CN111901569A - Monitoring processing method, device, equipment and medium for dynamically tracking cutting head - Google Patents
Monitoring processing method, device, equipment and medium for dynamically tracking cutting head Download PDFInfo
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- CN111901569A CN111901569A CN202010800629.XA CN202010800629A CN111901569A CN 111901569 A CN111901569 A CN 111901569A CN 202010800629 A CN202010800629 A CN 202010800629A CN 111901569 A CN111901569 A CN 111901569A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Abstract
The invention provides a monitoring processing method, a device, equipment and a medium for dynamically tracking a cutting head, wherein the method comprises the following steps: acquiring monitoring position information of a first cutting head in a machine tool coordinate system; determining the current shooting parameters of the first shooting equipment according to the position information during monitoring; the shooting parameters comprise shooting orientation information of corresponding shooting equipment; and adjusting the first shooting equipment according to the current shooting parameters.
Description
Technical Field
The invention relates to the field of monitoring of numerical control machine tools, in particular to a monitoring processing method, a monitoring processing device, monitoring processing equipment and a monitoring processing medium for dynamically tracking a cutting head.
Background
Along with laser cutting technique toward high power development, totally enclosed lathe has been chooseed for use to most laser cutting equipment, for the convenience of monitoring the inside laser beam machining condition of totally enclosed lathe, can shoot equipment at the lathe installation, for example: the photographing apparatus may be installed at a corner above the machine tool.
In the prior art, the monitoring of the machine tool by the shooting device is mainly directed at panoramic monitoring of the machine tool, shooting parameters (such as a shooting angle and a focal length) of the shooting device are all fixed and unchanged, and an angle and a position of the cutting head relative to the shooting device are all changed. Therefore, when moving to the partial position, the image captured by the capturing device often does not clearly characterize the specific cutting situation of the cutting head.
In the actual operation process, in order to know the cutting condition (such as cutting quality, working condition of the cutting head and the like), an operator often enters the machine tool to watch the cutting condition at a close distance. Because the machine tool moves at high speed during cutting and generates a large amount of heat, a great potential safety hazard is caused.
Disclosure of Invention
The invention provides a monitoring processing method, a monitoring processing device, monitoring processing equipment and a monitoring processing storage medium for dynamically tracking a cutting head, and aims to solve the problem of large potential safety hazard in the prior art.
According to a first aspect of the present invention, there is provided a method of monitoring a cutting head for dynamic tracking, the method comprising:
acquiring monitoring position information of a first cutting head in a machine tool coordinate system;
determining the current shooting parameters of the first shooting equipment according to the position information during monitoring; the shooting parameters comprise shooting orientation information of corresponding shooting equipment;
and adjusting the first shooting equipment according to the current shooting parameters.
Optionally, determining the current shooting parameters of the first shooting device according to the monitoring-time position information includes:
determining the current shooting parameters of the first shooting equipment according to the mapping relation between the position information during monitoring and pre-calibration; the mapping relationship is a mapping relationship between the position information of the first cutting head and the shooting parameters of the first shooting device.
Optionally, determining the current shooting parameters of the first shooting device according to the monitoring-time location information includes:
adjusting real-time monitoring shooting parameters of the first shooting equipment according to the position information during monitoring, and acquiring real-time monitoring images shot by the first shooting equipment;
identifying real-time monitoring cutting head information in the real-time monitoring image, wherein the real-time monitoring cutting head information represents the position and/or size of the first cutting head in the real-time monitoring image; the real-time information of the cutting head during monitoring is identified by using a pre-trained identification model;
and if the real-time information of the cutting head during monitoring meets a first preset condition, determining the real-time monitoring shooting parameters corresponding to the real-time monitoring images as the current shooting parameters.
Optionally, the cutting head real-time information during monitoring includes: the position information and the size information of the first cutting head in the real-time image during monitoring are obtained, and the position information of the first cutting head comprises the abscissa and the ordinate of the central position of the area where the first cutting head is located; the dimension information of the first cutting head comprises the length and the width of the first cutting head in the real-time image during monitoring;
the first preset condition includes:
(X1-imgw1/2) < a first threshold;
(Y1-imgh1/2) < second threshold;
(W1-imgw1) < third threshold;
(H1-imgh1) < fourth threshold;
wherein X1 is the abscissa of the central position of the area where the first cutting head is located, and Y1 is the ordinate of the central position of the area where the first cutting head is located; w1 is the width of the first cutting head in the monitoring real-time image, H is the length of the first cutting head in the monitoring real-time image; imgw1For the width of the real-time image at the time of said monitoring, imgh1The length of the real-time image during the monitoring.
Optionally, the shooting parameters further include focal length information, and the shooting orientation information includes horizontal rotation angle information and/or vertical rotation angle information of the corresponding shooting device.
According to a second aspect of the present invention, there is provided a method for calibrating a mapping relation, which is used in an alternative scheme of the first aspect of the present invention, and includes:
controlling the cutting head for calibration to move to N calibration positions, and determining corresponding shooting parameters during calibration; the shooting parameters during calibration are shooting parameters adopted by the shooting equipment for calibration to shoot a space where the cutting head for calibration belongs when the cutting head for calibration is located at the calibration position; wherein N is an integer greater than or equal to 1;
and determining the mapping relation according to the position information of the N calibration positions in the machine tool coordinate system during calibration and the shooting parameters of the N calibration positions during calibration.
Optionally, determining the corresponding shooting parameters at the calibration time includes:
when the cutting head for calibration moves, adjusting real-time calibration shooting parameters of the shooting equipment for calibration, and acquiring real-time calibration images shot by the shooting equipment for calibration;
identifying calibrated cutting head real-time information in the calibrated real-time image, wherein the calibrated cutting head real-time information represents the position and/or size of the calibrated cutting head in the calibrated real-time image; the real-time information of the cutting head during calibration is identified by using a pre-trained identification model;
and if the real-time information of the cutting head during calibration meets a second preset condition, determining the real-time shooting parameters corresponding to the real-time images during calibration as the shooting parameters during calibration.
Optionally, the cutting head real-time information during calibration includes: the position information and the size information of the cutting head for calibration in the real-time image during calibration, wherein the position information of the cutting head for calibration comprises an abscissa and an ordinate of the central position of the area where the cutting head for calibration is located; the size information of the cutting head for calibration comprises the length and the width of the cutting head for calibration in the real-time image during calibration;
the second preset condition includes:
(X2-imgw2/2) < a first threshold;
(Y2-imgh2/2) < second threshold;
(W2-imgw2) < third threshold;
(H2-imgh2) < fourth threshold;
wherein X2 is the abscissa of the central position of the area where the calibration cutting head is located, and Y2 is the ordinate of the central position of the area where the calibration cutting head is located; w2 is the width of the cutting head for calibration in the real-time image for calibration, H2 is the length of the cutting head for calibration in the real-time image for calibration; imgw2For the width, img, of the real-time image during said calibrationh2The length of the real-time image is calibrated.
Optionally, the shooting device for calibration is the first shooting device or the second shooting device, and the cutting head for calibration is the first cutting head or the second cutting head; if the shooting device for calibration is the second shooting device, then: the position of the first shooting device in the machine tool to which the first shooting device belongs is matched with the position of the second shooting device in the machine tool to which the second shooting device belongs.
According to a third aspect of the present invention, there is provided a monitoring processing apparatus for dynamically tracking a cutting head, comprising:
the information acquisition module is used for acquiring the monitoring position information of the first cutting head;
the parameter determining module is used for determining the current shooting parameters of the first shooting equipment according to the monitoring position information; the shooting parameters comprise shooting orientation information of corresponding shooting equipment;
and the adjusting module is used for adjusting the first shooting equipment according to the shooting parameters.
According to a fourth aspect of the present invention, there is provided a mapping relationship calibration processing apparatus for calibrating a mapping relationship used in the first aspect of the present invention, including:
the calibration module is used for controlling the cutting head for calibration to move to N calibration positions and determining corresponding shooting parameters during calibration; the shooting parameters during calibration are shooting parameters adopted by the shooting equipment for calibration to shoot a space where the cutting head for calibration belongs when the cutting head for calibration is located at the calibration position; wherein N is an integer greater than or equal to 1;
and the mapping relation determining module is used for determining the mapping relation according to the position information of the N calibration positions in the calibration of the machine tool coordinate system and the shooting parameters of the N calibration positions.
According to a fifth aspect of the present invention, there is provided an electronic device comprising a processor and a memory, the memory for storing code and associated data;
the processor is configured to execute the code in the memory to implement the method according to the first to fourth aspects of the present invention and the optional aspects thereof.
According to a sixth aspect of the present invention there is provided a storage medium having stored thereon a computer program which, when executed by a processor, is to carry out the method of the first to fourth aspects of the present invention and alternatives thereof.
The monitoring processing method, the device, the equipment and the storage medium for dynamically tracking the cutting head provided by the invention can adjust the shooting parameters of the shooting equipment in real time according to the monitoring position information of the cutting head to meet the monitoring requirement.
Meanwhile, in the alternative scheme of the invention, the position information of the cutting head during monitoring and the shooting parameters of the shooting equipment can meet the mapping relation calibrated in advance, and then the shooting parameters of the shooting equipment are adjusted to meet the monitoring requirement.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a first flowchart illustrating a monitoring method for dynamically tracking a cutting head according to an embodiment of the present invention;
FIG. 2 is a first flowchart illustrating the step S2 according to an embodiment of the present invention;
FIG. 3 is a second flowchart illustrating the step S2 according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating training of recognition models according to an embodiment of the present invention;
FIG. 5 is a second flowchart illustrating a monitoring method for dynamically tracking a cutting head according to an embodiment of the present invention;
FIG. 6 is a third flowchart illustrating a monitoring method for dynamically tracking a cutting head according to an embodiment of the present invention;
FIG. 7 is a first flowchart illustrating a method for calibrating a mapping relationship according to an embodiment of the present invention;
FIG. 8 is a flowchart illustrating step S4 according to an embodiment of the present invention;
FIG. 9 is a second flowchart illustrating a calibration processing method for mapping relationships according to an embodiment of the present invention;
FIG. 10 is a first flowchart illustrating a monitoring method for dynamically tracking a cutting head and a calibration method for mapping the same according to an embodiment of the present invention;
FIG. 11 is a second flowchart illustrating a monitoring method for dynamically tracking a cutting head and a calibration method for mapping the same according to an embodiment of the present invention;
FIG. 12 is a schematic diagram of a monitoring and processing device for dynamically tracking a cutting head according to an embodiment of the present invention;
FIG. 13 is a schematic structural diagram of a mapping relationship calibration processing apparatus according to an embodiment of the present invention;
fig. 14 is a schematic structural diagram of an electronic device in an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Referring to fig. 1, a monitoring processing method for dynamically tracking a cutting head includes:
s1: acquiring monitoring position information of a first cutting head in a machine tool coordinate system;
s2: determining the current shooting parameters of the first shooting equipment according to the position information during monitoring;
the shooting parameters comprise shooting orientation information of corresponding shooting equipment;
s3: and adjusting the first shooting equipment according to the current shooting parameters.
In one example, the shooting device may be any device having an image capturing function, for example, the shooting device may be a general camera, a pan-tilt camera, a video camera, a mobile phone, or other devices that are not dedicated to image capturing.
Wherein, according to the current shooting parameters, adjusting the first shooting device may be understood as: the first shooting device is adjusted to be the shooting device with the shooting parameters, and images of the first cutting head meeting the monitoring requirements can be shot. The adjustment made according to the shooting parameters can be applied to the shooting device itself (for example, the orientation of a camera in the shooting device itself is adjustable), and can also be used for other devices for adjusting the posture of the shooting device (for example, the shooting device can adjust the overall orientation and focal length under the drive of the shooting device).
Therefore, the monitoring processing method for dynamically tracking the cutting head provided by the invention can adjust the shooting parameters of the shooting equipment in real time according to the position information of the cutting head during monitoring, so that the image shot by the shooting equipment meets the monitoring requirement, the specific cutting condition of the cutting head can be observed relatively clearly, and further, the potential safety hazard caused by artificially watching the cutting head is avoided.
In one embodiment, referring to fig. 2, step S2 may include:
s25: determining the current shooting parameters of the first shooting equipment according to the mapping relation between the position information during monitoring and pre-calibration;
the mapping relation is the mapping relation between the position information of the first cutting head and the shooting parameters of the first shooting device.
The mapping relationship in step S25 is obtained by a mapping relationship calibration processing method, which can be implemented before acquiring the monitoring-time position information of the first cutting head in the machine tool coordinate system, and the mapping relationship calibration processing method and the monitoring processing method of the dynamic tracking cutting head can be applied to the same execution body or different execution bodies.
In one embodiment, referring to fig. 3, step S2 may include:
s21: adjusting real-time monitoring shooting parameters of the first shooting equipment according to the position information during monitoring, and acquiring real-time monitoring images shot by the first shooting equipment;
s22: identifying real-time monitoring cutting head information in the real-time monitoring image;
wherein the cutting head real-time information during monitoring characterizes a position and/or a size of the first cutting head in the real-time image during monitoring; the real-time information of the cutting head during monitoring is identified by using a pre-trained identification model;
referring to fig. 4, the method for pre-training the recognition model specifically includes: the method comprises the steps of firstly collecting source images of the cutting heads for calibration, namely shooting images of a plurality of cutting heads for calibration, then labeling the images of the cutting heads for calibration, wherein each image corresponds to one label (the label comprises position information, size information and the like of the cutting heads for calibration, which are referred to later), and finally carrying out deep learning simulation training to obtain a recognition model. The recognition model can recognize the position and the size of the cutting head in the image according to the image of the cutting head.
S23: whether the real-time information of the cutting head meets a first preset condition during monitoring or not is judged;
in one embodiment, if the real-time information of the cutting head satisfies the first predetermined condition during monitoring, it can be understood as follows: if the determination result in the step S23 is YES, the step S24 may be performed.
S24: and determining the real-time monitoring shooting parameters corresponding to the real-time monitoring images as the current shooting parameters.
In an actual implementation, since the real-time information of the cutting head during the monitoring cannot satisfy the first preset condition at one time, the steps S23 to S24 may be circulated. Further, the following describes the implementation of the monitoring processing method for dynamically tracking the cutting head.
In an implementation process, referring to fig. 5 and 6, during monitoring, step S1 is implemented, step S21 is implemented (i.e., shooting is performed by using a camera), after a shot image is obtained, step S22 is implemented (i.e., positioning of the cutting head by using the target detection model), after the position and the size of the cutting head are obtained, step S23 is implemented (i.e., whether the cutting head meets the observation condition is determined), if yes, it can be understood that the determination result of S23 is yes, it can be determined that the first shooting device is in the current shooting parameters capable of meeting the monitoring requirement, no other adjustment is needed, if no, it can be understood that the determination result of S23 is no, and steps S21, S22, and S23 can be performed again until the first preset condition is met, so that a shot image meeting the monitoring requirement is obtained.
In step S21, for example, the shooting parameters of the shooting device may be adjusted to a certain adjustment starting point according to the monitoring-time position information, then possible shooting parameters may be searched for within a certain range corresponding to the adjustment starting point freely or according to a preset logic, then steps S22 and S23 may be performed after each adjustment, if the first preset condition is not met, the step S11 may be returned to continue searching until the first preset condition is met, and the step S24 may be performed.
Meanwhile, if the monitoring is real-time, the position information has certain continuity during the monitoring, and the adjustment starting point can also be the last determined shooting parameter meeting the monitoring condition. Further, due to the change of the position information during the monitoring, certain guidance can be provided for the adjustment of the shooting parameters. Therefore, the range of the searched possible shooting parameters can be determined according to the monitoring position information, for example, the monitoring position information indicates that the cutting head moves towards the positive direction of the X axis, and the searched possible shooting parameters do not need to consider the shooting parameters corresponding to the negative direction movement of the X axis (for example, the camera may only need to consider how many angles to turn left, and does not need to consider the case of turning right).
In some schemes, all shooting parameters can be explored based on certain logic or freely until the preset conditions are found. In other part of the scheme, the method can also be explored in a manual adjustment mode.
In any way, the scope of the embodiments of the present invention is not deviated from.
In one embodiment, the monitored cutting head real-time information includes: the position information and the size information of the first cutting head in the real-time image during monitoring are obtained, and the position information of the first cutting head comprises the abscissa and the ordinate of the central position of the area where the first cutting head is located; the dimension information of the first cutting head comprises the length and the width of the first cutting head in the real-time image during monitoring;
the first preset condition includes:
(X1-imgw1/2) < a first threshold;
(Y1-imgh1/2) < second threshold;
(W1-imgw1) < third threshold;
(H1-imgh1) < fourth threshold;
wherein X1 is the abscissa of the central position of the area where the first cutting head is located, and Y1 is the ordinate of the central position of the area where the first cutting head is located; w1 is the width of the first cutting head in the monitoring real-time image, H is the length of the first cutting head in the monitoring real-time image; imgw1For the width of the real-time image at the time of said monitoring, imgh1The length of the real-time image during the monitoring.
In one embodiment, the shooting parameters further include focal length information, and the shooting orientation information includes horizontal rotation angle information and/or vertical rotation angle information of the corresponding shooting device.
The focal length information is used for enabling the size of the cutting head in an image shot by the shooting equipment to meet the requirement of the imaging size, and the horizontal corner information and the vertical corner information are used for enabling the shooting equipment to face the first cutting head or part of the first cutting head so as to shoot an accurate picture meeting the monitoring requirement.
Referring to fig. 7, the method for calibrating the mapping relationship includes:
s4: controlling the cutting head for calibration to move to N calibration positions, and determining corresponding shooting parameters during calibration;
the shooting parameters during calibration are shooting parameters adopted by the shooting equipment for calibration to shoot a space where the cutting head for calibration belongs when the cutting head for calibration is located at the calibration position;
the N calibration positions refer to positions at which the corresponding shooting parameters are required to be used as the shooting parameters for calibration, in the actual process, the positions at which the cutting head actually moves may be more than N positions, but not all the position shooting results can meet the requirements (for example, the second preset condition is met), so after the shooting results which do not meet the requirements are eliminated, the remaining shooting parameters at the N positions are the shooting parameters required to be used in step S5, and the N positions are the calibration positions.
Correspondingly, the shot content may include part or all of the cutting heads, or may not be limited to the cutting heads, for example, the shot content may also include a cut object, a code spraying device installed on the cutting heads, a sensor, and the like, where N is an integer greater than or equal to 1, and in some alternatives, N may be an integer greater than or equal to 2, thereby increasing the reliability of the calculation result.
S5: and determining the mapping relation according to the position information of the N calibration positions in the machine tool coordinate system during calibration and the shooting parameters of the N calibration positions during calibration.
In one example, the mapping relationship obtained by calibration may be repeatedly used on the same machine tool, and in other examples, a new mapping relationship may be obtained by the same method before each monitoring is performed.
For further example, the mapping obtained by performing calibration on one machine tool may be applied to other same machine tools, where the same machine tool may be understood as: comprising the same cutting head, the same photographing apparatus, which may for example be identical in type, model and fixed position with respect to the machine tool, and further may comprise the same transmission structure, etc.
In an example, the parameters in the mapping relationship may be obtained by performing linear regression fitting by training with a machine learning algorithm according to calibration position information of the N calibration positions in the machine tool coordinate system and shooting information at the N calibration times. The mapping relationship is specifically as follows:
a＝n1x+n2y+e1
b＝n3x+n4y+e2
c＝n5x+n6y+e3；
wherein n1, n2, n3, n4, n5 and n6 are weights for training, e1, e2 and e3 are error values to be trained, x and y are abscissa and ordinate of the cutting head under a machine tool coordinate system, a is horizontal rotation angle information of the shooting device, b is vertical rotation angle information of the shooting device, and f is a focal length of the shooting device.
In one embodiment, referring to fig. 8, step S4 includes:
s41: when the cutting head for calibration moves, adjusting real-time calibration shooting parameters of the shooting equipment for calibration, and acquiring real-time calibration images shot by the shooting equipment for calibration;
s42, identifying real-time information of the cutting head in the calibration time in the real-time image in the calibration time;
the real-time information of the cutting head for calibration represents the position and/or the size of the cutting head for calibration in the real-time image for calibration; the real-time information of the cutting head during calibration is identified by using a pre-trained identification model. The recognition model can be understood by referring to the recognition model used in the previous step S22, and the training process can be understood by referring to the previous step S22. (ii) a
S43: whether the real-time information of the cutting head meets a second preset condition during calibration or not;
in an example, whether the real-time information of the cutting head during calibration meets the second preset condition may be determined by calculating whether the real-time information of the cutting head during calibration matches the second preset condition.
In other examples, please refer to fig. 9, it can also be determined by manually observing whether the real-time information of the cutting head during calibration satisfies the monitoring requirement, specifically, after step S41, the real-time image during calibration can be manually observed without being based on the model, so as to determine whether the preset condition is satisfied by step S43.
If the real-time information of the cutting head meets the preset condition, it can be understood that: if the determination result in the step S43 is YES, the step S44 may be performed.
S44: and determining real-time shooting parameters corresponding to the real-time images in the calibration as the shooting parameters in the calibration.
In an actual implementation, since the real-time information of the cutting head cannot satisfy the preset condition at one time, steps S43 to S44 may be looped. Further, the following describes the implementation of the monitoring processing method for dynamically tracking the cutting head.
In an implementation process, referring to fig. 10 and 11, during calibration, step S41 is implemented (i.e., shooting is performed by using a camera), after a shot image is obtained, step S42 is implemented (i.e., a cutting head is positioned by using a target detection model), after the position and the size of the cutting head are obtained, step S43 is implemented (i.e., whether the cutting head meets an observation condition is determined), if yes, it can be understood that the determination result of S43 is yes, step S44 can be implemented (i.e., internal parameters of a pan-tilt camera are recorded), and after parameter recording is completed, step S5 can be implemented (i.e., a mapping relationship is trained by using a machine learning algorithm), so that a pre-calibrated; if not, it can be understood that the determination result of S43 is no, the process may proceed to steps S41, S42, and S43, and step S5 is performed to obtain the pre-calibrated mapping relationship after the preset conditions are satisfied.
In step S41, the adjustment of the real-time imaging parameters during calibration of the calibration imaging device may be freely searched, or may be searched based on a predetermined logic, and in any manner, the scope of the embodiment of the present invention is not limited. The specific reference may be made to the related example of step S21.
During monitoring, step S1 is implemented, after the coordinates of the cutting head in the mechanical coordinate system are acquired, step S2 is implemented, that is, the coordinates of the cutting head are input into a pre-calibrated mapping relation, and after the shooting parameters of the camera are obtained, step S3 is implemented, that is, the camera is controlled to execute shooting according to the shooting parameters.
In one embodiment, the calibrated cutting head real-time information comprises: the position information and the size information of the cutting head for calibration in the real-time image during calibration, wherein the position information of the cutting head for calibration comprises an abscissa and an ordinate of the central position of the area where the cutting head for calibration is located; the size information of the cutting head for calibration comprises the length and the width of the cutting head for calibration in the real-time image during calibration;
the second preset condition includes:
(X2-imgw2/2) < a first threshold;
(Y2-imgh2/2) < second threshold;
(W2-imgw2) < third threshold;
(H2-imgh2) < fourth threshold;
wherein X2 is the abscissa of the central position of the area where the calibration cutting head is located, and Y2 is the ordinate of the central position of the area where the calibration cutting head is located; w2 is the width of the cutting head for calibration in the real-time image for calibration, H2 is the length of the cutting head for calibration in the real-time image for calibration; imgw2For the width, img, of the real-time image during said calibrationh2The length of the real-time image is calibrated.
In one embodiment, the calibration shooting device is the first shooting device or the second shooting device, and the calibration cutting head is the first cutting head or the second cutting head; the position of the first shooting device in the machine tool to which the first shooting device belongs is matched with the position of the second shooting device in the machine tool to which the second shooting device belongs.
Wherein, the imaging device for calibration being the first imaging device or the second imaging device can be understood as: the calibration shooting device and the first shooting device used in monitoring can be the same shooting device or different shooting devices; the calibration cutting head being the first cutting head or the second cutting head may be understood as: the marking cutting head and the monitored first cutting head can be the same cutting head or different cutting heads; the matching of the position of the first recording device in the machine tool to which it belongs to the position of the second recording device in the machine tool to which it belongs can be understood as: if the shooting equipment for calibration and the shooting equipment for monitoring are different shooting equipment, then: the first photographing apparatus and the second photographing apparatus have the same fixed position with respect to the machine tool.
In summary, the monitoring processing method for dynamically tracking the cutting head provided by the invention can adjust the shooting parameters of the shooting device in real time according to the position information of the cutting head during monitoring, so that the image shot by the shooting device meets the monitoring requirement, the specific cutting condition of the cutting head can be observed relatively clearly, and further, the potential safety hazard caused by artificial watching of the cutting head is avoided.
Referring to fig. 12, a monitoring processing apparatus 1 for dynamically tracking a cutting head includes:
the information acquisition module 11 is used for acquiring monitoring position information of the first cutting head;
a parameter determining module 12, configured to determine a current shooting parameter of the first shooting device according to the monitoring-time location information; the shooting parameters comprise shooting orientation information of corresponding shooting equipment;
and the adjusting module 13 is configured to adjust the first shooting device according to the shooting parameters.
Optionally, the parameter determining module 12 is specifically configured to:
determining the current shooting parameters of the first shooting equipment according to the mapping relation between the position information during monitoring and pre-calibration; the mapping relationship is a mapping relationship between the position information of the first cutting head and the shooting parameters of the first shooting device.
Optionally, the parameter determining module 12 is specifically configured to:
adjusting real-time monitoring shooting parameters of the first shooting equipment according to the position information during monitoring, and acquiring real-time monitoring images shot by the first shooting equipment;
identifying real-time monitoring cutting head information in the real-time monitoring image, wherein the real-time monitoring cutting head information represents the position and/or size of the first cutting head in the real-time monitoring image; the real-time information of the cutting head during monitoring is identified by using a pre-trained identification model;
and if the real-time information of the cutting head during monitoring meets a first preset condition, determining the real-time monitoring shooting parameters corresponding to the real-time monitoring images as the current shooting parameters.
Optionally, the cutting head real-time information during monitoring includes: the position information and the size information of the first cutting head in the real-time image during monitoring are obtained, and the position information of the first cutting head comprises the abscissa and the ordinate of the central position of the area where the first cutting head is located; the dimension information of the first cutting head comprises the length and the width of the first cutting head in the real-time image during monitoring;
the first preset condition includes:
(X1-imgw1/2) < a first threshold;
(Y1-imgh1/2) < second threshold;
(W1-imgw1) < third threshold;
(H1-imgh1) < fourth threshold;
wherein, X1 is the abscissa of the central position of the area where the first cutting head is located in the image coordinate system, and Y1 is the ordinate of the central position of the area where the first cutting head is located in the image coordinate system; w1 is the width of the first cutting head in the monitoring real-time image, H is the length of the first cutting head in the monitoring real-time image; imgw1For the width of the real-time image at the time of said monitoring, imgh1The length of the real-time image during the monitoring.
Optionally, the shooting parameters further include focal length information, and the shooting orientation information includes horizontal rotation angle information and/or vertical rotation angle information of the corresponding shooting device.
Referring to fig. 13, a mapping calibration processing apparatus 2 includes:
the calibration module 21 is used for controlling the cutting head for calibration to move to N calibration positions and determining corresponding shooting parameters during calibration; the shooting parameters during calibration are shooting parameters adopted by the shooting equipment for calibration to shoot a spatial area to which the cutting head for calibration belongs when the cutting head for calibration is located at the calibration position; wherein N is an integer greater than or equal to 1;
and the mapping relation determining module 22 is configured to determine the mapping relation according to the position information of the N calibration positions in the calibration of the machine tool coordinate system and the shooting parameters of the N calibration positions.
Optionally, the calibration module 21 is specifically configured to:
when the cutting head for calibration moves, adjusting real-time calibration shooting parameters of the shooting equipment for calibration, and acquiring real-time calibration images shot by the shooting equipment for calibration;
identifying calibrated cutting head real-time information in the calibrated real-time image, wherein the calibrated cutting head real-time information represents the position and/or size of the calibrated cutting head in the calibrated real-time image; the real-time information of the cutting head during calibration is identified by using a pre-trained identification model;
and if the real-time information of the cutting head during calibration meets a second preset condition, determining the real-time shooting parameters corresponding to the real-time images during calibration as the shooting parameters during calibration.
Optionally, the cutting head real-time information during calibration includes: the position information and the size information of the cutting head for calibration in the real-time image during calibration, wherein the position information of the cutting head for calibration comprises an abscissa and an ordinate of the central position of the area where the cutting head for calibration is located; the size information of the cutting head for calibration comprises the length and the width of the cutting head for calibration in the real-time image during calibration;
the second preset condition includes:
(X2-imgw2/2) < a first threshold;
(Y2-imgh2/2) < second threshold;
(W2-imgw2) < third threshold;
(H2-imgh2) < fourth threshold;
wherein X2 is the abscissa of the central position of the area where the calibration cutting head is located, and Y2 is the ordinate of the central position of the area where the calibration cutting head is located; w2 is the width of the cutting head for calibration in the real-time image for calibration, H2 is the length of the cutting head for calibration in the real-time image for calibration; imgw2For the width, img, of the real-time image during said calibrationh2The length of the real-time image is calibrated.
Optionally, the shooting device for calibration is the first shooting device or the second shooting device, and the cutting head for calibration is the first cutting head or the second cutting head;
if the shooting device for calibration is the second shooting device, then: the position of the first shooting device in the machine tool to which the first shooting device belongs is matched with the position of the second shooting device in the machine tool to which the second shooting device belongs.
Referring to fig. 14, an electronic device 3 is provided, which includes:
a processor 31; and the number of the first and second groups,
a memory 33 for storing executable instructions of the processor;
wherein the processor 31 is configured to perform the above-mentioned method via execution of the executable instructions.
The processor 31 is capable of communicating with the memory 33 via the bus 32.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the above-mentioned method.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (13)
1. A method for monitoring and processing a dynamically tracked cutting head, the method comprising:
acquiring monitoring position information of a first cutting head in a machine tool coordinate system;
determining the current shooting parameters of the first shooting equipment according to the position information during monitoring; the shooting parameters comprise shooting orientation information of corresponding shooting equipment;
and adjusting the first shooting equipment according to the current shooting parameters.
2. The monitoring processing method of dynamically tracking a cutting head as claimed in claim 1, wherein determining current camera parameters of a first camera device based on the monitoring-time location information comprises:
determining the current shooting parameters of the first shooting equipment according to the mapping relation between the position information during monitoring and pre-calibration; the mapping relationship is a mapping relationship between the position information of the first cutting head and the shooting parameters of the first shooting device.
3. The monitoring processing method for dynamically tracking a cutting head according to claim 1, wherein determining current shooting parameters of a first shooting device according to the monitoring-time position information comprises:
adjusting real-time monitoring shooting parameters of the first shooting equipment according to the position information during monitoring, and acquiring real-time monitoring images shot by the first shooting equipment;
identifying real-time monitoring cutting head information in the real-time monitoring image, wherein the real-time monitoring cutting head information represents the position and/or size of the first cutting head in the real-time monitoring image; the real-time information of the cutting head during monitoring is identified by using a pre-trained identification model;
and if the real-time information of the cutting head during monitoring meets a first preset condition, determining the real-time monitoring shooting parameters corresponding to the real-time monitoring images as the current shooting parameters.
4. The method of claim 3, wherein the real-time information of the cutting head during monitoring comprises: the position information and the size information of the first cutting head in the real-time image during monitoring are obtained, and the position information of the first cutting head comprises the abscissa and the ordinate of the central position of the area where the first cutting head is located; the dimension information of the first cutting head comprises the length and the width of the first cutting head in the real-time image during monitoring;
the first preset condition includes:
(X1-imgw1/2) < a first threshold;
(Y1-imgh1/2) < second threshold;
(W1-imgw1) < third threshold;
(H1-imgh1) < fourth threshold;
wherein, X1 is the abscissa of the central position of the area where the first cutting head is located in the image coordinate system, and Y1 is the ordinate of the central position of the area where the first cutting head is located in the image coordinate system; w1 is the width of the first cutting head in the monitoring real-time image, H is the length of the first cutting head in the monitoring real-time image; imgw1For the width of the real-time image at the time of said monitoring, imgh1The length of the real-time image during the monitoring.
5. Monitoring processing method of a dynamic tracking cutting head according to any of claims 1 to 4, characterized in that the shooting parameters further comprise focal distance information and the shooting orientation information comprises horizontal and/or vertical rotation angle information of the corresponding shooting device.
6. A method for calibrating the mapping used in the method for monitoring and processing a dynamically tracked cutting head according to claim 2, comprising:
controlling the cutting head for calibration to move to N calibration positions, and determining corresponding shooting parameters during calibration; the shooting parameters during calibration are shooting parameters adopted by the shooting equipment for calibration to shoot a space where the cutting head for calibration belongs when the cutting head for calibration is located at the calibration position; wherein N is an integer greater than or equal to 1;
and determining the mapping relation according to the position information of the N calibration positions in the machine tool coordinate system during calibration and the shooting parameters of the N calibration positions during calibration.
7. The method for calibrating the mapping relationship according to claim 6,
determining shooting parameters in corresponding calibration, including:
when the cutting head for calibration moves, adjusting real-time calibration shooting parameters of the shooting equipment for calibration, and acquiring real-time calibration images shot by the shooting equipment for calibration;
identifying calibrated cutting head real-time information in the calibrated real-time image, wherein the calibrated cutting head real-time information represents the position and/or size of the calibrated cutting head in the calibrated real-time image; the real-time information of the cutting head during calibration is identified by using a pre-trained identification model;
and if the real-time information of the cutting head during calibration meets a second preset condition, determining the real-time shooting parameters corresponding to the real-time images during calibration as the shooting parameters during calibration.
8. The mapping relation calibration processing method according to claim 7, wherein the real-time information of the cutting head during calibration comprises: the position information and the size information of the cutting head for calibration in the real-time image during calibration, wherein the position information of the cutting head for calibration comprises an abscissa and an ordinate of the central position of the area where the cutting head for calibration is located; the size information of the cutting head for calibration comprises the length and the width of the cutting head for calibration in the real-time image during calibration;
the second preset condition includes:
(X2-imgw2/2) < a first threshold;
(Y2-imgh2/2) < second threshold;
(W2-imgw2) < third threshold;
(H2-imgh2) < fourth threshold;
wherein X2 is the abscissa of the central position of the area where the calibration cutting head is located, and Y2 is the ordinate of the central position of the area where the calibration cutting head is located; w2 is the width of the cutting head for calibration in the real-time image for calibration, H2 is the length of the cutting head for calibration in the real-time image for calibration; imgw2For the width, img, of the real-time image during said calibrationh2The length of the real-time image is calibrated.
9. The calibration processing method of the mapping relationship according to any one of claims 6 to 8, wherein the imaging device for calibration is the first imaging device or the second imaging device, and the cutting head for calibration is the first cutting head or the second cutting head;
if the shooting device for calibration is the second shooting device, then: the position of the first shooting device in the machine tool to which the first shooting device belongs is matched with the position of the second shooting device in the machine tool to which the second shooting device belongs.
10. A monitoring processing device for dynamically tracking a cutting head, comprising:
the information acquisition module is used for acquiring the monitoring position information of the first cutting head;
the parameter determining module is used for determining the current shooting parameters of the first shooting equipment according to the monitoring position information; the shooting parameters comprise shooting orientation information of corresponding shooting equipment;
and the adjusting module is used for adjusting the first shooting equipment according to the shooting parameters.
11. A mapping relationship calibration processing apparatus for calibrating a mapping relationship used in the monitoring processing method of dynamically tracking a cutting head according to claim 2, comprising:
the calibration module is used for controlling the cutting head for calibration to move to N positions and determining corresponding shooting parameters during calibration; the shooting parameters during calibration are shooting parameters adopted by the shooting equipment for calibration to shoot a space where the cutting head for calibration belongs when the cutting head for calibration is located at the calibration position; wherein N is an integer greater than or equal to 1;
and the mapping relation determining module is used for determining the mapping relation according to the position information of the N positions in the machine tool coordinate system during calibration and the N shooting parameters during calibration.
12. An electronic device, comprising a processor and a memory,
the memory is used for storing codes and related data;
the processor configured to execute the code in the memory to implement the method of any one of claims 1 to 9.
13. A storage medium having stored thereon a computer program which, when executed by a processor, carries out the method of any one of claims 1 to 9.
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