JP2013039591A - Cutting method and cutting apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To confirm inclination and rotation to make correction when the optical axis of a CCD camera inclines with respect to a cutting region or the CCD camera rotates around the optical axis.SOLUTION: A photographing region C including a cutting region B in which materials D, E to be cut are arranged is photographed from above by the CCD camera 1 to obtain an image, and the image is processed to recognize the materials to be cut and to cut them by a cutting torch 6. A plurality of base points are set beforehand into a photographing region C including the cutting region B in which the materials D, E to be cut are arranged, and positions of the respective base points are stored. The photographing region C is photographed by the CCD camera 1 disposed above, and the photographed image is processed to recognize the positions of the respective photographed base points. The recognized positions of the respective base points are compared with the previously memorized positions of the respective base points to correct the photographed image to thereby recognize the materials to be cut which are arranged in the cutting region.

Description

  The present invention implements a cutting method in which a material to be cut disposed in a cutting region is photographed from above with a CCD camera to recognize the material to be cut, and the recognized material to be cut is cut with a cutting torch. The present invention relates to a cutting device.

  Using a cutting torch such as a gas cutting torch, a plasma cutting torch, or a laser cutting torch selectively to cut a material to be cut such as a ferrous metal plate, a non-ferrous metal plate, or a non-metal plate represented by a steel plate. Has been done. The cutting torch is mounted on a numerically controlled (NC) cutting machine and is configured to be able to move over a preset cutting area. Further, the material to be cut is disposed in the cutting region.

  In general, the material to be cut is a large rectangular plate having a predetermined dimension or a remaining material after a product is cut from the large plate. In particular, when the material to be cut is a remaining material, for example, even a plurality of materials to be cut having the same thickness are often deformed materials having different planar shapes and plane dimensions. Therefore, in order to cut a product from such a deformed material, it is necessary to assign a target product after measuring the planar shape and dimensions of the deformed material.

  The applicant of the present application has proposed a cutting method and a cutting apparatus for cutting a target product by arranging a plurality of deformed materials in a cutting region (see Patent Document 1). In this technique, a cutting area in which a material to be cut is arranged is imaged by a CCD camera, an area corresponding to the material to be cut is recognized as a cutable area from this image, and a figure to be cut is assigned to the cuttable area. The figure assigned from the material to be cut is cut by driving the cutting machine.

  The cutting apparatus described in Patent Document 1 is configured so that a CCD camera is disposed above a cutting area, and the cutting area can be imaged while moving the CCD camera. Then, by processing the captured image, it is possible to recognize the shape and size of the deformed material arranged in the cutting region, and further to perform the cutting by assigning the figure to be cut to the recognized deformed material. is there.

  Recently, along with an increase in the number of pixels of a CCD camera, it has become possible to recognize a material to be cut with a single imaging even when the cutting area is wide. For this reason, a CCD camera is installed on the cantilever constructed from the factory building toward the upper part of the cutting area, or a revolving arm that can reciprocate between the upper part of the cutting area and a predetermined retreat position is configured in the factory building. A CCD camera is also installed on this arm.

Japanese Patent No. 2548648

  In the technique described in Patent Document 1, since the CCD camera is configured to be movable, the vibration of the moving device that occurs during the movement acts on the CCD camera, or the vibration of the devices installed in the vicinity is the CCD. There is a problem that the posture is changed by acting on the camera, and the optical axis is inclined due to these changes. In particular, the cutting device is generally installed inside a factory building, and is affected by vibrations generated as the overhead traveling crane travels. In addition, when the CCD camera is installed on a cantilever configured from the factory building toward the upper side of the cutting area, or a swivel arm configured to be able to appear above and below the cutting area, There is also a problem that the attitude of the CCD camera changes due to the influence of vibrations generated during turning and the optical axis is inclined.

  In particular, when the CCD camera is installed on a turning arm, there is a problem that the CCD camera rotates about the optical axis due to the influence of turning of the turning arm.

  When the optical axis of the CCD camera installed above the cutting area is at an angle (inclined) other than perpendicular to the cutting area, the shape and dimensions of the material to be cut recognized by processing the captured image are There arises a problem that the value is different from the actual shape and dimensions. Further, when the CCD camera rotates about the optical axis, there arises a problem that the position of the material to be cut cannot be accurately recognized.

  For this reason, at the time of initial installation or periodically, it is necessary to check whether the optical axis of the CCD camera is perpendicular to the cutting area or whether the CCD camera is rotating around the optical axis. Is required. However, these operations belong to extremely delicate operations, and there is a problem that it takes time for the operations and the burden on workers is large.

  An object of the present invention is to provide a cutting method capable of checking and correcting the tilt and rotation when the optical axis of the CCD camera is tilted with respect to the cutting region or rotated around the optical axis, and the cutting method. It is to provide a cutting device to be implemented.

  In order to solve the above problems, a cutting method according to the present invention is arranged in a cutting area by processing an image taken from above with a CCD camera including a cutting area in which a material to be cut is arranged. A cutting method for recognizing a material to be cut and cutting with a cutting torch, setting a plurality of base points in advance in an imaging region including a cutting region where the material to be cut is arranged, and storing the position of each base point, The photographing area is photographed by a CCD camera arranged above, the photographed image is processed to recognize the position of each base point, and the recognized base point position and each pre-stored base point position are recognized. It is characterized by recognizing the material to be cut arranged in the cutting region by correcting the image taken by comparing the positions.

  In the above cutting method, the position of each recognized base point is compared with the position of each base point stored in advance to recognize the inclination of the optical axis of the CCD camera with respect to the imaging region. It is preferable to recognize the material to be cut arranged in the cutting region by correcting the image taken according to the inclination with respect to the photographing region.

  Further, in any of the above cutting methods, the position of each recognized base point is compared with the position of each base point stored in advance to recognize the rotation of the CCD camera relative to the imaging region, It is preferable to recognize the material to be cut arranged in the cutting area by correcting the image taken according to the rotation about the optical axis with respect to the recognized imaging area of the CCD camera.

  In any of the above-described cutting methods, it is preferable that a marker having a pattern registered in advance is placed at each of the base points when the imaging region is imaged by a CCD camera.

  In addition, the cutting device according to the present invention includes a cutting machine that moves a cutting torch for cutting a material to be cut to a cutting area in which the material to be cut is disposed, and an imaging region that includes the cutting area in which the material to be cut is disposed. A CCD camera that shoots from above, a marker that is arranged for each of a plurality of preset base points in the shooting area, and an image of the shooting area that is shot by the CCD camera is processed and placed in the shooting area. And detecting the inclination of the optical axis of the CCD camera with respect to the imaging region or the rotation about the optical axis of the CCD camera, and taking a picture corresponding to the detected inclination or the rotation. A processing unit having a correction unit that corrects an image, a workpiece recognition unit that recognizes a workpiece placed in a cutting area from the corrected image, and a workpiece recognized by the processing device Cutting An allocation device for assigning a power figure, a conversion device for converting information of the graphic assigned by the assignment device into control information for the cutting machine, and controlling the driving of the cutting machine according to the control information converted by the conversion device A cutting control device.

  In the cutting method according to the present invention, a plurality of base points are set and stored in a cutting region where a material to be cut is arranged or a photographing region including the cutting region, and the photographing region is photographed by a CCD camera. Is processed to recognize the position of the base point in the image, and the position of each recognized base point is compared with the position of the preset base point, so that the inclination of the optical axis of the CCD camera and the optical axis are centered. The presence or absence of rotation can be recognized. Then, when recognizing the inclination of the optical axis of the CCD camera relative to the cutting area and the presence or absence of rotation about the optical axis, the shape and dimensions of the workpiece placed in the cutting area are accurately determined by correcting the image. I can grasp it.

  When a photographing area is photographed by the CCD camera, if a marker is placed at each base point, the position of the base point in the photographed image can be reliably recognized.

  In the cutting apparatus according to the present invention, a photographing region including a cutting region in which a material to be cut is disposed and a marker is disposed for each of a plurality of preset base points can be photographed from above by a CCD camera. Then, an image photographed by the CCD camera is processed by the detection unit constituting the processing device, and the inclination of the optical axis of the CCD camera with respect to the photographing area from the position of the marker arranged in the photographing area, or the optical axis of the CCD camera Rotation around the image, and the image taken corresponding to the inclination or the rotation detected by the correction unit can be corrected, and the cutting region can be cut from the image corrected by the cutting material recognition unit. It is possible to recognize the workpiece to be cut. Furthermore, the assigning device assigns a figure to be cut to the material to be cut recognized by the processing device, the converting device converts the graphic information assigned by the assigning device into the control information of the cutting machine, and the converting device converts it. The driving of the cutting machine can be controlled according to the control information.

  Therefore, when the optical axis of the CCD camera is tilted with respect to the cutting area or rotated around the optical axis, it is possible to detect these tilts and rotations, and to detect the tilt of the captured image. And can be corrected according to the rotation. For this reason, even if there are problems such as tilting of the optical axis of the CCD camera relative to the cutting area and rotation around the optical axis, the exact shape and dimensions of the material to be cut can be recognized regardless of these problems. Is possible, and good cutting can be performed.

It is a figure explaining the cutting device concerning this example. It is a block diagram of the control system of a cutting device. It is a figure explaining the relationship between the image image | photographed with the CCD camera in which the optical axis inclined, and correction | amendment. It is a figure explaining the state which allocated the figure which should be cut | disconnected to a to-be-cut material. It is a figure explaining the example of a label | marker.

  In the cutting method of the present invention, a material to be cut is placed in a preset cutting area, and the cutting area is photographed by a CCD camera from above and processed to process an image. The shape and dimensions are recognized, and then the product is cut from the material to be cut. In particular, a plurality of base points are set in advance in an imaging area including a cutting area, the positions of the base points are stored, the captured images are processed, and the positions of the base points in the images are recognized and set in advance. The inclination and rotation of the CCD camera relative to the cut region are detected by comparing with the position of the base point. When the tilt or rotation of the CCD camera is detected, the image is corrected based on the detected value, thereby recognizing the exact shape and size of the material to be cut.

  The cutting area is set corresponding to the moving range of the cutting torch, and is set according to the structure and dimensions of the cutting device on which the cutting torch is mounted. For example, when the cutting device is configured to have a gate-shaped frame that travels along a pair of rails laid in parallel, the cutting region is inside the pair of rails and along the length direction. Is set.

  The imaging area is set as an area that can be imaged by the CCD camera including the cutting area. The shooting area is not limited to a range that can be shot by a single shooting operation by the CCD camera, but also includes a range that can be shot by a plurality of shooting operations while moving the CCD camera. For this reason, the imaging region may be the same region as the cutting region, but is preferably a region including the cutting region and having an appropriate width at the periphery of the cutting region.

  The plurality of base points set in advance in the imaging area are for detecting the inclination and rotation of the optical axis of the CCD camera with respect to the cutting area from the data obtained by processing the image captured by the CCD camera and the position data of each base point. . For this reason, although each base point may be set inside the cutting area, it is preferable that it is set inside the photographing area at the outer peripheral edge portion of the cutting area. And it is necessary to memorize | store the position of each base point in the apparatus which processes the image image | photographed with the CCD camera.

  Although the number of base points is not limited, at least two points are necessary, and three or more points are preferable. Further, it is necessary that the base point can be clearly identified as the base point when photographed by the CCD camera. For this reason, it is preferable that a sign that can be clearly discriminated when the photographed image is processed is placed at each base point before photographing with the CCD camera.

  There is no particular limitation on the sign placed at each base point, and it has a pattern that can be reliably discriminated from the photographed image even if the cutting area becomes dark and the photographing conditions by the CCD camera deteriorate. It is preferable. The sign pattern and the center of the sign are preferably registered in advance in an apparatus for processing an image taken by a CCD camera. Then, by setting the center of the sign so as to coincide with the base point, it is possible to reliably recognize the position of each base point in the photographed image.

  Hereinafter, the configuration of the cutting apparatus A according to the present embodiment will be described, and simultaneously the cutting method will be described.

  The cutting apparatus A includes a CCD camera 1 that captures an imaging area C including a cutting area B, and a plurality of base points (four base points in this embodiment) that are set in advance in the imaging area C including the cutting area B. The labels 2 to 5 arranged for each, the image processing device 10 for processing the image of the photographing area C photographed by the CCD camera 1, and the workpieces D and E recognized by the image processing device 10 should be cut. An allocation control device 20 that allocates parts to form cutting data and a cart drive control device 30 that controls the driving of the cart 40 based on the cutting data are configured.

  First, the configuration of the carriage 40 will be briefly described. The trolley | bogie 40 should just be able to move the cutting torch 6 in the cutting | disconnection area | region B, and does not limit a structure. That is, the structure of the carriage 40 is set according to the size of the cutting area B. Examples of such a carriage 40 include a structure in which a cutting torch is mounted on a cantilever boom configured to be movable along a pair of rails laid in parallel, a robot having a multi-joint arm, and the like.

  In the present embodiment, the carriage 40 includes a frame 41 that is mounted on a pair of rails 45 disposed on both sides of the cutting region B in the width direction and travels. The frame 41 is configured in a gate shape including a saddle 41 a and a garter 41 b arranged in a direction orthogonal to the rail 45. The garter 41b is provided with a traverse carriage 42 that traverses along the garter 41b. The cutting torch 6 is mounted on the transverse carriage 42.

  A control panel 50 is mounted on the frame 41 of the carriage 40, and an image processing apparatus 10, an assignment control apparatus 20, and a carriage drive control apparatus 30 described later are incorporated in the control board 50.

  A traveling motor 43 a is attached to the saddle 41 a constituting the frame 41, and a transverse motor 43 b and a lifting motor 43 c are attached to the transverse carriage 42. The travel motor 43a travels the frame 41 along the rail 45 in a desired direction at a desired speed. The traverse motor 43b traverses the traverse carriage 42 along the garter 41b in a desired direction at a desired speed. Further, the elevating motor 43c raises or lowers the cutting torch 6.

  In the carriage 40 configured as described above, the rotation direction and the rotation speed of the travel motor 43a and the traverse motor 43b can be independently controlled by the carriage drive control device 30 including a numerical control (NC) device. Then, by controlling the rotation of the motors 43a and 43b, the traveling direction and traveling speed of the frame 41, the transverse direction and transverse speed of the transverse carriage 42 can be controlled, and the moving direction and speed of the cutting torch 6 can be controlled. It is configured. Therefore, the cutting torch 6 can be moved in a desired direction at a desired speed.

  The configuration of the cutting torch 6 is not limited, and a cutting torch such as a gas cutting torch, a plasma cutting torch, or a laser cutting torch is selectively used according to conditions such as the material and thickness of the materials D and E to be cut. It is possible. The equipment necessary for operating the selected cutting torch (for example, gas supply equipment, power supply equipment, laser oscillation equipment, etc., not shown) is mounted on the frame 41 or installed on the floor of the factory. Yes.

  In this embodiment, the materials D and E to be cut are steel plates, and a gas cutting torch is used as the cutting torch 6. And after preheating the materials D and E to be cut by a flame in which oxygen and fuel supplied from an oxygen gas supply source and a fuel gas supply source are mixed and burned, the cut oxygen is injected and cut. It is configured to obtain the parts.

  The shapes of the materials D and E to be cut by the cutting torch 6 are not limited, and are rectangular steel plates having a preset standard, and deformed steel plates that do not have a shape such as scrap materials. Either may be sufficient. In this embodiment, a deformed material composed of a substantially trapezoidal cut material D and a triangular cut material E is used.

  The cutting area B is set corresponding to the range in which the cutting torch 6 mounted on the transverse carriage 42 of the carriage 40 can move. That is, the dimension of the cutting area B is set in accordance with a preset specification, and the moving range of the cutting torch 6 is set so as to satisfy the set cutting area B.

  The structure for supporting the materials D and E to be cut arranged in the cutting region B is not limited. For example, a cutting platen arranged in a state where a large number of flat bars are erected, a cutting surface plate arranged in a state where a large number of bar-like bodies are erected, or a material D or E to be cut, and a cutting range B It is possible to selectively employ a pallet, etc., that enters the container and is discharged after cutting is completed.

  The size of the cutting area B is not limited and may be substantially equal to the imaging area C by the CCD camera 1. In this case, the markers 2 to 5 arranged for each of the plurality of base points may be covered with the material to be cut. Therefore, the size of the cutting area B is preferably smaller than the shooting area C by the CCD camera 1, and the position of the base point set in the shooting area C is preferably outside the periphery of the cutting area B.

  Therefore, the size of the cutting area B changes in accordance with the performance of the CCD camera 1 and the distance from the cutting area B of the CCD camera 1. Further, in order to retract the carriage 40 from the imaging area C when the imaging area C is imaged by the CCD camera 1, the rail 45 adds a dimension that allows the carriage 40 to retract to the length of the imaging area C in the X direction. It is laid in length.

  The CCD camera 1 is disposed above the imaging area C including the cutting area B. The structure for supporting the CCD camera 1 is not particularly limited, and can be a portal frame that is configured to be able to run or is fixed to the floor, a cantilever projecting from a pillar of the factory building, or a frame of the factory building. It may be a swivel beam that has a pivot center and is configured to pivot and protrude above the photographing area C during photographing, and to pivot to move to a position along the wall of the factory building during retraction.

  Although the specification of the CCD camera 1 that captures the imaging region C is not limited, it is preferable to include an ultra-wide angle lens. In this embodiment, a CCD camera 1 having an ultra wide angle lens with a focal length of 2.8 mm and having about 1 million pixels is used.

  The signs 2 to 5 arranged for each base point have a pattern that can be sufficiently recognized when the photographed image is processed even if the CCD camera 1 photographs with artificial lighting in the factory. . As patterns used for such signs, there are patterns 01 to 10 shown in FIG. 5, and any of the patterns 01 to 10 selected from these patterns is a metal plate, a synthetic resin plate, or other materials. By forming on the surface of a plate made of And it is possible to set it as the label | markers 2-5 by arrange | positioning the above label | markers for every base point.

  The inventors of the present invention, using a cutting device installed in an actual factory, photographed pattern 01 to pattern 10 with a CCD camera in the time zone from 10:00 to 19:00, and recognized the change in ambient brightness. An experiment was conducted on the ease of recognition and the ease of recognition of the pattern posture. As a result, it was possible to recognize all the patterns 01-10. However, when the factory was bright, there was anxiety about the recognition of pattern 01. Further, when the posture of the pattern was changed, there was anxiety in the recognition of the patterns 9 and 10.

  Therefore, although all the patterns 01 to 10 can be used as the signs 2 to 5, it is preferable to select from the patterns 02 to 08. In this embodiment, the pattern 03 is adopted as the signs 2 to 5.

  The position information of each base point is stored in the image processing apparatus 10 in advance. The location information of each base point can be stored by previously capturing an image capturing area including an accurate cutting area B by the CCD camera 1 and storing the image data at this time in the image processing apparatus 10. Is possible. In this case, the markers 2 to 5 are arranged for each base point, and the optical axis 1a of the CCD camera 1 is adjusted so as to be accurately perpendicular to the cutting area B. In this state, the imaging area C is imaged. Data may be stored in the image processing apparatus 10.

  Alternatively, a photographing region including an accurate cutting region B may be photographed in advance by the CCD camera 1, and the coordinate data of each base point may be stored in the image processing apparatus 10. In this case, it is preferable that the labels 2 to 5 arranged for each base point are arranged so that the center of each label coincides with the base point.

  In the present embodiment, as the initial setting when installing the cutting apparatus A, four base points are set outside the periphery of the cutting region B and inside the photographing region C, and markers 2 to 5 are arranged for each base point. Yes. Then, the CCD camera 1 is arranged on the upper part of the photographing area C so as to have the optical axis 1a coincident with the vertical line passing through the center of the cutting area B, and the photographing area C is photographed while keeping this state. The image is processed and stored as reference image data.

  Image data photographed by the CCD camera 1 is transmitted to an image processing device 10 constituted by a computer, and the shape of the workpieces D and E is recognized by correcting the tilt of the CCD camera 1 by the image processing device 10. . The image processing apparatus 10 includes a correcting unit 11 and a shape recognizing unit 12 including a calculating unit, a program storage unit storing a processing program in the correcting unit 11 and the shape recognizing unit 12, a correcting unit 11 and a shape recognizing unit. 12 has a temporary storage unit for temporarily storing the data processed in step 12.

  The optical axis of the CCD camera 1 needs to be arranged perpendicular to the cutting area B. However, as described above, it is difficult to always keep the optical axis perpendicular to the cutting region B. Therefore, the image taken by the CCD camera 1 reflects the inclination of the optical axis with respect to the cut area B. For example, it is assumed that the CCD camera 1 having the optical axis 1a coincident with the vertical line passing through the center of the cutting area B is tilted to become the optical axis 1b under the influence of vibration or the like.

  As described above, when the CCD camera 1 captures the imaging region C with the optical axis 1b tilted, the signs 2 to 5 in the image correspond to the tilt of the optical axis 1b as shown in FIG. The position on the image changes. Similarly, the cut materials D and E are photographed as the cut materials Db and Eb having shapes corresponding to the inclination of the optical axis 1b. Then, the change in position or the change in shape due to the tilt of the CCD camera 1 is corrected by the correction unit 11 constituting the image processing apparatus 10.

  Next, the correction unit 11 and the shape recognition unit 12 constituting the image processing apparatus 10 will be described. First, a method for correcting an image taken when the CCD camera 1 is tilted (optical axis 1b) by the correction unit 11 will be described.

  The image processing apparatus 10 is set with the CCD camera 1 having the optical axis 1a, the vertical axis of which is accurately adjusted with respect to the imaging region C, and the signs 2 to 4 at the four base points set around the cutting region B. 5 is arranged. In this state, the photographing area C is photographed by the CCD camera 1, the photographed image is processed, and the position of each base point is stored. Further, the number of pixels between the labels 2 to 5 in the image is compared with the dimension between the base points arranged in the imaging region C, and a dimension corresponding to one pixel is obtained and stored.

  Next, the materials D and E to be cut are arranged in the imaging region B and photographed by the CCD camera 1, and the photographed image is processed by the image processing apparatus 10. That is, the captured image data is binarized to obtain an image indicated by a dotted line in FIG. 3, and this image is compared with an image stored in advance. For example, when the markers 2 to 5 in the processed image (FIG. 3) are moved to 2a to 5a, the materials D and E to be cut on the image are Db and Eb, respectively. .

  For this reason, in the correction | amendment part 11, the label | markers 2b-5b in an image are moved so that it may correspond with the marks 2-5 which are the original positions, respectively. And the shape of the to-be-cut materials D and E is obtained by moving the images Db and Eb according to the movement amount which moved the label | markers 2b-5b to the label | markers 2-5. By performing this work, it is possible to correct the inclination of the optical axis of the CCD camera 1 (correct the image by the optical axis 1b to the image by the optical axis 1a). With this correction, the image of the material to be cut is Db. , Eb can be corrected to D and E.

  The correction unit 11 does not correct only the inclination of the CCD camera 1 described above, but can correct the rotation of the CCD camera 1. That is, when the CCD camera 1 is rotated about the optical axis 1a, each of the signs 2 to 5 is rotated about the point 1a that is the center of the imaging region C, and each of the signs 2 to 5 changes to an oblique posture. Will be. Accordingly, the captured images are processed so that the respective signs 2 to 5 in an oblique posture are rotated so as to coincide with the previously stored signs 2 to 5, and according to the rotation angle at this time, Correction can be made by rotating the image.

  Next, the shape recognition unit 12 measures the number of pixels between the vertices of the workpieces D and E, and calculates the length of the side based on the measurement value and the dimension corresponding to one pixel. As a result, the shapes of the workpieces D and E are recognized, the dimensions are calculated at the same time, and the contour line data including the vertex positions and side lengths of the workpieces D and E are temporarily stored in the image processing apparatus 10. Is temporarily stored in the unit.

  When the area of the cutting region B is large, the size corresponding to one pixel may be large. However, in the case of gas cutting, plasma cutting, or laser cutting, the cutting line is not cut at the edge of the material to be cut, and the cutting line is set at a position at least 5 mm to 7 mm away from the end face, or 10 mm to 15 mm in many cases. Therefore, there is no problem as long as the size of exercise for one pixel is smaller than these sizes.

  Information necessary for the operation of the image processing apparatus 10 is input from input means 51 such as a keyboard. In addition, an image photographed by the CCD camera 1 and an image in a process in the correction unit 11 and the shape recognition unit 12 are displayed on an output unit 52 such as a display. The input means 51 and the output means 52 may be dedicated to the image processing apparatus 10, but are preferably common to the assignment control apparatus 20 and the cart drive control apparatus 30.

  The contour line data composed of the shapes and dimensions of the workpieces D and E recognized as described above are stored in the temporary storage unit of the image processing apparatus 10 and then sent to the allocation control apparatus 20 for the allocation. Parts to be cut from the workpieces D and E are assigned by the control device 20.

  In particular, material data including the thickness, material, and the like of the materials D and E to be cut is input in advance from the input means 51 and sent to the assignment control device 20 and the cart drive control device 30, and the components in the assignment control device 20. It is used for data retrieval and NC data creation, and as an element for setting the cutting speed in the cart drive control device 30.

  The allocation control device 20 is constituted by a computer, and stores a program storage unit that stores a program for allocating parts to the workpieces D and E whose shapes and dimensions are recognized, and the shape and dimensions of the parts requested by the ordering department. , A storage unit that stores component data including information such as plate thickness, material, and quantity, and a calculation unit.

  Information such as the shape, dimensions, plate thickness, material, quantity, etc. of parts requested in advance from the ordering department, which is a department different from the cutting department, is input to the allocation control device 20 from the input means 51 and stored in the storage unit as part data. It is remembered.

  The assigning unit 21 receives the contour line data of the materials D and E to be cut recognized by the image processing apparatus 10, and selects a component having a plate thickness and material that matches the material data that has been input in advance and stored in the storage unit. Read from the component data stored in the storage unit. Next, according to the program for allocating the components stored in the program storage unit, the components 25 to 28 corresponding to the read component data are allocated inside the contour lines of the workpieces D and E as shown in FIG.

  The allocation status of the parts 25 to 28 with respect to the workpieces D and E is output to the output means 52. At this time, it is possible for the operator to perform adjustment by operating the input unit 51 while examining the display contents output to the output unit 52. In this way, adjustment by the operator is performed, and the assignment of the parts 25 to 28 to the workpieces D and E is completed.

  When the assignment of the parts 25 to 28 to the workpieces D and E is completed, the data composed of the contour line data of the workpieces D and E and the assigned part data is sent to the NC data creation unit 22 and is composed of the NC device. NC data that is the language of the cart drive control device 30 is created. The NC data created by the NC data creation unit 22 is sent to the carriage drive control device 30 to control the operation of the carriage 40 and the cutting torch 6 mounted on the carriage 40.

  Next, an operation procedure of the cutting apparatus A configured as described above will be described. First, the carriage 40 is retracted from the imaging region C, and the materials D and E to be cut are arranged in the cutting region B. In addition, the allocation control device 20 stores in advance material data including the thickness and material of the materials D and E to be cut, and also stores component data requested by the ordering department. In this state, the imaging area C including the cutting area B is captured by the CCD camera 1, and the captured image is sent to the image processing apparatus 10.

  In the image processing apparatus 10, the correction unit 11 corrects the inclination of the optical axis 1 b of the CCD camera 1 from the image taken by the CCD camera 1. Then, the shape recognition unit 12 clearly recognizes the outlines of the materials D and E to be cut from the image after correcting the inclination of the optical axis 1b, recognizes the shapes of the materials D and E, and cuts the material D. , E corresponding contour data is formed and stored in the storage unit.

  Next, the assignment control device 20 reads out the contour line data of the materials D and E to be cut from the image processing device 10, and matches the material data stored in advance and the material data of the materials D and E to be cut from the ordering department. Read part data. Then, the shape, size, and number of the read component data are assigned in combination with the contour line data of the workpieces D and E. When the assignment of the parts to the workpieces D and E is completed, NC data is created from these data and sent to the cart drive control device 30.

  After the NC data is sent to the cart drive control device 30, when the operator operates the cart drive control device 30 to start cutting, the traveling motor 43 a and the traversing motor 43 b are in response to a command from the cart drive control device 30. Is operated, and the cutting torch 6 is moved to the cutting start position for the materials D and E to be cut.

  After the cutting torch 6 reaches the cutting start position for the material D or the material E to be cut, the cutting torch 6 is stopped, and fuel gas and oxygen are supplied and ignited by being ignited. The cutting material E is preheated. After a predetermined preheating time has elapsed, cutting oxygen is supplied, and cutting of the material D or the material E to be cut by the cutting torch 6 starts. At the same time, the motors 43a and 43b are driven to move the cutting torch 6 along the shapes of the parts 25 to 27 or the parts 25 and 28 assigned to the material D or E to be cut.

  When the parts 25 to 27 or the parts 25 and 28 assigned to the material D or the material E are cut, the supply of oxygen and fuel gas supplied to the cutting torch 6 is stopped, and the other material Cutting the cutting material E or the material D to be cut. When a series of cutting operations on the workpieces D and E are completed, the carriage 40 is withdrawn from the cuttable region B, and the cut materials D and E and the parts 25 to 28 that have been cut are discharged from the cutting region B. The

  The cutting apparatus A of the present invention can be used not only for cutting a material to be cut made of a deformed material such as scrap, but also for cutting a material having a standard size.

A cutting device B cutting region C imaging region D, E material to be cut 1 CCD camera 1a, 1b optical axis 2-5 labeling 6 cutting torch 10 image processing device 11 correction unit 12 shape recognition unit 20 allocation control unit 21 allocation unit 22 NC Data creation part 25-28 Parts 30 Cart drive control device 40 Cart 41 Frame 41a Saddle 41b Garter 42 Traverse carriage 43a Traveling motor 43b Traverse motor 43c Lifting motor 45 Rail 50 Control panel 51 Input means 52 Output means

Claims (5)

A cutting method that recognizes a material to be cut arranged in the cutting area and cuts it with a cutting torch by processing an image taken by a CCD camera from above with a photographing area including the cutting area in which the material to be cut is arranged. There,
A plurality of base points are set in advance in an imaging region including a cutting region in which the material to be cut is arranged, and the positions of the base points are stored.
Photographing the photographing area with a CCD camera arranged above,
Recognize the position of each base point taken by processing the captured image,
A cutting method characterized by recognizing a material to be cut arranged in a cutting region by correcting an image captured by comparing the position of each recognized base point with the position of each base point stored in advance.   The position of each recognized base point is compared with the position of each base point stored in advance to recognize the tilt of the optical axis of the CCD camera with respect to the shooting region, and according to the tilt of the recognized optical axis of the CCD camera with respect to the shooting region. The cutting method according to claim 1, wherein a material to be cut is recognized by correcting the photographed image.   The position of each recognized base point is compared with the position of each base point stored in advance to recognize the rotation with respect to the photographing area around the optical axis of the CCD camera, and the optical axis with respect to the recognized photographing area of the CCD camera is centered. The cutting method according to claim 1 or 2, wherein an image taken in accordance with the rotation is corrected to recognize a workpiece to be cut disposed in the cutting region.   4. The cutting method according to claim 1, wherein when a photographing area is photographed by a CCD camera, a sign having a pattern registered in advance is arranged at each base point. A cutting machine for moving a cutting torch for cutting the material to be cut to a cutting area where the material to be cut is disposed;
A CCD camera that photographs from above the imaging region including the cutting region where the material to be cut is disposed;
A marker arranged for each of a plurality of preset base points in the imaging region;
The image of the imaging area captured by the CCD camera is processed to recognize the position of the sign placed in the imaging area, and the optical axis of the CCD camera is tilted with respect to the imaging area or rotated around the optical axis of the CCD camera. A detection unit that detects the detected material, a correction unit that corrects an image captured in response to the detected inclination or rotation, and a material to be cut that recognizes the material to be cut that is disposed in the cutting region from the corrected image. A processing unit having a recognition unit;
An assigning device for assigning a figure to be cut to the material to be cut recognized by the processing device;
A conversion device that converts information of a graphic assigned by the assignment device into control information of the cutting machine;
A cutting control device for controlling the driving of the cutting machine according to the control information converted by the conversion device;
A cutting device comprising:

Images