cutting method according to claim 1, which is characterized in that while the industrial camera is taken pictures,
It sends order control light source controller and treats cutting products progress polishing.
8. automatic cutting method according to claim 7, which is characterized in that the polishing time of the light source controller and beat
Light frequency is matched with the photo opporunity of the industrial camera and frequency of taking pictures.
9. automatic cutting method according to claim 1-8, which is characterized in that the movement rail of laser end
Mark carries out soft limit, and the threshold value of the motion profile of laser end in all directions is arranged.
10. automatic cutting method according to claim 9, which is characterized in that the position where the coordinate points of the threshold value
No more than the planar range of cutting region.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711421437.2A CN109954983A (en) | 2017-12-25 | 2017-12-25 | Automatic cutting method |
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| CN201711421437.2A CN109954983A (en) | 2017-12-25 | 2017-12-25 | Automatic cutting method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110323183A (en) * | 2019-08-01 | 2019-10-11 | 沛顿科技（深圳）有限公司 | A method of 3D NAND wafer thin slice sliver is solved the problems, such as using laser ring cutting |
| CN111583327A (en) * | 2020-04-27 | 2020-08-25 | 深圳市鑫三力自动化设备有限公司 | Method suitable for evaluating bending stress of panel |
| CN112381888A (en) * | 2020-11-19 | 2021-02-19 | 上海方菱计算机软件有限公司 | Dynamic compensation method for H-shaped steel cutting path |
| CN113146073A (en) * | 2021-06-24 | 2021-07-23 | 浙江华睿科技有限公司 | Vision-based laser cutting method and device, electronic equipment and storage medium |
| CN113751890A (en) * | 2020-06-03 | 2021-12-07 | 上海发那科机器人有限公司 | Robot curved surface track cutting method and system based on laser displacement sensor |
| CN114302559A (en) * | 2021-11-17 | 2022-04-08 | 南京晟通信息技术有限公司 | Method for realizing PCB (printed circuit board) sub-program track drawing based on Net program set |
| CN114986621A (en) * | 2022-05-07 | 2022-09-02 | 深圳市雨滴科技有限公司 | Automatic plate cutting machine and cutting method thereof |
| CN114985957A (en) * | 2022-04-14 | 2022-09-02 | 武汉华工激光工程有限责任公司 | Diaphragm laser cutting method and automatic filling and sealing production line |
| CN116051587A (en) * | 2023-02-13 | 2023-05-02 | 中国矿业大学 | Motion trail generation method for target detection |
-
2017
- 2017-12-25 CN CN201711421437.2A patent/CN109954983A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110323183A (en) * | 2019-08-01 | 2019-10-11 | 沛顿科技（深圳）有限公司 | A method of 3D NAND wafer thin slice sliver is solved the problems, such as using laser ring cutting |
| CN111583327B (en) * | 2020-04-27 | 2023-04-11 | 深圳市鑫三力自动化设备有限公司 | Method suitable for evaluating bending stress of panel |
| CN111583327A (en) * | 2020-04-27 | 2020-08-25 | 深圳市鑫三力自动化设备有限公司 | Method suitable for evaluating bending stress of panel |
| CN113751890A (en) * | 2020-06-03 | 2021-12-07 | 上海发那科机器人有限公司 | Robot curved surface track cutting method and system based on laser displacement sensor |
| CN113751890B (en) * | 2020-06-03 | 2024-01-23 | 上海发那科机器人有限公司 | Robot curved surface track cutting method and cutting system based on laser displacement sensor |
| CN112381888A (en) * | 2020-11-19 | 2021-02-19 | 上海方菱计算机软件有限公司 | Dynamic compensation method for H-shaped steel cutting path |
| CN113146073A (en) * | 2021-06-24 | 2021-07-23 | 浙江华睿科技有限公司 | Vision-based laser cutting method and device, electronic equipment and storage medium |
| CN114302559A (en) * | 2021-11-17 | 2022-04-08 | 南京晟通信息技术有限公司 | Method for realizing PCB (printed circuit board) sub-program track drawing based on Net program set |
| CN114985957A (en) * | 2022-04-14 | 2022-09-02 | 武汉华工激光工程有限责任公司 | Diaphragm laser cutting method and automatic filling and sealing production line |
| CN114986621B (en) * | 2022-05-07 | 2023-02-24 | 深圳市雨滴科技有限公司 | Automatic plate cutting machine and cutting method thereof |
| CN114986621A (en) * | 2022-05-07 | 2022-09-02 | 深圳市雨滴科技有限公司 | Automatic plate cutting machine and cutting method thereof |
| CN116051587A (en) * | 2023-02-13 | 2023-05-02 | 中国矿业大学 | Motion trail generation method for target detection |
| CN116051587B (en) * | 2023-02-13 | 2023-08-11 | 中国矿业大学 | Motion trail generation method for target detection |
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