CN201596852U - Master-slave mode camera allocated intelligent laser cutting system - Google Patents
Master-slave mode camera allocated intelligent laser cutting system Download PDFInfo
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- CN201596852U CN201596852U CN 201020056680 CN201020056680U CN201596852U CN 201596852 U CN201596852 U CN 201596852U CN 201020056680 CN201020056680 CN 201020056680 CN 201020056680 U CN201020056680 U CN 201020056680U CN 201596852 U CN201596852 U CN 201596852U
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Abstract
The utility model provides a master-slave mode camera allocated intelligent laser cutting system, which comprises a workbench, a trolley head, a partial slave camera, a laser head, a whole master camera, a monitoring terminal, a master controller and a driving motor. The workbench is arranged at the bottom of the cutting system; the trolley head is arranged above the workbench; the partial slave camera and the laser head are fixedly installed with the trolley head; the whole master camera is arranged on the top of the cutting system in suspending manner; the monitoring terminal is used for monitoring images for the whole master camera and the partial slave camera; the master controller is electrically connected with the whole master camera; and the driving motor is controlled by the master controller and connected with the workbench and the trolley head. A lens coverage of the whole master camera includes the whole workbench; the driving motor drives the trolley head to move; and the partial slave camera synchronously moves along with the trolley head and performs partial image acquisition for the workbench. The cutting system can implement laser cutting processing with high efficiency and high accuracy for various adaptable objects, and is not depended on accuracy of the self master controller and a mechanical mechanism of a laser cutting machine.
Description
Technical field
The utility model relates to a kind of intelligent numerical control device that adopts machine vision, relates in particular to a kind of Intelligent Laser diced system that adopts the master-slave mode correlation.
Background technology
In traditional laser cutting machine based on master controller, the design centre index point coordinate that needs the editing objective location point (Mark point) is recorded in the procedure (NG code) in advance, explain this program in machine code by master controller then, the realization setting movement is controlled, and realizes the work step of irradiating laser synchronously.(referring to patent documentation TOHKEMY 2000-343260 communique).Along with the fast development of essence object miniaturization to be cut, its fine positioning technical need is more and more higher.In view of the laser cutting effective range of small processing object is very little, the situation that Working position departs from a big way can take place in working position center mark point coordinates (Mark point) deviation in the margin of tolerance and the factors such as skew of small object placement location usually.In addition, at the free curve profile of large scale object to be cut, the digital control processing mode that adopts preliminary treatment Mark to order can not satisfy the curved profile accuracy requirement.Therefore, in order to determine the exact position of processing object, the mode that can adopt charge coupled cell (CCD:Charge-coupled Device) camera and image to handle feeds back to master controller with the picture position data, in advance precision correction and compensation is carried out in machining center index point position.But about the degree of accuracy that the pixel and the processing speed of camera can have influence on feedback position, particularly at camera lens optical axis center far-end, distortion phenomenon is comparatively serious, and processing result image can be a greater impact.Certainly, improving camera resolution and do camera lens distortion preliminary treatment, be a kind of solution, but the former cost is bigger, and latter's treatment step is loaded down with trivial details, is not optimum processing mode.
The utility model content
The purpose of this utility model is, a kind of Intelligent Laser diced system of master-slave mode camera configuration is provided, it adopts two smart cameras, by the master-slave mode configuration, realize the measurement and detection control of overall location just and local fine positioning, can carry out high efficiency and high-precision laser cutting the various sizes processing object.
For being implemented in above-mentioned purpose, the utility model provides a kind of Intelligent Laser diced system of master-slave mode camera configuration, it comprises: the workbench that is positioned at the bottom, be located at the little headstock of workbench top, with this hard-wired part of little headstock from camera and laser head, be suspended in the overall principal phase machine at top, to this overall situation principal phase machine and the local monitoring terminal that carries out image monitoring from camera, the master controller that is connected with overall principal phase electromechanics, and by main controller controls and the drive motors that is connected with workbench and dolly head, the lens coverage of this overall situation principal phase machine comprises whole workbench, drive motors drives the motion of dolly head, the part is synchronized with the movement with little headstock from camera, workbench is carried out topography gather.
The crossbeam that described little headstock comprises a beam guideway and is positioned at these beam guideway two ends supports, and laser head is fixed on this beam guideway from camera with local, and drive motors drives crossbeam supporting drive beam guideway and moves.
Described overall principal phase machine all is equipped with adaptive with it focusing lens with local from camera, and this overall situation principal phase machine is connected to monitoring terminal from camera with the video interface of IMAQ result by separately with local.
Shooting and center mark point coordinates that described overall principal phase machine and part are responsible for the overall situation and local geometric features digital picture respectively from camera resolve, and the method that adopts template matches or rim detection is resolved the center mark point coordinates of location geometric properties, the result of overall situation principal phase machine is just location or just measurement, this result is sent to master controller and realizes coarse localization, the center mark point that guarantees geometric properties falls within local from the camera visual field, the center mark point is taken again from camera in the part, calculate more precise coordinates address, realize the correction motion of master controller.
Described laser head below is provided with supporting with it Electronic Speculum speculum, reaches the irradiation lens.
Described workbench is provided with a processing honeycomb base plate and is fixed in honeycomb metallic object on this processing honeycomb base plate, and this processing honeycomb base plate and honeycomb metallic object are adsorbed in object to be cut and carry out cutting processing on the workbench.
Further comprise the PC terminal that electrically connects with master controller, and CNC Panel.
The beneficial effects of the utility model: the Intelligent Laser diced system of the master-slave mode camera configuration that the utility model provides, it adopts two smart cameras, by the master-slave mode configuration, realize the measurement and detection control of overall location just and local fine positioning, can carry out high efficiency and high-precision laser cutting the various sizes processing object; The accurate location of its cutting processing process is no longer dependent on the servo-positioning performance of master controller, but relies on the camera image result feedback master controller that is placed on master controller, guarantees positioning accuracy; In addition, principal and subordinate's camera of its cutting processing process can overcome the distortion effect of far-end optical axis, and overall principal phase machine is only done the preliminary survey that target Mark orders and just located, the part can accurately be measured and control from camera the geometric properties of small object, has improved the measurement and the detection efficiency of workpiece; In addition, the pattern of principal and subordinate's camera overcomes the restriction of single camera pixel and sensor devices, both can determine regional area step by step to large scale object to be cut, then specification area is carried out seamless combination, also can carry out the substep fine positioning, promptly just locate by overall principal phase machine earlier, accurately locate from camera by the part again microsize object to be cut, and needn't too rely on the accuracy of manufacture of master controller and machine tool guideway, the flexibility of increasing work efficiency greatly and operating.
In order further to understand feature of the present utility model and technology contents, see also following about detailed description of the present utility model and accompanying drawing, yet accompanying drawing only provide with reference to and the explanation usefulness, be not to be used for the utility model is limited.
Description of drawings
Below in conjunction with accompanying drawing,, will make the technical solution of the utility model and other beneficial effect apparent by the specific embodiment of the present utility model is described in detail.
In the accompanying drawing,
Fig. 1 is the structural representation of Intelligent Laser diced system one embodiment of the utility model master-slave mode camera configuration;
Fig. 2 is the floor map of an embodiment of the utility model object to be cut;
Fig. 3 is the workflow schematic diagram of Intelligent Laser diced system one embodiment of the utility model master-slave mode camera configuration
Fig. 4 carries out the workflow diagram that image is handled for the Intelligent Laser diced system of the utility model master-slave mode camera configuration;
Fig. 5 is the floor map of the utility model one Application Example.
The specific embodiment
For further setting forth technological means and the decorative effect thereof that the utility model is taked, be described in detail below in conjunction with preferred embodiment of the present utility model and accompanying drawing thereof.
As shown in Figure 1, the invention provides a kind of Intelligent Laser diced system of master-slave mode camera configuration, it comprises: the workbench 1 that is positioned at the bottom, be located at the dolly head 2 of workbench 1 top, with these dolly head 2 hard-wired parts from camera 3 and laser head 4, be suspended in the overall principal phase machine 5 at top, to this overall situation principal phase machine 5 and local monitoring terminal 6 from camera 3 row image monitorings, master controller 7 with overall principal phase machine 5 electric connections, reach the drive motors 8 of controlling and being connected by master controller 7 with workbench 1 and dolly head 2, the lens coverage of this overall situation principal phase machine 5 comprises whole workbench 1, drive motors 8 drives 2 motions of dolly head, local fortune 32 is moving synchronously with dolly head 2 from camera 3, workbench 1 is carried out topography gather.
Workbench 1 among the present invention is an XY worktable, which is provided with a processing honeycomb base plate 101 and be fixed in honeycomb metallic object 102 (shown in Figure 2) on this processing honeycomb base plate 101, this processing honeycomb base plate 101 and honeycomb metallic object 101 are adsorbed in object 104,105 to be cut and carry out cutting processing on the workbench 1.This cutting object 104,105 is two cutting embodiment, the former is small-sized cutting object, the latter is big-and-middle-sized cutting object, on the processing honeycomb base plate 101 below the cutting object 104,105, two witness markers (Mark) point 103 is arranged, the part is passed through this location of 2, correction work coordinate system from camera 3 and overall principal phase machine 5.The material supply section of the cutting object that the present invention was suitable for is chosen leather, paper, steel plate, resin or plastics etc.
Further, described dolly head 2 comprises a beam guideway 22 and is positioned at the crossbeam support 24 at these beam guideway 22 two ends, laser head 4 is fixed on this beam guideway 22 from camera 3 with local, and drive motors 8 drives crossbeam support 24 drive beam guideways 22 and moves.This dolly head 2 drags belt drives by drive motors 8, beam guideway 22 supports 24 fixed supports by the crossbeam that is positioned at its two ends, in order to realize the plane motion of dolly head 2, by the Y motor-driven Y guide rail of drive motors 8, the beam guideway 22 that the drive two ends are fixed thereon moves.
The part all is equipped with adaptive with it focusing lens 32 from camera 3 and overall principal phase machine 5, and the lens coverage of this overall situation principal phase machine 5 can comprise whole workbench 1, and it can carry out location/detection just by 103 pairs of machining coordinates systems of two witness marker points.Move with dolly head 2 from camera 3 in the part, be used for refinement and detection to cutting object local figure information, its visual field is little, photographic images is clear, processing accuracy is high, behind the first location through 5 pairs of world coordinates of overall principal phase machine, starts dolly head 2 and carries out accurate local positioning/detection.In the present invention, local also the video interface of IMAQ result by separately can be connected to monitoring terminal 6, monitor from camera 3 and overall principal phase machine 5 captured digital pictures by 6 pairs of parts of this monitoring terminal from camera 3 and overall principal phase machine 5.Laser head 4 belows are provided with supporting with it Electronic Speculum speculum 42, reach irradiation lens 44.Shooting and center mark point coordinates that overall situation principal phase machine 5 and part are responsible for the overall situation and local geometric features digital picture respectively from camera 3 resolve, and the method that adopts template matches or rim detection resolves the center mark point coordinates of location geometric properties, and this location geometric properties is the geometric figure on the selected object to be cut.Wherein, the result of overall situation principal phase machine 5 is just location or just measurement, this result is sent to master controller 7 and realizes coarse localization, the center mark point that guarantees geometric properties falls within local from the visual field of camera 3, the center mark point is taken again from camera 3 in the part, calculate more precise coordinates address, realize the correction motion of master controller.In addition, this overall situation principal phase machine 5 also has the function of direct judgement processing object state with local from camera 3, and the judgement defect ware can notify master controller to judge.
Master controller 7 is responsible for receiving cutting pattern data, processing numerical control program, driving servo-drive system, image is handled and defect ware is judged.The present invention further comprises the PC terminal 72 that electrically connects with master controller 7, and CNC Panel 74, and this PC terminal is responsible for the cutting pattern editor, numerical control program is downloaded and the demonstration of motion/image data information; CNC Panel 74 can be external CNC Panel, and it can manually be provided with procedure, fabrication cycles number of times, motion debugging etc.
As shown in Figure 3, when the Intelligent Laser diced system of master-slave mode camera configuration of the present invention is worked, at first carrying out process data prepares, procedure in the procedure stores card is loaded in the master controller 7, pre-defined shooting cooked mode, select for use the master-slave mode camera to carry out shot detection or control, and cutting data is imported master controller; Take the Position Approximate that obtains the location geometric properties by overall principal phase machine 5 then, dolly head 2 is moved to geometric properties top, location by master controller 7 controls; Obtain the digital picture of local geometric features again from camera 3 by the part, adopt the method for template matches or rim detection to resolve the center mark point coordinates of locating geometric properties then, again with the destination address of this center mark point coordinates as dolly head 2 secondary motion, travelling car head 2 makes local axis from camera 3 overlap with this center mark point coordinates, and obtain the exact image of location geometric properties, the accurate coordinates of computational geometry feature point more again; State in realization at last in motion and the camera photographing process process, process information (position, speed, progress etc.) and view data are stored and shown; After finishing aforesaid operations, treat cutting object and carry out laser cutting,, the result is formed document output in processing and after detecting operation and finishing.
As shown in Figure 4, in the Intelligent Laser diced system course of work of this master-slave mode camera configuration, the workflow that its master-slave mode camera and image are handled is as follows: at first object 104,105 to be cut is loaded on the processing honeycomb base plate, determines geometric properties center mark point coordinates roughly; After loading is finished, the start-up control system, open overall principal phase machine 5 and take object to be cut, handle the rough geometric properties of acquisition by overall principal phase machine 5, obtain the center mark point coordinates of object geometric properties to be cut after treatment, by magazine processor (not shown) geometric properties center mark point coordinates is converted into the target travel address, realize that by master controller 7 control dolly heads 2 move to camera optical axis and destination address Z to overlapping, judge then whether go up step coincidence deviation transfinites, and whether decision is adopted and local is taken the close shot image from camera 3 secondaries, if deviation transfinites, then return the startup part again and carry out secondary accurate positioning from camera 3, do not transfinite and then carry out the operation that cutting accuracy detects, then finish this subtask if satisfy accuracy requirement, judge and to take the still local step in location, thread operation before repeating by overall principal phase machine otherwise turn to from camera shooting reorientation.
As shown in Figure 5, floor map for the present invention's one Application Example, it is among the embodiment of a cutting battery folder panel, shown in the figure, workpiece 501 to be cut, template matches edge wheel profile 502, template matches rim detection control area 503, the right-angled intersection in the middle of the image is geometric properties center mark dot mark.By image processing section overall principal phase machine and the local image of taking from camera are handled, overall situation principal phase machine and part obtain the digital picture of locating geometric properties from camera, and the method for employing template matches or rim detection is calculated the geometric center of object to be cut.Graphic based point coordinates 504 has provided the datum mark that camera is handled within sweep of the eye, and (Xn Yn) is the circular shuttering center mark point that camera processing is come out to center mark point coordinates M.
In sum, the Intelligent Laser diced system of the master-slave mode camera configuration that the utility model provides, it adopts two smart cameras, by the master-slave mode configuration, realize the measurement and detection control of overall location just and local fine positioning, can carry out high efficiency and high-precision laser cutting the various sizes processing object; The accurate location of its cutting processing process is no longer dependent on the servo-positioning performance of master controller, but relies on the camera image result feedback master controller that is placed on master controller, guarantees positioning accuracy; In addition, principal and subordinate's camera of its cutting processing process can overcome the distortion effect of far-end optical axis, and overall principal phase machine is only done the preliminary survey that target Mark orders and just located, the part can accurately be measured and control from camera the geometric properties of small object, has improved the measurement and the detection efficiency of workpiece; In addition, the pattern of principal and subordinate's camera overcomes the restriction of single camera pixel and sensor devices, both can determine regional area step by step to large scale object to be cut, then specification area is carried out seamless combination, also can carry out the substep fine positioning, promptly just locate by overall principal phase machine earlier, accurately locate from camera by the part again microsize object to be cut, and needn't too rely on the accuracy of manufacture of master controller and machine tool guideway, the flexibility of increasing work efficiency greatly and operating.
The above; for the person of ordinary skill of the art; can make other various corresponding changes and distortion according to the technical solution of the utility model and technical conceive, and all these changes and distortion all should belong to the protection domain of the utility model accompanying Claim.
Claims (7)
1. the Intelligent Laser diced system of a master-slave mode camera configuration, it is characterized in that, comprise the workbench that is positioned at the bottom, be located at the little headstock of workbench top, with this hard-wired part of little headstock from camera and laser head, be suspended in the overall principal phase machine at top, to this overall situation principal phase machine and the local monitoring terminal that carries out image monitoring from camera, the master controller that is connected with overall principal phase electromechanics, and by main controller controls and the drive motors that is connected with workbench and dolly head, the lens coverage of this overall situation principal phase machine comprises whole workbench, drive motors drives the motion of dolly head, the part is synchronized with the movement with little headstock from camera, workbench is carried out topography gather.
2. the Intelligent Laser diced system of master-slave mode camera configuration as claimed in claim 1, it is characterized in that, described little headstock comprises a beam guideway and is positioned at the crossbeam support at these beam guideway two ends, laser head is fixed on this beam guideway from camera with local, and drive motors drives crossbeam supporting drive beam guideway and moves.
3. the Intelligent Laser diced system of master-slave mode camera configuration as claimed in claim 1, it is characterized in that, described overall principal phase machine all is equipped with adaptive with it focusing lens with local from camera, and this overall situation principal phase machine is connected to monitoring terminal from camera with the video interface of IMAQ result by separately with local.
4. the Intelligent Laser diced system of master-slave mode camera configuration as claimed in claim 3, it is characterized in that, shooting and center mark point coordinates that described overall principal phase machine and part are responsible for the overall situation and local geometric features digital picture respectively from camera resolve, and the method that adopts template matches or rim detection is resolved the center mark point coordinates of location geometric properties, the result of overall situation principal phase machine is just location or just measurement, this result is sent to master controller and realizes coarse localization, the center mark point that guarantees geometric properties falls within local from the camera visual field, the center mark point is taken again from camera in the part, calculate more precise coordinates address, realize the correction motion of master controller.
5. the Intelligent Laser diced system of master-slave mode camera configuration as claimed in claim 1 is characterized in that, described laser head below is provided with supporting with it Electronic Speculum speculum, reaches the irradiation lens.
6. the Intelligent Laser diced system of master-slave mode camera configuration as claimed in claim 1, it is characterized in that, described workbench is provided with a processing honeycomb base plate and is fixed in honeycomb metallic object on this processing honeycomb base plate, and this processing honeycomb base plate and honeycomb metallic object are adsorbed in object to be cut and carry out cutting processing on the workbench.
7. the Intelligent Laser diced system of master-slave mode camera configuration as claimed in claim 1 is characterized in that, further comprises the PC terminal that electrically connects with master controller, and CNC Panel.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020056680 CN201596852U (en) | 2010-01-19 | 2010-01-19 | Master-slave mode camera allocated intelligent laser cutting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020056680 CN201596852U (en) | 2010-01-19 | 2010-01-19 | Master-slave mode camera allocated intelligent laser cutting system |
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| CN201596852U true CN201596852U (en) | 2010-10-06 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103212832A (en) * | 2012-01-19 | 2013-07-24 | 昆山思拓机器有限公司 | Medical bracket machining equipment |
| CN105290621A (en) * | 2015-10-12 | 2016-02-03 | 深圳市海目星激光科技有限公司 | High-speed and high-precision tab cutting method and device based on vision guidance |
| CN107466257A (en) * | 2015-04-17 | 2017-12-12 | 瓦特鲁斯公司 | Method and apparatus for manufacturing the plate part for heat exchanger |
| CN108274302A (en) * | 2017-12-25 | 2018-07-13 | 重庆达德机械制造有限公司 | A kind of intelligence tuber |
| CN109570749A (en) * | 2018-10-09 | 2019-04-05 | 大族激光科技产业集团股份有限公司 | A method of improving laser marking system adjustment accuracy |
| CN110648339A (en) * | 2019-09-27 | 2020-01-03 | 广东溢达纺织有限公司 | Trademark cutting method and device, computer equipment and storage medium |
| CN110910430A (en) * | 2019-10-23 | 2020-03-24 | 阜阳师范大学 | Large-scene master-slave camera cooperative moving target detection and tracking equipment |
| EP3838470A1 (en) | 2019-12-17 | 2021-06-23 | Bystronic Laser AG | Detection of foreign bodies and slag detection on a work desk |
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2010
- 2010-01-19 CN CN 201020056680 patent/CN201596852U/en not_active Expired - Lifetime
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103212832B (en) * | 2012-01-19 | 2016-12-14 | 昆山思拓机器有限公司 | The process equipment of Medical rack |
| CN103212832A (en) * | 2012-01-19 | 2013-07-24 | 昆山思拓机器有限公司 | Medical bracket machining equipment |
| CN107466257A (en) * | 2015-04-17 | 2017-12-12 | 瓦特鲁斯公司 | Method and apparatus for manufacturing the plate part for heat exchanger |
| US11253897B2 (en) | 2015-04-17 | 2022-02-22 | Vahterus Oy | Method and device for manufacturing plate parts for a heat exchanger |
| CN105290621A (en) * | 2015-10-12 | 2016-02-03 | 深圳市海目星激光科技有限公司 | High-speed and high-precision tab cutting method and device based on vision guidance |
| CN108274302B (en) * | 2017-12-25 | 2020-11-10 | 重庆近江智信汽车零部件有限公司 | Intelligent pipe making machine |
| CN108274302A (en) * | 2017-12-25 | 2018-07-13 | 重庆达德机械制造有限公司 | A kind of intelligence tuber |
| CN109570749A (en) * | 2018-10-09 | 2019-04-05 | 大族激光科技产业集团股份有限公司 | A method of improving laser marking system adjustment accuracy |
| CN110648339A (en) * | 2019-09-27 | 2020-01-03 | 广东溢达纺织有限公司 | Trademark cutting method and device, computer equipment and storage medium |
| CN110648339B (en) * | 2019-09-27 | 2022-08-19 | 广东溢达纺织有限公司 | Trademark cutting method and device, computer equipment and storage medium |
| CN110910430A (en) * | 2019-10-23 | 2020-03-24 | 阜阳师范大学 | Large-scene master-slave camera cooperative moving target detection and tracking equipment |
| EP3838470A1 (en) | 2019-12-17 | 2021-06-23 | Bystronic Laser AG | Detection of foreign bodies and slag detection on a work desk |
| WO2021122466A1 (en) | 2019-12-17 | 2021-06-24 | Bystronic Laser Ag | Detection of foreign parts and slag on a worktable |
| CN115023312A (en) * | 2019-12-17 | 2022-09-06 | 百超激光有限公司 | Detection of foreign matter and slag on a work bench |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20101006 Effective date of abandoning: 20100119 |