CN116000484A - Workpiece secondary positioning method, positioning device, workpiece groove cutting method and device - Google Patents
Workpiece secondary positioning method, positioning device, workpiece groove cutting method and device Download PDFInfo
- Publication number
- CN116000484A CN116000484A CN202310314545.9A CN202310314545A CN116000484A CN 116000484 A CN116000484 A CN 116000484A CN 202310314545 A CN202310314545 A CN 202310314545A CN 116000484 A CN116000484 A CN 116000484A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- photographed
- point
- cut
- obtaining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention relates to a workpiece secondary positioning method, a positioning device, a workpiece groove cutting method and a workpiece groove cutting device, which comprise the following steps: acquiring a plurality of identification parts to be photographed of a workpiece based on a trepanning graph; after a workpiece is placed on a cutting table according to a set initial position, shooting information of a part to be shot and identified is obtained; matching the information of the part to be photographed and identified and photographing information to obtain a homography transformation relation matrix T; for each identification part to be photographed, a plurality of matching results are obtained after transformation based on T, and the average value of the geometric centers of all the matching results is calculated to obtain a point P1; obtaining a point P2 by calculating the average value of the geometric centers of a plurality of identification parts to be photographed in the initial position information; and calculating the deviation value of the points P1 to P2 and correcting the deviation by using the deviation value to obtain a secondary positioning result. The invention can quickly and accurately position the workpiece on the cutting table for the second time, and has low requirement on the precision of the placement position of the workpiece on the cutting table; the special-shaped workpiece can be located, the identification precision is high, and the working efficiency is high.
Description
Technical Field
The invention relates to the technical field of workpiece positioning and cutting, in particular to a workpiece secondary positioning method, a workpiece secondary positioning device, a workpiece groove cutting method and a workpiece groove cutting device.
Background
The subsequent process of workpiece groove cutting is welding, and the accuracy of groove cutting directly influences the welding result and even the molding quality of the final product. Therefore, the workpiece bevel cutting is required to have high cutting accuracy and to be continuously stable in production.
The traditional groove cutting method comprises the steps of grabbing and placing each workpiece on a cutting table, determining a workpiece groove cutting process, a cutting edge and a cutting track by manual teaching, determining cutting information of the workpiece, and cutting the groove according to the cutting information.
However, due to the positioning deviation of the front gripping vision or other positioning modes, the workpiece is gripped and placed on the cutting table with the placement deviation, so that the workpiece cut according to the initial setting is not suitable for the process requirements and even is a waste workpiece, and therefore the position of the workpiece needs to be accurately positioned again on the cutting table.
There are 3 conventional positioning techniques for accurately positioning a workpiece again on a cutting table:
1. contact type locating: the cutting gun is used for touching the workpiece, the robot coordinates of the touch point are obtained, touch operation is carried out for a plurality of times, the placement error of the workpiece and the initially set placement position is calculated at a plurality of points, and the workpiece is compensated to the cutting robot. The disadvantages of this approach are: firstly, the locating position of each workpiece is different in locating point, and manual teaching is needed; secondly, the requirement on the placement accuracy of workpiece placement is higher, the placement deviation is within 5mm, otherwise, the risk that the cutting gun head collides with the workpiece exists.
2. Line laser locating: the method comprises the steps of scanning a specific part of a workpiece by using line laser, positioning edge points of the workpiece at the scanned part, deducing coordinates of geometric shape points of the workpiece by using a plurality of edge points in a mode of 3-point circle determination, 2-line intersection determination and the like, and compensating the coordinates to the robot. The disadvantages of this approach are: the special-shaped piece cannot be located, and the stability is poor.
3. Mechanical positioning: the workpiece was subjected to secondary mechanical positioning using a bullseye mechanical positioning stage as shown in fig. 1. Before placing the workpiece on the cutting table, placing the workpiece on a bullseye mechanical positioning platform, wherein the positioning surface of the bullseye mechanical positioning platform is obliquely arranged, rolling balls are arranged on the positioning surface, the workpiece is placed on the positioning surface of the workbench, and is affected by gravity, and the workpiece automatically slides down to the bottom edge of the positioning surface of the bullseye mechanical positioning platform and is automatically aligned with the bottom edge, so that the placement error is removed. The disadvantages of this approach are: firstly, manually teaching each workpiece in which posture is placed on a cutting table and grabbing the posture after calibration is finished; second, some profile pieces cannot be used.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a workpiece secondary positioning method, a workpiece secondary positioning device, a workpiece groove cutting method and a workpiece groove cutting device, which are used for at least solving one of the problems of the prior art, and can quickly and accurately secondarily position a workpiece on a cutting table, so that the workpiece cutting device is high in cutting precision and stable in work.
In order to solve the technical problems, the invention adopts the following technical scheme:
the workpiece secondary positioning method is characterized by comprising the following steps of:
step 5, obtaining an average value of geometric centers of a plurality of corresponding parts to be photographed and identified in the initial position information in the step 2, and obtaining a point P2;
and 6, calculating deviation values from the point P1 to the point P2, correcting the position of the workpiece to be cut on the cutting table by using the deviation values, and taking the corrected position as a workpiece secondary positioning result.
As a preferred mode, the step 1 includes:
step 101, correcting the position of a workpiece to be cut in a trepanning chart;
step 102, obtaining a plurality of identification parts to be photographed of the workpiece based on the corrected workpiece sleeve diagram information to be cut.
As a preferred manner, the step 101 includes:
step 1011, interpolating edge data of a workpiece to be cut in a trepanning chart into a plurality of groups of scattered points;
step 1012, obtaining convex hulls corresponding to the plurality of groups of scattered point sets S1 output in step 1011;
step 1013, obtaining a minimum circumscribed rectangle of the convex hull;
step 1014, moving the position of the workpiece to be cut to the coordinate zero position of the trepanning graph coordinate system based on the minimum circumscribed rectangle information, and rotating the position of the workpiece to be cut until the long side vector of the minimum circumscribed rectangle coincides with the X axis of the trepanning graph coordinate system.
As a preferred mode, the step 2 includes:
step 201, obtaining the outermost contour of a workpiece to be cut after position correction in a trepanning chart, and performing fitting treatment on the outermost contour to obtain a polygon;
step 202, based on a set scanning radius R, scanning each vertex of the polygon to obtain a part to be photographed corresponding to each vertex, and outputting the part to be photographed corresponding to each vertex as a part to be photographed and identified of the workpiece.
In a preferred manner, in the step 202, the capturing process of the to-be-photographed part corresponding to each vertex includes:
step 2021, obtaining intersection points A and B of a circle with the vertex as a circle center and the radius R and the outermost contour of the workpiece;
step 2022, finding the distance H from the vertex to the line segment AB;
step 2023, constructing a first rectangle, where the construction rule of the first rectangle satisfies the condition: taking a line segment AB as one side of the first rectangle, and taking a vertex as the midpoint of the other side of the first rectangle;
and step 2024, amplifying the first rectangle to obtain a second rectangle, and taking the part of the workpiece positioned in the second rectangle as a part to be photographed corresponding to the vertex.
Further, in step 201, the method further includes performing a thinning process on the polygon vertices obtained after the fitting process, and then outputting the polygon.
As a preferred mode, the step 3 includes:
step 301, generating point cloud template data P based on a plurality of pieces of to-be-photographed identification position information of the workpiece s The method comprises the steps of carrying out a first treatment on the surface of the Based on photographing information, obtaining 3D point cloud data P t ；
Step 302, point cloud template data P s And 3D point cloud data P t Performing point cloud matching, and performing P s And P t The corresponding transformation matrix with the highest overlapping degree is used as the optimal homography transformation relation matrix T.
Based on the same inventive concept, the invention also provides a workpiece secondary positioning device, which is characterized by comprising:
the identification part acquisition module to be photographed: the method comprises the steps of obtaining a plurality of identification parts to be photographed of a workpiece based on trepanning chart information of the workpiece to be cut;
and a photographing module: the photographing device is used for photographing to obtain photographing information corresponding to a plurality of to-be-photographed identification parts of the workpiece after the workpiece to be cut is placed on the cutting table according to the set initial position;
the homography transformation relation matrix acquisition module: the method comprises the steps of matching a plurality of pieces of to-be-photographed identification part information of a workpiece with photographing information to obtain a homography transformation relation matrix T;
and the deviation value acquisition module is used for: the method comprises the steps of transforming based on T for each identification part to be photographed to obtain a plurality of corresponding matching results, and obtaining the average value of the geometric centers of all the matching results to obtain a point P1; calculating the average value of the geometric centers of a plurality of corresponding parts to be photographed and identified in the initial position information to obtain a point P2; calculating the deviation value from the point P1 to the point P2;
and (3) a correction module: the deviation value is used for correcting the position of the workpiece to be cut on the cutting table;
and an output module: and the corrected position is used as a workpiece secondary positioning result to be output.
Based on the same inventive concept, the invention also provides a workpiece groove cutting method, which is characterized in that groove cutting is performed on a workpiece to be cut based on a workpiece secondary positioning result obtained by the workpiece secondary positioning method.
Based on the same inventive concept, the invention also provides a workpiece groove cutting device which is characterized by comprising a cutting gun and the workpiece secondary positioning device, wherein the cutting gun performs groove cutting on a workpiece to be cut based on a workpiece secondary positioning result output by the workpiece secondary positioning device.
Compared with the prior art, the invention can quickly and accurately position the workpiece on the cutting table for the second time, thereby having low requirement on the precision of the placement position of the workpiece on the cutting table; the invention can locate the special-shaped workpiece without manual teaching intervention, and has high identification precision, stable and reliable work and high working efficiency.
Drawings
Fig. 1 is a schematic structural view of a bullseye mechanical positioning platform.
Fig. 2 is a flowchart of a method for obtaining a workpiece groove cutting track according to the present invention.
Fig. 3 is a schematic diagram of interpolation of workpiece edge data. In fig. 3 (1), the edge data is a line segment; in fig. 3 (2), the edge data is a circle.
Fig. 4 is a convex hull solving schematic.
Fig. 5 is a schematic diagram of a polygon fit.
Fig. 6 is a schematic diagram of the acquisition of a part to be photographed. Fig. 6 (1) and 6 (2) each show a different workpiece shape.
Fig. 7 is a graph of the positional relationship of the 3D line scan camera and the cutting gun.
Wherein, 1 is 3D line scanning camera, and 2 is the cutting rifle.
Detailed Description
In order to make the person skilled in the art better understand the solution of the present invention, the technical solution of the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
The currently used secondary accurate positioning method for workpiece groove cutting depends on manual pre-teaching, tracking, testing and fine tuning, and ensures accurate and stable cutting, whether the contact type positioning of a robot or line laser positioning is relied on, or a bullnose mechanical positioning platform of a mechanical structure is relied on. Every time a new workpiece type is replaced, the process needs to be repeated, which consumes labor and time and seriously affects the propelling of automatic production and the improvement of productivity.
According to the method, the key photographing position on the workpiece is automatically searched according to the trepanning chart information of the workpiece, the robot is guided to automatically photograph by combining the pre-discharging information, then the workpiece is visually positioned, and the workpiece positioning precision is further improved in a manner of photographing a plurality of parts in combination, and meanwhile the stability is improved.
As shown in fig. 2, a first aspect of the embodiment of the present invention provides a workpiece secondary positioning method, which includes the following steps:
and step 1, acquiring a plurality of identification parts to be photographed of the workpiece based on the trepanning chart information of the workpiece to be cut.
And 2, after the workpiece to be cut is placed on the cutting table according to the set initial position, photographing to obtain photographing information corresponding to a plurality of identification parts to be photographed of the workpiece.
And 3, matching the plurality of pieces of to-be-photographed identification part information of the workpiece obtained in the step 1 with the photographing information obtained in the step 2 to obtain a homography transformation relation matrix T.
And 4, aiming at each identification part to be photographed, obtaining a plurality of corresponding matching results after transformation based on T, and obtaining the average value of the geometric centers of all the matching results to obtain a point P1.
And 5, obtaining an average value of the geometric centers of the plurality of identification parts to be photographed corresponding to the initial position information in the step 2, and obtaining a point P2.
And 6, calculating deviation values from the point P1 to the point P2, correcting the position of the workpiece to be cut on the cutting table by using the deviation values, and taking the corrected position as a workpiece secondary positioning result.
In some preferred embodiments, the step 1 includes:
step 101, correcting the position of a workpiece to be cut in a trepanning chart;
step 102, obtaining a plurality of identification parts to be photographed of the workpiece based on the corrected workpiece sleeve diagram information to be cut.
The trepanning data of the workpiece is preferably, but not limited to, drawing data of the workpiece in a CAD graph, and in the drawing process, rotation exists on the drawn workpiece and drawing position points are far away from an origin of coordinates due to human factors, so that the data is complicated to directly process. Therefore, it is necessary to correct the drawn workpiece coordinate data, to change the workpiece to be horizontally drawn, and to translate to the origin of coordinates.
In the step 101, the position correction is preferably performed by, but not limited to, the following method:
in step 1011, the edge data of the workpiece to be cut in the stock drawing is interpolated into a series of scattered points.
Specifically, the trepanning map edge data of the workpiece is divided into line segments, circles and arcs. Taking fig. 3 (1) as an example, a and B are 2 endpoints of a line segment, and for line segment interpolation, a unit vector of a line segment AB is calculated
The interpolation points are calculated with A as a starting point, AB length L as a limit and 1 as interval increment.
The interpolation Cheng Ru when the edge data is round is shown in fig. 3 (2), and the arc length is used
For reference, wherein R is the radius, L is the central angular arc length, +>
Is the radian of the central angle. Setting the distance between interpolation points to be 1, knowing R and L, obtaining a unit central angle, wherein the central angle of each interpolation point on the circle is +.>
。
The arc length belongs to a part of a circle, and the interpolation point is calculated in the same way as the circle.
Step 1012, obtaining convex hulls corresponding to the plurality of groups of scattered point sets S1 output in step 1011.
In some preferred embodiments, the convex hull solving process includes:
(1) finding the leftmost lower corner of S1 as a reference common point P: comparing the y coordinates of the scattered points, taking the point with the smallest y, and if the y coordinates are the same, taking the point with the smallest x.
(2) Sorting S1, wherein the sorting rule is as follows: sequentially taking out 2 points A and B from the point set, and calculating the polar angle of the AP and BP by taking P as a reference point, wherein the row with the large polar angle is arranged in front of the row with the small polar angle; if the polar angle is the same, the row with small distance is in front according to the distance from the point A and the point B to the point P. And (5) circularly sequencing all points to obtain S2.
(3) Taking the point P as an initial point, 2 points are sequentially taken from the S2, as shown in A and B in fig. 4, the polar angles of AP and BP are sequentially obtained, and the polar angle of AP is larger than the polar angle of BP, so that the point A is inside the S2, and the point B can be a boundary point of the S2. And taking out a point C, and comparing the point B with the point C, wherein the method is the same as that described above. The process is briefly described as follows: and if no other point is arranged on the right half side of the straight line passing through the point P and the point C2, the point C is the boundary point, the storage point C is recorded, and the reference point P is updated to be the point C. And (3) comparing other points in the step S2 to obtain the convex hull.
Step 1013, obtaining the minimum circumscribed rectangle of the convex hull.
In some preferred embodiments, the minimum bounding rectangle is found using a rotating stuck-at algorithm. Consider a convex polygon with two pairs of tangents tangent to four endpoints in the x and y directions. The four lines have defined a polygonal bounding rectangle. However, unless the polygon has a horizontal or vertical side, the area of the rectangle cannot be counted in the minimum area. However, the wire may be rotated until the condition is met.
Assuming that the convex polygon (convex hull) calculated in the previous step has n vertices, the minimum bounding rectangle is preferably, but not limited to, found by:
(1) the 4 points in the convex hull are sequentially taken, and the endpoints of four polygons are calculated, which is called xminP, xmaxP, yminP, ymaxP.
(2) Four tangents were constructed through the four endpoints, which determined two "carpule" sets.
(3) If one (or two) lines coincide with one edge, the area of the rectangle determined by the four lines is calculated and saved as the current minimum. Otherwise, the current minimum is defined as infinity.
(4) The line is rotated clockwise until one of the lines coincides with one of the sides of the polygon.
(5) And calculating the area of the new rectangle, comparing with the current minimum value, updating if the area is smaller than the current minimum value, and storing the rectangle information for determining the minimum value.
(6) Repeating the step (4) and the step (5) until the line rotates by an angle greater than 90 degrees.
(7) The last rectangle is the minimum circumscribed rectangle.
Step 1014, moving the position of the workpiece to be cut to the coordinate zero position of the trepanning graph coordinate system based on the minimum circumscribed rectangle information, and rotating the position of the workpiece to be cut until the long side vector of the minimum circumscribed rectangle coincides with the X axis of the trepanning graph coordinate system. The method specifically comprises the following steps: rotating point position data of the whole workpiece according to an included angle between a long-side vector of the minimum circumscribed rectangle and an X-axis unit vector, and correcting the workpiece; and moving the workpiece to the coordinate zero point position by using the point position data of the left upper corner or the left lower corner of the minimum circumscribed rectangle. That is, the position correction is performed on the workpiece according to the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for the position correction of the coordinates of the workpiece in the stock map, +.>
For the coordinates of the workpiece in the stock map after the position correction, +.>
And θ is the included angle between the long-side vector of the minimum bounding rectangle and the unit vector of the X axis of the coordinate system of the nesting chart.
The step 2 preferably but not limited to includes:
step 201, obtaining the outermost contour of the workpiece to be cut after position correction in the trepanning chart, and performing fitting processing on the outermost contour to obtain a polygon.
The fitting process includes, but is not limited to, fitting using a polygon approximation algorithm. In some preferred embodiments, a classical Douglas-Peucker algorithm is used for polygon fitting, the fitting principle being as shown in fig. 5: step 1, connecting a straight line AB between the first point A and the second point B of the curve, wherein the straight line is a chord (chord length is a) of the curve; step 2, obtaining a point C with the largest distance from the straight line segment on the curve, and calculating the distance d between the point C and the AB; step 3, comparing the distance d with a preset threshold value threshold, and if d is smaller than the threshold value threshold, taking the straight line segment as an approximation of a curve, and finishing the processing of the curve segment; step 4, if the distance d is greater than the threshold value threshold, dividing the curve into two sections of AC and BC by using C, and respectively carrying out the processing of the steps 1 to 3 on the two sections of the curve; and finally, when all the curves are processed, sequentially connecting fold lines formed by all the dividing points, and then, approximating the curves.
In some preferred embodiments, the step 201 further includes outputting the polygon after the thinning processing is performed on the polygon vertices obtained after the fitting processing. The sparsification process preferably, but not limited to, includes: and aiming at polygon vertexes obtained by fitting, if the distance between every two adjacent vertexes is smaller than a preset value, setting one vertex to the other vertex.
Step 202, based on a set scanning radius R, scanning each vertex of the polygon to obtain a part to be photographed corresponding to each vertex, and outputting the part to be photographed corresponding to each vertex as a part to be photographed and identified of the workpiece.
As shown in fig. 6, in the step 202, the capturing process of the to-be-photographed portion corresponding to each vertex preferably, but not limited to, includes:
step 2021, obtaining intersection points A and B of a circle with the vertex as a circle center and the radius R and the outermost contour of the workpiece;
step 2022, finding the distance H from the vertex to the line segment AB;
step 2023, constructing a first rectangle, where the construction rule of the first rectangle satisfies the condition: taking a line segment AB as one side of the first rectangle, and taking a vertex as the midpoint of the other side of the first rectangle;
and 2024, amplifying (such as equidistant amplification) the first rectangle to obtain a second rectangle, and taking the part of the workpiece in the second rectangle as a part to be photographed corresponding to the vertex.
The step 3 preferably but not limited to includes:
step 301, generating point cloud template data P based on a plurality of pieces of to-be-photographed identification position information of the workpiece s The method comprises the steps of carrying out a first treatment on the surface of the Then, the robot is guided to move to the corresponding part of the workpiece, and a line scanning camera is used for scanning and photographing to obtain photographing information of each part of the workpiece to be photographed and identified and corresponding 3D point cloud data P t ；
Step 302, point cloud template data P s (source) and 3D Point cloud data P t (target) performing point cloud matching, and performing P s And P t The corresponding transformation matrix with the highest overlapping degree is used as the optimal homography transformation relation matrix T.
In some preferred embodiments, only rigid transformations are considered, i.e. transformations comprise only rotations, translations. The point cloud registration/point cloud matching problem can be described as:
wherein P is s Is the corresponding point in the original point cloud data, P t Is the corresponding point in the target point cloud data, R * Is the best rotation transformation matrix obtained, R is the rotation transformation matrix, t * Is the best translation transformation matrix obtained, t is the translation transformation matrix, and i is the number of point cloud data.
The invention adopts the traditional ICP algorithm to align the point cloud, and the flow is briefly described as follows: firstly, coarse registration, initializing a rotation transformation matrix R and a translation transformation matrix T, and realizing coordinate transformation of an original point cloud and a target point cloud. Searching the two groups of point cloud data for the nearest corresponding point, then transforming the original point cloud by using the obtained rotation transformation matrix and translation transformation matrix to obtain a new point cloud, then calculating with the target point cloud, continuously iterating, and finishing the calculation process by setting the iteration times or the variation threshold of the transformation matrix.
Thus, the matching result of each part is obtained, the average value of the geometric centers of all the matching parts is obtained, one point is obtained and is compared with the corresponding point obtained by the prepositioning equipment, and the deviation can be obtained, so that the deviation correction is completed.
Based on the same inventive concept, a second aspect of the embodiments of the present invention provides a workpiece secondary positioning device, including:
the identification part acquisition module to be photographed: the method comprises the steps of obtaining a plurality of identification parts to be photographed of a workpiece based on trepanning chart information of the workpiece to be cut;
and a photographing module: the photographing device is used for photographing to obtain photographing information corresponding to a plurality of to-be-photographed identification parts of the workpiece after the workpiece to be cut is placed on the cutting table according to the set initial position;
the homography transformation relation matrix acquisition module: the method comprises the steps of matching a plurality of pieces of to-be-photographed identification part information of a workpiece with photographing information to obtain a homography transformation relation matrix T;
and the deviation value acquisition module is used for: the method comprises the steps of transforming based on T for each identification part to be photographed to obtain a plurality of corresponding matching results, and obtaining the average value of the geometric centers of all the matching results to obtain a point P1; calculating the average value of the geometric centers of a plurality of corresponding parts to be photographed and identified in the initial position information to obtain a point P2; calculating the deviation value from the point P1 to the point P2;
and (3) a correction module: the deviation value is used for correcting the position of the workpiece to be cut on the cutting table;
and an output module: and the corrected position is used as a workpiece secondary positioning result to be output.
Based on the same inventive concept, a third aspect of the embodiment of the invention provides a workpiece groove cutting method, which is used for cutting a groove of a workpiece to be cut based on a workpiece secondary positioning result obtained by the workpiece secondary positioning method.
Based on the same inventive concept, a fourth aspect of the embodiment of the invention provides a workpiece groove cutting device, which comprises a cutting gun and the workpiece secondary positioning device, wherein the cutting gun performs groove cutting on a workpiece to be cut based on a workpiece secondary positioning result output by the workpiece secondary positioning device.
Fig. 7 is a diagram showing the positional relationship between the 3D wire sweep camera 1 and the cutting gun 2 in an embodiment of the workpiece bevel cutting apparatus according to the present invention. In the embodiment, the photographing module is a 3D line scanning camera 1, the visual field is large, and the precision requirement on the workpiece placement position is low. Every time the 3D line scanning camera 1 scans, the whole data of a certain part of the workpiece is obtained by photographing, not only are edge points only, but also the recognition precision is higher and more stable.
According to the invention, the photographing modules such as the 3D line scanning camera and the like are selected, the visual field is large, the precision requirement for workpiece placement is reduced, positioning processing can be performed on some irregular shaped pieces, the application range is wide, the line scanning position of the photographing module such as the 3D line scanning camera is planned in advance and the robot is guided to photograph according to the workpiece sleeve drawing information and the front discharging position information, manual teaching intervention is omitted, time-consuming work is not needed for replacing new types of parts, and the production efficiency and the beat are improved.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the system is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed method and system may be implemented in other manners. For example, the above-described method and system embodiments are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed.
The units described as separate parts may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (10)
1. The workpiece secondary positioning method is characterized by comprising the following steps of:
step 1, acquiring a plurality of identification parts to be photographed of a workpiece based on trepanning chart information of the workpiece to be cut;
step 2, after the workpiece to be cut is placed on a cutting table according to a set initial position, shooting to obtain shooting information corresponding to a plurality of identification parts to be shot of the workpiece;
step 3, matching the plurality of pieces of to-be-photographed identification part information of the workpiece obtained in the step 1 with the photographing information obtained in the step 2 to obtain a homography transformation relation matrix T;
step 4, aiming at each identification part to be photographed, obtaining a plurality of corresponding matching results after transformation based on T, and obtaining the average value of the geometric centers of all the matching results to obtain a point P1;
step 5, obtaining an average value of geometric centers of a plurality of corresponding parts to be photographed and identified in the initial position information in the step 2, and obtaining a point P2;
and 6, calculating deviation values from the point P1 to the point P2, correcting the position of the workpiece to be cut on the cutting table by using the deviation values, and taking the corrected position as a workpiece secondary positioning result.
2. The method of workpiece secondary positioning according to claim 1, wherein the step 1 includes:
step 101, correcting the position of a workpiece to be cut in a trepanning chart;
step 102, obtaining a plurality of identification parts to be photographed of the workpiece based on the corrected workpiece sleeve diagram information to be cut.
3. The method of workpiece secondary positioning according to claim 2, wherein the step 101 includes:
step 1011, interpolating edge data of a workpiece to be cut in a trepanning chart into a plurality of groups of scattered points;
step 1012, obtaining convex hulls corresponding to the plurality of groups of scattered point sets S1 output in step 1011;
step 1013, obtaining a minimum circumscribed rectangle of the convex hull;
step 1014, moving the position of the workpiece to be cut to the coordinate zero position of the trepanning graph coordinate system based on the minimum circumscribed rectangle information, and rotating the position of the workpiece to be cut until the long side vector of the minimum circumscribed rectangle coincides with the X axis of the trepanning graph coordinate system.
4. A method of secondary positioning of a workpiece according to claim 2 or 3, wherein step 2 comprises:
step 201, obtaining the outermost contour of a workpiece to be cut after position correction in a trepanning chart, and performing fitting treatment on the outermost contour to obtain a polygon;
step 202, based on a set scanning radius R, scanning each vertex of the polygon to obtain a part to be photographed corresponding to each vertex, and outputting the part to be photographed corresponding to each vertex as a part to be photographed and identified of the workpiece.
5. The method for secondary positioning of a workpiece according to claim 4, wherein in the step 202, the process of obtaining the portion to be photographed corresponding to each vertex includes:
step 2021, obtaining intersection points A and B of a circle with the vertex as a circle center and the radius R and the outermost contour of the workpiece;
step 2022, finding the distance H from the vertex to the line segment AB;
step 2023, constructing a first rectangle, where the construction rule of the first rectangle satisfies the condition: taking a line segment AB as one side of the first rectangle, and taking a vertex as the midpoint of the other side of the first rectangle;
and step 2024, amplifying the first rectangle to obtain a second rectangle, and taking the part of the workpiece positioned in the second rectangle as a part to be photographed corresponding to the vertex.
6. The method of claim 4, wherein in step 201, the method further comprises performing a thinning process on the polygon vertices obtained after the fitting process, and outputting the polygon.
7. A method of secondary positioning of a workpiece according to any of claims 1 to 3, wherein step 3 comprises:
step 301, generating point cloud template data P based on a plurality of pieces of to-be-photographed identification position information of the workpiece s The method comprises the steps of carrying out a first treatment on the surface of the Based on photographing information, obtaining 3D point cloud data P t ；
Step 302, point cloud template data P s And 3D point cloud data P t Performing point cloud matching, and performing P s And P t The corresponding transformation matrix with the highest overlapping degree is used as the optimal homography transformation relation matrix T.
8. A workpiece secondary positioning device, comprising:
the identification part acquisition module to be photographed: the method comprises the steps of obtaining a plurality of identification parts to be photographed of a workpiece based on trepanning chart information of the workpiece to be cut;
and a photographing module: the photographing device is used for photographing to obtain photographing information corresponding to a plurality of to-be-photographed identification parts of the workpiece after the workpiece to be cut is placed on the cutting table according to the set initial position;
the homography transformation relation matrix acquisition module: the method comprises the steps of matching a plurality of pieces of to-be-photographed identification part information of a workpiece with photographing information to obtain a homography transformation relation matrix T;
and the deviation value acquisition module is used for: the method comprises the steps of transforming based on T for each identification part to be photographed to obtain a plurality of corresponding matching results, and obtaining the average value of the geometric centers of all the matching results to obtain a point P1; calculating the average value of the geometric centers of a plurality of corresponding parts to be photographed and identified in the initial position information to obtain a point P2; calculating the deviation value from the point P1 to the point P2;
and (3) a correction module: the deviation value is used for correcting the position of the workpiece to be cut on the cutting table;
and an output module: and the corrected position is used as a workpiece secondary positioning result to be output.
9. A workpiece bevel cutting method, characterized in that bevel cutting is performed on a workpiece to be cut based on a workpiece secondary positioning result obtained by the workpiece secondary positioning method according to any one of claims 1 to 7.
10. The workpiece bevel cutting device is characterized by comprising a cutting gun and the workpiece secondary positioning device according to claim 8, wherein the cutting gun performs bevel cutting on a workpiece to be cut based on a workpiece secondary positioning result output by the workpiece secondary positioning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310314545.9A CN116000484B (en) | 2023-03-28 | 2023-03-28 | Workpiece secondary positioning method, positioning device, workpiece groove cutting method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310314545.9A CN116000484B (en) | 2023-03-28 | 2023-03-28 | Workpiece secondary positioning method, positioning device, workpiece groove cutting method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116000484A true CN116000484A (en) | 2023-04-25 |
| CN116000484B CN116000484B (en) | 2023-07-25 |
Family
ID=86023339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310314545.9A Active CN116000484B (en) | 2023-03-28 | 2023-03-28 | Workpiece secondary positioning method, positioning device, workpiece groove cutting method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116000484B (en) |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08276269A (en) * | 1995-03-31 | 1996-10-22 | Nippon Steel Corp | Copy welding method |
| JP2005334904A (en) * | 2004-05-25 | 2005-12-08 | Hitachi Ltd | Automatic trace control method and device for welding |
| JP2014032076A (en) * | 2012-08-02 | 2014-02-20 | Kobe Steel Ltd | Method of measuring position and shape of welding groove |
| CN111539582A (en) * | 2020-05-11 | 2020-08-14 | 湖北汽车工业学院 | Steel plate cutting planning device and method based on image processing |
| CN111805051A (en) * | 2020-06-30 | 2020-10-23 | 梅卡曼德（北京）机器人科技有限公司 | Groove cutting method, device, electronic equipment and system |
| CN112975165A (en) * | 2021-04-30 | 2021-06-18 | 三一机器人科技有限公司 | Groove cutting method, device, robot and readable storage medium |
| CN113146073A (en) * | 2021-06-24 | 2021-07-23 | 浙江华睿科技有限公司 | Vision-based laser cutting method and device, electronic equipment and storage medium |
| CN113744336A (en) * | 2021-09-07 | 2021-12-03 | 深圳市睿达科技有限公司 | Auxiliary positioning method and device and computer readable storage medium |
| CN113829346A (en) * | 2021-09-26 | 2021-12-24 | 三一建筑机器人(西安)研究院有限公司 | Workpiece positioning method, workpiece positioning device and groove cutting workstation |
| CN114227706A (en) * | 2021-12-15 | 2022-03-25 | 熵智科技(深圳)有限公司 | Groove cutting method, device, equipment, system and medium based on 3D vision |
| CN114273726A (en) * | 2021-12-15 | 2022-04-05 | 熵智科技(深圳)有限公司 | 3D visual guide groove cutting method, device, equipment, system and storage medium |
| CN114399423A (en) * | 2021-12-08 | 2022-04-26 | 西安电子科技大学 | Image content removing method, system, medium, device and data processing terminal |
| CN114647902A (en) * | 2022-02-18 | 2022-06-21 | 上海柏楚电子科技股份有限公司 | Tool path optimization method, device and equipment for groove cutting and storage medium |
| CN114821114A (en) * | 2022-03-28 | 2022-07-29 | 南京业恒达智能系统股份有限公司 | Groove cutting robot image processing method based on visual system |
| CN115272052A (en) * | 2021-04-30 | 2022-11-01 | 株式会社理光 | Image processing method and device and computer readable storage medium |
| CN115446487A (en) * | 2022-11-14 | 2022-12-09 | 湖南视比特机器人有限公司 | Workpiece groove cutting track obtaining method and device, cutting method and cutting device |
| CN115556113A (en) * | 2022-11-01 | 2023-01-03 | 成都华远焊接设备股份有限公司 | Groove cutting method based on robot groove cutting workstation |
-
2023
- 2023-03-28 CN CN202310314545.9A patent/CN116000484B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08276269A (en) * | 1995-03-31 | 1996-10-22 | Nippon Steel Corp | Copy welding method |
| JP2005334904A (en) * | 2004-05-25 | 2005-12-08 | Hitachi Ltd | Automatic trace control method and device for welding |
| JP2014032076A (en) * | 2012-08-02 | 2014-02-20 | Kobe Steel Ltd | Method of measuring position and shape of welding groove |
| CN111539582A (en) * | 2020-05-11 | 2020-08-14 | 湖北汽车工业学院 | Steel plate cutting planning device and method based on image processing |
| CN111805051A (en) * | 2020-06-30 | 2020-10-23 | 梅卡曼德（北京）机器人科技有限公司 | Groove cutting method, device, electronic equipment and system |
| CN115272052A (en) * | 2021-04-30 | 2022-11-01 | 株式会社理光 | Image processing method and device and computer readable storage medium |
| CN112975165A (en) * | 2021-04-30 | 2021-06-18 | 三一机器人科技有限公司 | Groove cutting method, device, robot and readable storage medium |
| CN113146073A (en) * | 2021-06-24 | 2021-07-23 | 浙江华睿科技有限公司 | Vision-based laser cutting method and device, electronic equipment and storage medium |
| CN113744336A (en) * | 2021-09-07 | 2021-12-03 | 深圳市睿达科技有限公司 | Auxiliary positioning method and device and computer readable storage medium |
| CN113829346A (en) * | 2021-09-26 | 2021-12-24 | 三一建筑机器人(西安)研究院有限公司 | Workpiece positioning method, workpiece positioning device and groove cutting workstation |
| CN114399423A (en) * | 2021-12-08 | 2022-04-26 | 西安电子科技大学 | Image content removing method, system, medium, device and data processing terminal |
| CN114273726A (en) * | 2021-12-15 | 2022-04-05 | 熵智科技(深圳)有限公司 | 3D visual guide groove cutting method, device, equipment, system and storage medium |
| CN114227706A (en) * | 2021-12-15 | 2022-03-25 | 熵智科技(深圳)有限公司 | Groove cutting method, device, equipment, system and medium based on 3D vision |
| CN114647902A (en) * | 2022-02-18 | 2022-06-21 | 上海柏楚电子科技股份有限公司 | Tool path optimization method, device and equipment for groove cutting and storage medium |
| CN114821114A (en) * | 2022-03-28 | 2022-07-29 | 南京业恒达智能系统股份有限公司 | Groove cutting robot image processing method based on visual system |
| CN115556113A (en) * | 2022-11-01 | 2023-01-03 | 成都华远焊接设备股份有限公司 | Groove cutting method based on robot groove cutting workstation |
| CN115446487A (en) * | 2022-11-14 | 2022-12-09 | 湖南视比特机器人有限公司 | Workpiece groove cutting track obtaining method and device, cutting method and cutting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116000484B (en) | 2023-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113751824B (en) | Automatic generation method and device for groove cutting track, computer equipment and medium | |
| US5471541A (en) | System for determining the pose of an object which utilizes range profiles and synethic profiles derived from a model | |
| CN107622499B (en) | Identification and space positioning method based on target two-dimensional contour model | |
| US20130266189A1 (en) | Method for the pre-processing of a three-dimensional image of the surface of a tyre using successive b-spline deformations | |
| US20130266225A1 (en) | Method for the pre-processing of a three-dimensional image of the surface of a tyre for use in the inspection of said surface | |
| CN113362308A (en) | Method and device for detecting burrs of object edge and storage medium | |
| CN110009667B (en) | Multi-view point cloud global registration method based on Rodrigues transformation | |
| CN107356213B (en) | Optical filter concentricity measuring method and terminal equipment | |
| CN111986219B (en) | Matching method of three-dimensional point cloud and free-form surface model | |
| CN112762910B (en) | Short-measuring-range correction calibration method suitable for laser scanner | |
| CN109559346B (en) | Method for positioning and dividing part to be measured in 3D point cloud measurement and scanner | |
| CN112518132B (en) | Hub burr removing method and electronic device | |
| CN113223067B (en) | Online registration method for incomplete three-dimensional scanning point cloud with plane reference | |
| CN116402866A (en) | Point cloud-based part digital twin geometric modeling and error assessment method and system | |
| CN111462119B (en) | Wide-thick plate shearing and layout method based on machine vision | |
| CN115446487B (en) | Workpiece groove cutting track acquisition method and device, workpiece groove cutting method and device | |
| CN112257721A (en) | Image target region matching method based on Fast ICP | |
| CN112329880A (en) | Template fast matching method based on similarity measurement and geometric features | |
| CN112381862A (en) | Full-automatic registration method and device for CAD (computer-aided design) model and triangular mesh | |
| CN116000484B (en) | Workpiece secondary positioning method, positioning device, workpiece groove cutting method and device | |
| CN107037738B (en) | Material removal method based on STL model in geometry Simulation of NC Machining | |
| CN113878592A (en) | Workpiece cutting method and device based on laser position finding and cutting robot | |
| CN113627548A (en) | Planar workpiece template matching method, device, medium and computer equipment | |
| CN113977160B (en) | Welding gun pose planning method and system based on three-dimensional vision | |
| CN114453981A (en) | Workpiece alignment method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |