CN110524665A

CN110524665A - Woodwork processing method, device, medium and equipment

Info

Publication number: CN110524665A
Application number: CN201910930091.1A
Authority: CN
Inventors: 黄猛
Original assignee: Beijing Horizon Robotics Technology Research and Development Co Ltd
Current assignee: Beijing Horizon Robotics Technology Research and Development Co Ltd
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2019-12-03
Anticipated expiration: 2039-09-29
Also published as: CN110524665B

Abstract

It discloses a kind of woodwork processing method, device, medium and equipment, method therein and comprises determining that the processing line information of each cut piece of woodwork to be processed and the processing sequence information of each cut piece；According to the processing sequence information of each cut piece, the placement position information of the corresponding timber to be processed of current cut piece is determined；According to the placement position information of the corresponding timber to be processed of the current cut piece and the processing line information of the current cut piece, process light is projected on the corresponding timber to be processed of the current cut piece；Wherein, the process light is used to indicate the Working position of the corresponding timber to be processed of the current cut piece, and the timber to be processed is made to be processed into current cut piece.The disclosure is not only advantageous to reduce the difficulty of woodwork processing, and auxiliary user completes woodwork processing, also advantageously improves the yield rate of woodwork processing.

Description

Woodwork processing method, device, medium and equipment

Technical field

This disclosure relates to computer vision technique more particularly to a kind of woodwork processing method, woodwork processing unit (plant), deposit Storage media and electronic equipment.

Background technique

With the increasingly raising of people's living standard, the free life of people is more and more abundant.Traditional handicraft is just gradually It is paid close attention to by people, for example, the woodworks such as hand-made furniture are processed, is increasingly becoming the selection of one of people's free life.

Woodwork processing is due to factors, the people processed to concern woodwork such as certain difficulty, the people to know the business be few Bring certain puzzlement.How to reduce woodwork difficulty of processing, improve yield rate, is merit attention the technical issues of.

Summary of the invention

In order to solve the above-mentioned technical problem, the disclosure is proposed.Embodiment of the disclosure provides a kind of woodwork processing Method, apparatus, storage medium and electronic equipment.

According to the one side of the embodiment of the present disclosure, a kind of woodwork processing method is provided, comprising: determine woodwork to be processed Each cut piece processing line information and each cut piece processing sequence information；Processing according to each cut piece is suitable Sequence information determines the placement position information of the corresponding timber to be processed of current cut piece；It is corresponding according to the current cut piece The processing line information of the placement position information of timber to be processed and the current cut piece, it is corresponding to the current cut piece Process light is projected on timber to be processed；Wherein, it is corresponding to be processed to be used to indicate the current cut piece for the process light The Working position of timber makes the timber to be processed be processed into current cut piece.

According to the other side of the embodiment of the present disclosure, a kind of woodwork processing unit (plant) is provided, comprising: determine information mould Block, for determining the processing line information of each cut piece of woodwork to be processed and the processing sequence information of each cut piece； Position module is detected, the processing sequence information of each cut piece for determining according to the determining information module determines current The placement position information of the corresponding timber to be processed of cut piece；Projective calculation wire module, for according to the detection position module The processing of the placement position information and the current cut piece of the corresponding timber to be processed of the current cut piece determined Line information projects process light on the corresponding timber to be processed of the current cut piece；Wherein, the process light is for referring to The Working position for showing the corresponding timber to be processed of the current cut piece makes the timber to be processed be processed into current segmentation Part.

According to the embodiment of the present disclosure in another aspect, provide a kind of computer readable storage medium, the storage medium It is stored with computer program, the computer program is for executing above-mentioned woodwork processing method.

According to the another aspect of the embodiment of the present disclosure, a kind of electronic equipment is provided, which includes: processor； For storing the memory of the processor-executable instruction；The processor, being used for can described in reading from the memory It executes instruction, and executes described instruction to realize above-mentioned woodwork processing method.

It is to be processed wooden by being formed based on a kind of disclosure woodwork processing method provided by the above embodiment and device The processing line information of each cut piece of product, and process light is projected on the corresponding timber to be processed of each cut piece, it can be use Family provides the important references information of woodwork processing.It follows that technical solution provided by the present disclosure is not only advantageous to reduce wood The difficulty of product processing, auxiliary user complete woodwork processing, also advantageously improve the yield rate of woodwork processing.

Below by drawings and examples, the technical solution of the disclosure is described in further detail.

Detailed description of the invention

The embodiment of the present disclosure is described in more detail in conjunction with the accompanying drawings, the above-mentioned and other purposes of the disclosure, Feature and advantage will be apparent.Attached drawing is used to provide to be further understood from the embodiment of the present disclosure, and constitutes Part of specification is used to explain the disclosure together with the embodiment of the present disclosure, does not constitute the limitation to the disclosure.In attached drawing In, identical reference label typically represents same parts or step.

Fig. 1 is the schematic diagram of a scenario that the disclosure is applicable in；

Fig. 2 is the schematic diagram of prompt information one embodiment of the disclosure；

Fig. 3 is the flow chart of woodwork processing method one embodiment of the disclosure；

Fig. 4 A is two fitted together of the disclosure based on the structure of one embodiment of the cut piece of joinery and its construction Schematic diagram；

Fig. 4 B is the knot of one embodiment of unassembled cut piece of two together based on joinery and its construction of the disclosure Structure schematic diagram；

Fig. 5 is the process of one embodiment of the processing line information of each cut piece of the determination woodwork to be processed of the disclosure Figure；

Fig. 6 A is the main view of one embodiment of the woodwork to be processed of the disclosure；

Fig. 6 B is the left view of one embodiment of the woodwork to be processed of the disclosure；

Fig. 7 is one embodiment of the disclosure placement position information of the corresponding timber to be processed of settled preceding cut piece really Flow chart；

Fig. 8 is one embodiment that process light is projected on the corresponding timber to be processed of current cut piece of the disclosure Flow chart；

Fig. 9 is the one embodiment for the process light of the disclosure projected on the corresponding timber to be processed of current cut piece Schematic diagram；

Figure 10 is a reality of the corresponding timber to be processed of each cut piece of the acquisition woodwork to be processed of the disclosure Apply the flow chart of example；

Figure 11 is the flow chart of one embodiment that cut-off rule is projected on raw material of the disclosure；

Figure 12 is the stream of one embodiment of the cut-off rule information of the corresponding raw material of acquisition woodwork to be processed of the disclosure Cheng Tu；

Figure 13 is the structural schematic diagram of woodwork processing unit (plant) one embodiment of the disclosure；

Figure 14 is the structure chart for the electronic equipment that one exemplary embodiment of the application provides.

Specific embodiment

Describe the example embodiment of the disclosure in detail below with reference to the accompanying drawings.Obviously, described embodiment is only A part of this disclosure embodiment, rather than the whole embodiments of the disclosure, it should be appreciated that the disclosure is not by example described herein The limitation of embodiment.

It should also be noted that unless specifically stated otherwise, the opposite cloth of the component and step that otherwise illustrate in these embodiments It sets, numerical expression and the unlimited the scope of the present disclosure processed of numerical value.

It will be understood by those skilled in the art that the terms such as " first ", " second " in the embodiment of the present disclosure are only used for distinguishing Different step, equipment or module etc., neither represent any particular technology meaning, also do not indicate that the inevitable logic between them is suitable Sequence.

It should also be understood that in the embodiments of the present disclosure, " multiple " can refer to two or more, and "at least one" can refer to One, two or more.

It should also be understood that for the either component, data or the structure that are referred in the embodiment of the present disclosure, clearly limit no or Person may be generally understood to one or more in the case where context provides opposite enlightenment.

In addition, term "and/or" in the disclosure, is only a kind of incidence relation for describing affiliated partner, indicates may exist Three kinds of relationships can be indicated such as A and/or B: individualism A, exist simultaneously A and B, these three situations of individualism B.In addition, Character "/" in the disclosure typicallys represent the relationship that forward-backward correlation object is a kind of "or".

It should also be understood that the disclosure highlights the difference between each embodiment to the description of each embodiment, Same or similar place can be referred to mutually, for sake of simplicity, no longer repeating one by one.

Simultaneously, it should be appreciated that for ease of description, the size of various pieces shown in attached drawing is not according to reality Proportionate relationship draw.

Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to the disclosure And its application or any restrictions used.

Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable In the case of, the technology, method and apparatus should be considered as part of specification.

It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.

Embodiment of the disclosure can be applied to the electronic equipments such as terminal device, computer system, server, can be with crowd Mostly other general or special-purpose computing system environment or configuration operate together.Suitable for terminal device, computer system or clothes The example of well-known terminal device, computing system, environment and/or configuration that the business electronic equipments such as device are used together include but Be not limited to: personal computer system, thin client, thick client computer, hand-held or laptop devices, is based on server computer system The system of microprocessor, set-top box, programmable consumer electronics, NetPC Network PC, minicomputer system, mass computing Machine system and the distributed cloud computing technology environment including above-mentioned any system etc..

The electronic equipments such as terminal device, computer system, server can be in the department of computer science executed by computer system It is described under the general context of system executable instruction (such as program module).In general, program module may include routine, program, mesh Beacon course sequence, component, logic, data structure etc., they execute specific task or realize specific abstract data type.Meter Calculation machine systems/servers can be implemented in distributed cloud computing environment.In distributed cloud computing environment, task can be by What the remote processing devices being linked through a communication network executed.In distributed cloud computing environment, program module can be located at packet On the Local or Remote computing system storage medium for including storage equipment.

The disclosure is summarized

In implementing the present disclosure, although inventors have found that in present society the type of skills training compared with horn of plenty, But the training of traditional carpenter's technical ability is but more rare.For for the interested people of traditional woodwork, searching out can The master worker of woodwork is taught, it is typically more difficult.

Currently, computer vision technique has been widely used in the fields such as safety monitoring and wisdom business, if it is possible to will Computer vision technique is introduced into woodwork manufacture field, then can be given to the interested people of traditional woodwork to help.

Exemplary overview

An example for being applicable in scene for the technical solution of the disclosure is as shown in Figure 1.

In Fig. 1, terminal device (intelligent mobile phone 100, tablet computer 101, laptop 102 or the platform of user Formula computer 103) in be equipped with for assist user realize woodwork processing program (such as APP).

It is assumed that the terminal device of user is tablet computer 101.User, which opens in tablet computer 101, is used to assist user real The APP of existing woodwork processing, the APP show the picture comprising a variety of furniture according to the furniture browse operation of user, which shows One example of the furniture picture shown is as shown in fig. 1 on the left-hand side.

In user after having selected a furniture (for example, furniture 104 in Fig. 1) in the furniture picture that APP is shown, use Family can use the furniture size modification function of APP offer, adjust the rulers such as the length, width and height of furniture 104 according to its actual demand It is very little.After the size that user has determined furniture 104, the APP can control pointolite array successively furniture 104 include it is each On the corresponding timber to be processed of cut piece, projective calculation light, so that user be assisted to apply picture processing on timber to be processed Line.This APP can also provide a variety of prompt informations for user, for example, the hand-made furniture of user needs tool to be used Attention thing during the substitution tool of the tool that (as shown in Figure 2), user lack, processing gimmick and the hand-made furniture The prompt informations such as item, in order to assist user to smoothly complete the hand-made of furniture 104.

Fig. 2 is that the hand-made required tool of the furniture of user is shown in the form of picture, and the disclosure is also The hand-made required tool of the furniture of user can be shown in the form of text.

Illustrative methods

Fig. 3 is the flow chart of woodwork processing method one embodiment of the disclosure.Method as shown in Figure 3 includes: S300, S301 and S302.Each step is illustrated respectively below.

S300, determine that the processing line information of each cut piece of woodwork to be processed and the processing sequence of each cut piece are believed Breath.

Woodwork to be processed in the disclosure can be furniture, toy, goods of furniture for display rather than for use or craftwork etc..It is to be added in the disclosure Work woodwork is typically based on the selection of user and the target woodwork that obtains.Each segmentation of woodwork to be processed in the disclosure Part can refer to for combining all components for forming woodwork to be processed.The processing line information of cut piece in the disclosure can be with Refer to the Working position for prompting timber to be processed corresponding to user's cut piece, so that timber to be processed forms cut piece Line, for example, for prompting the line etc. of cutting position.The processing sequence information of each cut piece in the disclosure can refer to for for User's planning order processes the information of all cut piece of woodwork to be processed.

All cut piece that woodwork to be processed is included are usually preparatory planning and designing, and each cut piece usually has Default processing line information.The processing sequence information of each cut piece is generally also preparatory planning and designing.

S301, the processing sequence information according to each cut piece, determine the placement of the corresponding timber to be processed of current cut piece Location information.

The disclosure can determine current cut piece, and obtain by target detection according to the processing sequence information of each cut piece Obtain the placement position information of the corresponding timber to be processed of current cut piece.For example, the disclosure can use computer vision technique Detect the placement position information of the corresponding timber to be processed of current cut piece.

Placement position information in the disclosure can refer to the coordinate information of multiple key points of timber to be processed, for example, The three dimensional space coordinate etc. on each vertex of timber to be processed.

S302, the processing according to the placement position information and current cut piece of the corresponding timber to be processed of current cut piece Line information projects process light on the corresponding timber to be processed of Xiang Dangqian cut piece.

Process light in the disclosure is used to indicate the Working position of the corresponding timber to be processed of current cut piece, according to When the Working position processes timber to be processed, timber to be processed can form current cut piece.

In the processing sequence according to each cut piece, it is followed successively by the corresponding timber to be processed of each cut piece and projects respectively Process light, and after carrying out corresponding working process respectively to each timber to be processed according to corresponding process light, it can obtain All cut piece entities of woodwork to be processed are obtained, so that woodwork reality to be processed can be formed by assembling each cut piece entity Body.

The disclosure by forming the processing line information of each cut piece of woodwork to be processed, and each cut piece it is corresponding to Process light is projected on processing timber, provides the important references information of woodwork processing for user, it can be autonomous to avoid user During the processing line for designing each cut piece, existing processing line designs unreasonable and causes what timber to be processed was wasted to show As；To which the disclosure is not only advantageous to reduce the difficulty of processing of woodwork, auxiliary user completes woodwork processing, also helps and mention The yield rate of high woodwork processing.

In an optional example, the woodwork to be processed of the disclosure can be the woodwork to be processed based on joinery and its construction. The cut piece of woodwork to be processed i.e. in the disclosure can be the cut piece based on joinery and its construction.That is, in the disclosure Determination woodwork to be processed each cut piece processing line information can be specially determine the wood to be processed based on joinery and its construction The processing line information of each cut piece of product.

Optionally, to be processed wooden in the case where woodwork to be processed is the woodwork to be processed based on joinery and its construction The processing line information of the cut piece of product may include: the Tenon processing line information of cut piece.Tenon processing line information therein is used In the joinery and its construction for forming cut piece.

Optionally, an example of the cut piece based on joinery and its construction is as shown in Figure 4 A and 4 B shown in FIG..Fig. 4 A is two and is based on Joinery and its construction cut piece assembling (such as interpolation) together after the case where, Fig. 4 B be two cut piece based on joinery and its construction not When assembling (such as interpolation) together, respective structure.

The structure of each cut piece of woodwork based on joinery and its construction is usually more complex, and complicated cut piece structure is usual It will affect the yield rate of woodwork.The disclosure passes through the processing line letter for the cut piece for making the woodwork to be processed based on joinery and its construction Breath includes Tenon processing line information, the difficulty of processing of the corresponding timber to be processed of each cut piece is advantageously reduced, to have Conducive to the yield rate for improving woodwork.

In an optional example, the woodwork to be processed in the disclosure can be the woodwork with default size.Its In default size be referred to as original size.It has been carried out in user according to size of its actual demand to target woodwork After propertyization adjustment, the default size of woodwork to be processed is changed, and woodwork to be processed becomes the wood with personalized size Product.In the case where user carries out personalized adjustment according to size of its actual demand to target woodwork, the disclosure The mode of the processing line information of each cut piece of determination woodwork to be processed in S300 can be as shown in Figure 5.

In Fig. 5, S500, obtain woodwork to be processed each cut piece default processing line information and woodwork to be processed Adjusting Shape information.

Optionally, the default processing line information of each cut piece in the disclosure refers to: being with scarce in woodwork to be processed In the case where the woodwork for saving size, the processing line information of each cut piece.Default processing line information is referred to as original processing Line information.The default processing line information of each cut piece be usually be pre-stored within it is known in terminal device or network side equipment Information.In the case where the default processing line information of each cut piece is pre-stored in network side equipment, the disclosure can with After family has chosen woodwork to be processed, the default processing line of each cut piece of the woodwork to be processed is downloaded from network side equipment Information.

Optionally, the Adjusting Shape information of the woodwork to be processed in the disclosure can include but is not limited to: wood to be processed The scaling of the whole length and width and at least one of height of product.For example, the whole height of woodwork to be processed reduces by five / mono-.

Optionally, the Adjusting Shape information of the woodwork to be processed of the disclosure can include but is not limited to: to be processed wooden The scaled size of the whole length and width and at least one of height of product.For example, the whole height of woodwork to be processed reduces five lis Rice.

Optionally, the Adjusting Shape information of the woodwork to be processed of the disclosure can include but is not limited to: to be processed wooden The length and width of the regional area of product and the scaling of at least one of height.For example, being such as Fig. 6 A and figure in woodwork to be processed In the case where chair shown in 6B, Adjusting Shape information may include: that the height of the backrest of chair reduces by 1/5th.Fig. 6 A and The dimensioning of chair in Fig. 6 B can be the default size of woodwork to be processed.

Optionally, the Adjusting Shape information of the woodwork to be processed of the disclosure can include but is not limited to: to be processed wooden The length and width of the regional area of product and the scaled size of at least one of height.For example, being such as Fig. 6 A and figure in woodwork to be processed In the case where chair shown in 6B, Adjusting Shape information may include: that the height of the backrest of chair reduces five centimetres.

S501, the Adjusting Shape information according to woodwork to be processed, treat the default of the corresponding cut piece of engineered wood product Processing line information carries out conversion process, determines the processing line information of each cut piece of woodwork to be processed.

Optionally, the disclosure can be according to the Adjusting Shape information of woodwork to be processed, from all of woodwork to be processed In cut piece, filters out user and treat the cut piece for needing to adjust size involved by the personalized adjustment of engineered wood product. The cut piece of adjustment size in need form a set (following be known as size adjusting set).If there is not needing to adjust The cut piece of size, then all cut piece for not needing adjustment size form a set (following to be known as default size set). For any cut piece in default size set, the default processing line information of the cut piece is by the processing line as the cut piece Information.It, should be according to the Adjusting Shape information of woodwork to be processed, to the segmentation for any cut piece in size adjusting set The default processing line information of part carries out conversion process, to obtain the processing line information of the cut piece.

One example includes: the entirety of woodwork to be processed in the Adjusting Shape information of the woodwork to be processed of the disclosure Long scaling, in the case where wide scaling and high scaling, all cut piece of woodwork to be processed may belong to In size adjusting set.For any cut piece in size adjusting set, the disclosure can be according to long scaling, width Scaling and high scaling carry out bi-directional scaling adjustment to the default processing line information of each of the cut piece respectively, To obtain the processing line information of the cut piece.

Another example includes: the entirety of woodwork to be processed in the Adjusting Shape information of the woodwork to be processed of the disclosure Long scaled size, in the case where wide scaled size and high scaled size, all cut piece of woodwork to be processed may belong to In size adjusting set.The disclosure can be first by the whole long scaled size of woodwork to be processed, wide scaled size and high-shrinkage Put whole long scaling, wide scaling and high scaling that size is scaled woodwork to be processed respectively, then, needle For any cut piece in size adjusting set, the disclosure can be according to long scaling, wide scaling and high scaling Ratio carries out bi-directional scaling adjustment to the default processing line information of each of the cut piece, to obtain the cut piece respectively Processing line information.

Another example includes: the part of woodwork to be processed in the Adjusting Shape information of the woodwork to be processed of the disclosure The long scaling in region, wide at least one of scaling and high scaling are (following to carry out by taking high scaling as an example Illustrate) in the case where, all cut piece which is included may belong to size adjusting set, and other region institutes All cut piece for including may belong to default size set.For any cut piece in size adjusting set, this It is open the default processing line of each of the cut piece being related on high direction to be believed according to the high scaling of regional area It ceases (including straight line and curve) and carries out bi-directional scaling adjustment respectively, scale all processing lines adjusted being related on high direction Other default processing line information of information and the cut piece are formed together the processing line information of the cut piece.

Another example includes: the part of woodwork to be processed in the Adjusting Shape information of the woodwork to be processed of the disclosure The long scaled size in region, wide at least one of scaled size and high scaled size are (following to be carried out with height scaling having a size of example Illustrate) in the case where, all cut piece which is included may belong to size adjusting set, and other region institutes All cut piece for including may belong to default size set.For any cut piece in size adjusting set, this The open high-shrinkage that the height of the part of woodwork to be processed can be scaled first to the regional area that dimension conversion is woodwork to be processed Ratio is put, then, for any cut piece in size adjusting set, the disclosure can be according to high scaling, to this The default processing line information of each being related on high direction (including straight line and curve) of cut piece carries out bi-directional scaling respectively Adjustment scales other default processing line information one of all processing line information being related on high direction and the cut piece adjusted Act the processing line information for forming the cut piece.

The disclosure according to size personalized of the user to target woodwork by adjusting, to adjust woodwork to be processed The processing line information of each cut piece is conducive to the flexibility and diversity that improve woodwork processing.

In an optional example, in the processing sequence information according to cut piece, one is selected from all cut piece and is worked as In the case where preceding cut piece, the disclosure can use computer vision technique, determine the corresponding wood to be processed of the current cut piece The placement position information of material.Really the placement position information of the corresponding timber to be processed of settled preceding cut piece in the S301 of the disclosure An example can be as shown in Figure 7.

In Fig. 7, S700, timber to be processed corresponding to current cut piece binocular image carry out recongnition of objects at Reason.

Optionally, the disclosure can use the processing of neural fusion recongnition of objects.

The corresponding timber to be processed of current cut piece is placed in predetermined space region by one example, and utilizes binocular Photographic device takes pictures to predetermined space region, to obtain the binocular image of timber to be processed, that is, includes wood to be handled Expect the left mesh image of picture and the right mesh image comprising target picture to be handled.Later, by the binocular image of timber to be processed It is supplied to neural network as input picture, feature extraction, detection block prediction, mesh are carried out to input picture via the neural network The processing such as object classification and target object edge prediction is marked, so that the disclosure can be obtained according to the output information of neural network The result of recongnition of objects processing.The result of recongnition of objects processing may include: the outer of the target object in image The coordinate etc. of each vertex of contouring line or target object in the picture.

The corresponding timber to be processed of current cut piece is placed in predetermined space region by another example, and utilizes list Mesh photographic device takes pictures to predetermined space region, to obtain the monocular image of timber to be processed.The disclosure can be to this Monocular image is handled (such as mirror image processing), to obtain the binocular image of timber to be processed, that is, includes wood to be handled Expect the left mesh image of picture and the right mesh image comprising target picture to be handled.Later, by the binocular image of timber to be processed It is supplied to neural network as input picture, feature extraction, detection block prediction, mesh are carried out to input picture via the neural network The processing such as object classification and target object edge prediction is marked, so that the disclosure can be obtained according to the output information of neural network The result of recongnition of objects processing.The result of recongnition of objects processing may include: the outer of the target object in image The coordinate etc. of each vertex of contouring line or target object in the picture.

S701, obtain timber to be processed binocular image depth information.

Optionally, the depth information of the binocular image in the disclosure can include but is not limited to: multiple in binocular image The point cloud data of pixel.It obtains for example, the disclosure can use the equipment such as laser radar comprising including predetermined space region Point cloud data can obtain the corresponding point cloud data of binocular image, due to point by carrying out regional scope screening to point cloud data Each of cloud data point can represent depth information of this in practical three-dimensional space, and therefore, the disclosure can be with Obtain the depth information of multiple points in binocular image.In the case where point cloud data is sparse point cloud data, the disclosure can be with Completion processing first is carried out to point cloud data, obtains dense point cloud data, and then obtain binocular image using dense point cloud data In multiple points depth information.

Optionally, the depth information of the binocular image in the disclosure can include but is not limited to: multiple in binocular image The depth value of pixel.The mode that the disclosure obtains the depth value of binocular image can be with are as follows: using binocular image as input picture Neural network (for example, convolutional neural networks) are supplied to, parallax prediction processing is carried out to binocular image via the neural network, from And the information that can be exported according to the neural network, the binocular parallax figure of binocular image is obtained (for example, left disparity map and right parallax Figure)；Later, the disclosure can obtain the depth value of each pixel in binocular image according to the binocular parallax figure of binocular image. For example, being carried out using binocular parallax figure as the input of another neural network via binocular parallax figure of the neural network to input Depth prediction processing, so that each of binocular image pixel can be obtained according to the information that the neural network exports Depth information.

S702, according to depth information and recongnition of objects handle as a result, determining that current cut piece is corresponding wait locate Manage the coordinate information of each vertex of timber in three dimensions.

Optionally, the result of recongnition of objects processing in the disclosure includes: that current cut piece is corresponding to be processed In the case where the coordinate of the vertex of timber in the picture, the disclosure can use the coordinate of each vertex in the picture, from binocular figure The depth information that corresponding position point is searched in the depth information of picture, it is hereby achieved that each vertex of timber to be processed is in three-dimensional space Between in Z coordinate.The mode for obtaining each vertex of timber to be processed X-coordinate in three dimensions and Y-coordinate includes but unlimited In: in the picture according to each vertex of the parameter (for example, focal length and optical centre bias amount etc.) of photographic device and timber to be processed X-coordinate and Y-coordinate, execute it is corresponding calculate, and obtained according to calculated result.

The disclosure, can be corresponding to be processed with the convenient accurate current cut piece of acquisition by utilizing computer vision technique The coordinate information of each vertex of timber in three dimensions, to utilize each vertex seat in three dimensions of timber to be processed Information is marked, the three-dimensional image of timber to be processed can be not only successfully generated, but also is conducive to planning on timber to be processed Lay process light.

Optionally, the disclosure can be 3 dimensional drawing after the three-dimensional image for being successfully generated timber to be processed As mark actual size (actual size, which can be, calculates acquisition according to the coordinate information of each vertex in three dimensions), and show Show to user.The disclosure can provide the interactive interface of the actual size for modifying timber to be processed for user, to facilitate use Family is modified the actual size of timber to be processed currently marked, and projects on timber to be processed to be conducive to improve The accuracy of process light, and then be conducive to improve the yield rate of woodwork processing.

The placement according to the corresponding timber to be processed of current cut piece in an optional example, in the S302 of the disclosure The processing line information of location information and current cut piece projects process light on the corresponding timber to be processed of Xiang Dangqian cut piece Process an example it is as shown in Figure 8 and Figure 9.

In Fig. 8, S800, according to the placement position information and current cut piece of the corresponding timber to be processed of current cut piece Processing line information, determine each point light source in pointolite array ON/OFF control information.

Optionally, the point light source in the disclosure can refer to particle light source.Pointolite array generally includes multiple point light sources. Multiple point light sources are usually located at same plane, and multiple point light sources are usually arranged according to the form of two-dimensional matrix.Pointolite array Size can be designed according to the size of each cut piece of woodwork to be processed.Pointolite array in the disclosure can be specially Infrared lamp array and laser lamp array etc..

Optionally, the disclosure usually requires the setting location information for knowing pointolite array in advance, for example, obtaining in advance a little The coordinate of any point light source in three dimensions in array of source, and obtain pointolite array and horizontal plane and vertical plane Angle, since the point light source in pointolite array is usually equidistantly distributed, and the quantity of point light source be it is fixed, therefore, The disclosure can extrapolate other in pointolite array according to the column locations and above-mentioned angle of the point light source of known coordinate The coordinate of point light source in three dimensions.

Optionally, the disclosure thinks that the light shafts that a point light source is issued are one group of light that is parallel and not dissipating, and Light shafts on the whole be projected as a point.The disclosure can be according to the placement location of the corresponding timber to be processed of current cut piece Angle between information and pointolite array and horizontal plane and vertical plane determines the light of multiple point light sources to be processed Projected position (light of the part point light source in pointolite array may can't be projected on timber to be processed) on timber, To which the disclosure can determine the ON/OFF of each point light source in pointolite array according to the processing line information of current cut piece Control information.

S801, information is controlled according to the ON/OFF of each point light source in pointolite array, controls each point in pointolite array Light source opens/light state, to project process light on the corresponding timber to be processed of current cut piece.

Optionally, each of pointolite array in disclosure point light source all has independent switch.In point light source In the case that array is infrared lamp array, the process light projected on the corresponding timber to be processed of current cut piece is red Process light.

In general, multiple faces (such as all faces) of timber to be processed are required to projective calculation light, and the disclosure can To prompt user to overturn timber to be processed, in order in the corresponding process light of respective face upslide shadow of timber to be processed.With When family overturns timber to be processed according to prompt every time, the disclosure requires to reacquire the corresponding timber to be processed of current cut piece Placement position information.

Optionally, the one of the process light projected on the corresponding timber to be processed of current cut piece using pointolite array A example is as shown in Figure 9.In Fig. 9, the processing sequence of timber 902 to be processed is 1, i.e., current cut piece is woodwork to be processed 1st cut piece.A plurality of process light has been projected by pointolite array 900 on two faces of timber 902 to be processed.Although figure Pointolite array 900 in 9 is fixedly installed on photographic device 901, and still, in practical applications, pointolite array 900 can With separately positioned with photographic device 901.The disclosure does not limit the relative position between pointolite array 900 and photographic device 901.

Optionally, user can apply picture processing line (such as line of ink marker) according to the process light of projection on timber to be processed. All process lights have been projected on timber to be processed or have projected all of the face on a face of timber to be processed has added After work light, the prompt information of the processing line of current cut piece is can be generated in the disclosure, and is shown to user.For example, this public affairs Horizontal distance or the vertical range etc. that can be calculated between different processing lines are opened, and is prompted to user.For another example the disclosure It can prompt user: the positional relationship (such as two of the processing line on processing line and another face on a face of timber to be processed Processing line on a face has common endpoint) etc., to facilitate user to applying processing line (such as line of ink marker being drawn on timber to be processed Deng) verification amendment is carried out, to be conducive to improve the yield rate of cut piece, and then be conducive to improve the finished product of woodwork processing Rate.

The open/close state that the disclosure passes through each point light source in control pointolite array, it may be convenient in wood to be processed Form process light on material, be conducive to quick and accurately form cut piece, thus be conducive to improve woodwork processing can be real Existing property.

In an optional example, it is split needing to treat the corresponding raw material of engineered wood product, it is to be processed to obtain In the case where the corresponding timber to be processed of each cut piece of woodwork, it is to be processed wooden that the disclosure can assist user to obtain The corresponding timber to be processed of each cut piece of product.Obtain the corresponding wood to be processed of each cut piece of woodwork to be processed One example of material is as shown in Figure 10.

In Figure 10, S1000, the cut-off rule information for obtaining the corresponding raw material of woodwork to be processed.

Optionally, the raw material in the disclosure typically refers to timber, for example, at least one section of log etc..Log in the disclosure Cut-off rule information can refer to for being split to raw material, in order to form the segmentation lines of at least one timber to be processed. The cut-off rule information of log can include but is not limited to: the horizontal division line of the top predetermined altitude apart from log, distance are former The horizontal division line of the bottom predetermined altitude of wood, the vertical cut-off rule of left end predetermined length apart from log, apart from log The vertical cut-off rule of right end predetermined length, the position of buttocks apart from log lengthwise centers point preset distance and distance The position etc. of the body lines of the center of circle preset distance of log.

Optionally, raw material information needed for the disclosure can preset a plurality of woodworks to be processed, in user from a plurality of After selecting a woodwork to be processed in woodwork to be processed, the letter of raw material needed for prompting the user with this woodwork to be processed Breath.Here raw material information may include: the timber kind of log, the diameter of log, the length of log and the quantity of log Deng.Raw material information may include multiple groups, for example, wherein one group of raw material information includes: the length and quantity for the log that diameter is M Deng wherein another group of raw material information includes: length and quantity of the log that diameter is N etc..For each group of raw material information, originally The open cut-off rule information for being previously provided with corresponding raw material.

Optionally, the disclosure the user can be prompted each group raw material information, user can prepare corresponding former according to prompt Material.In the case where wherein one group of raw material information of raw material and prompt that user prepares is essentially identical, the disclosure can be obtained directly Take the corresponding cut-off rule information of this group of raw material information.The above-mentioned essentially identical gap for referring to the two is within a predetermined range.In user In the case that the raw material of preparation and any group of raw material information of prompt have larger gap, the disclosure can use each cut piece The mode of the permutation and combination of corresponding timber to be processed obtains the cut-off rule information of raw material.The disclosure obtains wood to be processed For example following descriptions for Figure 12 of one example of the cut-off rule information of the corresponding raw material of product.

S1001, the placement position information for determining raw material.

Optionally, the disclosure can obtain the placement position information of raw material using computer vision technique.One example, it is first First, recongnition of objects processing is carried out to the binocular image of raw material；Then, the depth information of the binocular image of raw material is obtained；Most Afterwards, according to depth information and recongnition of objects handle as a result, determining the seat of each key point of raw material in three dimensions Mark information.Each key point of raw material may include each vertex of raw material, for example, two-end-point and cross section side on length direction Upward endpoint up and down etc..

One example, raw material is placed in predetermined space region, and using binocular camera shooting device to predetermined space region It takes pictures, to obtain the binocular image of raw material, that is, includes the left mesh image of raw material picture and include raw material picture Right mesh image.Later, it is supplied to neural network using the binocular image of raw material as the input picture of neural network, via the nerve Network carries out the processing such as feature extraction, detection block prediction, target object classification and target object edge prediction to input picture, To which the disclosure can obtain the result of recongnition of objects processing according to the output information of neural network.The recongnition of objects The result of processing may include: the target object in image outer wheels profile or target object each vertex in the picture Coordinate etc..

Raw material is placed in predetermined space region by another example, and using monocular photographic device to predetermined space area Domain is taken pictures, to obtain the monocular image of raw material.The disclosure can be handled (such as mirror image processing to the monocular image Deng), to obtain the binocular image of raw material, that is, include the left mesh image of raw material picture and include raw material picture right mesh figure Picture.Later, the binocular image of timber to be processed is supplied to neural network as input picture, via the neural network to input Image carries out the processing such as feature extraction, detection block prediction, target object classification and target object edge prediction, thus the disclosure The result of recongnition of objects processing can be obtained according to the output information of neural network.The result of recongnition of objects processing It may include: the outer wheels profile of the target object in image or each vertex coordinate etc. in the picture of target object.

Optionally, the result of recongnition of objects processing in the disclosure includes: the seat of the vertex of raw material in the picture In the case of target, the disclosure can use the coordinate of each vertex in the picture, search from the depth information of binocular image corresponding The depth information of location point, it is hereby achieved that the Z coordinate of each vertex of raw material in three dimensions.The disclosure obtains raw material The mode of each vertex X-coordinate in three dimensions and Y-coordinate includes but is not limited to: according to the parameter of photographic device (for example, burnt Away from optical centre bias amount etc.) and raw material each vertex X-coordinate and Y-coordinate in the picture, execute it is corresponding calculate, and according to Calculated result obtains.

Optionally, the disclosure utilizes the coordinate information of each vertex of raw material in three dimensions, and the three of raw material can be generated Stereo-picture is tieed up, and (actual size can be according to each vertex in three dimensions for three-dimensional image mark actual size Coordinate information calculate obtain), and be shown to user.The disclosure can provide the actual size for modifying raw material for user Interactive interface, to facilitate user to be modified the actual size of raw material currently marked, thus be conducive to improve in raw material The accuracy of the process light of upper projection, and then be conducive to improve the yield rate of woodwork processing.

S1002, placement position information and above-mentioned cut-off rule information according to raw material, the projection localization light on raw material, The corresponding timber to be processed of each cut piece to be partitioned into woodwork to be processed.

Optionally, the segmentation light in the disclosure is used to indicate the division position of raw material.Segmentation light is being projected for raw material Line, and after being split processing to raw material according to division position indicated by each segmentation light, it can obtain to be processed wooden The corresponding timber to be processed of all cut piece of product.

Optionally, the disclosure can use pointolite array (pointolite array 1100 in such as Figure 11) and project on raw material Divide light.For example, the disclosure can determine point light source first according to the placement position information of raw material 1102 and cut-off rule information The ON/OFF of each point light source in array 1100 controls information；Later, the disclosure is according to each point light source in pointolite array 1100 ON/OFF control information, each point light source controlled in pointolite array 1100 opens/light state, to project on raw material 1102 Divide light 1103.A and B in Figure 11 indicate that the segmentation light 1103 being projected on raw material 1102 is formed by inscribed rectangle It is long and wide.

Optionally, the disclosure can be according to the placement position information of raw material and pointolite array and horizontal plane and vertical Angle between face determines projected position (partial dot light in pointolite array of the light of multiple point light sources on raw material The light in source may can't be projected on raw material), so that the disclosure can determine light according to the cut-off rule information of raw material The ON/OFF of each point light source in the array of source controls information.

Optionally, in general, multiple faces (such as cross section and longitudinal section) of raw material are required to projection localization light Line, the disclosure can prompt user to rotate raw material, in order to which the respective face upslide shadow in raw material divides light accordingly.In user Every time according to prompt rotation raw material (for example, making the cross section face pointolite array of raw material or making the length direction of raw material just To pointolite array) when, the disclosure requires to reacquire the placement position information of raw material.

Optionally, user can apply corresponding cutting line (such as line of ink marker of picture according to each segmentation light of projection on raw material Deng).After having projected all segmentation light on raw material or having projected all segmentation light in the face on a face of raw material, The cut-off rule prompt information of raw material can be generated in the disclosure, and is shown to user.For example, the disclosure can calculate different segmentations Horizontal distance or vertical range between line etc., and it is prompted to user.For another example the disclosure can prompt user: raw material (cut-off rule on such as two faces has common end to the positional relationship of the cut-off rule on cut-off rule and another face on one face Point) etc., to facilitate user to carry out verification amendment to the cut-off rule being drawn on raw material (such as applying the line of ink marker of picture) is applied, to be conducive to The yield rate of timber to be processed is improved, and then is conducive to improve the yield rate of cut piece.

The disclosure provides the important references information of woodwork processing by forming each segmentation light of raw material, for user, During independently can dividing raw material to avoid user, existing cut-off rule designs unreasonable and causes what raw material was wasted to show As；To which the disclosure is not only advantageous to reduce the difficulty of processing of woodwork, auxiliary user completes woodwork processing, also helps and mention The yield rate of high woodwork processing.

Optionally, an example of the cut-off rule information of the corresponding raw material of acquisition woodwork to be processed of disclosure S1000 As shown in figure 12.

In Figure 12, S1200, according to the multi-angled shooting image of the corresponding raw material of woodwork to be processed generates the three of raw material Tie up modeled images.

Optionally, the disclosure can use photographic device 1101 (as shown in figure 11) and carry out all around extremely to raw material 1102 Few four angles are shot, and the disclosure can use corresponding modeling algorithm, to photographic device 1101 from different perspectives to original The image of 1102 shooting of material carries out modeling processing, to generate the three-dimensional modeling image of raw material.

The consumable information of S1201, the dimension information for obtaining raw material and woodwork to be processed.

Optionally, the dimension information of the raw material in the disclosure may include: the letter such as the length of raw material and the diameter of raw material Breath.The acquisition modes of the dimension information of raw material include but is not limited to: corresponding interactive interface is provided, it is former in order to be inputted by user The dimension information of material.The disclosure also can use the dimension information that computer vision technique obtains raw material.

Optionally, the consumable information of the woodwork to be processed in the disclosure can refer to, each segmentation of woodwork to be processed The length and width higher size information of the corresponding timber to be processed of part.The consumable information of woodwork to be processed in the disclosure is usual It is pre-set given value.

S1202, according to three-dimensional modeling image, dimension information and consumable information, generate the cut-off rule information of raw material.

Optionally, the disclosure can be in the spatial dimension shown in three-dimensional modeling image, according to the ruler of each timber to be processed Very little information carries out splicing to each timber to be processed.That is, three-dimensional modeling image is by the limitation item as splicing Part execute splicing can only in the spatial dimension shown in three-dimensional modeling image.The disclosure can be according to splicing As a result original cut-off rule information is formed.That is, cut-off rule information not only includes: the leftover pieces for needing to remove in raw material, Further include: the conllinear part of adjacent segmentation part in splicing result.

Optionally, an example of the cut-off rule information of raw material, can as the raw material 1102 in Figure 11 cross section on Shown in line (i.e. 1103 in Figure 11) on line (i.e. 1103 in Figure 11) and the length direction of raw material 1102.

The disclosure is conducive to needed for making woodwork to be processed by the cut-off rule information using aforesaid way acquisition raw material The concrete shape of raw material is unrestricted, to be conducive to improve the diversification of raw material.

Exemplary means

Figure 13 is the structural schematic diagram of woodwork processing unit (plant) one embodiment of the disclosure.The device of the embodiment is available In the realization corresponding embodiment of the method for the disclosure.

Device shown in Figure 13 comprises determining that information module 1300, detection position module 1301 and projective calculation line mould Block 1302.Optionally, which can also include: segmentation module 1303.

Determine the processing line information and each segmentation of each cut piece of the information module 1300 for determining woodwork to be processed The processing sequence information of part.

Optionally, in the case where woodwork to be processed is the woodwork to be processed based on joinery and its construction, information mould is determined Block 1300 is used to determine the processing line information of each cut piece of the woodwork to be processed based on joinery and its construction.Cut piece therein Processing line information may include: the Tenon processing line information of cut piece.

Optionally, in the case that the default size that user treats engineered wood product is adjusted, information module 1300 is determined The default processing line information of each cut piece of woodwork to be processed and the Adjusting Shape letter of woodwork to be processed can first be obtained Breath；Later, determine that information module 1300 according to the Adjusting Shape information of woodwork to be processed, is treated the corresponding of engineered wood product and divided The default processing line information of cutter member carries out conversion process, so that it is determined that the processing line letter of each cut piece of woodwork to be processed out Breath.

Optionally, the default size of woodwork to be processed, the default processing line information of each cut piece of woodwork to be processed And the processing sequence information of each cut piece can be stored in advance in information aggregate.

The processing sequence for each cut piece that detection position module 1301 is used to be determined according to determining information module 1300 is believed Breath, determines the placement position information of the corresponding timber to be processed of current cut piece.

Optionally, cut piece current for one for timber to be processed for, detection position module 1301 determine this One example of the placement position information of timber to be processed can be with are as follows: firstly, detection position module 1301 is to current cut piece pair The binocular image for the timber to be processed answered carries out recongnition of objects processing；Later, detection position module 1301 obtains to be processed The depth information of the binocular image of timber；Finally, detection position module 1301 according to depth information and recongnition of objects at Reason as a result, determining the coordinate information of each vertex of the corresponding timber to be processed of current cut piece in three dimensions.

Projective calculation wire module 1302 be used for according to the current cut piece determined of detection position module 1301 it is corresponding to Handle the placement position information of timber and the processing line information of current cut piece, the corresponding timber to be processed of Xiang Dangqian cut piece Upper projection process light.Wherein, process light is used to indicate the Working position of the corresponding timber to be processed of current cut piece, make to Processing timber is processed into current cut piece.

Optionally, projective calculation wire module 1302 can be first according to the placement position of the corresponding timber to be processed of current cut piece The processing line information of confidence breath and current cut piece determines the ON/OFF control information of each point light source in pointolite array；It Afterwards, projective calculation wire module 1302 controls information according to the ON/OFF of each point light source in the pointolite array, controls point light source battle array Each point light source in column opens/light state, to project process light on the corresponding timber to be processed of current cut piece.

Segmentation module 1303 is used to first obtain the cut-off rule information of the corresponding raw material of woodwork to be processed, and determines raw material Placement position information, placement position information and cut-off rule information of the segmentation module 1303 according to raw material, the projection point on raw material Light is cut, the corresponding timber to be processed of each cut piece to be partitioned into woodwork to be processed.Segmentation light therein is used for Indicate the division position of the raw material.

Optionally, the letter of raw material needed for the disclosure can preset a plurality of woodworks to be processed in information aggregate in advance Breath.In user after selecting a woodwork to be processed in a plurality of woodworks to be processed, segmentation module 1303 can be mentioned to user Raw material information needed for showing this woodwork to be processed.The each group raw material letter of the disclosure the user can be prompted woodwork to be processed Breath, user can prepare corresponding raw material according to prompt.In wherein one group of raw material information base of user's raw material prepared and prompt In this identical situation, segmentation module 1303 can directly acquire the corresponding cut-off rule information of this group of raw material information.It is above-mentioned basic The identical gap for referring to the two is within a predetermined range.

Optionally, in the case where any group of raw material information of raw material and prompt that user prepares has larger gap, Dividing module 1303 can be first according to the multi-angled shooting image of the corresponding raw material of woodwork to be processed, and the three-dimensional for generating raw material is built Mould image；Later, segmentation module 1303 obtains the dimension information of raw material and the consumable information of woodwork to be processed；Finally, point Module 1303 is cut according to above-mentioned three-dimensional modeling image, dimension information and consumable information, generates the cut-off rule information of raw material.

Example electronic device

Electronic equipment according to the embodiment of the present disclosure is described below with reference to Figure 14.Figure 14 is shown to be implemented according to the disclosure The block diagram of the electronic equipment of example.As shown in figure 14, electronic equipment 141 includes one or more processors 1411 and memory 1412。

Processor 1411 can be central processing unit (CPU) or have data-handling capacity and/or instruction execution energy The processing unit of the other forms of power, and can control the other assemblies in electronic equipment 141 to execute desired function.

Memory 1412 may include one or more computer program products, and the computer program product may include Various forms of computer readable storage mediums, such as volatile memory and/or nonvolatile memory.The volatibility is deposited Reservoir, for example, may include: random access memory (RAM) and/or cache memory (cache) etc..It is described non-volatile Property memory, for example, may include: read-only memory (ROM), hard disk and flash memory etc..In the computer-readable storage medium It can store one or more computer program instructions in matter, processor 1411 can run described program instruction, on realizing The woodwork processing method of each embodiment of the disclosure described in text and/or other desired functions.In the calculating The various contents such as input signal, signal component, noise component(s) can also be stored in machine readable storage medium storing program for executing.

In one example, electronic equipment 141 can also include: input unit 1413 and output device 1414 etc., this A little components pass through the interconnection of bindiny mechanism's (not shown) of bus system and/or other forms.In addition, the input equipment 1413 may be used also To include such as keyboard, mouse etc..The output device 1414 can be output to the outside various information.The output equipment 1414 can To include such as display, loudspeaker, printer and communication network and its remote output devices connected etc..

Certainly, to put it more simply, illustrating only in the electronic equipment 141 one in component related with the disclosure in Figure 14 A bit, the component of such as bus, input/output interface etc. is omitted.In addition to this, according to concrete application situation, electronic equipment 141 can also include any other component appropriate.

Illustrative computer program product and computer readable storage medium

Other than the above method and equipment, embodiment of the disclosure can also be computer program product comprising meter Calculation machine program instruction, it is above-mentioned that the computer program instructions make the processor execute this specification when being run by processor According to the step in the woodwork processing method of the various embodiments of the disclosure described in " illustrative methods " part.

The computer program product can be write with any combination of one or more programming languages for holding The program code of row embodiment of the present disclosure operation, described program design language includes object oriented program language, such as Java, C++ etc. further include conventional procedural programming language, such as " C " language or similar programming language.Journey Sequence code can be executed fully on the user computing device, partly execute on a user device, be independent soft as one Part packet executes, part executes on a remote computing or completely in remote computing device on the user computing device for part Or it is executed on server.

In addition, embodiment of the disclosure can also be computer readable storage medium, it is stored thereon with computer program and refers to It enables, the computer program instructions make the processor execute above-mentioned " the exemplary side of this specification when being run by processor According to the step in the woodwork processing method of the various embodiments of the disclosure described in method " part.

The computer readable storage medium can be using any combination of one or more readable mediums.Readable medium can To be readable signal medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can include but is not limited to electricity, magnetic, light, electricity Magnetic, the system of infrared ray or semiconductor, device or device, or any above combination.Readable storage medium storing program for executing it is more specific Example (non exhaustive enumerates) may include: electrical connection with one or more conducting wire, portable disc, hard disk, deposit at random It is access to memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable Compact disk read-only memory (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.

The basic principle of the disclosure is described in conjunction with specific embodiments above, however, it is desirable to, it is noted that in the disclosure The advantages of referring to, advantage, effect etc. are only exemplary rather than limitation, must not believe that these advantages, advantage and effect etc. are this public affairs The each embodiment opened is prerequisite.In addition, detail disclosed above is merely to exemplary act on and be easy to understand Effect, rather than limit, above-mentioned details be not intended to limit the disclosure be must be realized using above-mentioned concrete details.

Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with its The difference of its embodiment, the same or similar part cross-reference between each embodiment.For system embodiment For, since it is substantially corresponding with embodiment of the method, so being described relatively simple, referring to the portion of embodiment of the method in place of correlation It defends oneself bright.

Device involved in the disclosure, device, equipment, system block diagram only as illustrative example and be not intended to It is required that or hint must be attached in such a way that box illustrates, arrange, configure.As those skilled in the art will appreciate that , it can be connected by any way, arrange, configure these devices, device, equipment and system.Such as " comprising ", " include, The word of " having " etc. is open vocabulary, is referred to " including but not limited to ", and can be used interchangeably with it.Word used herein above Remittance "or" and "and" refer to vocabulary "and/or", and can be used interchangeably with it, unless it is not such that context, which is explicitly indicated,.Here institute The vocabulary " such as " used refers to phrase " such as, but not limited to ", and can be used interchangeably with it.

Disclosed method and device may be achieved in many ways.For example, can by software, hardware, firmware or Software, hardware, firmware any combination realize disclosed method and device.The said sequence of the step of for the method Merely to be illustrated, the step of disclosed method, is not limited to sequence described in detail above, special unless otherwise It does not mentionlet alone bright.In addition, in some embodiments, also the disclosure can be embodied as to record program in the recording medium, these programs Including for realizing according to the machine readable instructions of disclosed method.Thus, the disclosure also covers storage for executing basis The recording medium of the program of disclosed method.

It may also be noted that each component or each step are can to decompose in the device of the disclosure, device and method And/or reconfigure.These decompose and/or reconfigure the equivalent scheme that should be regarded as the disclosure.

The above description of disclosed aspect is provided, so that any person skilled in the art can make or use this It is open.To those skilled in the art to various modifications in terms of these etc., it is readily apparent, and fixed herein The General Principle of justice can be applied to other aspects, without departing from the scope of the present disclosure.Therefore, the disclosure is not intended to be limited to The aspect being shown here, but according to principle disclosed herein and the consistent widest range of novel feature.

In order to which purpose of illustration and description has been presented for above description.In addition, this description is not intended to the reality of the disclosure Example is applied to be restricted in form disclosed herein.Although already discussed above multiple exemplary aspects and embodiment, ability Its certain modifications, modification, change, addition and sub-portfolio will be recognized in field technique personnel.

Claims

1. a kind of woodwork processing method, comprising:

Determine the processing line information of each cut piece of woodwork to be processed and the processing sequence information of each cut piece；

According to the processing sequence information of each cut piece, the placement location letter of the corresponding timber to be processed of current cut piece is determined Breath；

According to the processing of the placement position information and the current cut piece of the corresponding timber to be processed of the current cut piece Line information projects process light on the corresponding timber to be processed of the current cut piece；

Wherein, the process light is used to indicate the Working position of the corresponding timber to be processed of the current cut piece, makes described Timber to be processed is processed into current cut piece.

2. according to the method described in claim 1, wherein, the processing line of each cut piece of the determination woodwork to be processed is believed Breath, comprising:

Determine the processing line information of each cut piece of the woodwork to be processed based on joinery and its construction；

Wherein, the processing line information of the cut piece includes: the Tenon processing line information of cut piece.

3. according to the method described in claim 1, wherein, the processing line of each cut piece of the determination woodwork to be processed is believed Breath, comprising:

Obtain the default processing line information of each cut piece of woodwork to be processed and the Adjusting Shape of the woodwork to be processed Information；

According to the Adjusting Shape information of the woodwork to be processed, the default of corresponding cut piece of the woodwork to be processed is added Work line information carries out conversion process, determines the processing line information of each cut piece of the woodwork to be processed.

4. according to the method in any one of claims 1 to 3, wherein the current cut piece of determination is corresponding to be processed The placement position information of timber, comprising:

Recongnition of objects processing is carried out to the binocular image of the corresponding timber to be processed of the current cut piece；

Obtain the depth information of the binocular image of the timber to be processed；

According to the depth information and the recongnition of objects handle as a result, determine the current cut piece it is corresponding to Handle the coordinate information of each vertex of timber in three dimensions.

5. method according to claim 1 to 4, wherein it is described according to the current cut piece it is corresponding to Handle timber placement position information and the current cut piece processing line information, to the current cut piece it is corresponding to Process light is projected on processing timber, comprising:

According to the processing of the placement position information and the current cut piece of the corresponding timber to be processed of the current cut piece Line information determines the ON/OFF control information of each point light source in pointolite array；

According to the control information, control each point light source in the pointolite array opens/light state, at described current point Process light is projected on the corresponding timber to be processed of cutter member.

6. the method according to any one of claims 1 to 5, wherein the method also includes:

Obtain the cut-off rule information of the corresponding raw material of the woodwork to be processed；

Determine the placement position information of the raw material；

According to the placement position information of the raw material and the cut-off rule information, the projection localization light on the raw material, with It is partitioned into the corresponding timber to be processed of each cut piece of the woodwork to be processed；

Wherein, the segmentation light is used to indicate the division position of the raw material.

7. according to the method described in claim 6, wherein, the cut-off rule for obtaining the corresponding raw material of the woodwork to be processed Information, comprising:

According to the multi-angled shooting image of the corresponding raw material of the woodwork to be processed, the three-dimensional modeling figure of the raw material is generated Picture；

Obtain the dimension information of the raw material and the consumable information of the woodwork to be processed；

According to the three-dimensional modeling image, the dimension information and the consumable information, the cut-off rule letter of the raw material is generated Breath.

8. a kind of woodwork processing unit (plant), comprising:

Information module is determined, for determining the processing line information and each cut piece of each cut piece of woodwork to be processed Processing sequence information；

Position module is detected, the processing sequence information of each cut piece for determining according to the determining information module determines The placement position information of the corresponding timber to be processed of current cut piece；

Projective calculation wire module, the current cut piece for being determined according to the detection position module are corresponding to be processed The processing line information of the placement position information of timber and the current cut piece, it is corresponding to be processed to the current cut piece Process light is projected on timber；

9. a kind of computer readable storage medium, the storage medium is stored with computer program, and the computer program is used for Execute method described in any one of the claims 1-7.

10. a kind of electronic equipment, the electronic equipment include:

Processor；

For storing the memory of the processor-executable instruction；

The processor, for reading the executable instruction from the memory, and it is above-mentioned to realize to execute described instruction Method of any of claims 1-7.