CN111914857B - Layout method, device and system for plate excess material, electronic equipment and storage medium - Google Patents
Layout method, device and system for plate excess material, electronic equipment and storage medium Download PDFInfo
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- CN111914857B CN111914857B CN202010801138.7A CN202010801138A CN111914857B CN 111914857 B CN111914857 B CN 111914857B CN 202010801138 A CN202010801138 A CN 202010801138A CN 111914857 B CN111914857 B CN 111914857B
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- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
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Abstract
The invention provides a method, a device, a system, electronic equipment and a storage medium for discharging plate excess materials, wherein the method for discharging comprises the following steps: acquiring a target image; determining a pixel region of interest in the target image; detecting angular points of the pixel region of interest, and determining image position information of the detected L angular points; according to the image position information of the L corner points, fitting to obtain N fitting straight lines; determining image position information of four target angular points corresponding to at least four vertexes of the calibration piece according to a plurality of straight line intersection points of the N fitting straight lines; determining a position transformation relation between the image coordinate system and the machine tool coordinate system according to the determined image position information of the four target angular points and the position information of the four target angular points corresponding to the machine tool coordinate system; according to the position transformation relation, transforming the pixel area of the residual material of the plate to be discharged into a machine tool coordinate system to obtain the actual coverage area of the residual material of the plate to be discharged; and discharging the residual materials of the plate to be discharged according to the actual coverage area.
Description
Technical Field
The invention relates to the field of machine tool machining, and in particular relates to a layout method, device and system of plate residual materials, electronic equipment and storage media.
Background
In the field of laser processing, the plates are more and more expensive, and the requirements of customers on full utilization of the plate surplus materials are more and more strong.
In the prior art, before the remaining board material is subjected to the layout, the shot picture is generally calibrated, and then the picture is restored to a state perpendicular to the main optical axis of the camera through mapping transformation. The method comprises the steps of calibrating plate surplus materials, marking a plurality of mark points on the real surplus materials manually, recording real distances among related mark points, shooting by a camera, finding the mark points in an image manually, obtaining coordinates of the mark points in the image, and determining a mapping transformation relation according to the real coordinates of the mark points and the coordinates of the mark points in the image. Finally, obtaining a picture of the state perpendicular to the main optical axis of the camera through mapping transformation.
Therefore, in the prior art, the mapping transformation relation of the image is obtained by a manual marking mode when the plate excess material is arranged, the operation is complex, and the arrangement efficiency is low.
Disclosure of Invention
The invention provides a method, a device, a system, electronic equipment and a storage medium for discharging plate excess materials, which are used for solving the problem that the efficiency of discharging plate excess materials is low because the mapping transformation relation of images is obtained by manually setting mark points when the plate excess materials are discharged in the prior art.
According to a first aspect of the present invention, there is provided a method for layout of plate remaining materials, applied to a control terminal, including:
obtaining a target image, wherein the target image comprises a pixel area of the remaining material of the plate to be discharged and a pixel area of a calibration piece, and the calibration piece is provided with K vertexes, wherein K is more than or equal to 4;
determining a pixel region of interest in the target image; the pixel region of interest is a pixel region which contains the calibration piece but does not contain the residual material of the plate to be discharged in the target image;
detecting angular points of the pixel region of interest, and determining image position information of L detected angular points, wherein L is more than K;
according to the image position information of the L corner points, N fitting straight lines are obtained through fitting, and N is more than or equal to 4;
determining image position information of four target corner points corresponding to at least four vertexes of the K vertexes of the calibration piece according to a plurality of straight line intersection points of the N fitting straight lines;
determining a position transformation relation between the image coordinate system and the machine tool coordinate system according to the determined image position information of the four target angular points and the position information of the four target angular points corresponding to the machine tool coordinate system;
according to the position transformation relation, transforming the pixel area of the residual material of the plate to be discharged into the machine tool coordinate system to obtain the actual coverage area of the residual material of the plate to be discharged;
and discharging the remaining materials of the plate to be discharged according to the actual coverage area.
Optionally, before performing corner detection on the pixel region of interest, the method includes:
preprocessing the pixel region of interest to obtain a preprocessed pixel region of interest; the preprocessing includes filtering denoising and/or thresholding.
Optionally, fitting to obtain N fitting straight lines according to the image position information of the L corner points includes:
fitting one by one according to the image position information of the L corner points to obtain each fitting straight line; wherein:
after any M-th fitting straight line is obtained through fitting, determining that the corner points corresponding to the M-th fitting straight line are not involved in fitting any more, and M is less than or equal to N.
Optionally, detecting corner points of the pixel region of interest, and determining image position information of the detected L corner points includes:
and carrying out corner detection on the pixel region of interest by using a Harris corner detection algorithm, and determining the image position information of the detected L corners.
Optionally, fitting to obtain N fitting straight lines according to the image position information of the L corner points includes:
and performing straight line fitting on the image position information of the L corner points by using a random sampling coincidence algorithm to obtain N fitting straight lines.
Optionally, the calibration member is a rectangular calibration member.
According to a second aspect of the present invention, there is provided a layout device of plate surplus material, applied to a control terminal, comprising:
the image acquisition module is used for acquiring a target image, wherein the target image comprises a pixel area of the residual material of the plate to be discharged and a pixel area of a calibration piece, and the calibration piece is provided with K vertexes, wherein K is more than or equal to 4;
a pixel region of interest determining module configured to determine a pixel region of interest in the target image; the pixel region of interest is a pixel region which contains the calibration piece but does not contain the residual material of the plate to be discharged in the target image;
the corner detection module is used for detecting the corners of the pixel region of interest and determining the image position information of the detected L corners, wherein L is more than K;
the straight line fitting module is used for fitting to obtain N fitting straight lines according to the image position information of the L corner points, wherein N is more than or equal to 4;
the corner point determining module is used for determining image position information of four target corner points corresponding to at least four vertexes in the K vertexes of the calibration piece according to the intersection points of the N straight lines;
the transformation relation determining module is used for determining the position transformation relation between the image coordinate system and the machine tool coordinate system according to the determined image position information of the four target angular points and the position information of the four target angular points corresponding to the machine tool coordinate system;
the coverage area determining module is used for transforming the pixel areas of the plate residual materials to be discharged into the machine tool coordinate system according to the position transformation relation to obtain the actual coverage areas of the plate residual materials to be discharged;
and the discharging module is used for discharging the remaining materials of the plate to be discharged according to the actual coverage area.
Optionally, the device further includes a preprocessing module, configured to preprocess the pixel region of interest before performing corner detection on the pixel region of interest, to obtain a preprocessed pixel region of interest; the preprocessing includes filtering denoising and/or thresholding.
According to a third aspect of the present invention, there is provided an electronic device comprising a processor and a memory,
the memory is used for storing codes and related data;
the processor is configured to execute the code in the memory to implement the method for arranging the plate blank according to the first aspect of the present invention and the alternative thereof.
According to a fourth aspect of the present invention there is provided a storage medium having stored thereon a computer program which when executed by a processor implements the method of layout of sheet stock material of the first aspect of the present invention and alternatives thereto.
According to the layout method, device, system, electronic equipment and storage medium of the plate excess material, the calibration piece is arranged, the corner points corresponding to the vertexes of the calibration piece are determined through the image processing algorithm, so that the position transformation relation (mapping transformation relation) of the image is determined, the position transformation relation of the image is not required to be obtained through manually arranging the mark points on the plate excess material, and the layout efficiency of the plate excess material is improved.
Further, the invention detects the corner points of the pixel region of interest, determines the image position information of the detected L corner points, and further accurately determines the corner point corresponding to the vertex of the calibration piece in the target image according to the mutual intersection point of the fitted straight lines by further carrying out straight line fitting on the detected L corner points because the detected L corner points contain redundant corner points (namely the corner points which are not the corner points corresponding to the actual vertex of the calibration piece).
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a flow chart of a method for laying out plate material according to an embodiment of the invention;
FIG. 2 is a second flowchart of a method for layout of plate material according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a first module of a device for discharging remaining plate material according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a second module of a device for discharging remaining plate material according to an embodiment of the present invention;
FIG. 5 is a schematic block diagram of an electronic device according to an embodiment of the invention.
Reference numerals illustrate:
11-an image acquisition module;
12-a pixel region of interest determination module;
13-a corner detection module;
14-a straight line fitting module;
15-a corner determination module;
a 16-transform relationship determination module;
17-a coverage area determination module;
18-a layout module;
19-a pretreatment module;
a 21-processor;
22-bus;
23-memory.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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 scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
FIG. 1 is a flow chart of a method for discharging excess sheet material in accordance with an embodiment of the present invention.
Referring to fig. 1, a layout method of remaining plate materials is provided, which is applied to a control end and includes:
s11: obtaining a target image, wherein the target image comprises a pixel area of the remaining material of the plate to be discharged and a pixel area of a calibration piece, and the calibration piece is provided with K vertexes, wherein K is more than or equal to 4;
s12: determining a pixel region of interest in the target image; the pixel region of interest is a pixel region which contains a calibration piece but does not contain the residual material of the plate to be discharged in the target image;
s13: detecting angular points of the pixel region of interest, and determining image position information of L detected angular points, wherein L is more than K;
s14: according to the image position information of the L corner points, N fitting straight lines are obtained through fitting, and N is more than or equal to 4;
s15: determining image position information of four target corner points corresponding to at least four vertexes in the K vertexes of the calibration piece according to a plurality of straight line intersection points of the N fitting straight lines;
s16: determining a position transformation relation between the image coordinate system and the machine tool coordinate system according to the determined image position information of the four target angular points and the position information of the four target angular points corresponding to the machine tool coordinate system;
s17: according to the position transformation relation, transforming the pixel area of the residual material of the plate to be discharged into a machine tool coordinate system to obtain the actual coverage area of the residual material of the plate to be discharged;
s18: and discharging the residual materials of the plate to be discharged according to the actual coverage area.
In the scheme, the calibration piece is arranged, the angular point corresponding to the top point of the calibration piece is determined through the image processing algorithm, so that the position transformation relation (mapping transformation relation) of the image is determined, the position transformation relation of the image is not required to be obtained through manually setting the mark point on the plate blank, and the layout efficiency of the plate blank is further improved.
Further, in the embodiment of the invention, angular point detection is performed on the pixel region of interest, and image position information of the detected L angular points is determined, and since the detected L angular points include redundant angular points (the redundant angular points are not angular points corresponding to actual vertices of the calibration piece), by further performing straight line fitting on the detected L angular points, the fitted straight line corresponds to the straight edge of the calibration piece, and further, according to mutual intersection points of the fitted straight lines, angular points corresponding to vertices of the calibration piece in the target image can be further accurately determined.
In one embodiment of the invention, the remainder of the sheet material is understood to be the sheet material remaining after the complete sheet material has been cut.
In an embodiment of the present invention, the target image may be understood as an image including the plate remainder to be discharged and the calibration member photographed at any angle by any photographing apparatus, where the plate remainder to be discharged is placed on the machine tool. The image pickup apparatus may be, for example, a camera on a machine tool, may also be, for example, a handheld apparatus of a person concerned, which has an image pickup function, and may be a mobile phone of the person concerned or a digital camera.
In an embodiment of the present invention, the calibration member may be, for example, a polygonal calibration member having a plurality of vertices, where the number of vertices of the calibration member is at least four, and some or all of the vertices of the calibration member are connected by straight edges of the calibration member. The calibration element is, for example, in particular a quadrangular calibration element, a pentagonal calibration element, a hexagonal calibration element, etc.
In an embodiment of the present invention, the pixel region of interest (region of interest) of the target image may be, for example, an outline of the target image circumscribed by the region where the calibration piece is located.
In one embodiment, the pixel region of interest of the target image may be determined by:
carrying out contour recognition on the target image, wherein a contour recognition result comprises the contour of the residual material of the plate to be discharged and the contour of the calibration piece;
determining the outline of the calibration piece according to the relative position relation between the calibration piece and the residual material of the plate to be discharged;
and determining the pixel region of interest of the target image according to the outline of the calibration piece.
In other embodiments, the relevant person may frame the pixel region of interest directly on the target image.
In an embodiment of the present invention, the image position information characterizes a position of a corresponding corner of the L corner points in an image coordinate system of the target image. The detected L corner points may include redundant corner points in addition to corner points corresponding to the vertices of the calibration piece, where the redundant corner points may be generated, for example, due to insufficient straightness of an actual edge of the calibration piece, or may be caused by missing pixels in a region corresponding to a straight edge of the calibration piece in the target image.
In one embodiment, four straight lines of the calibration piece are fitted, in one case, the intersection point of any two straight lines is the target corner point corresponding to the vertex of the calibration piece, and the intersection point of the four fitted straight lines is the four corner points corresponding to the four vertices of the calibration piece. Under other conditions, if more than two intersection points appear on the same straight line, selecting two intersection points closest to the corner point set corresponding to the straight line as target corner points corresponding to the vertexes of the calibration piece, wherein the corner point set corresponding to the straight line is the corner point involved in fitting out the straight line in the L corner points.
In an embodiment of the present invention, the positional transformation relationship between the image coordinate system and the machine tool coordinate system may be, for example, perspective transformation, where perspective transformation may be understood as transformation that uses the condition that three points of a perspective center, an image point and a target point are collinear, and rotates a shadow bearing surface (perspective surface) around a trace (perspective axis) by a certain angle according to perspective rotation law, so as to destroy an original projection light beam, and still maintain the projection geometry on the shadow bearing surface unchanged.
In an embodiment of the present invention, the positional transformation relationship between the image coordinate system and the machine coordinate system is, for example, an image capable of converting the target image into an image perpendicular to the machine viewing angle, that is, an image corresponding to the angle of the machine coordinate system in the plane view.
In an embodiment of the present invention, the actual coverage area of the plate blank to be discharged may be understood as the coverage area of the plate blank to be discharged on the processing table of the machine tool, and the area of the coverage area is the area of the plate blank to be discharged.
In an embodiment of the present invention, the step of discharging the remaining material of the plate to be discharged may be understood as that the machining position corresponding to the part to be machined corresponds to the position on the remaining material of the plate to be discharged.
In one embodiment, according to the actual coverage area, the discharging of the remaining material of the board to be discharged may include, for example:
generating a processing drawing, such as a CAD drawing, corresponding to the residual material of the plate to be arranged according to the actual coverage area;
and (5) carrying out layout on the processing drawing.
In one embodiment, the actual coverage area of the plate blank to be discharged can be determined by the inner contour and the outer contour of the identified plate blank to be discharged.
FIG. 2 is a flow chart of a method for discharging remaining plate material according to an embodiment of the invention.
Referring to fig. 2, in one embodiment, before performing corner detection on the pixel region of interest, that is, before step S13, the method further includes:
s19: preprocessing the pixel region of interest to obtain a preprocessed pixel region of interest; the preprocessing includes filtering denoising and/or thresholding.
In one embodiment, according to the image position information of the L corner points, N fitting straight lines are obtained by fitting, that is, step S14 includes:
fitting one by one according to the image position information of the L corner points to obtain each fitting straight line; wherein:
after the fitting is carried out to obtain any M-th fitting straight line, the corner points corresponding to the M-th fitting straight line are determined not to participate in the fitting any more, and M is less than or equal to N.
In one embodiment, according to the image position information of the L corner points, N fitting straight lines are obtained by fitting, that is, step S14 includes:
and (5) performing straight line fitting on the image position information of the L corner points by using a random sampling consensus algorithm (Random Sample Consensus, RANSAC) to obtain N fitting straight lines.
In one embodiment, performing corner detection on the pixel region of interest, and determining image position information of the detected L corners, that is, step S13, includes:
and carrying out corner detection on the pixel region of interest by using a Harris corner detection algorithm, and determining the image position information of the detected L corners.
In one embodiment, coordinates of four corner points of the calibration piece in the machine tool coordinate system are set, for example, coordinates of four corner points of the calibration piece in a top view state when the calibration piece is placed on the machine tool are set as follows:
the pixel coordinates of the four corner points in the target image are as follows:
setting the perspective transformation matrix as M, and obtaining according to the perspective transformation principle:
according to the known P' n With P n A perspective transformation matrix M can be calculated.
And obtaining the coordinates of each pixel of the target image under the machine tool coordinate system according to the coordinates of each pixel of the target image and the perspective transformation matrix, and finally obtaining the top view corresponding to the residual material of the plate to be discharged under the machine tool coordinate system. Further, if some pixels in the obtained top view are missing, the missing pixel values in the top view can be obtained by interpolation.
In one embodiment, coordinates of four corner points of the calibration piece in a top view state may be determined by pixel coordinates of the corresponding four corner points in the target image and an actual size of the calibration piece, for example, the pixel coordinates of a first corner point may be taken as a rotation center, line segment angles formed by the first corner point and a second corner point may be taken as angles, and new coordinates of the four corner points (where the new and old coordinates of the first corner point are the same) may be calculated according to the size of the calibration piece (for example, a rectangular calibration piece) respectively, so as to obtain coordinates of the corner points of the calibration piece in a machine tool coordinate system.
FIG. 3 is a schematic diagram of a layout device for plate material according to an embodiment of the present invention.
Referring to fig. 3, a layout device of plate remaining materials is provided, which is applied to a control end and includes:
the image acquisition module 11 is used for acquiring a target image, wherein the target image comprises a pixel area of the residual material of the plate to be discharged and a pixel area of a calibration piece, and the calibration piece is provided with K vertexes, wherein K is more than or equal to 4;
a pixel region of interest determination module 12 for determining a pixel region of interest in the target image; the pixel region of interest is a pixel region which contains a calibration piece but does not contain the residual material of the plate to be discharged in the target image;
the corner detection module 13 is used for detecting corners of the pixel region of interest and determining image position information of L detected corners, wherein L is more than K; the image position information characterizes the positions of corresponding corner points in the L corner points in an image coordinate system of the target image;
the straight line fitting module 14 is used for fitting to obtain N fitting straight lines according to the image position information of the L corner points, wherein N is more than or equal to 4;
the corner determining module 15 is configured to determine image position information of four target corners corresponding to at least four vertices of the K vertices of the calibration piece according to a plurality of straight line intersections of the N fitting straight lines;
a transformation relation determining module 16, configured to determine a position transformation relation between the image coordinate system and the machine coordinate system according to the determined image position information of the four target corner points and the position information of the four target corner points corresponding to the machine coordinate system;
the coverage area determining module 17 is configured to transform the pixel area of the remaining material of the plate to be discharged into a machine tool coordinate system according to the position transformation relationship, so as to obtain an actual coverage area of the remaining material of the plate to be discharged;
and the discharging module 18 is used for discharging the residual materials of the plates to be discharged according to the actual coverage area.
In the scheme, the calibration piece is arranged, the angular point corresponding to the top point of the calibration piece is determined through the image processing algorithm, so that the position transformation relation (mapping transformation relation) of the image is determined, the position transformation relation of the image is not required to be obtained through manually setting the mark point on the plate blank, and the layout efficiency of the plate blank is further improved.
Further, in the embodiment of the invention, angular point detection is performed on the pixel region of interest, and image position information of the detected L angular points is determined, and since the detected L angular points include redundant angular points (the redundant angular points are not angular points corresponding to actual vertices of the calibration piece), by further performing straight line fitting on the detected L angular points, the fitted straight line corresponds to the straight edge of the calibration piece, and further, according to mutual intersection points of the fitted straight lines, angular points corresponding to vertices of the calibration piece in the target image can be further accurately determined.
FIG. 4 is a schematic diagram of a layout device for remaining plate materials according to an embodiment of the present invention.
Optionally, referring to fig. 4, the apparatus further includes a preprocessing module 19, configured to preprocess the pixel region of interest before performing corner detection on the pixel region of interest, to obtain a preprocessed pixel region of interest; the preprocessing includes filtering denoising and/or thresholding.
FIG. 5 is a schematic block diagram of an electronic device according to an embodiment of the invention.
Referring to fig. 5, there is provided an electronic device, comprising a processor 21 and a memory 23,
a memory 23 for storing codes and related data;
a processor 21 for executing the codes in the memory 23 to implement the stock layout method of the plate stock according to the present invention.
The processor 21 is capable of communicating with the memory 23 via the bus 22.
According to the present invention there is also provided a storage medium having stored thereon a computer program which when executed by a processor implements the stock layout method of sheet stock relating to the present invention.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (9)
1. The layout method of the plate remainder is applied to a control end and is characterized by comprising the following steps:
obtaining a target image, wherein the target image comprises a pixel area of the remaining material of the plate to be discharged and a pixel area of a calibration piece, and the calibration piece is provided with K vertexes, wherein K is more than or equal to 4;
determining a pixel region of interest in the target image; the pixel region of interest is a pixel region which contains the calibration piece but does not contain the residual material of the plate to be discharged in the target image;
detecting angular points of the pixel region of interest, and determining image position information of L detected angular points, wherein L is more than K, and the L angular points comprise redundant angular points which are not the vertexes of the calibration piece;
according to the image position information of the L corner points, N fitting straight lines are obtained through fitting, and N is more than or equal to 4;
according to the image position information of the L corner points, fitting to obtain N fitting straight lines, wherein the fitting straight lines comprise: fitting one by one according to the image position information of the L corner points to obtain each fitting straight line; after any M-th fitting straight line is obtained through fitting, determining that corner points corresponding to the M-th fitting straight line do not participate in fitting any more, wherein M is less than or equal to N;
determining image position information of four target corner points corresponding to at least four vertexes of the K vertexes of the calibration piece according to a plurality of straight line intersection points of the N fitting straight lines; under the condition that more than two intersection points appear on the same straight line, determining two intersection points closest to the corner point set corresponding to the straight line as target corner points corresponding to the vertexes of the calibration pieces, wherein the corner point set corresponding to the straight line is the corner point involved in fitting out the straight line;
determining a position transformation relation between an image coordinate system and a machine tool coordinate system according to the determined image position information of the four target angular points and the position information of the four target angular points corresponding to the machine tool coordinate system;
according to the position transformation relation, transforming the pixel area of the residual material of the plate to be discharged into the machine tool coordinate system to obtain the actual coverage area of the residual material of the plate to be discharged;
and discharging the remaining materials of the plate to be discharged according to the actual coverage area.
2. The method of claim 1, further comprising, prior to corner detection of the pixel region of interest:
preprocessing the pixel region of interest to obtain a preprocessed pixel region of interest; the preprocessing includes filtering denoising and/or thresholding.
3. The method according to any one of claims 1-2, wherein performing corner detection on the pixel region of interest, determining image position information of the detected L corner points, comprises:
and carrying out corner detection on the pixel region of interest by using a Harris corner detection algorithm, and determining the image position information of the detected L corners.
4. A method according to claim 3, wherein fitting N fitting straight lines according to the image position information of the L corner points comprises:
and performing straight line fitting on the image position information of the L corner points by using a random sampling coincidence algorithm to obtain N fitting straight lines.
5. The method of claim 1, wherein the indexing member is a rectangular indexing member.
6. The utility model provides a layout device of panel clout, is applied to the control end, its characterized in that includes:
the image acquisition module is used for acquiring a target image, wherein the target image comprises a pixel area of the residual material of the plate to be discharged and a pixel area of a calibration piece, and the calibration piece is provided with K vertexes, wherein K is more than or equal to 4;
a pixel region of interest determining module configured to determine a pixel region of interest in the target image; the pixel region of interest is a pixel region which contains the calibration piece but does not contain the residual material of the plate to be discharged in the target image;
the angular point detection module is used for carrying out angular point detection on the pixel region of interest, determining image position information of L detected angular points, wherein L is more than K, and the L angular points comprise redundant angular points which are not the vertexes of the calibration piece;
the straight line fitting module is used for fitting to obtain N fitting straight lines according to the image position information of the L corner points, wherein N is more than or equal to 4;
according to the image position information of the L corner points, fitting to obtain N fitting straight lines, wherein the fitting straight lines comprise: fitting one by one according to the image position information of the L corner points to obtain each fitting straight line; after any M-th fitting straight line is obtained through fitting, determining that corner points corresponding to the M-th fitting straight line do not participate in fitting any more, wherein M is less than or equal to N;
the corner point determining module is used for determining image position information of four target corner points corresponding to at least four vertexes in the K vertexes of the calibration piece according to the plurality of straight line intersection points of the N fitting straight lines; under the condition that more than two intersection points appear on the same straight line, determining two intersection points closest to the corner point set corresponding to the straight line as target corner points corresponding to the vertexes of the calibration pieces, wherein the corner point set corresponding to the straight line is the corner point involved in fitting out the straight line;
the transformation relation determining module is used for determining the position transformation relation between the image coordinate system and the machine tool coordinate system according to the determined image position information of the four target angular points and the position information of the four target angular points corresponding to the machine tool coordinate system;
the coverage area determining module is used for transforming the pixel areas of the plate residual materials to be discharged into the machine tool coordinate system according to the position transformation relation to obtain the actual coverage areas of the plate residual materials to be discharged;
and the discharging module is used for discharging the remaining materials of the plate to be discharged according to the actual coverage area.
7. The apparatus of claim 6, further comprising a preprocessing module configured to preprocess the pixel region of interest to obtain a preprocessed pixel region of interest before performing corner detection on the pixel region of interest; the preprocessing includes filtering denoising and/or thresholding.
8. An electronic device, comprising a processor and a memory,
the memory is used for storing codes and related data;
the processor is configured to execute the code in the memory to implement the method for stock removal of sheet stock as set forth in any one of claims 1-5.
9. A storage medium having stored thereon a computer program which, when executed by a processor, implements the method of stock removal of sheet stock material of any one of claims 1 to 5.
Priority Applications (1)
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