CN116441981A - Chain type tool magazine anti-collision tool detection method, device, equipment, medium and machining center - Google Patents
Chain type tool magazine anti-collision tool detection method, device, equipment, medium and machining center Download PDFInfo
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- CN116441981A CN116441981A CN202310413058.8A CN202310413058A CN116441981A CN 116441981 A CN116441981 A CN 116441981A CN 202310413058 A CN202310413058 A CN 202310413058A CN 116441981 A CN116441981 A CN 116441981A
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- 238000001514 detection method Methods 0.000 title claims description 11
- 238000000034 method Methods 0.000 claims abstract description 37
- 238000001914 filtration Methods 0.000 claims abstract description 9
- 238000012216 screening Methods 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 8
- 238000007781 pre-processing Methods 0.000 claims description 7
- 238000000605 extraction Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000003754 machining Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
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- 238000004519 manufacturing process Methods 0.000 description 3
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- 239000000463 material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000013307 optical fiber Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
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- 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
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Abstract
The invention relates to the technical field of machining, in particular to a method, a device, equipment, a medium and a machining center for detecting an anti-collision cutter of a chain type cutter magazine, wherein the method comprises the following steps: image acquisition is carried out on the knife sleeve at the knife edge to obtain original image data; filtering the original image data to obtain preprocessed image data; extracting the contour of the knife sleeve opening in the preprocessed image data to obtain contour points of the knife sleeve opening; fitting the circle center of the contour point through the contour point, calculating the deviation between the position of the circle center and the set point, and judging whether the movement of the cutter sleeve is in place or not; calculating the roundness of a graph formed by the contour points through the contour points, and judging the deformation degree of the cutter sleeve; and stopping putting the cutter if the cutter sleeve is not moved in place or the roundness exceeds a first threshold value. According to the invention, the cutter sleeve rotating to the cutter changing edge is subjected to image acquisition, filtering and extracting the contour of the cutter sleeve opening to obtain the contour point, and the contour point is fitted with the circle where the contour point is positioned and the circle center of the circle, so that the cutter collision can be effectively prevented.
Description
Technical Field
The invention relates to the technical field of machining, in particular to a method, a device, equipment, a medium and a machining center for detecting an anti-collision cutter of a chain type cutter magazine.
Background
As key equipment for producing and processing parts in various industries, a processing center is used for ensuring high-efficiency and high-quality part production, so that the failure rate of each part is reduced, and the reliability is high enough. The chain type tool magazine is widely applied to machining centers as a high-capacity tool magazine structural member and bears the important task of automatic tool changing, so that stable operation is a necessary premise for realizing efficient production and machining.
At present, a machining center with a chain type tool magazine needs to put a tool into a corresponding tool sleeve after automatic tool changing, the chain type tool magazine can rotate the tool sleeve with a target number to a tool changing position, the tool is put into the tool sleeve by a tool conveying mechanism, and if the tool sleeve on the tool magazine cannot rotate in place or the tool sleeve is deformed, the tool is damaged due to the phenomenon of collision.
In the prior art, whether the tool magazine rotates in place is judged through a proximity switch embedded in the tool magazine, and whether the tool magazine is in a normal state or not is ensured through the initial state. However, along with the continuous application of the machine tool in actual production, the tool magazine is in a wet oil-gas environment for a long time, and the tool holder and the tool are clamped by the tool sleeve for a long time, so that the tool magazine bears load. Therefore, dirt may be attached near the proximity switch to cause the tool magazine to rotate in place and misjudge, and the tool sleeve may be deformed, so that the phenomenon of striking the tool may occur when the tool is put into the tool sleeve.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention provides a method, a device, equipment, a medium and a machining center for detecting an anti-collision cutter of a chain type cutter magazine, so that the problem in the background technology is effectively solved.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a method for detecting an anti-collision cutter of a chain type cutter magazine comprises the following steps:
acquiring an image of a knife sleeve rotated to a knife changing edge to obtain original image data;
filtering the original image data to obtain preprocessed image data;
extracting the contour of the knife sleeve opening in the preprocessed image data to obtain contour points of the knife sleeve opening;
fitting the circle center of the contour point through the contour point, calculating the deviation between the position of the circle center and a set point, and judging whether the movement of the cutter sleeve is in place or not;
calculating the roundness of a graph formed by the contour points through the contour points, and judging the deformation degree of the cutter sleeve;
and stopping putting the cutter into the cutter pocket opening if the cutter pocket is not moved in place or the roundness exceeds a first threshold value.
Further, before the knife sleeve rotating to the knife edge is subjected to image acquisition, the knife sleeve at the knife edge is subjected to oblique polishing, and the knife sleeve is subjected to image acquisition right against the knife sleeve opening.
Further, the filtering the raw image data includes:
graying the original image data;
screening pixel points in the image after graying, and eliminating the pixel points with gray values not meeting a second threshold value, wherein the second threshold value is obtained through measurement in advance;
and judging the continuous area where the pixel points in the screened image are located, and eliminating the continuous area when the area of the continuous area is smaller than a third threshold value.
Further, the determining the continuous area where the pixel points in the screened image are located includes:
selecting one pixel point in the screened image, establishing a set, and putting the selected pixel point into the set;
judging whether the pixel points exist in the four adjacent areas by taking the selected pixel points as the center, if so, putting the pixel points into the set, and judging by taking the new pixel points as the center until the pixel points which are not put into the set do not exist in the four adjacent areas;
selecting one pixel point from the rest pixel points in the image, establishing a new set, and repeating the steps until all the pixel points in the image are placed in a plurality of sets;
each set is a continuous area, and the area of the continuous area is the number of pixel points in the set.
Further, the extracting the contour of the knife sleeve mouth in the preprocessed image data includes:
screening out pixel points with vacancies at least one position in four adjacent positions in the preprocessed image data, and taking the pixel points as points to be fixed;
establishing a first contour set, randomly selecting one to-be-fixed point, putting the to-be-fixed point into the first contour set, taking the to-be-fixed point as a center, putting the to-be-fixed point in the eight adjacent areas of the to-be-fixed point into the first contour set, taking the to-be-fixed point put into the first contour set as a center, and repeating the steps until the to-be-fixed point does not exist in the eight adjacent areas of the to-be-fixed point;
establishing a second contour set, randomly selecting one to-be-fixed point from the rest to-be-fixed points, putting the to-be-fixed point into the second contour set, taking the to-be-fixed point as a center, putting the to-be-fixed point in the eight adjacent areas of the to-be-fixed point into the second contour set, taking the to-be-fixed point in the second contour set as a center, and repeating the steps until the to-be-fixed point does not exist in the eight adjacent areas of the to-be-fixed point;
judging the area of a graph surrounded by points to be fixed in the first contour set and the second contour set, removing the contour set with larger area, and obtaining the points to be fixed in the rest contour sets as contour points.
Further, fitting a circle where the contour point is located by a least square method, and calculating to obtain a circle center;
and judging the roundness of the formed graph by the ratio of the perimeter to the area of the image surrounded by the contour points.
Further, when the cutter sleeve is judged not to move in place, driving the cutter sleeve to rectify the deviation of the circle center and the set point, putting the cutter into the cutter library, and setting maintenance reminding;
when the roundness exceeds a first threshold, inquiring whether a spare cutter sleeve exists, if so, moving the spare cutter sleeve to a cutter changing edge for cutter storage by the cutter warehouse, updating a cutter corresponding to the cutter sleeve number, setting maintenance reminding, and if not, stopping the machine to send the maintenance reminding.
The invention also comprises a device for detecting the anti-collision cutter of the chain type cutter magazine, which is characterized in that the method is used in operation, and comprises the following steps:
the image acquisition module is used for acquiring images of the knife sleeve rotated to the knife changing edge to obtain original image data;
the preprocessing module is used for preprocessing the original image data to obtain preprocessed image data;
the extraction module is used for extracting the contour of the knife rest opening in the preprocessed image data to obtain contour points of the knife rest opening;
the calculating module is used for fitting the circle center of the contour point and calculating the deviation between the position of the circle center and a set value; calculating the roundness of the graph formed by the contour points;
and the control module is used for controlling the rotation of the tool magazine and the action of the tool conveying mechanism.
The invention also includes a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which processor implements the method as described above when executing the computer program.
The invention also includes a storage medium having stored thereon a computer program which, when executed by a processor, implements a method as described above.
The invention further comprises a machining center comprising a chain type tool magazine and an anti-collision tool detection device, wherein the anti-collision tool detection device is used for executing the method.
The beneficial effects of the invention are as follows: the invention acquires the image of the knife sleeve rotating to the knife changing edge, filters, extracts the outline of the knife sleeve opening to obtain the outline point, fits the circle of the outline point and the circle center of the circle by the outline point, judges whether the knife sleeve moves in place by calculating the deviation between the circle center of the circle of the knife sleeve outline point and the set point, judges the deformation degree of the knife sleeve by the roundness of the graph formed by the outline point, and if the knife sleeve does not move in place or the deformation of the knife sleeve exceeds a first threshold value, then places the knife into the knife sleeve, and the phenomenon of knife collision is likely to happen, so that the knife is stopped from being placed into the knife sleeve, and the knife collision can be effectively prevented.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic view of the apparatus of the present invention;
FIG. 3 is a schematic diagram of a computer device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
As shown in fig. 1: a method for detecting an anti-collision cutter of a chain type cutter magazine comprises the following steps:
acquiring an image of a knife sleeve rotated to a knife changing edge to obtain original image data;
filtering the original image data to obtain preprocessed image data;
extracting the contour of the knife sleeve opening in the preprocessed image data to obtain contour points of the knife sleeve opening;
fitting the circle center of the contour point through the contour point, calculating the deviation between the position of the circle center and the set point, and judging whether the movement of the cutter sleeve is in place or not;
calculating the roundness of a graph formed by the contour points through the contour points, and judging the deformation degree of the cutter sleeve;
and stopping putting the cutter into the cutter pocket opening if the cutter pocket is not moved in place or the roundness exceeds the first threshold value.
The method comprises the steps of collecting images of the cutter sleeve rotating to the cutter changing edge, filtering, extracting the outline of the cutter sleeve opening to obtain outline points, fitting the outline points to circles and circle centers of the circles, judging whether the cutter sleeve moves in place or not by calculating the deviation between the circle centers of the circles, where the outline points of the cutter sleeve are located, and set points, judging the deformation degree of the cutter sleeve by the roundness of a graph formed by the outline points, and if the cutter sleeve does not move in place or the deformation of the cutter sleeve exceeds a first threshold value, putting the cutter into the cutter sleeve at the moment, and possibly generating the phenomenon of cutter collision, so that the cutter is stopped from being put into the cutter sleeve at the moment, and the cutter collision can be effectively prevented.
In this embodiment, before the image acquisition is performed on the knife pouch rotated to the knife exchanging edge, the knife pouch at the knife exchanging edge is polished obliquely, and the image acquisition is performed right against the knife pouch opening.
Because the knife sleeve is basically black in the prior art, if the knife sleeve is photographed by a camera, the outline of the knife sleeve opening cannot be accurately identified, the knife sleeve at the knife edge is obliquely polished and is opposite to the knife sleeve opening for image acquisition, the outline of the knife sleeve opening is subjected to diffuse reflection of light, certain brightness is displayed, the aperture in the knife sleeve is darker, and the part outside the knife sleeve is darker because the light cannot irradiate a proper target, so that the outline of the knife sleeve opening is distinguished, and the extraction is convenient.
Wherein filtering the raw image data comprises:
graying the original image data;
screening pixel points in the image after graying, removing the pixel points with gray values not meeting a second threshold value, wherein the second threshold value is obtained through measurement in advance, when the second threshold value is determined, firstly fixing the angle of oblique lighting and the position of a camera, then shooting a plurality of pictures on a knife sleeve at a knife edge, manually screening out the outline of the knife sleeve opening, counting the gray values of the pixel points, and judging the range of the gray values, wherein the range is the second threshold value;
and judging the continuous area where the pixel points in the screened image are located, and eliminating the continuous area when the area of the continuous area is smaller than a third threshold value.
If only a range of gray values is passed, there may be some pixels that happen to be within this range, and thus there is interference. Therefore, firstly, through screening of gray values, the pixel points meeting the target are screened out, then the pixel points possibly form a plurality of continuous areas, then the areas of the continuous areas are judged, if the areas are smaller than a third threshold value, the continuous areas are indicated to be interference, the continuous areas need to be removed, and the continuous areas of the knife rest outline are reserved.
Judging the continuous area where the pixel points in the screened image are located, wherein the method comprises the following steps:
selecting one pixel point in the screened image, establishing a set, and putting the selected pixel point into the set;
judging whether the pixel points exist in the four adjacent areas by taking the selected pixel points as the center, if so, putting the pixel points into a set, and judging by taking the new pixel points as the center until the pixel points which are not put into the set do not exist in the four adjacent areas, and screening a continuous area, wherein the pixel points in the continuous area are all mutually close, and screening by the judging mode;
then selecting one pixel point from the rest pixel points in the image, establishing a new set, and repeating the steps until all the pixel points in the image are placed in a plurality of sets;
each set is a continuous area, and the area of the continuous area is the number of pixel points in the set.
After screening out a plurality of sets, judging whether the set meets the requirement or not by comparing the number of pixel points in each set, thereby removing the interference area.
In this embodiment, since the pixel points in the continuous area forming the knife rest are obtained after the preprocessing, and then those pixel points located at the edge among the pixel points need to be extracted, that is, the part of the pixel points forming the contour of the knife rest, the extraction of the contour of the knife rest in the preprocessed image data includes:
screening out a pixel point with a gap at least one position in a four-neighborhood in the preprocessed image data, and when the pixel point is in the edge of the continuous area as a to-be-fixed point, indicating that the pixel point is in the gap, so that the pixel point needs to be screened out, and a knife sleeve is provided with an inner diameter contour and an outer diameter contour, when a knife is put in, more importantly, the position and deformation condition of the center of the inner diameter contour need to be extracted, and through the judgment of whether the pixel point is in the edge or not in the first step, only whether the pixel point is the contour or not can be judged, and whether the pixel point is the inner diameter contour or not can not be judged, so that the pixel point is marked as the to-be-fixed point first, and then the next step of processing is carried out;
establishing a first contour set, randomly selecting a point to be fixed, putting the point to be fixed into the first contour set, taking the point to be fixed as the center, putting the point to be fixed in the eight adjacent areas of the point to be fixed into the first contour set, taking the point to be fixed put into the first contour set as the center, and repeating the steps until the point to be fixed does not exist in the eight adjacent areas of the point to be fixed;
establishing a second contour set, randomly selecting a point to be fixed from the rest points to be fixed, putting the point to be fixed into the second contour set, taking the point to be fixed as the center, putting the point to be fixed in the eight adjacent areas of the point to be fixed into the second contour set, taking the point to be fixed into the second contour set as the center, and repeating the steps until the point to be fixed does not exist in the eight adjacent areas of the point to be fixed;
dividing the screened points to be fixed into two continuous edge contours by establishing a first contour set and a second contour set, judging the area of a graph surrounded by the points to be fixed in the first contour set and the second contour set at the moment, eliminating the contour set with larger area, and taking the points to be fixed in the rest contour sets as contour points, so that the contour of the outer diameter is removed, and the contour of the inner diameter is reserved.
As a preference of the above embodiment, a circle where the contour point is located is fitted by a least square method, and the center of the circle is calculated;
when the circle where the contour point is located is fitted by the least square method, the circle center of the circle is set as (A, B), the radius is set as R, and the equation of the circle is as follows:
another:，/>，/>the equation for a circle is:
only parameters a, b and c are needed to obtain the circle center and radius:
at this time, the contour point (X i ，Y i ) I=1, 2,3, … N, wherein the distance from the ith contour point to the center of the circle is d i ，
The error from the radius is:
the error sum of all contour points is:
at this time, the values of a, b and c can be obtained only by minimizing the error sum, so that the coordinates of the circle center can be obtained.
The roundness of the formed graph is judged by the ratio of the perimeter to the area of the image surrounded by the contour points.
After the roundness is judged, the distance between the contour point and the circle center is calculated, the minimum value is found out, whether the minimum value meets the requirement is judged, if the minimum value does not meet the requirement, the deformation of the knife sleeve opening is out of tolerance even if the roundness meets the requirement, the risk of knife collision exists in the knife, and the accuracy of the deformation judgment of the knife sleeve opening is ensured through the secondary judgment of the minimum value between the contour point and the circle center, so that the knife collision is effectively prevented.
As a preference of the embodiment, when the cutter sleeve is judged not to move in place, driving the cutter sleeve to rectify the deviation between the circle center and the set point, putting the cutter into the cutter magazine, and setting maintenance reminding;
after judging that the tool sleeve does not move in place, correcting the deviation, driving the tool sleeve to rotate in place, then placing the tool into the tool magazine to finish the tool changing process, and then setting an overhaul reminding to remind the follow-up overhaul of the proximity switch.
When the roundness exceeds a first threshold, inquiring whether a spare cutter sleeve exists, if so, moving the spare cutter sleeve to a cutter changing edge for cutter storage by the cutter warehouse, updating a cutter corresponding to the cutter sleeve number, setting maintenance reminding, and if not, stopping the machine to send the maintenance reminding.
After the deformation of the cutter sleeve is judged, firstly, whether the cutter sleeve is still left in the cutter magazine is inquired, if so, the cutter can be stored in the spare cutter sleeve, then the cutter sleeve number and the cutter corresponding to the cutter sleeve number in the system are updated, overhaul reminding is set, the deformed cutter sleeve is replaced subsequently, if the spare cutter sleeve does not exist in the cutter magazine, the cutter replacing process cannot be completed, and the cutter sleeve is required to be stopped at the moment, overhaul reminding is sent, and after the deformed cutter sleeve is replaced, machining is carried out.
As shown in fig. 2, the embodiment further includes a machining center including a chain magazine and a crashproof tool detection device, where the crashproof tool detection device is configured to perform the method as described above.
The crashproof sword detection device includes:
the image acquisition module is used for acquiring images of the knife sleeve rotated to the knife changing edge to obtain original image data;
the preprocessing module is used for preprocessing the original image data to obtain preprocessed image data;
the extraction module is used for extracting the contour of the knife rest opening in the preprocessed image data to obtain contour points of the knife rest opening;
the calculating module is used for fitting the circle center of the contour point and calculating the deviation between the position of the circle center and a set value; calculating the roundness of the graph formed by the contour points;
and the control module is used for controlling the rotation of the tool magazine and the action of the tool conveying mechanism.
Please refer to fig. 3, which illustrates a schematic structural diagram of a computer device provided in an embodiment of the present application. The embodiment of the present application provides a computer device 400, including: a processor 410 and a memory 420, the memory 420 storing a computer program executable by the processor 410, which when executed by the processor 410 performs the method as described above.
The present embodiment also provides a storage medium 430, on which storage medium 430 a computer program is stored which, when executed by the processor 410, performs a method as above.
The storage medium 430 may be implemented by any type or combination of volatile or nonvolatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM), electrically erasable Programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.
In the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. The meaning of "a plurality of" is two or more, unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily for the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (10)
1. The chain type tool magazine anti-collision tool detection method is characterized by comprising the following steps of:
acquiring an image of a knife sleeve rotated to a knife changing edge to obtain original image data;
filtering the original image data to obtain preprocessed image data;
extracting the contour of the knife sleeve opening in the preprocessed image data to obtain contour points of the knife sleeve opening;
fitting the circle center of the contour point through the contour point, calculating the deviation between the position of the circle center and a set point, and judging whether the movement of the cutter sleeve is in place or not;
calculating the roundness of a graph formed by the contour points through the contour points, and judging the deformation degree of the cutter sleeve;
and stopping putting the cutter into the cutter pocket opening if the cutter pocket is not moved in place or the roundness exceeds a first threshold value.
2. The method for detecting the collision avoidance of the chain magazine according to claim 1, wherein before the image acquisition is performed on the knife pouch rotated to the knife pouch at the knife pouch position, the knife pouch at the knife pouch position is obliquely polished and the image acquisition is performed right against the knife pouch opening.
3. The chain magazine anti-collision tool detection method of claim 2, wherein the filtering the raw image data comprises:
graying the original image data;
screening pixel points in the image after graying, and eliminating the pixel points with gray values not meeting a second threshold value, wherein the second threshold value is obtained through measurement in advance;
and judging the continuous area where the pixel points in the screened image are located, and eliminating the continuous area when the area of the continuous area is smaller than a third threshold value.
4. The method for detecting a chain magazine anti-collision cutter according to claim 3, wherein the determining the continuous area where the pixel points in the screened image are located comprises:
selecting one pixel point in the screened image, establishing a set, and putting the selected pixel point into the set;
judging whether the pixel points exist in the four adjacent areas by taking the selected pixel points as the center, if so, putting the pixel points into the set, and judging by taking the new pixel points as the center until the pixel points which are not put into the set do not exist in the four adjacent areas;
selecting one pixel point from the rest pixel points in the image, establishing a new set, and repeating the steps until all the pixel points in the image are placed in a plurality of sets;
each set is a continuous area, and the area of the continuous area is the number of pixel points in the set.
5. The method for detecting a collision avoidance cutter according to claim 1, wherein the extracting the contour of the cutter pocket in the preprocessed image data includes:
screening out pixel points with vacancies at least one position in four adjacent positions in the preprocessed image data, and taking the pixel points as points to be fixed;
establishing a first contour set, randomly selecting one to-be-fixed point, putting the to-be-fixed point into the first contour set, taking the to-be-fixed point as a center, putting the to-be-fixed point in the eight adjacent areas of the to-be-fixed point into the first contour set, taking the to-be-fixed point put into the first contour set as a center, and repeating the steps until the to-be-fixed point does not exist in the eight adjacent areas of the to-be-fixed point;
establishing a second contour set, randomly selecting one to-be-fixed point from the rest to-be-fixed points, putting the to-be-fixed point into the second contour set, taking the to-be-fixed point as a center, putting the to-be-fixed point in the eight adjacent areas of the to-be-fixed point into the second contour set, taking the to-be-fixed point in the second contour set as a center, and repeating the steps until the to-be-fixed point does not exist in the eight adjacent areas of the to-be-fixed point;
judging the area of a graph surrounded by points to be fixed in the first contour set and the second contour set, removing the contour set with larger area, and obtaining the points to be fixed in the rest contour sets as contour points.
6. The method for detecting the anti-collision cutter of the chain type cutter magazine according to claim 5, wherein a circle where the contour points are located is fitted by a least square method, and the circle center is calculated;
and judging the roundness of the formed graph by the ratio of the perimeter to the area of the image surrounded by the contour points.
7. A chain magazine anti-collision tool detection device, characterized in that it is run using the method according to any one of claims 1 to 6, comprising:
the image acquisition module is used for acquiring images of the knife sleeve rotated to the knife changing edge to obtain original image data;
the preprocessing module is used for preprocessing the original image data to obtain preprocessed image data;
the extraction module is used for extracting the contour of the knife rest opening in the preprocessed image data to obtain contour points of the knife rest opening;
the calculating module is used for fitting the circle center of the contour point and calculating the deviation between the position of the circle center and a set value; calculating the roundness of the graph formed by the contour points;
and the control module is used for controlling the rotation of the tool magazine and the action of the tool conveying mechanism.
8. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1-6 when the computer program is executed.
9. A storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of claims 1-6.
10. A machining center comprising a chain magazine and a crashworthy tool detection apparatus for performing the method of any one of claims 1-6.
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| CN202310413058.8A CN116441981B (en) | 2023-04-18 | 2023-04-18 | Chain type tool magazine anti-collision tool detection method, device, equipment, medium and machining center |
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| CN202310413058.8A CN116441981B (en) | 2023-04-18 | 2023-04-18 | Chain type tool magazine anti-collision tool detection method, device, equipment, medium and machining center |
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