CN111736528A - Laser cutting automatic programming system based on vision deviation rectification - Google Patents
Laser cutting automatic programming system based on vision deviation rectification Download PDFInfo
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- CN111736528A CN111736528A CN202010646516.9A CN202010646516A CN111736528A CN 111736528 A CN111736528 A CN 111736528A CN 202010646516 A CN202010646516 A CN 202010646516A CN 111736528 A CN111736528 A CN 111736528A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4093—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35052—High level language conversion program, DXF format to nc format
Abstract
The invention discloses a laser cutting automatic programming system based on visual deviation correction, which comprises a graphic display and interaction module, a visual detection and deviation correction module and a G code automatic programming module; compared with the prior art, the automatic programming system has the advantages that the visual deviation rectifying function is added into the automatic programming system aiming at the characteristic that the plastic material generates error deformation in the processing and mounting process; the overall design scheme of the visual deviation correction automatic programming system is formulated, the software framework of the front-background processing of the automatic programming system is designed, the front-background interface and the background processing are respectively divided into modules, the processing precision is improved, and the method has popularization and application values.
Description
Technical Field
The invention relates to the technical field of machining, in particular to a laser cutting automatic programming system based on visual deviation correction.
Background
In the prior art, generally, the laser cutting of a plate does not need to pay attention to the installation and placement position of the plate, the required workpiece is obtained by directly cutting the plate, in the laser cutting process of the workpiece, the biggest difficulty is that an injection molding workpiece is basically formed, only redundant materials at the edge of the workpiece need to be cut, the injection molding workpiece has certain plasticity, and in the installation process of the workpiece, the installation error of the workpiece cannot be avoided, so that three freedom deviations of translation of the workpiece in the XY direction and rotation of the workpiece in the Z axis direction exist, the XY axis rotation deviation is positioned by a clamp, the laser cutting focal length range is large, so that the Z axis translation deviation is ignored, the physical scene diagram of the installation deviation is shown as 1, and the abstract schematic diagram of the installation deviation is shown as 2. The deformation causes a certain error between the automatically programmed cutting track and the actual contour of the workpiece, and the workpiece is damaged if the cutting is carried out according to the original cutting program without deviation correction processing. In order to facilitate good visual operation experience and track simulation functions of operators, a visual deviation-correcting laser cutting G code automatic programming system needs to be developed, so that visual deviation correction and track optimization can be performed on the drawing track of a workpiece, and G codes are generated.
Disclosure of Invention
The invention aims to solve the problems and provide an automatic programming system for laser cutting based on visual deviation correction.
The invention realizes the purpose through the following technical scheme:
the invention comprises a graphic display and interaction module, a visual detection and correction module and a G code automatic programming module;
the graphical display and interaction module: the automatic programming system can import the most basic part DXF drawing carrier, extract, analyze and store the track in the drawing, convert the track into a data format which can be identified and processed by the programming system, display drawing information on a user interface and realize the intuitive operation and information interaction of a user;
the visual detection and correction module: shooting an actual image of the workpiece by using an industrial camera, performing image processing and matching calculation to obtain the translation and rotation deviation of the actual position of the workpiece relative to a standard position, and performing bias processing of geometric deviation on the trajectory data of the workpiece;
the G code automatic programming module: the automatic programming system can perform shortest path optimization on the cutting track, reduce invalid travel, and generate a general G code program to be used as lower computer control input information for control.
The automatic programming method comprises the following steps: firstly, a DXF standard track of a workpiece is imported, drawing analysis, storage and processing are carried out by an upper computer, the drawing is interactively displayed on an interface, then a deviation result of the workpiece is obtained through a visual deviation rectifying module, standard part geometric information is subjected to offset and rotation processing, a cutting track is generated and track optimization is carried out, and finally a G code cutting program is generated. In the aspect of visual processing, the outlines of two ends are obtained through twice photographing, and the translation and deflection errors of the workpiece are calculated according to the information of the two outlines.
The automatic programming system architecture design of the laser cutting automatic programming system based on the visual deviation correction is divided into two layers, namely an interface interaction layer and a data processing layer, the interface interaction layer and the data processing layer are compiled by an object-oriented language C + +, an operation interface is divided into three parts on the interface interaction layer, the automatic programming operation interface is a main interface of the system, a camera calibration interface, a template manufacturing interface, a deviation correction matching interface and other auxiliary interfaces in the visual deviation correction are sub-interfaces, and the pop-up of the interfaces is realized in a menu bar mode. The user realizes the import of a drawing file, the calibration of a camera and the generation of a G code through interface interactive operation; in a background processing layer, the method mainly comprises visual deviation correction processing, graph drawing processing, path generation and optimization processing and input and output processing of a system, when an interactive interface browses dxf drawings and selects corresponding drawings, a software background automatically extracts primitive information of the dxf drawings by using a dxflib library, stores the primitive information into a corresponding data structure, draws the imported drawings by a background processing openGL drawing tool and displays the drawings on the interactive interface, multi-angle switching of the views can be realized by the background processing, camera calibration and template manufacturing are operated on the interactive interface, and the software background performs calibration processing and template manufacturing processing; the method comprises the steps that a camera obtains an actually installed outline of a workpiece in real time and introduces a processed standard image template, a software background performs image processing such as thresholding processing, noise reduction processing and template matching on a shot image, translation and deflection errors of the workpiece are obtained through background calculation, the software background performs mathematical transformation of translation and deflection on an outline track of the workpiece according to a deviation result, a cutting path is generated according to transformed drawing information, optimized sorting of the path is performed, scattered paths are linked into a data chain with the shortest idle stroke, and G code generation processing converts the sorted and optimized path data chain into G codes.
The invention has the beneficial effects that:
the invention is a laser cutting automatic programming system based on vision deviation rectification, compared with the prior art, the invention aims at the characteristic that the plastic material can generate error deformation in the process of processing and mounting, and the automatic programming system is added with the function of vision deviation rectification; the overall design scheme of the visual deviation correction automatic programming system is formulated, the software framework of the front-background processing of the automatic programming system is designed, the front-background interface and the background processing are respectively divided into modules, the processing precision is improved, and the method has popularization and application values.
Drawings
FIG. 1 is a diagram of a physical scenario of a prior art installation deviation;
FIG. 2 is an abstract schematic of a prior art installation variation;
FIG. 3 is a block diagram of the automated programming system of the present invention;
FIG. 4 is a diagram of the laser cutting automated programming system operating scheme of the present invention;
FIG. 5 is a software architecture diagram of the present invention;
FIG. 6 is a tree diagram of the interface partitioning for an automated programming system of the present invention;
FIG. 7 is a relational tree diagram of a background processing module of the present invention;
FIG. 8 is a flowchart of a scheme of the vision deviation correction module of the present invention;
FIG. 9 is a schematic composition diagram of the path optimization and auto-programming module of the present invention;
FIG. 10 is a greedy algorithm strategy diagram of the present invention;
FIG. 11 is a functional tree diagram of the graphical rendering and display of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 3: the automatic programming system is divided into three modules, namely an automatic programming module, a visual deviation rectifying module and a graphic display interaction module, wherein the detailed functions of each module are as follows:
(1) the graphic display and interaction module: the automatic programming system can import the most basic part DXF drawing carrier, extract, analyze and store the track in the drawing, convert the track into a data format which can be identified and processed by the programming system, display drawing information on a user interface and realize the intuitive operation and information interaction of a user.
(2) Visual detection and module of rectifying: the actual image of the workpiece is shot by an industrial camera, image processing and matching calculation are carried out, the translation and rotation deviation of the actual position of the workpiece relative to the standard position is obtained, and the deviation processing of the geometric deviation is carried out on the trajectory data of the workpiece.
(3) G code automatic programming module: the automatic programming system can perform shortest path optimization on the cutting track, reduce invalid travel, and generate a general G code program to be used as lower computer control input information for control.
According to the diversified and specialized requirements of the current cutting and processing field, the laser cutting automatic programming system based on the visual deviation correction follows the design principles of field universality, function modularization, platform compatibility and module expandability.
The key point of the visual deviation-rectifying automatic programming system is to realize deviation-rectifying correction of workpiece installation errors, so the invention designs a laser cutting automatic programming system scheme adopting visual deviation rectification as shown in figure 4, and the working flow is as follows: firstly, a DXF standard track of a workpiece is imported, drawing analysis, storage and processing are carried out by an upper computer, the drawing is interactively displayed on an interface, then a deviation result of the workpiece is obtained through a visual deviation rectifying module, standard part geometric information is subjected to offset and rotation processing, a cutting track is generated and track optimization is carried out, and finally a G code cutting program is generated. In the aspect of visual processing, the outlines of two ends are obtained through twice photographing, and the translation and deflection errors of the workpiece are calculated according to the information of the two outlines.
The automatic programming system architecture design based on the visual deviation correction is divided into two layers, namely an interface interaction layer and a data processing layer, wherein the interface interaction layer and the data processing layer are written by an object-oriented language C + +. The architecture division is shown in FIG. 5;
in the interface interaction layer, the interface division is as shown in fig. 6, the operation interface is divided into three parts, the automatic programming operation interface is the main interface of the system, the camera calibration interface, the template making interface, the deviation correction matching interface and other accessory interfaces in the visual deviation correction are all sub-interfaces, and the pop-up of the interface is realized in a menu bar mode. And the user realizes the import of the drawing file, the calibration of the camera, the generation of the G code and the like through interface interactive operation.
In the background processing layer, the modules are divided as shown in fig. 7, and mainly include a visual deviation correction process, a graph drawing process, a path generation and optimization process, and a system input/output process.
After the dxf drawing is browsed and the corresponding drawing is selected on the interactive interface, the software background automatically extracts primitive information of the dxf drawing by using the dxflib library, stores the primitive information into a corresponding data structure, draws the imported drawing by a background processing openGL drawing tool, displays the drawing on the interactive interface, and can realize multi-angle switching of views through background processing. The camera calibration and the template manufacture are operated on an interactive interface, and the software background performs calibration processing and template manufacture processing; the method comprises the steps that a camera obtains the actually installed outline of a workpiece in real time, a processed standard image template is led in, a software background carries out image processing such as thresholding processing, noise reduction processing and template matching on a shot image, and translation and deflection errors of the workpiece are obtained through background calculation. The software background performs mathematical transformation of translation and deflection on the contour track of the workpiece according to the deviation result, generates cutting paths from the transformed drawing information, performs optimized sorting of the paths, links the scattered paths into a data chain with the shortest idle stroke, and converts the sorted and optimized path data chain into G codes through G code generation processing;
the laser cutting automatic programming based on visual deviation correction mainly comprises a visual processing and deviation correction module, a path optimization and automatic programming module and a graphic display and interaction module; the visual processing and deviation rectifying module identifies and calculates installation deviation of a workpiece through an OpenCV image processing technology, the path optimizing and automatic programming module optimizes and sequences cutting paths through a greedy algorithm and generates G codes, the graphic display and interaction module realizes display of workpiece drawings, view transformation and interface display through Qt and OpenGL, and three key modules of the system are analyzed and researched in this subsection.
The vision deviation rectifying module has the functions of identifying the translation difference of the workpiece in the XY direction and the rotation deviation of the workpiece center, and the module inputs the template image and the real-time installation image of the workpiece and outputs the installation error value of the workpiece.
The template image is produced by cutting and image processing the standard mounting position image of the workpiece, and the standard axis of the workpiece is calculated from the standard position image of the workpiece. The real-time installation image of the workpiece is obtained by shooting through a camera, then the image is subjected to gray scale processing, image enhancement processing, filtering noise reduction processing and the like through an OpenCV cross-platform open source vision processing library, a binary outline image of the workpiece is obtained, template matching is carried out on the binary outline image and an imported template image, the position of the template in the workpiece image is determined, in a binocular vision system, the axis of the actual workpiece is determined according to the relative position of the two templates, and as shown in fig. 8, a working scheme diagram of a vision deviation rectifying module is shown.
Because the acquired images are mostly RGB three-channel images, and image processing functions related to OpenCV are all based on gray level images, the images are firstly converted into gray level images; in order to obtain a binary image of an image, thresholding processing needs to be performed on the image. In order to highlight the outline characteristics of the image, the binary image is required to be subjected to noise reduction processing, small spots are processed, and edge information of the outline of the workpiece is accurately identified.
In the template matching algorithm, a gray level matching algorithm based on multiple rotating templates is adopted, the optimal rotating angle of the templates is calculated through a golden section method, full-size template matching is carried out through a standard template matching algorithm, the actual axis position of a workpiece is determined, and a deviation result is obtained through comparison calculation with the standard axis position.
The function of the path optimization and automatic programming module is to program a workpiece drawing into a G code program, wherein the input of the module is a workpiece DXF drawing, and the output of the module is the G code program.
The path optimization and automatic programming module is divided into four parts, namely analysis processing of a workpiece drawing, deviation rectification transformation of the drawing, generation and optimization of a cutting path and generation of a G code program, and is a scheme composition diagram of the path optimization and automatic programming module as shown in FIG. 9. Firstly, a workpiece drawing Dxf file is imported into a system, the Dxf file is analyzed by the Dxf file module to obtain entity primitive data of the workpiece drawing, geometric transformation is carried out on the geometric data of the workpiece through workpiece deviation obtained through calculation of a visual deviation correction module, then the primitive information after the geometric transformation is connected to generate a cutting path, optimization sequencing is carried out on the cutting path through a greedy algorithm, so that the cutting invalid idle stroke is reduced, and finally a G code program for laser cutting is generated through a G code automatic programming module.
In order to reduce unnecessary idle travel in the cutting process, the cutting tracks need to be optimized and sequenced to form a shortest and efficient path travel as far as possible. Based on the above analysis, a greedy algorithm is employed herein to solve this problem.
Each step of the greedy algorithm is the best choice under the current situation, under the strategy, the choice made each time is the local optimal solution of the path, and the strategy does not affect the following state in each choice, which is also called as no-aftereffect, as shown in fig. 10.
A greedy algorithm model is applied to the track optimization of laser cutting, the number in the model represents the idle stroke in the track optimization, and the smaller the cumulative number sum is, the shortest the idle stroke is, so that the optimization purpose is achieved.
The graphic display and interaction module of the automatic programming system has the main functions of three-dimensionally drawing and displaying a workpiece drawing and presenting a multi-angle view of the workpiece drawing, wherein the input of the module is dxf workpiece drawing, and the output of the module is three-dimensional display of the dxf workpiece drawing.
In the graph drawing and displaying functions of the workpiece, an OpenGl tool packaged in Qt is used, a graph displaying and interacting module comprises four functions of graph drawing and displaying, view switching, view translation and view zooming, the tree-like relation among the functions is shown in figure 11, the graph drawing is performed by adopting micro-line segment fitting, the view switching is realized based on a design mode of a spherical coordinate system, the view zooming is performed by the grid number of a mouse pulley, and the view translation is controlled by the translation amount of a mouse.
Aiming at the characteristic that the plastic material can generate errors in the installation process, the functional requirements of the laser cutting automatic programming system are analyzed, the integral scheme design of the automatic programming system based on visual deviation correction is formulated, the software framework of foreground operation interface and background operation processing of the automatic programming system is designed, and finally, the three modules of visual deviation correction, automatic programming and interactive display in the automatic programming system are briefly researched.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The utility model provides a laser cutting automatic programming system based on vision is rectified which characterized in that: the system comprises a graphic display and interaction module, a visual detection and correction module and a G code automatic programming module;
the graphical display and interaction module: the automatic programming system can import the most basic part DXF drawing carrier, extract, analyze and store the track in the drawing, convert the track into a data format which can be identified and processed by the programming system, display drawing information on a user interface and realize the intuitive operation and information interaction of a user;
the visual detection and correction module: shooting an actual image of the workpiece by using an industrial camera, performing image processing and matching calculation to obtain the translation and rotation deviation of the actual position of the workpiece relative to a standard position, and performing bias processing of geometric deviation on the trajectory data of the workpiece;
the G code automatic programming module: the automatic programming system can perform shortest path optimization on the cutting track, reduce invalid travel, and generate a general G code program to be used as lower computer control input information for control.
2. The automatic programming system for laser cutting based on visual deviation correction of claim 1, wherein the automatic programming method comprises the following steps: firstly, a DXF standard track of a workpiece is imported, drawing analysis, storage and processing are carried out by an upper computer, the drawing is interactively displayed on an interface, then a deviation result of the workpiece is obtained through a visual deviation rectifying module, standard part geometric information is subjected to offset and rotation processing, a cutting track is generated and track optimization is carried out, and finally a G code cutting program is generated. In the aspect of visual processing, the outlines of two ends are obtained through twice photographing, and the translation and deflection errors of the workpiece are calculated according to the information of the two outlines.
3. The automatic laser cutting programming system based on visual deviation correction of claim 1, characterized in that: the automatic programming system architecture design of the laser cutting automatic programming system based on the visual deviation correction is divided into two layers, namely an interface interaction layer and a data processing layer, the interface interaction layer and the data processing layer are compiled by an object-oriented language C + +, an operation interface is divided into three parts on the interface interaction layer, the automatic programming operation interface is a main interface of the system, a camera calibration interface, a template manufacturing interface, a deviation correction matching interface and other auxiliary interfaces in the visual deviation correction are sub-interfaces, and the pop-up of the interfaces is realized in a menu bar mode. The user realizes the import of a drawing file, the calibration of a camera and the generation of a G code through interface interactive operation; in a background processing layer, the method mainly comprises visual deviation correction processing, graph drawing processing, path generation and optimization processing and input and output processing of a system, when an interactive interface browses dxf drawings and selects corresponding drawings, a software background automatically extracts primitive information of the dxf drawings by using a dxflib library, stores the primitive information into a corresponding data structure, draws the imported drawings by a background processing openGL drawing tool and displays the drawings on the interactive interface, multi-angle switching of the views can be realized by the background processing, camera calibration and template manufacturing are operated on the interactive interface, and the software background performs calibration processing and template manufacturing processing; the method comprises the steps that a camera obtains an actually installed outline of a workpiece in real time and introduces a processed standard image template, a software background performs image processing such as thresholding processing, noise reduction processing and template matching on a shot image, translation and deflection errors of the workpiece are obtained through background calculation, the software background performs mathematical transformation of translation and deflection on an outline track of the workpiece according to a deviation result, a cutting path is generated according to transformed drawing information, optimized sorting of the path is performed, scattered paths are linked into a data chain with the shortest idle stroke, and G code generation processing converts the sorted and optimized path data chain into G codes.
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Application publication date: 20201002 |