CN113020817A - Cutting processing method based on visual identification of pipe characteristics - Google Patents
Cutting processing method based on visual identification of pipe characteristics Download PDFInfo
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- CN113020817A CN113020817A CN202110317268.8A CN202110317268A CN113020817A CN 113020817 A CN113020817 A CN 113020817A CN 202110317268 A CN202110317268 A CN 202110317268A CN 113020817 A CN113020817 A CN 113020817A
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- 238000005520 cutting process Methods 0.000 title claims abstract description 147
- 230000000007 visual effect Effects 0.000 title claims abstract description 69
- 238000003672 processing method Methods 0.000 title claims abstract description 17
- 239000002994 raw material Substances 0.000 claims abstract description 165
- 238000003698 laser cutting Methods 0.000 claims abstract description 139
- 238000004519 manufacturing process Methods 0.000 claims abstract description 13
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 abstract description 15
- 238000000034 method Methods 0.000 description 7
- 239000007769 metal material Substances 0.000 description 4
- 238000003754 machining Methods 0.000 description 2
- 229910052755 nonmetal Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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Abstract
The invention relates to the technical field of pipe cutting, in particular to a cutting processing method based on visual identification of pipe characteristics, which comprises the following steps: s1, manufacturing a template module by using the pipe sample and storing the data of the template module in a visual recognition system; s2, operating the cutting machine and the visual recognition system, and feeding the raw material pipe into the cutting machine; s3, the camera takes a picture of the raw material pipe and sends the picture to a visual recognition system, the visual recognition system compares and matches the picture with the template module, and S4 is executed after the matching is successful; and S4, cutting the tube by the laser cutting head to cut the required parts from the raw material tube. According to the invention, by manufacturing the template module and inputting the template module into the visual recognition system, the parts to be processed later are compared with samples, so that the precision of the processed parts is ensured; on the other hand, the camera shoots the raw and other materials tubular product, and the vision identification system contrasts, matches, has further guaranteed the precision of part.
Description
Technical Field
The invention relates to the technical field of pipe cutting, in particular to a cutting processing method based on visual identification of pipe characteristics.
Background
The cutting machine is a processing device for cutting raw materials of workpieces, and can be divided into a metal material cutting machine and a non-metal material cutting machine according to cutting materials, the non-metal material cutting machine can be divided into a flame cutting machine, a plasma cutting machine, a laser cutting machine, a water jet cutting machine and the like, and the metal material cutting machine is mainly a cutter cutting machine. The laser cutting machine has the advantages of fastest efficiency, highest cutting precision and generally smaller cutting thickness, so the laser cutting machine is widely used, and is particularly used in the field of cutting pipes.
In the process of cutting the pipe, the cutting precision is an important factor influencing the quality of the part, and the lower the cutting precision is, the lower the size precision and the poorer the quality of the part formed by cutting. Particularly, for cutting of special pipes (for example, the raw material pipe has a hole position), if the cutting precision is not high, the quality of parts is poor (for example, the position of the hole is inaccurate, the length is inaccurate, and the like); similarly, due to the precision problem of the raw material, the deviation of the distance between the hole position on the part formed by cutting and the end face of the part is large. The existing cutting machine usually only controls the length of the pipe extending into the cutting machine and controls the position of a cutting point by using a fixed-length baffle, so that the position precision of the cutting point can not be ensured during cutting of a raw material pipe with low precision, and the precision of a part and the precision of a series of subsequent processing can not be ensured.
Disclosure of Invention
The invention aims to provide a cutting processing method based on visual identification of pipe characteristics, and aims to solve the technical problems that when a cutting machine in the prior art is used for cutting a pipe, the characteristics on the pipe cannot be identified, the size from the characteristics to an end face cannot be ensured (or the characteristics are avoided for cutting a certain shape on the pipe), and the cutting precision cannot be ensured.
In order to achieve the purpose, the invention provides a cutting processing method based on visual identification of pipe characteristics, which comprises the following steps:
s1, manufacturing a template module by using the pipe sample and storing the data of the template module in a visual recognition system;
s2, operating the cutting machine and the visual recognition system, and feeding the raw material pipe into the cutting machine;
s3, the camera takes a picture of the raw material pipe and sends the picture to a visual recognition system, the visual recognition system compares and matches the picture with the template module, and S4 is executed after the matching is successful;
and S4, cutting the tube by the laser cutting head to cut the required parts from the raw material tube.
Preferably, step S1 includes the steps of:
s1-1, manufacturing a pipe sample with the comparison characteristics, and feeding the pipe sample onto a cutting machine to enable the comparison characteristics to be within the shooting range of a camera;
s1-2, taking a picture of the pipe sample by the camera, sending the picture to a visual recognition system and storing the picture;
s1-3, intercepting an area containing the comparison characteristics from the photo as a template module and storing the template module;
and S1-4, the vision recognition system obtains the conversion relation between the pixel and the length according to the shot picture and the actual distance, and the vision recognition system can obtain the coordinate value of the comparison characteristic after recognizing the picture and feed back the coordinate value to the laser cutting control system.
Preferably, the step S1-4 is followed by the following steps:
s1-5, cutting an initial positioning line on the pipe sample by the laser cutting head, so that the original cutting position of the laser cutting head can be accurately obtained by the laser cutting control system;
s1-6, the laser cutting control system calculates the distance D1 between the original cutting position of the laser cutting head and the comparison characteristic;
s1-7, comparing the required distance between the characteristic and the end face to be D2, comparing the D1 and the D2 by the laser cutting control system, moving the laser cutting head to a position of a distance comparison characteristic D2 through distance compensation, and storing position data of the moved laser cutting head by the laser cutting control system;
s1-8, cutting by a laser cutting head, and enabling the distance between the end face of the cut pipe sample and the comparison feature to be D2.
Preferably, in step S3, if the matching between the photo taken by the camera and the template module is unsuccessful, the following steps are executed:
s3-1, rotating the raw material pipe, taking a picture of the raw material pipe again by the camera, comparing and matching the picture with the template module by the vision recognition system, if the matching is unsuccessful, continuing to rotate the raw material pipe, continuing to take a picture by the camera, continuing to compare by the vision recognition system until the matching is successful, and executing the step S4.
Preferably, in step S3-1, if the raw material pipe rotates 360 ° and the picture taken by the camera still fails to be successfully matched with the template module, S3-2 is executed;
s3-2, the raw material pipe extends to the cutting station, and S3 is repeatedly executed.
Preferably, in step S3-2, if the number of times the raw material pipe is inserted reaches the set value, and the picture taken by the camera still cannot be successfully matched with the template module, an alarm signal is sent.
Preferably, step S4 includes the steps of:
s4-1, moving a fixed-length baffle of the cutting machine to abut against the end face of the raw material pipe, and obtaining the distance between the comparison characteristic and the end face;
s4-2, the laser cutting control system controls the laser cutting head to move to a position where the distance between the laser cutting head and the comparison characteristic is equal to the set distance, and the laser cutting head cuts the raw material pipe, so that the distance between the cut end face and the comparison characteristic is equal to the set distance;
s4-3, moving the fixed-length baffle to an initial setting position, and controlling the raw material pipe to stretch into the fixed-length baffle by the cutting machine so that the end face of the raw material pipe abuts against the fixed-length baffle;
and S4-4, moving the laser cutting head to a position with a distance D3 from the fixed length baffle, wherein D3 is equal to the total length of the part, and cutting the raw material pipe by the laser cutting head to enable the first part to be cut from the raw material pipe.
Preferably, in the step S4-2 and the step S4-4, before the laser cutting head cuts the raw material pipe, the fixed length baffle moves to the side far away from the raw material pipe, so that the fixed length baffle does not contact with the raw material pipe, and then the cutting is carried out; after cutting, the fixed length baffle resets.
Preferably, after the step S4-3 is executed, if the comparison characteristic of the second part on the raw material pipe fails to enter the shooting range of the camera, the fixed-length baffle is controlled to move to the compensation setting position toward the side away from the raw material pipe so that the comparison characteristic of the second part can enter the shooting range of the camera, and the laser cutting head moves synchronously to ensure that the distance between the laser cutting head and the fixed-length baffle is D3.
Preferably, after step S4 is executed, the following steps are executed:
s5, the camera takes a picture of the pipe sample and sends the picture to a visual recognition system;
s6, the visual recognition system compares and matches the picture with the template module, and after matching is successful, position information of the comparison characteristics is obtained at the same time, and the position information is sent to the laser cutting control system;
s7, controlling the laser cutting head to move by the laser cutting control system, enabling the distance from the laser cutting head to the comparison characteristic to be a required distance, cutting the raw material pipe by the laser cutting head, and resetting the laser cutting head after cutting;
s8, the raw material pipe extends into the cutting station, so that the end face of the raw material pipe is abutted against the length-fixed baffle, the raw material pipe is clamped, and the length-fixed baffle moves to one side far away from the raw material pipe, so that the length-fixed baffle is not in contact with the raw material pipe;
and S9, cutting the raw material pipe by the laser cutting head, and resetting the fixed-length baffle after the cutting is finished.
And repeating the steps S5-S9 to cut the raw material pipe into a plurality of parts.
The invention relates to a cutting processing method based on visual identification of pipe characteristics, which at least has the following beneficial effects: by manufacturing a template module and inputting the template module into a visual recognition system, all parts to be processed later are compared with samples, and the precision of the processed parts is ensured; on the other hand, the camera shoots the raw and other materials tubular product, and the vision identification system contrasts, matches, has further guaranteed the precision of part.
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 structures shown in the drawings without creative efforts.
FIG. 1 is a flow chart of the steps of the pipe cutting process of the present invention;
FIG. 2 is a schematic structural view of the raw material pipe of the present invention;
fig. 3 is a schematic structural view of the parts of the present invention.
In the drawings: 1-raw material tube, 11-part, 111-comparison characteristics.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1 to 3, a cutting method based on visual identification of pipe features includes the following steps:
s1, manufacturing a template module by using the characteristics of the pipe sample and storing the data of the template module in a visual recognition system;
s2, operating a cutting machine and a visual recognition system, and feeding the raw material pipe 1 into the cutting machine;
s3, taking a picture of the raw material pipe 1 by the camera and sending the picture to a visual recognition system, comparing and matching the picture with the template module by the visual recognition system, and executing S4 after the matching is successful;
s4, the laser cutting head cuts the tube to cut the desired part 11 from the raw material tube 1.
Firstly, manufacturing an entity sample (the entity sample is a pipe with a longer length, and a plurality of required parts 11 can be cut from the entity sample), and then, taking the comparison characteristics 111 of the parts 11 in the entity sample as data to be made into a template module to be input into a visual recognition system; in the working process of the cutting machine, the vision recognition system takes pictures of the raw material pipe 1 for recognition; and then, comparing and matching the picture with the data of the template module, and cutting the raw material pipe 1 after the matching is successful (the length measuring function button is opened in advance, the laser cutting control system can measure the length of the cut raw material pipe 1, and the total length of the part 11 is manually input), so that the raw material pipe 1 can be corresponding to the template module before cutting, the cut part 11 is consistent with the required part 11, and the precision of the processed part 11 is ensured.
Further, step S1 includes the steps of:
s1-1, manufacturing a pipe sample with the comparison characteristic 111, and feeding the pipe sample onto a cutting machine to enable the comparison characteristic 111 to be located in the shooting range of a camera;
s1-2, taking a picture of the pipe sample by the camera, sending the picture to a visual recognition system and storing the picture;
s1-3, intercepting an area containing the comparison characteristic 111 from the photo as a template module and storing the template module;
and S1-4, the vision recognition system obtains the conversion relation between the pixel and the length according to the shot picture and the actual distance, and the vision recognition system can obtain the coordinate value of the comparison characteristic 111 after recognizing the picture and feed back the coordinate value to the laser cutting control system.
The specific step in step S1 is to make a pipe sample with features, and the pipe sample can be cut into a plurality of parts 11, each part 11 has a comparison feature 111. Placing the pipe sample on a cutting machine, shooting the pipe sample by using a camera, wherein the shot picture comprises a comparison characteristic 111; sending the picture to a visual recognition system and storing the picture, and intercepting an area containing the comparison characteristic 111 from the picture in the visual recognition system by a worker as a template module and storing the template module; the vision recognition system obtains the conversion relationship between the pixel and the length from the actual length of the picture and the pipe sample (for example, if the length of the picture taken is 10 ten thousand pixels, and the length of the pipe sample in the picture is 10mm, the conversion relationship is 1mm to 1 ten thousand pixels). After the visual recognition system recognizes the photo, the coordinate value of the comparison feature 111 (since the camera is fixed on the cutting machine, the coordinate value of the comparison feature can be known after the comparison feature 111 is recognized) can be obtained, and the coordinate value is fed back to the laser cutting control system, wherein the coordinate value is mainly the coordinate value of the X axis and the coordinate value of the Y axis. The step S1 is refined in this way, so that the manufactured template module can be ensured to have higher precision, and the parts 11 processed later can meet the precision.
Further, step S1-4 is followed by the following steps:
s1-5, cutting an initial positioning line on the pipe sample by the laser cutting head, so that the original cutting position of the laser cutting head can be accurately obtained by the laser cutting control system;
s1-6, the laser cutting control system calculates the distance D1 between the original cutting position of the laser cutting head and the comparison feature 111;
s1-7, comparing the required distance between the feature 111 and the end face to be D2, comparing the D1 with the D2 by the laser cutting control system, moving the laser cutting head to the position of the distance comparison feature 111D2 through distance compensation, and storing position data of the moved laser cutting head by the laser cutting control system;
s1-8, cutting by a laser cutting head, wherein the distance from the end face of the cut pipe sample to the comparison feature 111 is D2.
The laser cutting head is generally positioned at a certain position of the cutting machine before cutting, and the position corresponds to a zero point of the laser cutting head; after the template module is manufactured, the laser cutting head is controlled to cut a line on the pipe sample, and the specific position of the laser cutting head can be accurately known by the laser cutting control system after cutting; since the position of the alignment feature 111 has been derived from the above steps, the distance D1 between the laser cutting head and the alignment feature 111 can be known; when producing part 11, it is desirable to compare the distance between feature 111 and the end face, assuming that the desired distance is D2, the value of D2 may be preset in the laser cutting control system; the laser cutting control system compares D1 with D2 to obtain the difference between the two; the laser cutting control system controls the laser cutting head to move to the position of the distance comparison characteristic 111D2 according to the difference value, and the position information is stored in the laser cutting control system; the laser cutting head cuts the sample pipe, and the distance between the end face of the cut sample pipe and the comparison feature 111 is the required D2. Even if the laser cutting head does not cut the sample pipe, the position information after the distance compensation of the laser cutting head can be saved, and the precision can be ensured when the raw material pipe 1 is cut and processed later; however, in the step S1-8, the distance between the end face of the cut pipe sample and the comparison feature 111 is D2, and the worker can take down and measure the cut pipe sample to verify whether the distance between the end face and the comparison feature 111 is D2; by manual review, the distance between the end face and the comparison feature 111 is guaranteed to be the required distance. The purpose of steps S1-5 through S1-8 is to make the distance between the position of the laser cutting head and the alignment feature 111 equal to the required distance D2 by distance compensation to improve the accuracy of the part 11 to be machined later.
Further, in step S3, if the matching between the photo taken by the camera and the template module is unsuccessful, the following steps are performed:
s3-1, rotating the raw material pipe 1, taking a picture of the raw material pipe 1 by the camera again, comparing and matching the picture with the template module by the visual recognition system, if the matching is unsuccessful, continuing to rotate the raw material pipe 1, continuing to take a picture by the camera, continuing to compare by the visual recognition system until the matching is successful, and executing the step S4.
Before the laser cutting head cuts the raw material pipe 1, it is required to ensure that the comparison feature 111 on the raw material pipe 1 is matched with the template module. When the pictures shot by the camera cannot be successfully matched with the template module, the pictures shot by the camera cannot correspond to the template module possibly due to the angle problem of the raw material pipe 1; for example, the comparison feature 111 cannot be clearly seen in the shot picture, or the position of the comparison feature 111 on the picture does not correspond to the template module; at the moment, the raw material pipe 1 is controlled to rotate by a certain angle, then the camera takes a picture again, the vision recognition system performs comparison again, and if the matching is unsuccessful, the raw material pipe 1 is continuously controlled to rotate and move by the angle, the camera continues taking a picture, and the vision recognition system performs mechanical comparison until the matching is successful; therefore, the raw material pipe 1 is ensured to meet the processing requirement, and the condition that the angle of the raw material pipe 1 influences the comparison of a visual recognition system when the raw material pipe 1 is not successfully matched at first can be ensured; after the matching is successful, the process may continue to step S4. The step S3-1 is set in the step S3, so that the machining precision of the part 11 can be ensured, and the phenomenon that misjudgment is caused due to the fact that the matching is not successful in the first photographing and the working efficiency is influenced can be avoided; and the clamping of the raw material pipe 1 is not required excessively.
Further, in step S3-1, if the raw material tube 1 rotates 360 °, the picture taken by the camera still cannot be successfully matched with the template module, then S3-2 is executed;
s3-2, the raw material pipe 1 extends to the cutting station, and S3 is repeatedly executed.
The raw material pipe 1 is still not successfully matched after being rotated for 360 degrees, which may be because the distance of the raw material pipe 1 extending into the raw material pipe is insufficient, so that the photographed picture does not show the comparison feature 111, at this time, the raw material pipe 1 can be controlled to extend into a certain distance, and then the steps S3-1 and S3-2 are repeatedly performed. Therefore, the raw material pipe 1 is continuously rotated and the raw material pipe 1 is controlled to stretch into the template module, so that the camera can accurately shoot the picture matched with the template module, the normal processing of the template module is ensured, and the processing precision can be ensured.
Further, in step S3-2, if the number of times that the raw material pipe 1 is inserted reaches the set value, and the picture taken by the camera still cannot be successfully matched with the template module, an alarm signal is sent.
The length that raw and other materials tubular product 1 single stretched into and the number of times of stretching into can preset, and when the number of times that raw and other materials tubular product 1 stretched into reached the setting value (like the cubic), the photo that the camera was taken still can't match successfully with the template module, then probably raw and other materials, camera or visual identification system goes wrong, no longer continues to stretch into raw and other materials tubular product 1 this moment, but sends alarm signal, reminds the staff to inspect. So set up, avoided raw and other materials tubular product 1 constantly to stretch into, the camera is constantly shot, the continuous contrast of visual identification system, but still can't process part 11, cause equipment idle running, influence machining efficiency.
Further, step S4 includes the steps of:
s4-1, moving a fixed-length baffle of the cutting machine to abut against the end face of the raw material pipe 1, and obtaining the distance between the comparison characteristic 111 and the end face;
s4-2, the laser cutting control system controls the laser cutting head to move to a position where the distance between the laser cutting head and the comparison feature 111 is equal to the set distance, the laser cutting head cuts the raw material pipe 1, and the distance between the cut end face and the comparison feature 111 is equal to the set distance;
s4-3, moving the fixed-length baffle to an initial setting position, and controlling the raw material pipe 1 to stretch into the fixed-length baffle by the cutting machine so that the end face of the raw material pipe 1 abuts against the fixed-length baffle;
and S4-4, moving the laser cutting head to a position with a distance D3 from the fixed length baffle, wherein D3 is equal to the total length of the part 11, and cutting the raw material pipe 1 by the laser cutting head to enable the first part 11 to be cut from the raw material pipe 1.
After the pictures shot by the camera can be successfully matched with the template module, the raw material pipe 1 is cut. Firstly, controlling a fixed-length baffle on a cutting machine to move and enabling the fixed-length baffle to abut against the end face of a raw material pipe 1 (the end face is the end face positioned at one end of a cutting station), wherein the fixed-length baffle is mainly used for telling the end face position information of the raw material pipe 1 of a control system of the cutting machine through contacting the raw material pipe 1; the laser cutting head is moved to a position where the distance from the comparison feature 111 is equal to a set distance (the set distance is equal to the distance D2 between the end face and the comparison feature 111); cutting the raw material pipe 1 by the laser cutting head, wherein the distance between the end face of the cut raw material pipe 1 and the comparison feature 111 is a set distance (as described in the above D2); the fixed length baffle is moved to an initial setting position (the position is preset by a worker, and the distance between the position and the base of the cutting machine is generally larger than the total length of the part 11 to be cut); the raw material pipe 1 extends into the fixed length baffle plate, so that the end face of the raw material pipe is abutted against the fixed length baffle plate; the laser cutting head is moved to a distance D3 from the fixed length stop, D3 is equal to the total length of the part 11 to be cut (the length is preset in the laser cutting control system); the laser cutting head cuts the tube stock 1 so that the first part 11 is cut from the stock. The process of cutting the first part 11 is based on the template module and the previous position information data, so that the distance between the end face of the cut first part 11 and the comparison feature 111 and the total length of the first part 11 are required values, and the precision of the part 11 is high.
Further, in step S4-2 and step S4-4, before the laser cutting head cuts the raw material tube 1, the fixed length baffle moves to the side away from the raw material tube 1, so that the fixed length baffle does not contact the raw material tube 1, and then the cutting is performed; after cutting, the fixed length baffle resets.
Laser cutting head cuts raw and other materials tubular product 1, specifically is that laser cutting head is motionless, and raw and other materials tubular product 1 is rotatory, consequently before the cutting (before raw and other materials tubular product 1 is rotatory promptly) need control fixed length baffle and keep away from raw and other materials tubular product 1, makes fixed length baffle no longer support the terminal surface of raw and other materials tubular product 1, avoids with 1 end face contact of raw and other materials tubular product, influences that raw and other materials tubular product 1 is rotatory, the terminal surface that wears, influences the precision.
Further, after the step S4-3 is executed, if the comparison feature 111 of the second part 11 on the raw material pipe 1 fails to enter the shooting range of the camera, the fixed length baffle is controlled to move to the compensation setting position toward the side away from the raw material pipe 1 so that the comparison feature 111 of the second part 11 can enter the shooting range of the camera, and the laser cutting head moves synchronously to ensure that the distance between the laser cutting head and the fixed length baffle is D3.
The raw material tube 1 comprises a plurality of parts 11 to be cut, namely, a plurality of parts 11 can be cut from the raw material tube 1, and each parameter of each part 11 is the same. After the step S4-3 is completed, the worker can check whether the comparison feature 111 of the second part 11 enters the shooting range of the camera, and if not, the fixed length baffle is controlled to move to the compensation setting position to the side away from the raw material pipe 1, and the laser cutting head moves synchronously to ensure that the distance between the laser cutting head and the fixed length baffle is D3 (i.e. the total length of the part 11). By adding the step, after the first part 11 is cut, the raw material pipe 1 does not need to stretch into the cutting station again and clamp again, and the camera can also shoot the comparison characteristic 111 of the second part 11, so that the subsequent processing speed is accelerated, and the error caused by re-clamping of the raw material pipe 1 can be reduced.
Further, after the step S4 is executed, the following steps are continuously executed:
s5, the camera takes a picture of the pipe sample and sends the picture to a visual recognition system;
s6, the visual recognition system compares and matches the picture with the template module, obtains the position information of the comparison characteristic 111 after the matching is successful, and sends the position information to the laser cutting control system;
s7, controlling the laser cutting head to move by the laser cutting control system, enabling the distance from the laser cutting head to the comparison feature 111 to be a required distance, cutting the raw material pipe 1 by the laser cutting head, and resetting the laser cutting head after cutting;
s8, the raw material pipe 1 extends into a cutting station, so that the end face of the raw material pipe 1 abuts against a fixed length baffle, the raw material pipe is clamped, and the fixed length baffle moves to one side far away from the raw material pipe 1, so that the fixed length baffle does not contact with the raw material pipe 1;
s9, cutting the raw material pipe 1 by the laser cutting head, and resetting the fixed-length baffle after cutting.
The steps S5 to S9 are repeated to cut the raw material tube 1 into a plurality of parts 11.
After the step S4 is executed, the first part 11 is cut from the raw material tube 1, and then the second and third parts 11 are cut; the cutting process is the same as that previously used to cut the first part 11; it should be noted that after the first part 11 is cut, step S7 still needs to be performed completely to ensure that the distance between the end face and the alignment feature 111 is the desired value. The steps for cutting the second and subsequent parts 11 are simple and the precision is guaranteed.
For ease of understanding, the following describes the whole process in detail by taking the example of manufacturing the part 11A, wherein the total length of the part 11A is 300mm, the distance from the comparison feature 111 in the part 11A to the end surface closest to the comparison feature is 50mm, and a section of the part 11A has the comparison feature 111; the raw material used for processing the parts 11A is a raw material pipe 1, the raw material pipe 1 is a pipe with a length of 6 meters (namely 6000mm), and the raw material pipe 1 comprises a plurality of parts 11A.
S1-1, manufacturing a pipe sample with a comparison characteristic 111, wherein the pipe sample comprises a plurality of parts 11; and feeding the pipe sample to a cutting machine, so that the comparison characteristic 111 of the first part 11 on the pipe sample is positioned in the range of the camera.
S1-2, taking a picture of the pipe sample by the camera, and sending the picture to the visual recognition system, wherein the picture comprises the comparison characteristic 111.
And S1-3, the staff cuts out the area containing the comparison characteristic 111 from the photo in the visual recognition system as a template module and stores the template module in the visual recognition system.
S1-4, the new visual recognition system obtains the conversion relation between the pixel and the length according to the shot picture and the actual distance; after the visual recognition system recognizes the photo, the coordinate value of the comparison feature 111 can be obtained, and the coordinate value is fed back to the laser cutting control system.
S1-5, cutting a line on the pipe sample by the laser cutting head, and accurately knowing the specific position of the laser cutting head by the laser cutting control system after cutting.
S1-6, since the position of the comparison feature 111 has been found in step S1-4, the distance D1 of the laser cutting head from the comparison feature 111 can be calculated (assuming that D1 is 55 mm).
S1-7, the distance from the comparison feature 111 to the end face closest to the comparison feature is D2 (namely 50mm), and the difference between D1 and D2 is 5 mm; the laser cutting head moves 5mm towards one side of the pipe sample, and the position information after the movement is stored in a laser cutting control system.
And S1-8, cutting by using a laser cutting head, wherein the distance between the end face of the cut pipe sample and the comparison feature 111 is 50 mm.
The steps of manufacturing the template module and storing the position information are the above steps; the following steps are steps of cutting out the part 11 from the raw material tube 1.
And S2, operating the cutting machine and the visual recognition system, and feeding the raw material pipe 1 into the cutting machine through the feeding device.
S3, the camera takes a picture of the raw material pipe 1 and sends the picture to the visual recognition system, the visual recognition system compares the picture with the template module, if the matching is successful (if the matching degree reaches 95%, the matching is successful), the step S4-1 is executed, and if the matching is unsuccessful, the step S3-1 is executed.
S3-1, a base of the cutting machine clamps a raw material pipe 1 and drives the raw material pipe 1 to rotate (the rotating angle can be set to be 30 degrees), the camera takes a picture of the raw material pipe 1 again, the visual recognition system compares and matches the taken picture with the template module, if the matching is unsuccessful, the raw material pipe 1 continues to rotate (the rotating angle is the same each time and can be set to be 30 degrees), the camera continues to take a picture, the visual recognition system continues to compare until the matching is successful, and then the step S4-1 is executed; if the picture shot by the camera still cannot be successfully matched with the template module after the raw material pipe 1 rotates 360 degrees, S3-2 is executed;
s3-2, when the raw material pipe 1 is firstly extended to the cutting station, the extending length is generally controlled not to be too long, and the situation that the comparison characteristic 111 of the first part 11 cannot be shot by a camera is avoided, so that if the shot picture cannot be made to correspond to the template module in the step S3-1, the extending length of the raw material pipe 1 is short, the raw material pipe 1 needs to be extended to the cutting station for a certain distance, and the extending distance can be set to be 10 mm; after the raw material pipe 1 is stretched into the mould, repeatedly executing S3-1, and if the photo and the template module can be successfully matched, executing S4-1; if the matching is not successful, the raw material pipe 1 is continued to extend into the cutting station for a certain distance until the matching is successful, and S4-1 is continued.
In step S3-2, the number of times that the raw material pipe 1 is inserted (for example, four times) may be preset, and if the raw material pipe 1 is inserted four times and still cannot be successfully matched, an alarm signal is sent to allow the worker to check whether the raw material pipe 1, the camera, or the visual recognition system is out of order.
S4-1, the fixed-length stop on the cutting machine is controlled to move and abut against the end surface of the raw material tube 1, and the laser cutting control system can know the position information of the fixed-length stop (i.e. the position information of the end surface) and the position information of the comparison feature 111, so as to obtain the distance between the comparison feature 111 and the end surface (assuming that the distance is 55 mm).
S4-2, the laser cutting control system controls the laser cutting head to move to a position where the distance between the laser cutting head and the comparison feature 111 is equal to a set distance (namely 50mm), the laser cutting head cuts the raw material pipe 1, and the distance between the end face of the raw material pipe 1 after cutting and the comparison feature 111 is the set distance (namely 50mm), namely, redundant 5mm is cut.
S4-3, moving the fixed-length baffle to an initial setting position (namely a position 300mm away from the laser cutting head), and controlling the raw material pipe 1 to stretch into the fixed-length baffle by the cutting machine so that the end face of the raw material pipe 1 is abutted to the fixed-length baffle; if the comparison characteristic 111 of the second part 11 on the raw material pipe 1 cannot enter the shooting range of the camera, the fixed length baffle is controlled to move to the side away from the raw material pipe 1 to the compensation setting position (the position 380mm away from the machine base) so that the comparison characteristic 111 of the second part 11 can enter the shooting range of the camera (if the comparison characteristic 111 of the second part 11 cannot be seen at the position 380mm away from the machine base, the value is increased continuously).
S4-4, the laser cutting head moves synchronously to ensure that the distance between the laser cutting head and the fixed length baffle is D3 (namely the total length of the part 11 is 300 mm); the laser cutting head cuts the raw material tube 1 so that the first part 11 is cut from the raw material tube 1.
S5, the camera takes a picture of the pipe sample and sends the picture to a visual recognition system;
s6, the visual recognition system compares and matches the picture with the template module, obtains the position information of the comparison characteristic 111 after the matching is successful, and sends the position information to the laser cutting control system;
s7, controlling the laser cutting head to move by the laser cutting control system, enabling the distance from the laser cutting head to the comparison feature 111 to be a required distance (namely 50mm), cutting the raw material pipe 1 by the laser cutting head, and resetting the laser cutting head after cutting;
s8, the raw material pipe 1 extends into a cutting station, so that the end face of the raw material pipe 1 abuts against a fixed length baffle, the raw material pipe 1 is clamped, and the fixed length baffle moves to one side far away from the raw material pipe 1, so that the fixed length baffle is not in contact with the raw material pipe 1;
s9, cutting the raw material pipe 1 by the laser cutting head, and resetting the fixed-length baffle after cutting.
The steps S5 to S9 are repeated to cut the raw material tube 1 into a plurality of parts 11.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A cutting processing method based on visual identification of pipe features is characterized by comprising the following steps:
s1, manufacturing a template module by using the pipe sample and storing the data of the template module in a visual recognition system;
s2, operating a cutting machine and a visual recognition system, and feeding the raw material pipe (1) into the cutting machine;
s3, taking a picture of the raw material pipe (1) by the camera and sending the picture to the visual recognition system, comparing and matching the picture with the template module by the visual recognition system, and executing S4 after the matching is successful;
s4, the laser cutting head cuts the raw material pipe (1) to cut the needed parts (11) from the raw material pipe (1).
2. The cutting processing method based on the visual identification of the pipe characteristics as claimed in claim 1, wherein the step S1 comprises the following steps:
s1-1, manufacturing a pipe sample with the comparison characteristic (111), and feeding the pipe sample onto a cutting machine to enable the comparison characteristic (111) to be located in the shooting range of a camera;
s1-2, taking a picture of the pipe sample by the camera, sending the picture to a visual recognition system and storing the picture;
s1-3, intercepting an area containing the comparison characteristics (111) from the photo as a template module and storing the template module;
and S1-4, the vision recognition system obtains the conversion relation between the pixel and the length according to the shot picture and the actual distance, and the vision recognition system can obtain the coordinate value of the comparison feature (111) after recognizing the picture and feed back the coordinate value to the laser cutting control system.
3. The cutting processing method based on the visual identification of the pipe characteristics as claimed in claim 2, wherein the step S1-4 is followed by the following steps:
s1-5, cutting an initial positioning line on the pipe sample by the laser cutting head, so that the original cutting position of the laser cutting head can be accurately obtained by the laser cutting control system;
s1-6, the laser cutting control system calculates the distance D1 between the original cutting position of the laser cutting head and the comparison feature (111);
s1-7, comparing that the required distance between the characteristic (111) and the end face is D2, comparing the D1 with the D2 by the laser cutting control system, moving the laser cutting head to the position of D2 away from the comparison characteristic (111) through distance compensation, and storing the position data of the moved laser cutting head by the laser cutting control system;
and S1-8, cutting by using a laser cutting head, wherein the distance from the end face of the cut pipe sample to the comparison feature (111) is D2.
4. The cutting processing method based on the visual identification of the pipe characteristics as claimed in claim 1, wherein in step S3, if the picture taken by the camera is unsuccessfully matched with the template module, the following steps are executed:
s3-1, rotating the raw material pipe (1), photographing the raw material pipe (1) again by the camera, comparing and matching the photographed picture with the template module by the visual recognition system, if the matching is unsuccessful, continuing to rotate the raw material pipe (1), continuing to photograph by the camera, continuing to compare by the visual recognition system until the matching is successful, and executing the step S4.
5. The cutting processing method based on the visual identification of the pipe characteristics as claimed in claim 4, wherein in the step S3-1, if the raw material pipe (1) is rotated by 360 degrees and the picture taken by the camera still fails to be successfully matched with the template module, S3-2 is executed;
s3-2, the raw material pipe (1) extends into the cutting station, and S3 is repeatedly executed.
6. The cutting processing method based on the visual identification of the pipe characteristics as claimed in claim 5, wherein in step S3-2, if the number of times that the raw material pipe (1) is inserted reaches a set value, and the picture taken by the camera still cannot be successfully matched with the template module, an alarm signal is sent.
7. The cutting processing method based on the visual identification of the pipe characteristics as claimed in claim 1, wherein the step S4 comprises the following steps:
s4-1, moving a fixed-length baffle of the cutting machine to abut against the end face of the raw material pipe (1) to obtain the distance between the comparison characteristic (111) and the end face;
s4-2, controlling the laser cutting head to move to a position where the distance between the laser cutting head and the comparison feature (111) is equal to the set distance by the laser cutting control system, and cutting the raw material pipe (1) by the laser cutting head to enable the distance between the cut end face and the comparison feature (111) to be equal to the set distance;
s4-3, moving the fixed-length baffle to an initial setting position, and controlling the raw material pipe (1) to stretch into the cutting machine to enable the end face of the raw material pipe (1) to abut against the fixed-length baffle;
and S4-4, moving the laser cutting head to a position with a distance D3 from the fixed length baffle, wherein D3 is equal to the total length of the part (11), and cutting the raw material pipe (1) by the laser cutting head so that the first part (11) is cut from the raw material pipe (1).
8. The cutting processing method based on visual identification of the pipe characteristics as claimed in claim 7, wherein in the steps S4-2 and S4-4, before the laser cutting head cuts the raw material pipe (1), the length-fixing baffle is moved to the side away from the raw material pipe (1) so that the length-fixing baffle does not contact with the raw material pipe (1), and then cutting is performed; after cutting, the fixed length baffle resets.
9. The cutting processing method based on the visual identification of the pipe characteristics as claimed in claim 7, wherein after the step S4-3 is executed, if the comparison characteristic (111) of the second part (11) on the raw material pipe (1) can not enter the shooting range of the camera, the length-fixing baffle is controlled to move to the compensation setting position away from the side of the raw material pipe (1) so that the comparison characteristic (111) of the second part (11) can enter the shooting range of the camera, and the laser cutting head moves synchronously to ensure that the distance between the laser cutting head and the length-fixing baffle is D3.
10. The cutting processing method based on the visual identification of the pipe characteristics as claimed in claim 7, wherein after the step S4 is executed, the following steps are executed:
s5, the camera takes a picture of the pipe sample and sends the picture to a visual recognition system;
s6, the visual recognition system compares and matches the picture with the template module, and after the matching is successful, the position information of the comparison characteristic (111) is obtained at the same time, and the position information is sent to the laser cutting control system;
s7, controlling the laser cutting head to move by the laser cutting control system, enabling the distance from the laser cutting head to the comparison characteristic (111) to be a required distance, cutting the raw material pipe (1) by the laser cutting head, and resetting the laser cutting head after cutting;
s8, the raw material pipe (1) extends into a cutting station, so that the end face of the raw material pipe (1) is abutted against a fixed-length baffle plate, the raw material pipe is clamped, and the fixed-length baffle plate moves towards one side far away from the raw material pipe (1) to prevent the fixed-length baffle plate from contacting with the raw material pipe (1);
s9, cutting the raw material pipe (1) by the laser cutting head, and resetting the fixed-length baffle after cutting.
The steps S5-S9 are repeated to cut the raw material pipe (1) into a plurality of parts (11).
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Address after: 528225 workshop A1, 58 Guidan West Road, Danzao Town, Nanhai District, Foshan City, Guangdong Province Patentee after: Guangdong Longxin Laser Intelligent Equipment Co.,Ltd. Country or region after: China Address before: 528225 workshop A1, 58 Guidan West Road, Danzao Town, Nanhai District, Foshan City, Guangdong Province Patentee before: FOSHAN LONGXIN LASER TECHNOLOGY Co.,Ltd. Country or region before: China |
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Application publication date: 20210625 Assignee: Foshan Weiyang Machinery Co.,Ltd. Assignor: Guangdong Longxin Laser Intelligent Equipment Co.,Ltd. Contract record no.: X2024980004317 Denomination of invention: A cutting method based on visual recognition of pipe features Granted publication date: 20230512 License type: Common License Record date: 20240412 |