CN111983973A - Cast workpiece edge deburring processing method based on template matching - Google Patents
Cast workpiece edge deburring processing method based on template matching Download PDFInfo
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- 238000003672 processing method Methods 0.000 title abstract description 6
- 238000003384 imaging method Methods 0.000 claims abstract description 26
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- 238000000034 method Methods 0.000 claims description 22
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000002156 mixing Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 2
- 238000003754 machining Methods 0.000 description 12
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
- G05B19/4086—Coordinate conversions; Other special calculations
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- G05B2219/35—Nc in input of data, input till input file format
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Abstract
The invention discloses a cast workpiece edge deburring processing method based on template matching, which comprises the steps of obtaining coordinate values of feature points on an imaging plane, combining the coordinates of corresponding points in a camera image coordinate system to obtain the coordinate values of the feature points in a three-dimensional space, establishing a three-dimensional space geometric model according to the coordinate values of the imaging points, calculating a space conversion relation between part edge information obtained by a stereoscopic vision system and the three-dimensional space geometric model by utilizing a back propagation BP neural network, extracting shape and position information of burrs, generating a deburring processing path, controlling the size of contact force corresponding to a contact point by utilizing an angular speed change rate, completing deburring processing operation within a set safety threshold, improving the working efficiency and ensuring the processing precision.
Description
Technical Field
The invention relates to the technical field of deburring machining of cast parts, in particular to a deburring machining method for the edge of a cast workpiece based on template matching.
Background
In the casting process of mechanical parts, burrs are formed by flash produced by machining, so that the machining precision, the product quality and the like are negatively affected, and the reliability and the stability of the whole mechanical system are reduced. Along with the increasing miniaturization and precision of products, the requirement of part manufacturing precision is increased, so that the damage degree of cast part burrs is increased. The deburring cost accounts for about 15% of the manufacturing cost of the whole product, tools such as files, grinding wheels, steel wire brushes and the like are generally used in the traditional deburring method, the efficiency is low, the precision is low, the deburring effect mainly depends on the proficiency of workers, and the requirement on surface roughness cannot be met. The main working mechanism of the existing robot deburring method is as follows: on the basis of ensuring the tolerance requirement of a part, a deburring tool is additionally arranged at the tail end of a six-axis of a robot, the deburring tool and burrs are removed through the contact process of the deburring tool and the burrs, and because contact force changes usually exist in the contact process of the deburring tool and the edge of the part, the contact force cannot be well controlled by the traditional robot deburring method, so that the contact force is kept within a certain threshold value range, and when the contact force exceeds the threshold value limit, the deburring tool or the part is easily damaged. Meanwhile, different parts usually have differences in size and shape, so in the deburring process, different parts usually need to be recalibrated and programmed, the working efficiency of the robot is greatly reduced, and the machining precision of the parts cannot be guaranteed.
Disclosure of Invention
The invention aims to provide a cast workpiece edge deburring processing method based on template matching, which improves the working efficiency and ensures the processing precision.
In order to achieve the purpose, the invention provides a cast workpiece edge deburring method based on template matching, which comprises the following steps:
obtaining coordinate values of the feature points on the imaging plane to obtain the coordinate values of the feature points in a three-dimensional space;
acquiring a three-dimensional space geometric model, and extracting shape and position information of burrs by combining a back propagation BP neural network;
generating a deburring processing path according to the shape and position information of the burrs;
the deburring processing operation is completed by a force and position mixing method.
The obtaining of the coordinate values of the feature points on the imaging plane to obtain the coordinate values of the feature points in the three-dimensional space includes:
and obtaining parameters of the characteristic points on the three coordinate axes according to the coordinate values of the characteristic points on the imaging plane and by combining the equation of the characteristic points on the laser stripe plane.
The obtaining of the coordinate values of the feature points on the imaging plane to obtain the coordinate values of the feature points in the three-dimensional space further includes:
and obtaining the coordinate value of the imaging point of the feature point in the three-dimensional space according to the parameters and by combining the coordinate of the feature point in the camera image coordinate system and the scaling factor.
The acquiring of the three-dimensional space geometric model and the extracting of the shape and the position information of the burr by combining with the back propagation BP neural network comprise:
and establishing a three-dimensional space geometric model according to the coordinate values of the imaging points, taking the three-dimensional space model as a standard template, calculating a space conversion relation between the part edge information obtained by the stereoscopic vision system and the standard template by utilizing a back propagation BP neural network, and extracting the shape and position information of the burrs.
The acquiring of the three-dimensional space geometric model and the extracting of the shape and position information of the burr by combining with the back propagation BP neural network further comprises:
and inputting the difference value of the first point cloud information on the standard template and the second point cloud information obtained by the vision system and the first point cloud information on the standard template into the back propagation BP neural network to obtain a corresponding spatial conversion relation.
Wherein, according to the shape and position information of the burr, generating a deburring processing path, comprises:
and according to the shape and the position information of the burrs, extracting path points after dispersing the position information of the burrs to obtain a deburring processing path.
Wherein, accomplish the burring processing operation through power and position hybrid method, include:
and obtaining an image Jacobian matrix, a normal unit vector of a contact point, a proportional factor controlled by a PI, an expected contact force and a differential factor controlled by the PI to calculate the joint angular velocity change rate of the corresponding point, controlling the contact force corresponding to the contact point according to the angular velocity change rate, and finely adjusting the deburring processing path to limit the contact force to be smaller than a set safety threshold value, thereby completing the deburring processing operation.
The invention relates to a cast workpiece edge deburring processing method based on template matching, which comprises the steps of obtaining coordinate values of feature points on an imaging plane, combining the coordinates of corresponding points in a camera image coordinate system to obtain the coordinate values of the feature points in a three-dimensional space, establishing a three-dimensional space geometric model according to the coordinate values of the imaging points, calculating the space conversion relation between part edge information obtained by a stereoscopic vision system and the three-dimensional space geometric model by utilizing a back propagation BP neural network, extracting the shape and position information of burrs, generating a deburring processing path, controlling the size of contact force corresponding to the contact points by utilizing the angular speed change rate, completing deburring processing operation within a set safety threshold, improving the working efficiency and ensuring the processing precision.
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, 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 the drawings without creative efforts.
Fig. 1 is a schematic step diagram of a cast workpiece edge deburring method based on template matching provided by the invention.
Fig. 2 is a schematic structural diagram of a back propagation BP neural network provided by the present invention.
Fig. 3 is a structural schematic diagram of the shape and position of the burr provided by the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Referring to fig. 1, the present invention provides a method for deburring an edge of a cast workpiece based on template matching, including:
s101, obtaining coordinate values of the feature points on the imaging plane to obtain coordinate values of the feature points in a three-dimensional space.
Specifically, a structured light stereo vision system based on position installation is calibrated, and parameters of the characteristic points on three coordinate axes are obtained according to coordinate values of the characteristic points on an imaging plane and by combining equations of the characteristic points on a laser stripe plane, wherein the equations of the laser stripe plane are assumed as follows:
ax+by+cz+1＝0
wherein x, y and z are parameters of the plane equation on three coordinate axes respectively.
Because the characteristic point is positioned on the laser stripe plane and is penetrated by a space straight line between the optical axis central point and the imaging point, the three-dimensional space position of the characteristic point can be obtained through the relation between a plane equation and a straight line equation, and the three-dimensional space position x, y and z are solved by using the following equations:
wherein x iscam，ycam，zcamIs the coordinate of the point P in the imaging plane, and a, b, c are three-coordinate parameters, so that the imaging point P in the three-dimensional space, which is the normalized imaging plane of the camera coordinate system, can be calculated from the coordinates (u, v) of the spatial point P in the camera image coordinate systemcamThe point is represented as:
wherein x iscam，ycamIs the coordinate of point P in the imaging plane, kx，kyIs the scaling factor.
By solving the space coordinates of the feature points in the camera coordinate system and the external parameters of the camera relative to the robot terminal coordinate system, the feature points on the image can be solved by processing a pair of images, so that the accurate contour of the edge of the part, including information such as burr shapes and the like, can be obtained in real time through a stereoscopic vision system.
S102, acquiring a three-dimensional space geometric model, and extracting shape and position information of burrs by combining with a back propagation BP neural network.
Specifically, a three-dimensional space geometric model is established according to the coordinate values of the imaging points, the three-dimensional space geometric model is used as a standard template, and a space conversion relationship between part edge information obtained by a stereoscopic vision system and the standard template is calculated by using a back propagation BP neural network, wherein the structure of the back propagation BP neural network is as shown in fig. 2, and a difference value between first point cloud information (namely x ', y', z ') on the standard template and second point cloud information (namely x, y, z) obtained by the vision system and the first point cloud information (namely x', y ', z') on the standard template is input into the back propagation BP neural network to obtain a corresponding space conversion relationship, namely, an error value Δ x, Δ y, Δ z is used as system output, and the shape and position information of burrs are extracted.
And S103, generating a deburring processing path according to the shape and position information of the burrs.
Specifically, according to the shape and position information of the burr, as shown in fig. 3, the right protruding part is an edge burr, the grid part on the outer side of the edge of the standard template is an area to be deburred, the right dotted line is a deburring processing path, the position information of the burr, namely the path point is extracted after the deburring processing path is dispersed, the deburring processing path is obtained, extraction is performed after dispersion, and the processing precision is improved.
And S104, completing deburring machining operation by a force and position mixing method.
Specifically, a map is acquiredJacobian matrix JqNormal unit vector e of contact pointfProportional factor k for PI controlpDesired contact force fdAnd PI controlled differential factor KiCalculating the change rate of the joint angular velocity of the corresponding point
The robot joint angular velocity adopts a PI controller, a contact point is a contact place between a machining tool and a workpiece needing deburring, and the calculation formula is as follows:
according to the rate of change of angular velocity
The size of the contact force corresponding to the contact point is controlled, the deburring machining path is finely adjusted to limit the contact force to be smaller than a set safety threshold value, namely if the contact force is larger than the set safety threshold value, the deburring machining path needs to be finely adjusted to reduce the size of the contact force, the deburring tool is prevented from being damaged, the deburring machining operation is completed within the safety threshold value, the machining safety is guaranteed, the working efficiency is improved, and the machining precision is guaranteed.
The invention relates to a cast workpiece edge deburring processing method based on template matching, which comprises the steps of obtaining coordinate values of feature points on an imaging plane, combining the coordinates of corresponding points in a camera image coordinate system to obtain the coordinate values of the feature points in a three-dimensional space, establishing a three-dimensional space geometric model according to the coordinate values of the imaging points, calculating the space conversion relation between part edge information obtained by a stereoscopic vision system and the three-dimensional space geometric model by utilizing a back propagation BP neural network, extracting the shape and position information of burrs, generating a deburring processing path, controlling the size of contact force corresponding to the contact points by utilizing the angular speed change rate, completing deburring processing operation within a set safety threshold, improving the working efficiency and ensuring the processing precision.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A cast workpiece edge deburring method based on template matching is characterized by comprising the following steps:
obtaining coordinate values of the feature points on the imaging plane to obtain the coordinate values of the feature points in a three-dimensional space;
acquiring a three-dimensional space geometric model, and extracting shape and position information of burrs by combining a back propagation BP neural network;
generating a deburring processing path according to the shape and position information of the burrs;
the deburring processing operation is completed by a force and position mixing method.
2. The cast workpiece edge deburring method based on template matching as claimed in claim 1, wherein the obtaining of coordinate values of feature points on an imaging plane to obtain coordinate values of the feature points in a three-dimensional space comprises:
and obtaining parameters of the characteristic points on the three coordinate axes according to the coordinate values of the characteristic points on the imaging plane and by combining the equation of the characteristic points on the laser stripe plane.
3. The cast workpiece edge deburring method based on template matching as claimed in claim 2, wherein said obtaining coordinate values of feature points on an imaging plane, obtaining coordinate values of said feature points in a three-dimensional space, further comprises:
and obtaining the coordinate value of the imaging point of the feature point in the three-dimensional space according to the parameters and by combining the coordinate of the feature point in the camera image coordinate system and the scaling factor.
4. The cast workpiece edge deburring method based on template matching as claimed in claim 3, wherein the obtaining of the three-dimensional space geometric model and the extracting of the shape and position information of the burr in combination with the back propagation BP neural network comprises:
and establishing a three-dimensional space geometric model according to the coordinate values of the imaging points, taking the three-dimensional space model as a standard template, calculating a space conversion relation between the part edge information obtained by the stereoscopic vision system and the standard template by utilizing a back propagation BP neural network, and extracting the shape and position information of the burrs.
5. The cast workpiece edge deburring method based on template matching as claimed in claim 4, wherein the obtaining of the three-dimensional space geometric model and the extraction of the shape and position information of the burr in combination with the back propagation BP neural network further comprises:
and inputting the difference value of the first point cloud information on the standard template and the second point cloud information obtained by the vision system and the first point cloud information on the standard template into the back propagation BP neural network to obtain a corresponding spatial conversion relation.
6. The cast workpiece edge deburring method based on template matching as claimed in claim 5, characterized in that generating the deburring processing path based on the shape and position information of the burr comprises:
and according to the shape and the position information of the burrs, extracting path points after dispersing the position information of the burrs to obtain a deburring processing path.
7. The cast workpiece edge deburring method based on template matching as claimed in claim 6, characterized in that the deburring processing operation is performed by a force and position hybrid method, comprising:
and obtaining an image Jacobian matrix, a normal unit vector of a contact point, a proportional factor controlled by a PI, an expected contact force and a differential factor controlled by the PI to calculate the joint angular velocity change rate of the corresponding point, controlling the contact force corresponding to the contact point according to the angular velocity change rate, and finely adjusting the deburring processing path to limit the contact force to be smaller than a set safety threshold value, thereby completing the deburring processing operation.
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| CN112907590A (en) * | 2021-04-09 | 2021-06-04 | 南开大学 | Polishing method and system based on metal ingot polishing information visual identification |
| TWI755189B (en) * | 2020-12-07 | 2022-02-11 | 財團法人工業技術研究院 | Deburring trajectory recognition mehtod and system thereof |
| CN115519096A (en) * | 2022-09-19 | 2022-12-27 | 江苏中科云控智能工业装备有限公司 | Die casting deburring equipment state detection system and method based on big data |
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| CN117206985A (en) * | 2023-10-12 | 2023-12-12 | 江苏中科云控智能工业装备有限公司 | Robot deburring speed intelligent control system and method based on big data |
| CN117331355A (en) * | 2023-09-27 | 2024-01-02 | 江苏中科云控智能工业装备有限公司 | Die casting deburring process regulation and control system and method based on neural network |
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| CN116713514B (en) * | 2023-07-28 | 2023-11-03 | 嘉钢精密工业(盐城)有限公司 | Accurate positioning system and method for machining holes of cast parts based on machine vision |
| CN117331355A (en) * | 2023-09-27 | 2024-01-02 | 江苏中科云控智能工业装备有限公司 | Die casting deburring process regulation and control system and method based on neural network |
| CN117331355B (en) * | 2023-09-27 | 2024-04-23 | 江苏中科云控智能工业装备有限公司 | Die casting deburring process regulation and control system and method based on neural network |
| CN117206985A (en) * | 2023-10-12 | 2023-12-12 | 江苏中科云控智能工业装备有限公司 | Robot deburring speed intelligent control system and method based on big data |
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