CN112859742B - Numerical control machine tool control system based on visual identification - Google Patents
Numerical control machine tool control system based on visual identification Download PDFInfo
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- CN112859742B CN112859742B CN202110036934.0A CN202110036934A CN112859742B CN 112859742 B CN112859742 B CN 112859742B CN 202110036934 A CN202110036934 A CN 202110036934A CN 112859742 B CN112859742 B CN 112859742B
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- 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
- G05B19/406—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 monitoring or safety
- G05B19/4065—Monitoring tool breakage, life or condition
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
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- G05B2219/37616—Use same monitoring tools to monitor tool and workpiece
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Abstract
The invention relates to a numerical control machine tool control system based on visual identification. The camera is controlled by the central control processor to detect the position of the workpiece on the numerical control machine tool workbench, so that the first motor and the first motor are controlled to adjust the camera and the tool bit of the numerical control machine tool to machine the workpiece, and automatic control of the numerical control machine tool is realized.
Description
Technical Field
The invention relates to the technical field of numerical control machine tool control, in particular to a numerical control machine tool control system based on visual identification.
Background
The numerical control machine tool is a digital control machine tool for short, and is an automatic machine tool provided with a program control system. The control system is capable of logically processing and decoding a program defined by a control code or other symbolic instructions, represented by coded numbers, which are input to the numerical control device via the information carrier. After operation, the numerical control device sends out various control signals to control the action of the machine tool, and the parts are automatically machined according to the shape and the size required by the drawing. The numerical control machine tool well solves the problem of machining of complex, precise, small-batch and various parts, is a flexible and high-efficiency automatic machine tool, represents the development direction of the control technology of modern machine tools, and is a typical mechanical and electrical integration product.
Because digit control machine tool is higher to the precision requirement of work piece when processing the work piece, the control system of current digit control machine tool all needs artifical measurement after-fixing to the position of work piece, leads to the lathe work efficiency that the actual locating position of unable automatic searching work piece leads to low.
Disclosure of Invention
Therefore, the invention provides a numerical control machine tool control system based on visual identification. The automatic positioning device is used for solving the problem that the working efficiency of the machine tool is low due to the fact that the actual placing position of a workpiece cannot be automatically found in the prior art.
In order to achieve the above object, the present invention provides a numerical control machine tool control system based on visual recognition, comprising:
the numerical control machine tool body is used for processing a workpiece according to the requirement of a user, and a central control processor used for storing data required by processing the workpiece is arranged in the numerical control machine tool body;
the first driving mechanism comprises a box body arranged on one side of the numerical control machine tool body, a first motor, a screw rod, a threaded sleeve and a connecting rod are arranged in the box body, the first motor is connected with one end of the screw rod through a flange, the screw rod is in threaded connection with the threaded sleeve, a sliding groove is further formed in one side, close to the connecting rod, of the box body, and the connecting rod moves along the sliding groove;
the second driving mechanism comprises a first supporting plate, a second motor, a first belt pulley, a belt, a second belt pulley, a rotating shaft, a connecting block and a third supporting plate, the second motor is fixedly arranged on the second supporting plate, a motor shaft of the second motor is connected with the first belt pulley, the second belt pulley is connected with the first belt pulley through the belt, the rotating shaft is connected with the second belt pulley, and the rotating shaft is fixedly connected with the connecting block;
the camera is arranged on the second driving mechanism and used for detecting a workpiece to be processed;
the second driving mechanism is connected with the first driving mechanism through the first supporting plate, and the central control processor is respectively connected with the first motor, the second motor and the camera;
the central control processor is provided with a preset workpiece type matrix Q0 and a preset workpiece position matrix P0, and for the preset workpiece type matrix Q0, Q0(Q1, Q2, Q3 and Q4) is set, wherein Q1 is a first preset workpiece type, Q2 is a second preset workpiece type, Q3 is a third preset workpiece type, and Q4 is a fourth preset workpiece type; setting P0(P1, P2, P3 and P4) for the preset standard position matrix P0, wherein P1 is a first preset standard position, P2 is a second preset standard position, P3 is a third preset standard position, P4 is a fourth preset standard position, and for the ith preset standard position Pi, Pi (Xi, Yi) is set, wherein Xi is an abscissa and Yi is an ordinate, when the NC machine tool machines a workpiece, the central control processor determines the position of machining the workpiece according to the type of the workpiece,
when the workpiece type is Q1, the central processor sets the standard position of the workpiece to P1;
when the workpiece type is Q2, the central processor sets the standard position of the workpiece to P2;
when the workpiece type is Q3, the central processor sets the standard position of the workpiece to P3;
when the workpiece type is Q4, the central processor sets the standard position of the workpiece to P4.
The central control processor is further provided with a preset pole characteristic point matrix group L0, L0(L1, L2, L3 and L4) is set, wherein L1 is a first preset pole characteristic point matrix group, L2 is a second preset pole characteristic point matrix group, L3 is a third preset pole characteristic point matrix group, L4 is a fourth preset pole characteristic point matrix group, Li (Xai, Xbi, Yai and Ybi) is set for the ith preset pole characteristic point matrix group Li, Xai is the ith pole left characteristic point, Xbi is the ith pole right characteristic point, Yai is the ith pole upper characteristic point, Ybi is the ith pole lower characteristic point,
when the workpiece to be machined moves to a specified position, detecting whether the position of the workpiece in an image is matched with a standard position, if the central control processor judges that the position of the workpiece is not matched with the standard position, searching a polar left characteristic point or a polar right characteristic point of a part from the image, adjusting the transverse angle of a camera by the central control processor to adjust the rotation of a second motor so that the camera searches the polar left characteristic point or the polar right characteristic point, if the polar left characteristic point or the polar right characteristic point is not found after the transverse angle is adjusted, searching an upper characteristic point or a lower characteristic point from the image, and adjusting the rotation of a first motor by the central control processor so that the camera searches the upper characteristic point or the lower characteristic point.
Further, the central control processor is further provided with a preset first rotation angle matrix theta 0 and a preset first rotation time matrix t0, and for the preset first rotation angle matrix theta 0, theta 0 (theta 1, theta 2, theta 3, theta 4) is set, where theta 1 is a first preset first rotation angle, theta 2 is a second preset first rotation angle, theta 3 is a third preset first rotation angle, and theta 4 is a fourth preset first rotation angle; for the preset first rotation time matrix t0, setting t0(t1, t2, t3, t4), where t1 is a first preset first rotation time, t2 is a second preset first rotation time, t3 is a third preset first rotation time, and t4 is a fourth preset first rotation time;
when the workpiece type is Q1, the standard positions of the workpiece are (X1, Y1), the central control processor sets the rotation angle of the second motor to be theta 1, and sets the rotation time of the first motor to be t 1;
when the workpiece type is Q2, the standard positions of the workpiece are (X2, Y2), the central control processor sets the rotation angle of the second motor to be theta 2, and sets the rotation time of the first motor to be t 2;
when the workpiece type is Q3, the standard positions of the workpiece are (X3, Y3), the central control processor sets the rotation angle of the second motor to be theta 3, and sets the rotation time of the first motor to be t 3;
when the workpiece type is Q4, and the standard position of the workpiece is (X4, Y4), the central processor sets the rotation angle of the second motor to θ 4, and sets the rotation time of the first motor to t 4.
Furthermore, the central control processor is further provided with workpiece standard feature points (Xai, xbi, Yai and Ybi) which are preset according to the type Qi of the workpiece, i is set to be 1, 2, 3 and 4, when the central control processor controls the first motor to rotate t i time and controls the second motor to rotate theta i angle, the central control processor establishes a rectangular coordinate system by taking a standard position (Xi, Yi) of the workpiece as an origin, and the central control processor controls the camera to detect the matching degree A of the workpiece feature points and the workpiece standard feature points so as to judge whether the workpiece is located at the standard position.
Furthermore, the central processor is also provided with a preset workpiece matching degree A0, when the camera finds the polar characteristic point of the workpiece, the camera is used for detecting the integrity A of the part image and comparing A with A0,
when A is larger than or equal to A0, the central control processor judges that the workpiece position is matched with a standard position;
when A < A0, the central control processor determines that the workpiece position does not match a standard position;
and when the central control processor determines that the position of the workpiece is not matched with the standard position, the central control processor controls the camera to detect the characteristic point of the workpiece.
Further, the central control processor is further provided with a preset pole left feature point difference matrix Δ Xa0 and a preset first adjustment angle matrix Δ θ 0(Δ θ 1, Δ θ 2, Δ θ 3, Δ θ 4), and for the preset pole left feature point difference matrix Δ Xa0, Δ Xa0(Δ Xa1, Δ Xa2, Δ X3a, Δ Xa4) is set, where Δ Xa1 is a first preset pole left feature point difference value, Δ Xa2 is a second preset pole left feature point difference value, Δ Xa3 is a third preset pole left feature point difference value, Δ Xa4 is a fourth preset pole left feature point difference value, and the preset pole left feature point difference values increase in sequence; setting delta theta 0 (delta theta 1, delta theta 2, delta theta 3 and delta theta 4) for the preset first adjusting angle matrix delta theta 0, wherein the delta theta 1 is a first preset first adjusting angle, the delta theta 2 is a second preset first adjusting angle, the delta theta 3 is a third preset first adjusting angle, and the delta theta 4 is a fourth preset first adjusting angle, and the preset first adjusting angles are increased in sequence;
when the central control processor controls the camera to detect the polar left characteristic point of the workpiece, the central control processor determines the first adjusting angle delta theta of the second motor according to the difference value of the polar left characteristic point Xa and the polar left standard characteristic point Xa0,
when delta Xa1 is not less than delta Xa and is less than delta Xa2, the central control processor controls the second motor to rotate clockwise by delta theta 1 to adjust the angle;
when delta Xa2 is not less than delta Xa and is less than delta Xa3, the central control processor controls the second motor to rotate clockwise by delta theta 2 to adjust the angle;
when delta Xa is not less than delta Xa3 and is less than delta Xa4, the central control processor controls the second motor to rotate clockwise by delta theta 3 to adjust the angle;
when the delta Xa is larger than or equal to the delta Xa4, the central control processor controls the second motor to rotate clockwise by a delta theta 4 adjusting angle.
Further, the central control processor is further provided with a preset pole right feature point difference matrix Δ Xb0, and sets Δ Xb0(Δ Xb1, Δ Xb2, Δ Xb3, Δ Xb4), where Δ Xb1 is a first preset pole right feature point difference, Δ Xb2 is a second preset pole right feature point difference, Δ Xb3 is a third preset pole right feature point difference, and Δ Xb4 is a fourth preset pole right feature point difference, and the preset pole left feature point differences increase in sequence;
when the central control processor controls the camera to detect the polar right characteristic point of the workpiece, the central control processor determines the first adjusting angle delta theta of the second motor according to the difference value of the polar right characteristic point Xb and the polar right standard characteristic point Xb0,
when the delta Xb1 is not less than delta Xb and is less than delta Xb2, the central control processor controls the second motor to rotate anticlockwise by a delta theta 1 adjusting angle;
when the delta Xb2 is not less than delta Xb and is less than delta Xb3, the central control processor controls the second motor to rotate anticlockwise by a delta theta 2 adjusting angle;
when the delta Xb3 is not less than delta X and is less than delta Xb4, the central control processor controls the second motor to rotate anticlockwise by a delta theta 3 adjusting angle;
when the delta Xb is larger than or equal to the delta Xb4, the central control processor controls the second motor to rotate anticlockwise by a delta theta 4 adjusting angle.
Further, the central processing unit is further provided with a preset on-pole feature point difference matrix Δ Ya0 and a preset first adjustment time matrix Δ t0(Δ t1, Δ t2, Δ t3, Δ t4), and for the preset on-pole feature point difference matrix Δ Ya0, Δ Ya0(Δ Ya1, Δ Ya2, Δ Ya3, Δ Ya4) is set, where Δ Ya1 is a first preset on-pole feature point difference value, Δ Ya2 is a second preset on-pole feature point difference value, Δ Ya3 is a third preset on-pole feature point difference value, Δ Ya4 is a fourth preset on-pole feature point difference value, and the feature point difference values on the poles increase in sequence; setting a delta t0 (delta t1, delta t2, delta t3 and delta t4) for the preset first adjustment time matrix delta t0, wherein delta t1 is a first preset first adjustment time, delta t2 is a second preset first adjustment time, delta t3 is a third preset first adjustment time, and delta t4 is a fourth preset first adjustment time, and the preset first adjustment times are increased in sequence;
when the central control processor controls the camera to detect the characteristic point on the workpiece pole, the central control processor determines the first adjusting time delta t of the first motor according to the difference value of the characteristic point Ya on the pole and the standard characteristic point Ya0 on the pole,
when the delta Ya1 is not less than the delta Ya which is less than the delta Ya2, the central control processor controls the first motor to rotate clockwise for delta t1 time;
when the delta Ya2 is not less than the delta Ya which is less than the delta Ya3, the central control processor controls the first motor to rotate clockwise for delta t2 time;
when the delta Ya3 is not less than the delta Ya which is less than the delta Ya4, the central control processor controls the first motor to rotate clockwise for delta t3 time;
when the delta Ya is larger than or equal to the delta Ya4, the central control processor controls the first motor to rotate clockwise for delta t4 time.
Further, the central control processor is further provided with a preset sub-pole characteristic point difference matrix Δ Yb0, and Δ Yb0(Δ Yb1, Δ Yb2, Δ Yb3, Δ Yb4) is set, where Δ Yb1 is a first preset sub-pole characteristic point difference value, Δ Yb2 is a second preset sub-pole characteristic point difference value, Δ Yb3 is a third preset sub-pole characteristic point difference value, and Δ Yb4 is a fourth preset sub-pole characteristic point difference value, and the preset sub-pole characteristic point difference values are sequentially increased;
when the central control processor controls the camera to detect the under-pole characteristic point of the workpiece, the central control processor determines the first adjusting time delta t of the first motor according to the difference value between the under-pole characteristic point Ya and the under-pole standard characteristic point Ya0,
when the delta Yb1 is not less than delta Yb and is less than delta Yb2, the central control processor controls the second motor to rotate anticlockwise for delta t1 time;
when the delta Yb2 is not less than delta Yb and is less than delta Yb3, the central control processor controls the second motor to rotate anticlockwise for delta t2 time;
when the delta Yb3 is not less than delta Yb and is less than delta Yb4, the central control processor controls the second motor to rotate anticlockwise for delta t3 time;
when the delta Yb is larger than or equal to the delta Yb4, the central control processor controls the second motor to rotate anticlockwise for delta t4 time.
Further, when the central processor controls the camera to detect the workpiece feature points, if the camera does not detect any feature point, the central processor controls the second motor to rotate so as to adjust the transverse angle of the camera, so that the camera scans the workbench of the numerical control machine until the polar feature points appear.
Further, when the central control processor controls the camera to detect the workpiece feature point, if the scanning point still does not appear after the central control processor controls the second motor to scan the workbench, the central control processor adjusts the first motor to rotate so as to adjust the camera to move longitudinally, so that the camera scans the workbench until the polar feature point appears.
Compared with the prior art, the numerically-controlled machine tool has the advantages that the first driving mechanism, the second driving mechanism and the camera are arranged on the numerically-controlled machine tool, the camera is controlled by the central control processor to detect the position of the workpiece on the workbench of the numerically-controlled machine tool, so that the first motor and the first motor are controlled to adjust the camera and the tool bit of the numerically-controlled machine tool to machine the workpiece, and automatic control over the numerically-controlled machine tool is achieved.
Furthermore, the standard position of the processed workpiece is determined by presetting the workpiece type in the central control processor and correspondingly setting the workpiece position matrix according to the workpiece type, so that the automatic recharging of the placing position of the workpiece is realized, and the working efficiency of the numerical control machine is effectively improved.
Furthermore, the central processor is also provided with a preset first rotation angle matrix and a preset first rotation time matrix, and the central processor controls the first motor to rotate for a certain time and controls the second motor to rotate for a certain angle, so that whether the workpiece to be processed is in a preset standard position or not is judged, the automatic recharging of the placement position of the workpiece is realized, and the working efficiency of the numerical control machine is effectively improved.
Furthermore, the central processor is also provided with workpiece standard characteristic points which correspond to preset workpiece standard characteristic points according to the types of the workpieces, and when the camera detects the workpieces, the central processor judges whether the workpieces are in preset standard positions according to the characteristic points on the workpieces detected by the camera, so that the automatic recharging of the placement positions of the workpieces is realized, and the working efficiency of the numerical control machine is effectively improved.
Furthermore, the central processor is also provided with a preset workpiece matching degree, the matching degree of the workpiece position is determined by detecting the characteristic points of the workpiece and the preset standard characteristic points through the camera, and whether the workpiece is positioned at the preset standard position is further judged according to the comparison between the matching degree and the preset matching degree, so that the automatic recharging of the placing position of the workpiece is realized, and the working efficiency of the numerical control machine is effectively improved.
Furthermore, the central processor is provided with a preset standard characteristic point which is compared with the characteristic point of the actual deviation, the difference value of the preset standard characteristic point and the actual deviation characteristic point is calculated, and the rotation time of the first motor and the rotation angle of the second motor are adjusted according to the difference value, so that the head of the numerical control machine moves to the position of the workpiece to be processed, the automatic recharging of the placing position of the workpiece is realized, and the working efficiency of the numerical control machine is effectively improved.
Further, when the central processor controls the camera to detect the machined workpiece, if the camera does not detect the workpiece to be machined, the central processor controls the first motor and the second motor to scan the workbench of the numerical control machine until a characteristic point is scanned, and then the numerical control machine is adjusted to reach the head so as to execute machining operation, so that automatic recharging of the placement position of the workpiece is realized, and the working efficiency of the numerical control machine is effectively improved.
Drawings
FIG. 1 is a schematic structural diagram of a numerical control machine tool control system based on visual recognition according to the present invention;
fig. 2 is a schematic view of a part a of the numerical control machine tool control system based on visual recognition in fig. 1.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Please refer to fig. 1 and 2, which are schematic structural diagrams of a numerical control machine based on visual recognition according to the present invention. The numerical control machine tool control system based on visual identification comprises a numerical control machine tool body 1, a first driving mechanism, a second driving mechanism and a camera 18, wherein the numerical control machine tool body 1 is used for processing a workpiece according to the requirements of a user, a central control processor (not shown in the figure) for storing data required by processing the workpiece is installed in the numerical control machine tool body 1, the camera 18 is arranged on a second driving mechanism 21 and is used for identifying the workpiece to be processed, the first driving mechanism comprises a box body 2 arranged on one side of the numerical control machine tool body 1, a first motor 3, a screw rod 24, a threaded sleeve 4 and a connecting rod 5 are installed in the box body 2, the first motor 3 is connected with one end of the screw rod 24 through a flange (not shown in the figure), the screw rod 24 is in threaded connection with the threaded sleeve 4, a chute 6 is further formed in one side, close to the connecting rod 5, of the box body 2, connecting rod 5 is followed 6 movements of spout, second actuating mechanism includes first backup pad 7, second backup pad 8, second motor 9, first belt pulley 11, belt 12, second belt pulley 13, pivot 14, connecting block 15 and third backup pad 16, second motor 9 fixed mounting in on the second backup pad 8 just second motor shaft 10 with first belt pulley 11 is connected, second belt pulley 13 warp belt 12 with first belt pulley 11 is connected, pivot 14 with second belt pulley 13 is connected, pivot 14 with connecting block 15 is fixed.
The central control processor is provided with a preset workpiece type matrix Q0 and a preset workpiece position matrix P0, and for the preset workpiece type matrix Q0, Q0(Q1, Q2, Q3 and Q4) is set, wherein Q1 is a first preset workpiece type, Q2 is a second preset workpiece type, Q3 is a third preset workpiece type, and Q4 is a fourth preset workpiece type; setting P0(P1, P2, P3 and P4) for the preset standard position matrix P0, wherein P1 is a first preset standard position, P2 is a second preset standard position, P3 is a third preset standard position, P4 is a fourth preset standard position, and for the ith preset standard position Pi, Pi (Xi, Yi) is set, wherein Xi is an abscissa and Yi is an ordinate, when the NC machine tool machines a workpiece, the central control processor determines the position of machining the workpiece according to the type of the workpiece,
specifically, when the NC machine tool machines a workpiece, the central control processor determines a position where the workpiece is machined according to the type of the workpiece,
when the workpiece kind is Q1, the central processor sets the standard position of the workpiece to (X1, Y1);
when the workpiece kind is Q2, the central processor sets the standard position of the workpiece to (X2, Y2);
when the workpiece kind is Q3, the central processor sets the standard position of the workpiece to (X3, Y3);
when the workpiece kind is Q4, the central processor sets the standard position of the workpiece to (X4, Y4).
The central control processor is further provided with a preset pole characteristic point matrix group L0, and L0(L1, L2, L3 and L4) is set, wherein L1 is a first preset pole characteristic point matrix group, L2 is a second preset pole characteristic point matrix group, L3 is a third preset pole characteristic point matrix group, L4 is a fourth preset pole characteristic point matrix group, and Li (Xai, Xbi, Yai and Ybi) is set for an ith preset pole characteristic point matrix group Li, wherein Xai is an ith pole left characteristic point, Xbi is an ith pole right characteristic point, Yai is an ith pole upper characteristic point, and Ybi is an ith pole lower characteristic point.
Specifically, when the workpiece to be machined moves to a specified position, whether the position of the workpiece in an image is matched with a standard position is detected, if the central control processor judges that the position of the workpiece is not matched with the standard position, a pole left feature point or a pole right feature point of a part is searched from the image, the central control processor adjusts the rotation of the second motor to adjust the transverse angle of the camera so that the camera searches the pole left feature point or the pole right feature point, if the pole left feature point or the pole right feature point is not found after the transverse angle is adjusted, an pole upper feature point or a pole lower feature point is searched from the image, and the central control processor adjusts the rotation of the first motor to adjust the longitudinal movement of the camera so that the camera searches the pole upper feature point or the pole lower feature point.
With reference to fig. 1 and fig. 2, in the system for controlling a numerical control machine based on visual recognition according to the embodiment of the present invention, the central processing unit further includes a preset first rotation angle matrix θ 0 and a preset first rotation time matrix t0, and for the preset first rotation angle matrix θ 0, θ 0(θ 1, θ 2, θ 3, and θ 4) is set, where θ 1 is a first preset first rotation angle, θ 2 is a second preset first rotation angle, θ 3 is a third preset first rotation angle, and θ 4 is a fourth preset first rotation angle; for the preset first rotation time matrix t0, t0(t1, t2, t3, t4) is set, where t1 is a first preset first rotation time, t2 is a second preset first rotation time, t3 is a third preset first rotation time, and t4 is a fourth preset first rotation time.
Specifically, when the standard position of the workpiece is (X1, Y1), the central processor sets the rotation angle of the second motor 9 to θ 1 and the rotation time of the first motor 3 to t 1;
when the standard position of the workpiece is (X2, Y2), the central processor sets the rotation angle of the second motor 9 to θ 2 and the rotation time of the first motor 3 to t 2;
when the standard position of the workpiece is (X3, Y3), the central processor sets the rotation angle of the second motor 9 to θ 3 and the rotation time of the first motor 3 to t 3;
when the standard position of the workpiece is (X4, Y4), the central processor sets the rotation angle of the second motor 9 to θ 4 and the rotation time of the first motor 3 to t 4.
As shown in fig. 1 and fig. 2, in the system for controlling a numerical control machine based on visual recognition according to the embodiment of the present invention, the central processor further includes a workpiece standard feature point (Xai, xbi, Yai, Ybi) preset according to the type Qi of the workpiece, i is set to 1, 2, 3, 4, when the central processor controls the first motor to rotate t i time and controls the second motor to rotate θ i angle, the central processor establishes a rectangular coordinate system with the standard position (Xi, Yi) of the workpiece as an origin, and the central processor controls the camera to detect the matching degree a between the workpiece feature point and the workpiece standard feature point to determine whether the workpiece is located at the standard position.
The central control processor is further provided with a preset workpiece matching degree A0, and when the standard characteristic points of the workpiece are (Xa0, xb0, Ya0 and Yb0), Xa0 is a polar left standard characteristic point, xb0 is a polar right standard characteristic point, Ya0 is an upper standard characteristic point, and Yb0 is a lower standard characteristic point.
Specifically, when the camera finds the polar characteristic point of the workpiece, the camera is used for detecting the integrity A of the part image and comparing A with A0,
when A is larger than or equal to A0, the central control processor judges that the workpiece position is matched with a standard position;
when A < A0, the central control processor determines that the workpiece position does not match a standard position;
and when the central control processor determines that the position of the workpiece is not matched with the standard position, the central control processor controls the camera to detect the characteristic point of the workpiece.
As shown in fig. 1 and fig. 2, in the numerical control machine control system based on visual recognition according to the embodiment of the present invention, the central processor further includes a preset polar left feature point difference matrix Δ Xa0 and a preset first adjustment angle matrix Δ θ 0(Δ θ 1, Δ θ 2, Δ θ 3, Δ θ 4), and for the preset polar left feature point difference matrix Δ Xa0, Δ Xa0(Δ Xa1, Δ Xa2, Δ X3a, Δ Xa4) is set, where Δ Xa1 is a first preset polar left feature point difference, Δ Xa2 is a second preset polar left feature point difference, Δ Xa3 is a third preset polar left feature point difference, and Δ Xa4 is a fourth preset polar left feature point difference, and the preset polar left feature point differences increase in sequence; for the preset first adjustment angle matrix Δ θ 0, Δ θ 0(Δ θ 1, Δ θ 2, Δ θ 3, Δ θ 4) is set, where Δ θ 1 is a first preset first adjustment angle, Δ θ 2 is a second preset first adjustment angle, Δ θ 3 is a third preset first adjustment angle, and Δ θ 4 is a fourth preset first adjustment angle, and the preset first adjustment angles are sequentially increased.
Specifically, when the central processor controls the camera to detect the workpiece polar left characteristic point, the central processor determines the first adjusting angle delta theta of the second motor according to the difference value between the polar left characteristic point Xa and a polar left standard characteristic point Xa0,
when delta Xa1 is not less than delta Xa and is less than delta Xa2, the central control processor controls the second motor to rotate clockwise by delta theta 1 to adjust the angle;
when delta Xa2 is not less than delta Xa and is less than delta Xa3, the central control processor controls the second motor to rotate clockwise by delta theta 2 to adjust the angle;
when delta Xa is not less than delta Xa3 and is less than delta Xa4, the central control processor controls the second motor to rotate clockwise by delta theta 3 to adjust the angle;
when the delta Xa is larger than or equal to the delta Xa4, the central control processor controls the second motor to rotate clockwise by a delta theta 4 adjusting angle.
As shown in fig. 1 and fig. 2, in the numerical control machine control system based on visual recognition according to the embodiment of the present invention, the central processor further has a preset pole right feature point difference matrix Δ Xb0, and sets Δ Xb0(Δ Xb1, Δ Xb2, Δ Xb3, Δ Xb4), where Δ Xb1 is a first preset pole right feature point difference, Δ Xb2 is a second preset pole right feature point difference, Δ Xb3 is a third preset pole right feature point difference, and Δ Xb4 is a fourth preset pole right feature point difference, and the preset pole left feature point differences are sequentially increased.
Specifically, when the central processor controls the camera to detect the workpiece extreme right characteristic point, the central processor determines the first adjustment angle delta theta of the second motor according to the difference value between the extreme right characteristic point Xb and an extreme right standard characteristic point Xb0,
when the delta Xb1 is not less than delta Xb and is less than delta Xb2, the central control processor controls the second motor to rotate anticlockwise by a delta theta 1 adjusting angle;
when the delta Xb2 is not less than delta Xb and is less than delta Xb3, the central control processor controls the second motor to rotate anticlockwise by a delta theta 2 adjusting angle;
when the delta Xb3 is not less than delta X and is less than delta Xb4, the central control processor controls the second motor to rotate anticlockwise by a delta theta 3 adjusting angle;
when the delta Xb is larger than or equal to the delta Xb4, the central control processor controls the second motor to rotate anticlockwise by a delta theta 4 adjusting angle.
With continued reference to fig. 1 and fig. 2, in the numerical control machine control system based on visual recognition according to the embodiment of the present invention, the central processing unit is further provided with a preset on-pole feature point difference matrix Δ Ya0 and a preset first adjustment time matrix Δ t0(Δ t1, Δ t2, Δ t3, Δ t4), and for the preset on-pole feature point difference matrix Δ Ya0, Δ Ya0(Δ Ya1, Δ Ya2, Δ Ya3, Δ Ya4) is set, where Δ Ya1 is a first preset on-pole feature point difference, Δ Ya2 is a second preset on-pole feature point difference, Δ Ya3 is a third preset on-pole feature point difference, Δ Ya4 is a fourth preset on-pole feature point difference, and the preset on-pole feature point differences increase in sequence; setting a delta t0 (delta t1, delta t2, delta t3 and delta t4) for the preset first adjustment time matrix delta t0, wherein delta t1 is a first preset first adjustment time, delta t2 is a second preset first adjustment time, delta t3 is a third preset first adjustment time, and delta t4 is a fourth preset first adjustment time, and the preset first adjustment times are increased in sequence;
specifically, when the central control processor controls the camera to detect the feature point on the workpiece pole, the central control processor determines the first adjustment time Δ t of the first motor according to the difference between the feature point Ya on the pole and the standard feature point Ya0 on the pole,
when the delta Ya1 is not less than the delta Ya which is less than the delta Ya2, the central control processor controls the first motor to rotate clockwise for delta t1 time;
when the delta Ya2 is not less than the delta Ya which is less than the delta Ya3, the central control processor controls the first motor to rotate clockwise for delta t2 time;
when the delta Ya3 is not less than the delta Ya which is less than the delta Ya4, the central control processor controls the first motor to rotate clockwise for delta t3 time;
when the delta Ya is larger than or equal to the delta Ya4, the central control processor controls the first motor to rotate clockwise for delta t4 time.
With continued reference to fig. 1 and 2, in the system for controlling a cnc based on visual recognition according to the embodiment of the present invention, the central processor further has a preset sub-pole feature point difference matrix Δ Yb0, which sets Δ Yb0(Δ Yb1, Δ Yb2, Δ Yb3, Δ Yb4), where Δ Yb1 is a first preset sub-pole feature point difference, Δ Yb2 is a second preset sub-pole feature point difference, Δ Yb3 is a third preset sub-pole feature point difference, and Δ Yb4 is a fourth preset sub-pole feature point difference, and the preset sub-pole feature point differences are sequentially increased.
Specifically, when the central processor controls the camera to detect the workpiece under-pole feature point, the central processor determines the first adjustment time Δ t of the first motor according to the difference between the under-pole feature point Ya and the under-pole standard feature point Ya0,
when the delta Yb1 is not less than delta Yb and is less than delta Yb2, the central control processor controls the second motor to rotate anticlockwise for delta t1 time;
when the delta Yb2 is not less than delta Yb and is less than delta Yb3, the central control processor controls the second motor to rotate anticlockwise for delta t2 time;
when the delta Yb3 is not less than delta Yb and is less than delta Yb4, the central control processor controls the second motor to rotate anticlockwise for delta t3 time;
when the delta Yb is larger than or equal to the delta Yb4, the central control processor controls the second motor to rotate anticlockwise for delta t4 time.
Referring to fig. 1 and fig. 2, in the system for controlling a numerical control machine based on visual recognition according to the embodiment of the present invention, when the central processor controls the camera to detect the feature point of the workpiece, if the camera 18 does not detect any feature point, the central processor controls the second motor 9 to rotate to adjust the transverse angle of the camera so that the camera scans the worktable of the numerical control machine 1 until the feature point appears; when the central control processor controls the camera 18 to detect the characteristic points of the workpiece, if the central control processor controls the second motor 9 to scan the workbench and no scanning point still appears, the central control processor controls and adjusts the first motor 3 to rotate so as to adjust the longitudinal movement of the camera 18 to enable the camera to scan the workbench until the characteristic points appear.
Specifically, when the central processor controls the camera to detect the machined workpiece, if the camera does not detect the workpiece to be machined, the central processor controls the first motor and the second motor to scan the workbench of the numerical control machine until a characteristic point is scanned, and then the numerical control machine is adjusted to the end so as to execute machining operation.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A numerical control machine tool control system based on visual recognition is characterized by comprising:
the numerical control machine tool body is used for processing a workpiece according to the requirement of a user, and a central control processor used for storing data required by processing the workpiece is arranged in the numerical control machine tool body;
the first driving mechanism comprises a box body arranged on one side of the numerical control machine tool body, a first motor, a screw rod, a threaded sleeve and a connecting rod are arranged in the box body, the first motor is connected with one end of the screw rod through a flange, the screw rod is in threaded connection with the threaded sleeve, a sliding groove is further formed in one side, close to the connecting rod, of the box body, the connecting rod moves along the sliding groove, and the connecting rod is connected with the threaded sleeve;
the second driving mechanism comprises a first supporting plate, a second motor, a first belt pulley, a belt, a second belt pulley, a rotating shaft and a connecting block, wherein the first supporting plate is connected with the second supporting plate, the second motor is fixedly arranged on the second supporting plate, a motor shaft of the second motor is connected with the first belt pulley, the second belt pulley is connected with the first belt pulley through the belt, the rotating shaft is connected with the second belt pulley, and the rotating shaft is fixedly connected with the connecting block;
the camera is arranged on the connecting block of the second driving mechanism and used for detecting a workpiece to be processed;
the second driving mechanism is connected with a connecting rod of the first driving mechanism through the first supporting plate, and the central control processor is respectively connected with the first motor, the second motor and the camera;
the central control processor is provided with a preset workpiece type matrix Q0 and a preset standard position matrix P0, and for the preset workpiece type matrix Q0, Q0(Q1, Q2, Q3 and Q4) is set, wherein Q1 is a first preset workpiece type, Q2 is a second preset workpiece type, Q3 is a third preset workpiece type, and Q4 is a fourth preset workpiece type; setting P0(P1, P2, P3 and P4) for the preset standard position matrix P0, wherein P1 is a first preset standard position, P2 is a second preset standard position, P3 is a third preset standard position, P4 is a fourth preset standard position, and for the ith preset standard position Pi, Pi (Xi, Yi) is set, wherein Xi is an abscissa and Yi is an ordinate, when the NC machine tool machines a workpiece, the central control processor determines the position of machining the workpiece according to the type of the workpiece,
when the workpiece type is Q1, the central processor sets the standard position of the workpiece to P1;
when the workpiece type is Q2, the central processor sets the standard position of the workpiece to P2;
when the workpiece type is Q3, the central processor sets the standard position of the workpiece to P3;
when the workpiece type is Q4, the central processor sets the standard position of the workpiece to P4;
the central control processor is further provided with a preset pole characteristic point matrix group L0 corresponding to the type Qi of the workpiece, and L0(L1, L2, L3 and L4) is set, wherein L1 is a first preset pole characteristic point matrix group, L2 is a second preset pole characteristic point matrix group, L3 is a third preset pole characteristic point matrix group, L4 is a fourth preset pole characteristic point matrix group, Li (Xai, Xbi, Yai and Ybi) is set for the ith preset pole characteristic point matrix group Li, Xai is the ith preset pole left characteristic point, Xbi is the ith preset pole right characteristic point, Yai is the ith preset pole upper characteristic point, and Ybi is the ith preset pole lower characteristic point;
when the workpiece to be machined moves to a specified position, detecting whether the position of the workpiece in an image is matched with a standard position, if the central control processor judges that the position of the workpiece is not matched with the standard position, searching a polar left characteristic point or a polar right characteristic point of the workpiece from the image, adjusting the rotation of the second motor by the central control processor to adjust the transverse angle of the camera so that the camera searches the polar left characteristic point or the polar right characteristic point, if the polar left characteristic point or the polar right characteristic point is not found after the transverse angle is adjusted, searching an upper characteristic point or a lower characteristic point from the image, and adjusting the rotation of the first motor by the central control processor so as to adjust the longitudinal movement of the camera so that the camera searches the upper characteristic point or the lower characteristic point.
2. The vision recognition-based numerical control machine tool control system is characterized in that the central control processor is further provided with a preset first rotation angle matrix theta 0 and a preset first rotation time matrix t0, and theta 0 (theta 1, theta 2, theta 3, theta 4) is set for the preset first rotation angle matrix theta 0, wherein theta 1 is a first preset first rotation angle, theta 2 is a second preset first rotation angle, theta 3 is a third preset first rotation angle, and theta 4 is a fourth preset first rotation angle; for the preset first rotation time matrix t0, setting t0(t1, t2, t3, t4), where t1 is a first preset first rotation time, t2 is a second preset first rotation time, t3 is a third preset first rotation time, and t4 is a fourth preset first rotation time;
when the standard position of the workpiece is (X1, Y1), the central processor sets the rotation angle of the second motor to θ 1 and the rotation time of the first motor to t 1;
when the standard position of the workpiece is (X2, Y2), the central processor sets the rotation angle of the second motor to θ 2 and the rotation time of the first motor to t 2;
when the standard position of the workpiece is (X3, Y3), the central processor sets the rotation angle of the second motor to θ 3 and the rotation time of the first motor to t 3;
when the standard position of the workpiece is (X4, Y4), the central processor sets the rotation angle of the second motor to θ 4 and the rotation time of the first motor to t 4.
3. The vision recognition-based numerical control machine tool control system according to claim 2, wherein after the central processor controls the first motor to rotate for ti and the second motor to rotate for θ i, the central processor establishes a rectangular coordinate system with a standard position (Xi, Yi) of the workpiece as an origin, and the central processor controls the camera to detect a matching degree a of the workpiece position and the standard position of the workpiece to determine whether the workpiece is at the standard position.
4. The numerical control machine tool control system based on visual recognition is characterized in that the central control processor is also provided with a preset workpiece matching degree A0,
when A is larger than or equal to A0, the central control processor judges that the workpiece position is matched with a standard position;
when A < A0, the central control processor determines that the workpiece position does not match a standard position;
and when the central control processor determines that the position of the workpiece is not matched with the standard position, the central control processor controls the camera to detect the polar characteristic point of the workpiece.
5. The vision recognition-based numerical control machine tool control system as recited in claim 4, wherein the central control processor is further provided with a preset extreme left feature point difference matrix Δ Xa0 and a preset first adjustment angle matrix Δ θ 0, and Δ Xa0(Δ Xa1, Δ Xa2, Δ Xa3, Δ Xa4) is set for the preset extreme left feature point difference matrix Δ Xa0, wherein Δ Xa1 is a first preset extreme left feature point difference value, Δ Xa2 is a second preset extreme left feature point difference value, Δ Xa3 is a third preset extreme left feature point difference value, Δ Xa4 is a fourth preset extreme left feature point difference value, and each preset extreme left feature point difference value is increased in sequence; setting delta theta 0 (delta theta 1, delta theta 2, delta theta 3 and delta theta 4) for the preset first adjusting angle matrix delta theta 0, wherein the delta theta 1 is a first preset first adjusting angle, the delta theta 2 is a second preset first adjusting angle, the delta theta 3 is a third preset first adjusting angle, and the delta theta 4 is a fourth preset first adjusting angle, and the preset first adjusting angles are increased in sequence;
when the central control processor controls the camera to detect the polar left characteristic point of the workpiece, the central control processor determines a first adjusting angle delta theta of the second motor according to the difference value of the polar left characteristic point Xa and the polar left standard characteristic point Xa0,
when delta Xa1 is not less than delta Xa and is less than delta Xa2, the central control processor controls the second motor to rotate clockwise by delta theta 1 to adjust the angle;
when delta Xa2 is not less than delta Xa and is less than delta Xa3, the central control processor controls the second motor to rotate clockwise by delta theta 2 to adjust the angle;
when delta Xa is not less than delta Xa3 and is less than delta Xa4, the central control processor controls the second motor to rotate clockwise by delta theta 3 to adjust the angle;
when the delta Xa is larger than or equal to the delta Xa4, the central control processor controls the second motor to rotate clockwise by a delta theta 4 adjusting angle.
6. The vision recognition-based numerical control machine tool control system of claim 5, wherein the central processor is further provided with a preset extreme right feature point difference matrix Δ Xb0, setting Δ Xb0(Δ Xb1, Δ Xb2, Δ Xb3, Δ Xb4), wherein Δ Xb1 is a first preset extreme right feature point difference, Δ Xb2 is a second preset extreme right feature point difference, Δ Xb3 is a third preset extreme right feature point difference, Δ Xb4 is a fourth preset extreme right feature point difference, each preset extreme left feature point difference increasing in order;
when the central control processor controls the camera to detect the polar right characteristic point of the workpiece, the central control processor determines the first adjusting angle delta theta of the second motor according to the difference value of the polar right characteristic point Xb and the polar right standard characteristic point Xb0,
when the delta Xb1 is not less than delta Xb and is less than delta Xb2, the central control processor controls the second motor to rotate anticlockwise by a delta theta 1 adjusting angle;
when the delta Xb2 is not less than delta Xb and is less than delta Xb3, the central control processor controls the second motor to rotate anticlockwise by a delta theta 2 adjusting angle;
when the delta Xb3 is not less than delta X and is less than delta Xb4, the central control processor controls the second motor to rotate anticlockwise by a delta theta 3 adjusting angle;
when the delta Xb is larger than or equal to the delta Xb4, the central control processor controls the second motor to rotate anticlockwise by a delta theta 4 adjusting angle.
7. The numerical control machine control system based on visual recognition of claim 6, wherein the central control processor is further provided with a preset on-pole feature point difference matrix Δ Ya0 and a preset first adjustment time matrix Δ t0(Δ t1, Δ t2, Δ t3, Δ t4), for the preset on-pole feature point difference matrix Δ Ya0, Δ Ya0(Δ Ya1, Δ Ya2, Δ Ya3, Δ Ya4) is set, wherein Δ Ya1 is a first preset on-pole feature point difference, Δ Ya2 is a second preset on-pole feature point difference, Δ Ya3 is a third preset on-pole feature point difference, Δ Ya4 is a fourth preset on-pole feature point difference, and the feature point differences on each preset on-pole are increased in sequence; setting a delta t0 (delta t1, delta t2, delta t3 and delta t4) for the preset first adjustment time matrix delta t0, wherein delta t1 is a first preset first adjustment time, delta t2 is a second preset first adjustment time, delta t3 is a third preset first adjustment time, and delta t4 is a fourth preset first adjustment time, and the preset first adjustment times are increased in sequence;
when the central control processor controls the camera to detect the characteristic point on the workpiece pole, the central control processor determines the first adjusting time delta t of the first motor according to the difference value of the characteristic point Ya on the pole and the standard characteristic point Ya0 on the pole,
when the delta Ya1 is not less than the delta Ya which is less than the delta Ya2, the central control processor controls the first motor to rotate clockwise for delta t1 time;
when the delta Ya2 is not less than the delta Ya which is less than the delta Ya3, the central control processor controls the first motor to rotate clockwise for delta t2 time;
when the delta Ya3 is not less than the delta Ya which is less than the delta Ya4, the central control processor controls the first motor to rotate clockwise for delta t3 time;
when the delta Ya is larger than or equal to the delta Ya4, the central control processor controls the first motor to rotate clockwise for delta t4 time.
8. The vision recognition-based cnc machine control system of claim 7, wherein the central processor is further provided with a preset sub-pole feature point difference matrix Δ Yb0 setting Δ Yb0(Δ Yb1, Δ Yb2, Δ Yb3, Δ Yb4), wherein Δ Yb1 is a first preset sub-pole feature point difference, Δ Yb2 is a second preset sub-pole feature point difference, Δ Yb3 is a third preset sub-pole feature point difference, and Δ Yb4 is a fourth preset sub-pole feature point difference, each of the preset sub-pole feature point differences increasing in order;
when the central control processor controls the camera to detect the under-pole characteristic point of the workpiece, the central control processor determines the first adjusting time delta t of the first motor according to the difference value between the under-pole characteristic point Ya and the under-pole standard characteristic point Ya0,
when the delta Yb1 is not less than delta Yb and is less than delta Yb2, the central control processor controls the second motor to rotate anticlockwise for delta t1 time;
when the delta Yb2 is not less than delta Yb and is less than delta Yb3, the central control processor controls the second motor to rotate anticlockwise for delta t2 time;
when the delta Yb3 is not less than delta Yb and is less than delta Yb4, the central control processor controls the second motor to rotate anticlockwise for delta t3 time;
when the delta Yb is larger than or equal to the delta Yb4, the central control processor controls the second motor to rotate anticlockwise for delta t4 time.
9. The vision recognition-based numerical control machine tool control system of claim 8, wherein when the central processor controls the camera to detect the polar feature points of the workpiece, if the camera does not detect any polar feature points, the central processor controls the second motor to rotate to adjust a transverse angle of the camera so that the camera scans a workbench of the numerical control machine tool until the polar feature points appear.
10. The vision recognition-based numerical control machine tool control system of claim 9, wherein when the central processor controls the camera to detect the pole feature point of the workpiece, if the pole feature point still does not appear after the central processor controls the second motor to scan the workbench, the central processor adjusts the first motor to rotate so as to adjust the longitudinal movement of the camera so that the camera scans the workbench until the pole feature point appears.
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