CN110154054A - Work piece cut method is automated without teaching based on the high speed of distributed computing - Google Patents
Work piece cut method is automated without teaching based on the high speed of distributed computing Download PDFInfo
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- CN110154054A CN110154054A CN201910496556.7A CN201910496556A CN110154054A CN 110154054 A CN110154054 A CN 110154054A CN 201910496556 A CN201910496556 A CN 201910496556A CN 110154054 A CN110154054 A CN 110154054A
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- cutting
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- distributed computing
- high speed
- work piece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Laser Beam Processing (AREA)
Abstract
Work piece cut method is automated without teaching based on the high speed of distributed computing the invention discloses a kind of.The present invention is a kind of to automate work piece cut method without teaching based on the high speed of distributed computing, comprising: cutting workpiece is placed on Cutting platform；Obtain the 3D point cloud model of cutting workpiece；3D point cloud model is transmitted to control server and is stored in the database by data acquisition server.Data acquisition server is connected by high-speed local area network with control server, and a control server cluster can control multiple data acquisition servers, and a data acquisition server can connect multiple 3D line laser scanners again.
Description
Technical field
The present invention relates to 3D visual fields, and in particular to a kind of to automate workpiece without teaching based on the high speed of distributed computing
Cutting method.
Background technique
Mechanical arm is before carrying out cutting work at present, it usually needs the motion path to the cutting of cutting mechanics arm, rail in advance
Mark carries out teaching.And to robot teaching, it mainly uses teaching machine matched with robot to carry out, needs operator one by one
The operation of point is modified robot pose and is saved into robot controller.
There are following technical problems for traditional technology:
Teaching machine method is intuitive, accurate, but to carry out a large amount of taught points, and workload is quite huge.
Summary of the invention
Workpiece is automated without teaching based on the high speed of distributed computing the technical problem to be solved in the present invention is to provide a kind of
Cutting method.
It is automated based on the high speed of distributed computing without teaching in order to solve the above-mentioned technical problems, the present invention provides a kind of
Work piece cut method, comprising:
Cutting workpiece is placed on Cutting platform；
Obtain the 3D point cloud model of cutting workpiece；
3D point cloud model is transmitted to control server and is stored in the database by data acquisition server.Data acquisition clothes
Business device is connected by high-speed local area network with control server, and a control server cluster can control multiple data acquisition services
Device, a data acquisition server can connect multiple 3D line laser scanners again；
A cloud is transmitted to arithmetic server by control server, and arithmetic server first removes noise to point cloud data, then
Edge contour is sought, then according to the cut lengths set, cutting position coordinate is calculated, automatically generates cutting path, according to
Workpiece complexity to be cut, placement algorithm server cluster；
Arithmetic server passes the cutting path calculated back control server, and stores in the database；
Cutting path is sent cutting mechanics arm control server by control server, then starts cutting mechanics arm and completes
Cutting.A same control server can control multiple cutting mechanics arm control servers, a cutting mechanics arm control clothes
Business device can control multiple cutting mechanics arms again.
The Cutting platform can access production line in one of the embodiments, occupy a work pace, from
Dynamic loading and unloading.
The Cutting platform can be separately as a working position, artificial loading and unloading in one of the embodiments,.
In one of the embodiments, if it is production line, 3D line laser scanner is motionless, and workpiece to be cut is flowed
Waterline, which drives, passes through 3D line laser scanner.
In one of the embodiments, for the position that works independently, linear motor drives line laser 3D scanner to fast move,
Scanning workpiece simultaneously generates 3D point cloud model.
The calculating time can be controlled in 2 seconds and completes in one of the embodiments,.
Clipping time becomes according to cutting path length in one of the embodiments, and speed is per second up to 200 millimeters.
A kind of computer equipment can be run on a memory and on a processor including memory, processor and storage
The step of computer program, the processor realizes any one the method when executing described program.
A kind of computer readable storage medium, is stored thereon with computer program, realization when which is executed by processor
The step of any one the method.
A kind of processor, the processor is for running program, wherein described program executes described in any item when running
Method.
Beneficial effects of the present invention:
The operation that operator puts one by one is not needed, teaching is not needed, workload is small, high-efficient.
Detailed description of the invention
Fig. 1 is the schematic diagram the present invention is based on the high speed of distributed computing without teaching automation work piece cut method.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It more fully understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Refering to fig. 1, a kind of to automate work piece cut method without teaching based on the high speed of distributed computing, specific steps are such as
Under:
Step 1: cutting workpiece is placed on Cutting platform.Cutting platform can access production line, occupy a work
Make beat, automatic loading/unloading can also be separately as a working position, artificial loading and unloading；
Step 2: if it is production line, 3D line laser scanner is motionless, and workpiece to be cut is driven by assembly line to be passed through
3D line laser scanner.For the position that works independently, linear motor drives line laser 3D scanner to fast move, and scans workpiece and life
At 3D point cloud model；
Step 3: 3D point cloud model is transmitted to control server and is stored in the database by data acquisition server.Number
It is connected by high-speed local area network with control server according to acquisition server, a control server cluster can control multiple data
Acquisition server, a data acquisition server can connect multiple 3D line laser scanners again；
Step 4: a cloud is transmitted to arithmetic server by control server, and arithmetic server first makes an uproar to point cloud data removal
Then point seeks edge contour, then according to the cut lengths set, calculate cutting position coordinate, automatically generates cutting road
Diameter, according to workpiece complexity to be cut, placement algorithm server cluster, the calculating time can be controlled in 2 seconds and completes；
Step 5: arithmetic server passes the cutting path calculated back control server, and stores in the database；
Step 6: cutting path is sent cutting mechanics arm control server by control server, then starts cutting machine
Tool arm completes cutting.A same control server can control multiple cutting mechanics arm control servers, a cutting mechanics
Arm control server can control multiple cutting mechanics arms again.Clipping time becomes according to cutting path length, and speed is up to 200 millis
Metre per second (m/s).
A concrete application scene of the invention is described below:
Cutting workpiece is placed on Cutting platform first.Cutting platform can access production line, occupy a job
Beat, automatic loading/unloading can also be separately as a working position, artificial loading and unloading；Then if it is production line, 3D line
Laser scanner is motionless, and workpiece to be cut is driven by assembly line passes through 3D line laser scanner.For the position that works independently, straight-line electric
Machine drives line laser 3D scanner to fast move, and scans workpiece and generates 3D point cloud model, completes within scanning process 2 seconds；It generates
3D point cloud model is transmitted to control server and is stored in the database by data acquisition server.Data acquisition server passes through
High-speed local area network is connected with control server, and a control server cluster can control multiple data acquisition servers, and one
Data acquisition server can connect multiple 3D line laser scanners again.Data, which are transmitted 1 second, to be completed；Then control server is by point
Cloud is transmitted to arithmetic server, and arithmetic server first removes noise to point cloud data, then according to the cut lengths set, meter
Cutting position coordinate is calculated, cutting path is automatically generated, according to workpiece complexity to be cut, placement algorithm server cluster is calculated
Time can be controlled in 2 seconds and completes；Then arithmetic server passes the cutting path calculated back control server, and is stored in number
According in library；Cutting path is sent cutting mechanics arm control server by the last control server of whole flow process, and then starting is cut
It cuts mechanical arm and completes cutting.A same control server can control multiple cutting mechanics arm control servers, a cutting
Mechanical arm control server can control multiple mechanical arms again.Clipping time becomes according to cutting path length, and speed is up to 200 millimeters
It is per second.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in the present invention
Protection scope within.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of automate work piece cut method without teaching based on the high speed of distributed computing characterized by comprising
Cutting workpiece is placed on Cutting platform；
Obtain the 3D point cloud model of cutting workpiece；
3D point cloud model is transmitted to control server and is stored in the database by data acquisition server.Data acquisition server
It being connected by high-speed local area network with control server, a control server cluster can control multiple data acquisition servers,
One data acquisition server can connect multiple 3D line laser scanners again；
A cloud is transmitted to arithmetic server by control server, and arithmetic server first removes noise to point cloud data, then seeks
Edge contour calculates cutting position coordinate, cutting path is automatically generated, according to be cut then according to the cut lengths set
Cut workpiece complexity, placement algorithm server cluster；
Arithmetic server passes the cutting path calculated back control server, and stores in the database；
Cutting path is sent cutting mechanics arm control server by control server, then starts the completion of cutting mechanics arm and cuts
It cuts.A same control server can control multiple cutting mechanics arm control servers, a cutting mechanics arm control service
Device can control multiple cutting mechanics arms again.
2. automating work piece cut method without teaching based on the high speed of distributed computing as described in claim 1, feature exists
In the Cutting platform can access production line, occupy a work pace, automatic loading/unloading.
3. automating work piece cut method without teaching based on the high speed of distributed computing as described in claim 1, feature exists
In the Cutting platform can be separately as a working position, artificial loading and unloading.
4. automating work piece cut method without teaching based on the high speed of distributed computing as described in claim 1, feature exists
In if it is production line, 3D line laser scanner is motionless, and workpiece to be cut is driven by assembly line passes through 3D line laser structured light
Instrument.
5. automating work piece cut method without teaching based on the high speed of distributed computing as described in claim 1, feature exists
In for the position that works independently, linear motor drives line laser 3D scanner to fast move, and scans workpiece and generates 3D point cloud mould
Type.
6. automating work piece cut method without teaching based on the high speed of distributed computing as described in claim 1, feature exists
In the calculating time can be controlled in 2 seconds and completes.
7. automating work piece cut method without teaching based on the high speed of distributed computing as described in claim 1, feature exists
In clipping time becomes according to cutting path length, and speed is per second up to 200 millimeters.
8. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor realizes any one of claims 1 to 7 the method when executing described program
Step.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
The step of any one of claims 1 to 7 the method is realized when row.
10. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit requires 1 to 7 described in any item methods.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910496556.7A CN110154054A (en) | 2019-06-10 | 2019-06-10 | Work piece cut method is automated without teaching based on the high speed of distributed computing |
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| CN201910496556.7A CN110154054A (en) | 2019-06-10 | 2019-06-10 | Work piece cut method is automated without teaching based on the high speed of distributed computing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115070162A (en) * | 2022-07-19 | 2022-09-20 | 中冶节能环保有限责任公司 | Intelligent environment-friendly cutting method and device for bulk steel scraps |
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