WO2021238097A1 - 一种自动焊接标牌的方法及装置 - Google Patents
一种自动焊接标牌的方法及装置 Download PDFInfo
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- WO2021238097A1 WO2021238097A1 PCT/CN2020/128645 CN2020128645W WO2021238097A1 WO 2021238097 A1 WO2021238097 A1 WO 2021238097A1 CN 2020128645 W CN2020128645 W CN 2020128645W WO 2021238097 A1 WO2021238097 A1 WO 2021238097A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
Definitions
- This application relates to the field of image processing technology, and in particular to a method and device for automatically welding signs.
- the steel mills After the steel mills bundle and pack the steel, they usually weld a certain number of signs on the end face of each steel bundle. These signs are used to display the basic information of the steel bundle, such as model, specification, and production date.
- the traditional sign welding method is manual welding, which has low efficiency and is not suitable for large-volume production. In order to improve efficiency, many steel mills have generally adopted machine control methods to realize automatic welding of signs.
- the process of automatic welding of signs generally includes: when the steel bundle is transported to the position to be welded, the system controls the binocular camera to collect the end face image of the steel bundle, and through image processing, selects the first sign welding point, and then welds according to the first sign Point’s three-dimensional coordinates, control the telescopic welding gun for welding. After the welding is completed, the system controls the binocular camera again to collect the end image of the steel bundle to determine whether the first sign is successfully welded.
- the image processing takes the longest time.
- image acquisition and image processing are required to obtain the coordinates of the welding point. Therefore, it will take a long time to complete the welding work of all signs of a steel bundle.
- the efficiency of the above-mentioned automatic welding method is low and will not be able to meet the actual production requirements.
- the present application discloses a method and device for automatically welding signs through the following embodiments.
- the first aspect of the present application discloses a method for automatically welding signs, the method comprising:
- multiple sets of points to be welded are generated, wherein the number of points to be welded contained in each point set to be welded is the same as the number of the welding sub-areas, and each point to be welded has a different set of points to be welded.
- Welding points correspond to different welding sub-areas, and the distance between each point to be welded and the different points to be welded is not less than the size of the sign to be welded;
- the welding signs are welded to the end surface of the current steel bundle.
- the welding the welding sign to the end surface of the current steel bundle according to the welding points where the welding points are concentrated includes:
- the welding signs are welded to the end surface of the current steel bundle according to the points to be welded in the set of points to be welded in sequence.
- welding the signs to be welded to the end surface of the current steel bundle according to the points to be welded in the set of points to be welded in sequence includes:
- the multiple points to be welded are selected from the center points of all steel end face contours based on the Z value of the center point coordinates of all steel end face contours, including:
- the reference plane being the plane on which the steel end face corresponding to the center point with the smallest Z value in the target sub-region is located, and the target sub-region is any welding sub-region;
- the setting of the end face welding area of the current steel bundle according to the X value and the Y value of the center point coordinates of the end face contours of all steel materials includes:
- the rectangular area is set as the welding area of the end face of the current steel bundle.
- the dividing the end face welding area into a plurality of welding sub-areas includes:
- the end face welding area is equally divided into a plurality of welding sub-areas according to the area.
- the acquiring the end face image of the current steel bundle and extracting the end face contour of each steel from the end face image includes:
- the end face image of the current steel bundle is collected by a binocular camera, the binocular camera includes a first camera and a second camera, and the end face image includes a first end face image collected by the first camera and the second camera The collected second end face image;
- the end surface contour of each steel is extracted from the first end surface image to obtain a first end surface contour set, and the end surface contour of each steel is extracted from the second end surface image to obtain a second end surface contour set.
- the obtaining the coordinates of the center point of the contour of each steel end face includes:
- first center point set includes the center points of all end face contours in the first end face contour set
- second center point set includes the second end face The center point of all the end face contours in the contour set
- the coordinates of the center point of the contour of the end face of each steel material are obtained.
- the second aspect of the present application discloses a device for automatically welding signs.
- the device is applied to the method for automatically welding signs described in the first aspect of the present application, and the device includes:
- An end face image acquisition module for acquiring the end face image of the current steel bundle, and extracting the end face contour of each steel from the end face image;
- the center point coordinate acquisition module is used to acquire the center point coordinates of the profile of each steel end face
- the welding area setting module is used to set the end surface welding area of the current steel bundle according to the X value and Y value of the center point coordinates of the end surface contour of all steel;
- a welding area dividing module which is used to divide the end face welding area into a plurality of welding sub-areas, the number of the welding sub-areas is the same as the number of signs to be welded;
- the welding point screening module is used to filter out multiple welding points from the center points of all steel end surface contours according to the Z value of the center point coordinates of all steel end face contours;
- the to-be-welded point set generating module is configured to generate multiple to-be-welded point sets according to the multiple to-be-welded points, wherein the number of to-be-welded points contained in each to-be-welded point set is the same as the number of the welding sub-regions, Each to-be-welded point group and different to-be-welded points correspond to different welding sub-regions, and the distance between each to-be-welded point group and different to-be-welded points is not less than the size of the to-be-welded sign;
- the welding module is used for welding the welding sign to the end surface of the current steel bundle according to the welding points where the welding points are concentrated.
- the welding module includes:
- the Z-value summation unit is used to obtain the sum of the Z-values of all the points to be welded in each set of points to be welded;
- the priority level setting unit is used to set the priority levels of all the point sets to be welded according to the order of the sum of Z values from small to large, where the point set to be welded with the smallest sum of Z values has the highest priority;
- the grade welding unit is used to weld the welding signs to the end surface of the current steel bundle starting from the set of points to be welded with the highest priority and sequentially according to the points to be welded in the concentration of points to be welded.
- the grade welding unit includes:
- the grade welding subunit is used to start from the set of points to be welded with the highest priority, obtain all the points to be welded in the set of points to be welded, and weld all the signs in sequence. During the welding process, if there is a sign welding failure, start from the sign. Use the points to be welded in the next priority level to be welded to continue welding.
- the to-be-welded point screening module includes:
- the reference surface setting unit is used to set the reference surface of the target subregion, the reference surface being the plane on which the steel end face corresponding to the center point with the smallest Z value in the target subregion is located, and the target subregion is any A welding sub-area;
- a distance obtaining unit configured to obtain the minimum distance between a target end surface and the reference surface, where the target end surface is a plane on which any steel end surface in the target sub-region is located;
- the point to be welded judging unit is used to judge whether the minimum distance does not exceed the length of the gun head of the telescopic welding gun, and if so, the center point of the profile of the steel end face corresponding to the target end face is set as the point to be welded.
- the welding area setting module includes:
- Area delimitation unit used to extract the maximum X value, minimum X value, maximum Y value and minimum Y value from the center point coordinates of all steel end face contours, and delimit the rectangular area according to these four values;
- the welding area setting unit is used to set the rectangular area as the welding area of the end face of the current steel bundle.
- the welding area dividing module includes:
- An area obtaining unit for obtaining the area of the welding area of the end face
- the area equalization unit is used to divide the end face welding area into multiple welding sub-areas according to the area according to the number of signs to be welded.
- the end face image acquisition module includes:
- An image acquisition unit for acquiring an end face image of the current steel bundle through a binocular camera, the binocular camera including a first camera and a second camera, and the end face image includes a first end face image collected by the first camera And a second end surface image collected by the second camera;
- the contour extraction unit is used to extract the end surface contour of each steel material from the first end surface image to obtain a first end surface contour set, and extract the end surface contour of each steel material from the second end surface image to obtain a second end surface contour. End face profile set.
- the central point coordinate acquisition module includes:
- the center point set acquiring unit is used to acquire a first center point set and a second center point set, wherein the first center point set includes the center points of all the end face contours in the first end face contour set, and the second center The point set includes the center points of all the end face contours in the second end face contour set;
- the matching unit is configured to match all the center points in the first center point set and the second center point set, where if there is and only one distance between the center point and the target point in the second center point set If it does not exceed a preset threshold, the matching is successful, otherwise the matching fails, the target point is any center point in the first center point set, and the preset threshold is the radius of the steel end face;
- a target point set acquiring unit configured to use all successfully matched center points in the first center point set as a first target point set, and use all successfully matched center points in the second center point set as a second target point set;
- the center point coordinate obtaining unit is configured to obtain the center point coordinates of the contour of each steel end face according to the first target point set and the second target point set.
- the embodiment of the application discloses a method and device for automatically welding signs.
- the method includes: acquiring the end face image of the current steel bundle, and extracting the end face contour of each steel material and the center point coordinates of the end face contour of each steel material, and then setting Determine the end face welding area of the current steel bundle, and divide the end face welding area into multiple welding sub-areas; then filter out multiple points to be welded from the center points of all steel end face contours, and generate multiple sets of points to be welded, each The number of points to be welded included in the set of points to be welded is the same as the number of welding sub-areas.
- Each point to be welded is concentrated and different points to be welded correspond to different welding sub-areas, and each point to be welded is concentrated between different points to be welded.
- the distance is not less than the size of the welding label; finally, the welding is carried out according to the points to be welded concentrated.
- multiple sets of points to be welded are obtained before welding. Therefore, there is no need to repeat image acquisition and image processing during the welding process. All signs can be welded using the set of points to be welded, which can save a lot of time , Effectively improve welding efficiency.
- FIG. 1 is a schematic diagram of the work flow of a method for automatically welding signs disclosed in an embodiment of the application;
- FIG. 2 is a schematic diagram of setting the end face welding area in a method for automatically welding signs disclosed in an embodiment of the application;
- FIG. 3 is a schematic diagram of dividing an end face welding area in a method for automatically welding signs disclosed in an embodiment of the application;
- FIG. 4 is a schematic diagram of the working process of welding the signs to be welded to the end surface of the current steel bundle in a method for automatically welding signs disclosed in an embodiment of the application;
- Fig. 5 is a schematic structural diagram of a device for automatically welding signs disclosed in an embodiment of the application.
- the present application discloses a method and device for automatically welding signs through the following embodiments.
- the first embodiment of the present application discloses a method for automatically welding signs. Referring to the schematic diagram of the work flow shown in FIG. 1, the method includes:
- Step S101 Obtain the end face image of the current steel bundle, and extract the end face contour of each steel from the end face image.
- the end face image of the current steel bundle is collected by a binocular camera
- the binocular camera includes a first camera and a second camera
- the collected end face image includes the first camera collected by the first camera.
- extracting the end profile of each steel from the end image includes: extracting the end profile of each steel from the first end image, obtaining a first end profile set, and, from the second end profile Extract the end surface contour of each steel from the end surface image to obtain the second end surface contour set.
- Step S102 Obtain the coordinates of the center point of the profile of each steel end face.
- the contours in the first end face profile set and the second end face profile set can be approximated to a circle to obtain the center point of each profile. Then, through the following steps, the center point coordinates of each contour can be obtained.
- first center point set includes the center points of all end face contours in the first end face contour set
- second center point set includes the second end face The center point of all the end face contours in the contour set.
- the matching is successful, otherwise the matching fails, the target point is any center point in the first center point set, and the preset threshold is the radius of the steel end face.
- the radius of the steel end face can be obtained according to the production specifications of the steel and stored in the system in advance.
- the coordinates of the center point of the contour of the end face of each steel material are obtained.
- using binocular matching can generate the X-axis coordinate value and Y-axis coordinate value of the center point of each steel end face profile, that is, X value and Y value, and use the binocular distance measurement principle to generate each steel end face profile
- the Z axis coordinate value of the center point that is, the Z value.
- the X value indicates the horizontal position of the center point of the profile of the steel end face
- the Y value indicates the vertical position of the center point of the profile of the steel end face
- the Z value indicates the distance between the center point of the profile of the steel end face and the binocular camera.
- the straight-line distance is the straight-line distance.
- step S103 the end face welding area of the current steel bundle is set according to the X value and the Y value of the center point coordinates of all steel end face contours.
- the maximum X value, the minimum X value, the maximum Y value and the minimum Y value are extracted from the coordinates of the center point of the contour of all steel end faces, and are based on these four values. Delimit a rectangular area. Then the rectangular area is set as the welding area of the end face of the current steel bundle.
- FIG 2 shows the end face image of the current steel bundle.
- the coordinate origin is located at the upper left corner of the entire end face image. It extends horizontally from the coordinate origin to the right as the positive X axis, and extends downward from the coordinate origin to the positive Y axis.
- Each circle The shape represents the contours of all steel end faces in the current steel bundle.
- the rectangular box is a rectangular area delineated according to the maximum X value, the minimum X value, the maximum Y value and the minimum Y value, that is, the end welding area of the current steel bundle.
- step S104 the end face welding area is divided into a plurality of welding sub-areas, and the number of the welding sub-areas is the same as the number of signs to be welded.
- dividing the end face welding area into a plurality of welding sub-areas includes:
- the end face welding area is equally divided into a plurality of welding sub-areas according to the area.
- step S105 according to the Z value of the center point coordinates of all steel end face contours, multiple points to be welded are selected from the center points of all steel end face contours.
- Step S106 Generate multiple sets of points to be welded according to the plurality of points to be welded, wherein the number of points to be welded included in each point set to be welded is the same as the number of the welding sub-regions, and each point to be welded is concentrated Different welding points correspond to different welding sub-regions, and the distance between the different welding points in each welding point concentration is not less than the size of the welding label.
- each point to be welded comes from a different welding sub-area; (2) each After the signs are hung on the welding points, the signs will not block each other.
- each set of points to be welded meets the three requirements described in step S106.
- each set of points to be welded can be welded for all signs.
- the number of points to be welded can be preset to four.
- the distance between the different points to be welded in each point to be welded is not less than the size of the signs to be welded, so that after the signs to be welded in different welding sub-regions are hung on the signs, the signs will not block each other.
- one point to be welded is concentrated, the horizontal distance between the two points to be welded in the welding sub-area A and the welding sub-area B cannot be less than the length of the sign, two of the welding sub-area C and the welding sub-area D
- the horizontal distance between the points to be welded cannot be less than the length of the sign;
- the vertical distance between the two points to be welded in the welding sub-area A and the welding sub-area C cannot be less than the width of the sign, the welding sub-area B and the welding sub-area D
- the vertical distance between the two to-be-welded points in can not be less than the width of the sign;
- the straight-line distance between the two to-be-welded points in the welding sub-area A and the welding sub-area D cannot be less than the hypotenuse length of the sign, the welding sub-area
- the straight line distance between the two to-be-welded points in B and the welding sub-area C cannot be less than the length of the hypotenuse of the sign.
- Step S107 according to the points to be welded where the points to be welded are concentrated, weld the signs to be welded to the end surface of the current steel bundle.
- the embodiment of the application discloses a method for automatically welding signs.
- the method includes: obtaining the end face image of the current steel bundle, extracting the end face contour of each steel and the center point coordinates of the end face contour of each steel, and then setting the current
- the end face welding area of the steel bundle, and the end face welding area is divided into multiple welding sub-areas; then multiple points to be welded are selected from the center points of the contours of all steel end faces, and multiple sets of points to be welded are generated, each of which is to be welded
- the number of points to be welded included in the point set is the same as the number of welding sub-areas, each of the points to be welded is set to a different point to be welded corresponds to a different welding sub-area, and each point to be welded is set with different distances between the points to be welded Not less than the size of the welding label; finally welding is carried out according to the points to be welded concentrated.
- the welding of the welding sign to the end surface of the current steel bundle according to the welding points where the welding points are concentrated includes:
- step S401 the sum of the Z values of all the points to be welded in each set of points to be welded is obtained.
- Step S402 according to the order of the sum of Z values from small to large, set the priority levels of all point sets to be welded, where the point set to be welded with the smallest sum of Z values has the highest priority level.
- step S403 starting from the set of points to be welded with the highest priority, the signs to be welded are welded to the end surface of the current steel bundle according to the points to be welded in the set of points to be welded in sequence.
- the smallest sum of Z values means that in the process of welding all signs, the moving distance of the tip of the telescopic welding gun is the smallest, and the time required for welding is relatively the smallest.
- the priority levels of all the point sets to be welded are set, and the point set to be welded with the smallest sum of Z values is set as the point set to be welded with the highest priority. It can effectively reduce the actual welding time and improve the welding efficiency.
- welding the signs to be welded to the end surface of the current steel bundle according to the points to be welded in the set of points to be welded in sequence includes:
- the first welding sub-area is to be welded, if the welding is successful, the second welding sub-area is to be welded, and if the welding fails, the current to be welded is discarded Point set, use the next priority point set to be welded, start from the second to be welded point, perform sign welding on the second welding sub-area, and so on, until all signs are welded.
- a binocular camera must be used to collect the image of the end face of the steel bundle to determine whether the sign is successfully welded.
- image preprocessing such as grayscale, filtering and corrosion processing
- the end surface of the steel bundle is uneven, and the end surface of some steels is recessed. If the depth of the recess is greater than the length of the gun head of the telescopic welding gun, the telescopic welding gun will be damaged when welding these steel end faces.
- multiple points to be welded are selected from the center points of all steel end face contours, including:
- the reference plane of the target sub-region is the plane of the steel end face corresponding to the center point with the smallest Z value in the target sub-region (that is, the steel end face closest to the binocular camera), the target The sub-area is any welding sub-area.
- the target end face is a plane on which any steel end face in the target sub-region is located.
- the datum plane is the most protruding steel end surface in the current steel bundle end surface.
- the second embodiment of the present application discloses a device for automatically welding signs.
- the device is applied to the method for automatically welding signs described in the first embodiment of the present application.
- the device include:
- the end face image acquisition module 10 is used to acquire the end face image of the current steel bundle, and extract the end face contour of each steel from the end face image.
- the center point coordinate acquisition module 20 is used to acquire the center point coordinates of the profile of each steel end face.
- the welding area setting module 30 is used for setting the end surface welding area of the current steel bundle according to the X value and the Y value of the center point coordinates of the end surface contours of all steels.
- the welding area dividing module 40 is used to divide the end face welding area into a plurality of welding sub-areas, and the number of the welding sub-areas is the same as the number of signs to be welded.
- the to-be-welded point screening module 50 is used to filter out multiple to-be-welded points from the center points of all steel end face contours according to the Z value of the center point coordinates of all steel end face contours.
- the to-be-welded point set generating module 60 is configured to generate multiple to-be-welded point sets according to the multiple to-be-welded points, wherein the number of to-be-welded points included in each to-be-welded point set is the same as the number of the welding sub-regions Each to-be-welded point concentration and different to-be-welded points correspond to different welding sub-regions, and the distance between each to-be-welded point concentration and the different to-be-welded points is not less than the size of the to-be-welded sign.
- the welding module 70 is used for welding the welding sign to the end surface of the current steel bundle according to the welding points where the welding points are concentrated.
- the welding module includes:
- the Z value summation unit is used to obtain the sum of the Z values of all the points to be welded in each set of points to be welded.
- the priority level setting unit is used to set the priority levels of all the point sets to be welded according to the order of the sum of the Z values from small to large, wherein the point set to be welded with the smallest sum of Z values has the highest priority.
- the grade welding unit is used to weld the welding signs to the end surface of the current steel bundle starting from the set of points to be welded with the highest priority and sequentially according to the points to be welded in the concentration of points to be welded.
- grade welding unit includes:
- the grade welding subunit is used to start from the set of points to be welded with the highest priority, obtain all the points to be welded in the set of points to be welded, and weld all the signs in sequence. During the welding process, if there is a sign welding failure, start from the sign. Use the points to be welded in the next priority level to be welded to continue welding.
- the screening module for the points to be welded includes:
- the reference surface setting unit is used to set the reference surface of the target subregion, the reference surface being the plane on which the steel end face corresponding to the center point with the smallest Z value in the target subregion is located, and the target subregion is any A welding sub-area.
- the distance obtaining unit is configured to obtain the minimum distance between the target end surface and the reference surface, and the target end surface is a plane where any steel end surface in the target sub-region is located.
- the point to be welded judging unit is used to judge whether the minimum distance does not exceed the length of the gun head of the telescopic welding gun, and if so, the center point of the profile of the steel end face corresponding to the target end face is set as the point to be welded.
- the welding area setting module includes:
- the area delimitation unit is used to extract the maximum X value, the minimum X value, the maximum Y value and the minimum Y value from the center point coordinates of the contour of all steel end faces, and to delimit the rectangular area according to these four values.
- the welding area setting unit is used to set the rectangular area as the welding area of the end face of the current steel bundle.
- the welding area dividing module includes:
- the area obtaining unit is used to obtain the area of the end face welding area.
- the area equalization unit is used to divide the end face welding area into multiple welding sub-areas according to the area according to the number of signs to be welded.
- the end face image acquisition module includes:
- An image acquisition unit for acquiring an end face image of the current steel bundle through a binocular camera, the binocular camera including a first camera and a second camera, and the end face image includes a first end face image collected by the first camera And a second end surface image collected by the second camera.
- the contour extraction unit is used to extract the end surface contour of each steel material from the first end surface image to obtain a first end surface contour set, and extract the end surface contour of each steel material from the second end surface image to obtain a second end surface contour. End face profile set.
- the central point coordinate acquisition module includes:
- the center point set acquiring unit is used to acquire a first center point set and a second center point set, wherein the first center point set includes the center points of all the end face contours in the first end face contour set, and the second center The point set includes the center points of all the end face contours in the second end face contour set.
- the matching unit is configured to match all the center points in the first center point set and the second center point set, where if there is and only one distance between the center point and the target point in the second center point set If it does not exceed the preset threshold, the matching is successful, otherwise the matching fails, the target point is any center point in the first center point set, and the preset threshold is the radius of the steel end face.
- a target point set acquiring unit configured to use all successfully matched center points in the first center point set as a first target point set, and use all successfully matched center points in the second center point set as a second target point set.
- the center point coordinate obtaining unit is configured to obtain the center point coordinates of the contour of each steel end face according to the first target point set and the second target point set.
Abstract
一种自动焊接标牌的方法及装置，该方法包括：获取当前钢捆的端面图像，并提取每根钢材的端面轮廓及端面轮廓的中心点坐标，设定当前钢捆的端面焊接区域，并将端面焊接区域分割为多个焊接子区域，从所有钢材端面轮廓的中心点中筛选出多个待焊接点，生成多个待焊接点集，每个待焊接点集包含的待焊接点数量与焊接子区域的数量一致，不同的待焊接点对应不同的焊接子区域，且，不同待焊接点之间的距离不小于需焊接标牌的尺寸，按照待焊接点集中的待焊接点进行焊接。上述方法中，在焊接之前便生成多个待焊接点集，因此在焊接过程中，无需重复进行图像采集及图像处理工作，可节约大量时间，有效提高焊接效率。
Description
本申请涉及图像处理技术领域，尤其涉及一种自动焊接标牌的方法及装置。
钢厂在对钢材进行打捆包装之后，通常要在每个钢捆的端面上焊接一定数量的标牌，这些标牌用于显示钢捆的基本信息，例如型号、规格及生产日期等。传统的标牌焊接方式是通过人工焊接，效率较低，无法适用于产量较大的生产。为了提高效率，目前许多钢厂已普遍采用机器控制的方式，实现标牌的自动焊接。
自动焊接标牌的流程大致包括：当钢捆被输送至待焊接位置时，系统控制双目相机采集钢捆的端面图像，通过图像处理，选取第一个标牌焊接点，然后根据第一个标牌焊接点的三维坐标，控制伸缩焊枪进行焊接，焊接完成后，系统再次控制双目相机采集钢捆端面图像，判断第一个标牌是否成功焊接。如果未成功焊接，则控制双目相机再次进行图像采集，通过图像处理，重新获取第一个标牌焊接点的三维坐标，再次进行焊接；如果成功焊接，则重复执行上述操作，进行第二个标牌的焊接点选取及焊接工作，以此类推，直至焊接完所有标牌。
自动焊接过程中，花费时间最长的就是图像处理。而上述流程中，在焊接每一个标牌之前，都需进行图像采集及图像处理，才能获取焊接点的坐标，因此若要完成一个钢捆所有标牌的焊接工作，将花费较长时间。在需焊接的标牌数量较大时，上述自动焊接方式的效率较低，将无法满足实际生产要求。
发明内容
为了解决因在焊接每一个标牌之前，都需进行图像采集及图像处理才能获取焊接点的坐标，从而降低焊接效率的问题，本申请通过以下实施例公开了一种自动焊接标牌的方法及装置。
本申请第一方面公开了一种自动焊接标牌的方法，所述方法包括：
获取当前钢捆的端面图像，并从所述端面图像中提取每根钢材的端面轮廓；
获取每根钢材端面轮廓的中心点坐标；
根据所有钢材端面轮廓中心点坐标的X值与Y值，设定所述当前钢捆的端面焊接区域；
将所述端面焊接区域分割为多个焊接子区域，所述焊接子区域的数量与需焊接标牌的数量一致；
根据所有钢材端面轮廓中心点坐标的Z值，从所有钢材端面轮廓的中心点中筛选出多个待焊接点；
根据所述多个待焊接点，生成多个待焊接点集，其中，每个待焊接点集中包含的 待焊接点数量与所述焊接子区域的数量一致，每个待焊接点集中不同的待焊接点对应不同的焊接子区域，且，每个待焊接点集中不同待焊接点之间的距离不小于所述需焊接标牌的尺寸；
按照所述待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上。
可选的，所述按照所述待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上，包括：
获取每个待焊接点集中所有待焊接点的Z值之和；
根据所述Z值之和从小到大的顺序，设置所有待焊接点集的优先等级，其中，Z值之和最小的待焊接点集的优先等级最高；
从优先等级最高的待焊接点集开始，依次按照待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上。
可选的，所述从优先等级最高的待焊接点集开始，依次按照待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上，包括：
从优先等级最高的待焊接点集开始，获取待焊接点集中所有的待焊接点，依次焊接所有标牌，焊接过程中，若存在标牌焊接失败，则从该标牌开始，使用下一优先等级的待焊接点集中的待焊接点继续进行焊接。
可选的，所述根据所有钢材端面轮廓中心点坐标的Z值，从所有钢材端面轮廓的中心点中筛选出多个待焊接点，包括：
设定目标子区域的基准面，所述基准面为所述目标子区域中Z值最小的中心点对应的钢材端面所处的平面，所述目标子区域为任一个焊接子区域；
获取目标端面与所述基准面之间的最小距离，所述目标端面为所述目标子区域中任一根钢材端面所处的平面；
判断所述最小距离是否不超过伸缩焊枪的枪头长度，若是，则将所述目标端面对应的钢材端面轮廓中心点设为所述待焊接点。
可选的，所述根据所有钢材端面轮廓中心点坐标的X值与Y值，设定所述当前钢捆的端面焊接区域，包括：
从所有钢材端面轮廓中心点坐标中提取最大X值、最小X值、最大Y值及最小Y值，并根据这四个值划定矩形区域；
将所述矩形区域设定为所述当前钢捆的端面焊接区域。
可选的，所述将所述端面焊接区域分割为多个焊接子区域，包括：
获取所述端面焊接区域的面积；
根据所述需焊接标牌的数量，按面积将所述端面焊接区域等分为多个焊接子区域。
可选的，所述获取当前钢捆的端面图像，并从所述端面图像中提取每根钢材的端 面轮廓，包括：
通过双目相机采集所述当前钢捆的端面图像，所述双目相机包括第一相机及第二相机，所述端面图像包括所述第一相机采集的第一端面图像及所述第二相机采集的第二端面图像；
从所述第一端面图像中提取每根钢材的端面轮廓，获取第一端面轮廓集，及，从所述第二端面图像中提取每根钢材的端面轮廓，获取第二端面轮廓集。
可选的，所述获取每根钢材端面轮廓的中心点坐标，包括：
获取第一中心点集及第二中心点集，其中，所述第一中心点集包括所述第一端面轮廓集中所有端面轮廓的中心点，所述第二中心点集包括所述第二端面轮廓集中所有端面轮廓的中心点；
对所述第一中心点集与所述第二中心点集中的所有中心点进行匹配，其中，若第二中心点集中有且仅有一个中心点与目标点之间的距离不超过预设阈值，则匹配成功，否则匹配失败，所述目标点为第一中心点集中的任一个中心点，所述预设阈值为所述钢材端面的半径；
将所述第一中心点集中所有匹配成功的中心点作为第一目标点集，及，将所述第二中心点集中所有匹配成功的中心点作为第二目标点集；
根据所述第一目标点集与所述第二目标点集，获取所述每根钢材端面轮廓的中心点坐标。
本申请第二方面公开了一种自动焊接标牌的装置，所述装置应用于本申请第一方面所述的一种自动焊接标牌的方法，所述装置包括：
端面图像获取模块，用于获取当前钢捆的端面图像，并从所述端面图像中提取每根钢材的端面轮廓；
中心点坐标获取模块，用于获取每根钢材端面轮廓的中心点坐标；
焊接区域设定模块，用于根据所有钢材端面轮廓中心点坐标的X值与Y值，设定所述当前钢捆的端面焊接区域；
焊接区域分割模块，用于将所述端面焊接区域分割为多个焊接子区域，所述焊接子区域的数量与需焊接标牌的数量一致；
待焊接点筛选模块，用于根据所有钢材端面轮廓中心点坐标的Z值，从所有钢材端面轮廓的中心点中筛选出多个待焊接点；
待焊接点集生成模块，用于根据所述多个待焊接点，生成多个待焊接点集，其中，每个待焊接点集中包含的待焊接点数量与所述焊接子区域的数量一致，每个待焊接点集中不同的待焊接点对应不同的焊接子区域，且，每个待焊接点集中不同待焊接点之间的距离不小于所述需焊接标牌的尺寸；
焊接模块，用于按照所述待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上。
可选的，所述焊接模块包括：
Z值求和单元，用于获取每个待焊接点集中所有待焊接点的Z值之和；
优先等级设置单元，用于根据所述Z值之和从小到大的顺序，设置所有待焊接点集的优先等级，其中，Z值之和最小的待焊接点集的优先等级最高；
等级焊接单元，用于从优先等级最高的待焊接点集开始，依次按照待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上。
可选的，所述等级焊接单元包括：
等级焊接子单元，用于从优先等级最高的待焊接点集开始，获取待焊接点集中所有的待焊接点，依次焊接所有标牌，焊接过程中，若存在标牌焊接失败，则从该标牌开始，使用下一优先等级的待焊接点集中的待焊接点继续进行焊接。
可选的，所述待焊接点筛选模块包括：
基准面设定单元，用于设定目标子区域的基准面，所述基准面为所述目标子区域中Z值最小的中心点对应的钢材端面所处的平面，所述目标子区域为任一个焊接子区域；
距离获取单元，用于获取目标端面与所述基准面之间的最小距离，所述目标端面为所述目标子区域中任一根钢材端面所处的平面；
待焊接点判定单元，用于判断所述最小距离是否不超过伸缩焊枪的枪头长度，若是，则将所述目标端面对应的钢材端面轮廓中心点设为所述待焊接点。
可选的，所述焊接区域设定模块包括：
区域划定单元，用于从所有钢材端面轮廓中心点坐标中提取最大X值、最小X值、最大Y值及最小Y值，并根据这四个值划定矩形区域；
焊接区域设定单元，用于将所述矩形区域设定为所述当前钢捆的端面焊接区域。
可选的，所述焊接区域分割模块包括：
面积获取单元，用于获取所述端面焊接区域的面积；
面积等分单元，用于根据所述需焊接标牌的数量，按面积将所述端面焊接区域等分为多个焊接子区域。
可选的，所述端面图像获取模块包括：
图像采集单元，用于通过双目相机采集所述当前钢捆的端面图像，所述双目相机包括第一相机及第二相机，所述端面图像包括所述第一相机采集的第一端面图像及所述第二相机采集的第二端面图像；
轮廓提取单元，用于从所述第一端面图像中提取每根钢材的端面轮廓，获取第一端面轮廓集，及，从所述第二端面图像中提取每根钢材的端面轮廓，获取第二端面轮廓集。
可选的，所述中心点坐标获取模块包括：
中心点集获取单元，用于获取第一中心点集及第二中心点集，其中，所述第一中心点集包括所述第一端面轮廓集中所有端面轮廓的中心点，所述第二中心点集包括所述第二端面轮廓集中所有端面轮廓的中心点；
匹配单元，用于对所述第一中心点集与所述第二中心点集中的所有中心点进行匹配，其中，若第二中心点集中有且仅有一个中心点与目标点之间的距离不超过预设阈值，则匹配成功，否则匹配失败，所述目标点为第一中心点集中的任一个中心点，所述预设阈值为所述钢材端面的半径；
目标点集获取单元，用于将所述第一中心点集中所有匹配成功的中心点作为第一目标点集，及，将所述第二中心点集中所有匹配成功的中心点作为第二目标点集；
中心点坐标获取单元，用于根据所述第一目标点集与所述第二目标点集，获取所述每根钢材端面轮廓的中心点坐标。
本申请实施例公开了一种自动焊接标牌的方法及装置，所述方法包括：获取当前钢捆的端面图像，并提取每根钢材的端面轮廓及每根钢材端面轮廓的中心点坐标，然后设定当前钢捆的端面焊接区域，并将端面焊接区域分割为多个焊接子区域；接着从所有钢材端面轮廓的中心点中筛选出多个待焊接点，生成多个待焊接点集，每个待焊接点集包含的待焊接点数量与焊接子区域的数量一致，每个待焊接点集中不同的待焊接点对应不同的焊接子区域，且，每个待焊接点集中不同待焊接点之间的距离不小于需焊接标牌的尺寸；最后按照待焊接点集中的待焊接点进行焊接。上述方法中，在焊接之前便获取了多个待焊接点集，因此在焊接过程中，无需重复进行图像采集及图像处理工作，使用待焊接点集便可对所有标牌进行焊接，能够节约大量时间，有效提高焊接效率。
为了更清楚地说明本申请的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例公开的一种自动焊接标牌的方法的工作流程示意图；
图2为本申请实施例公开的一种自动焊接标牌的方法中，设定端面焊接区域的示意图；
图3为本申请实施例公开的一种自动焊接标牌的方法中，分割端面焊接区域的示意图；
图4为本申请实施例公开的一种自动焊接标牌的方法中，将需焊接标牌焊接至当前钢捆的端面上的工作流程示意图；
图5为本申请实施例公开的一种自动焊接标牌的装置的结构示意图。
为了解决因在焊接每一个标牌之前，都需进行图像采集及图像处理才能获取焊接点的坐标，从而降低焊接效率的问题，本申请通过以下实施例公开了一种自动焊接标 牌的方法及装置。
本申请第一实施例公开了一种自动焊接标牌的方法，参见图1所示的工作流程示意图，所述方法包括：
步骤S101，获取当前钢捆的端面图像，并从所述端面图像中提取每根钢材的端面轮廓。
在一种实现方式中，通过双目相机采集所述当前钢捆的端面图像，所述双目相机包括第一相机及第二相机，采集所得的端面图像包括所述第一相机采集的第一端面图像及所述第二相机采集的第二端面图像。
基于上述内容，从所述端面图像中提取每个钢材的端面轮廓则包括：从所述第一端面图像中提取每根钢材的端面轮廓，获取第一端面轮廓集，及，从所述第二端面图像中提取每根钢材的端面轮廓，获取第二端面轮廓集。
步骤S102，获取每根钢材端面轮廓的中心点坐标。
实际应用中，在获取每根钢材端面轮廓的中心点坐标之前，可以对第一端面轮廓集与第二端面轮廓集中的各轮廓分别进行逼近圆处理，获取各轮廓的中心点。然后便可通过以下步骤，获取各轮廓的中心点坐标。
获取第一中心点集及第二中心点集，其中，所述第一中心点集包括所述第一端面轮廓集中所有端面轮廓的中心点，所述第二中心点集包括所述第二端面轮廓集中所有端面轮廓的中心点。
对所述第一中心点集与所述第二中心点集中的所有中心点进行匹配，其中，若第二中心点集中有且仅有一个中心点与目标点之间的距离不超过预设阈值，则匹配成功，否则匹配失败，所述目标点为第一中心点集中的任一个中心点，所述预设阈值为所述钢材端面的半径。实际应用中，钢材端面的半径可根据钢材的生产规格获取，预先存储至系统中。
将所述第一中心点集中所有匹配成功的中心点作为第一目标点集，及，将所述第二中心点集中所有匹配成功的中心点作为第二目标点集。其中，第一目标点集与第二目标点集中点的数目一致，且一一对应。
根据所述第一目标点集与所述第二目标点集，获取所述每根钢材端面轮廓的中心点坐标。
具体的，利用双目匹配便可生成每根钢材端面轮廓的中心点的X轴坐标值及Y轴坐标值，即X值和Y值，利用双目测距原理便可生成每根钢材端面轮廓的中心点的Z轴坐标值，即Z值。其中，X值表示钢材端面轮廓的中心点在水平方向上的位置，Y值表示钢材端面轮廓的中心点在竖直方向上的位置，Z值表示钢材端面轮廓的中心点与双目相机之间的直线距离。
步骤S103，根据所有钢材端面轮廓中心点坐标的X值与Y值，设定所述当前钢捆的端面焊接区域。
由于钢捆的端面一般为类长方形，因此，本申请实施例中，从所有钢材端面轮廓 中心点坐标中提取最大X值、最小X值、最大Y值及最小Y值，并根据这四个值划定矩形区域。然后将所述矩形区域设定为所述当前钢捆的端面焊接区域。
参见图2，图示为当前钢捆的端面图像，坐标原点位于整个端面图像的左上角，从坐标原点向右水平延伸为X正轴，从坐标原点向下垂直延伸为Y正轴，各个圆形表示当前钢捆中所有的钢材端面轮廓，矩形方框为根据最大X值、最小X值、最大Y值及最小Y值所划定的矩形区域，即当前钢捆的端面焊接区域。
步骤S104，将所述端面焊接区域分割为多个焊接子区域，所述焊接子区域的数量与需焊接标牌的数量一致。
在一种实现方式中，将所述端面焊接区域分割为多个焊接子区域，包括：
获取所述端面焊接区域的面积。
根据所述需焊接标牌的数量，按面积将所述端面焊接区域等分为多个焊接子区域。
结合图2及图3，作为示例，若需焊接标牌的数量为四个，则将端面焊接区域按面积等分为四个焊接子区域，即图3中的焊接子区域A、焊接子区域B、焊接子区域C和焊接子区域D，每一个焊接子区域仅用来焊接一个标牌。
步骤S105，根据所有钢材端面轮廓中心点坐标的Z值，从所有钢材端面轮廓的中心点中筛选出多个待焊接点。
步骤S106，根据所述多个待焊接点，生成多个待焊接点集，其中，每个待焊接点集中包含的待焊接点数量与所述焊接子区域的数量一致，每个待焊接点集中不同的待焊接点对应不同的焊接子区域，且，每个待焊接点集中不同待焊接点之间的距离不小于所述需焊接标牌的尺寸。
通常情况下，使用一个待焊接点集中的待焊接点，便可以将所有标牌一次性焊接完成。但是考虑到实际工况中，可能存在某个标牌焊接失败的情况，本申请实施例中，生成多个待焊接点集以供备用，防止在某个标牌焊接失败的情况下，需重新进行图像采集及图像处理以选取新的标牌焊接点，最大程度减少系统处理时间，提高焊接效率。
具体的，针对多个待焊接点进行组合，便可生成多个待焊接点集，组合过程中，遵循以下原则：(1)每个待焊接点来自不同的焊接子区域；(2)每个待焊接点挂上标牌之后，标牌之间不会相互遮挡。完成组合之后所得到的每个待焊接点集皆满足步骤S106中所述的三点要求，这种情况下，每个待焊接点集都可以针对所有标牌进行焊接。为了减少数据处理量，作为示例，待焊接点集的数量可以预先设置为四个。
每个待焊接点集中不同待焊接点之间的距离不小于所述需焊接标牌的尺寸，是为了使不同焊接子区域的待焊接点挂上标牌后，标牌之间不会相互遮挡。
结合图3，一个待焊接点集中，焊接子区域A和焊接子区域B中的两个待焊接点之间的水平距离不能小于标牌的长度，焊接子区域C和焊接子区域D中的两个待焊接点之间的水平距离不能小于标牌的长度；焊接子区域A和焊接子区域C中的两个待焊接点之间的垂直距离不能小于标牌的宽度，焊接子区域B和焊接子区域D中的两个待焊接点之间的垂直距离不能小于标牌的宽度；焊接子区域A和焊接子区域D中的两个 待焊接点之间的直线距离不能小于标牌的斜边长度，焊接子区域B和焊接子区域C中的两个待焊接点之间的直线距离不能小于标牌的斜边长度。
在生成待焊接点集时，若某一焊接子区域不存在待焊接点，可以从其他焊接子区域中选取Z值最小的待焊接点，与其他已选定的待焊接点组成待焊接点集。结合图3，若焊接子区域A没有待焊接点，便可从另外三个焊接子区域中选取一个Z值最小的待焊接点，与其余三个已选定的待焊接点组成待焊接点集。在选取Z值最小的待焊接点时，要把其余三个已选定的待焊接点排除在外。
步骤S107，按照所述待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上。
本申请实施例公开了一种自动焊接标牌的方法，所述方法包括：获取当前钢捆的端面图像，并提取每根钢材的端面轮廓及每根钢材端面轮廓的中心点坐标，然后设定当前钢捆的端面焊接区域，并将端面焊接区域分割为多个焊接子区域；接着从所有钢材端面轮廓的中心点中筛选出多个待焊接点，生成多个待焊接点集，每个待焊接点集包含的待焊接点数量与焊接子区域的数量一致，每个待焊接点集中不同的待焊接点对应不同的焊接子区域，且，每个待焊接点集中不同待焊接点之间的距离不小于需焊接标牌的尺寸；最后按照待焊接点集中的待焊接点进行焊接。上述方法中，在焊接之前便获取了多个待焊接点集，因此在焊接过程中，无需重复进行图像采集及图像处理工作，使用待焊接点集便可对所有标牌进行焊接，能够节约大量时间，有效提高焊接效率。
进一步的，参见图4所示的工作流程示意图，所述按照所述待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上，包括：
步骤S401，获取每个待焊接点集中所有待焊接点的Z值之和。
步骤S402，根据所述Z值之和从小到大的顺序，设置所有待焊接点集的优先等级，其中，Z值之和最小的待焊接点集的优先等级最高。
步骤S403，从优先等级最高的待焊接点集开始，依次按照待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上。
Z值之和最小，意味着在进行所有标牌焊接过程中，伸缩焊枪的枪头移动距离最少，焊接所需时间也相对的为最少。本申请实施例中，按照所述Z值之和从小到大的顺序，设置所有待焊接点集的优先等级，并将Z值之和最小的待焊接点集设为最优先焊接的点集，可以有效减少实际焊接的时间，提高焊接的效率。
进一步的，所述从优先等级最高的待焊接点集开始，依次按照待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上，包括：
从优先等级最高的待焊接点集开始，获取待焊接点集中所有的待焊接点，依次焊接所有标牌，焊接过程中，若存在标牌焊接失败，则从该标牌开始，使用下一优先等级的待焊接点集中的待焊接点继续进行焊接。
具体的，从优先等级最高的待焊接点集开始，对第一个焊接子区域进行标牌焊接， 若焊接成功，则对第二个焊接子区域进行标牌焊接，若焊接失败，便舍弃当前待焊接点集，使用下一个优先等级的待焊接点集，从第二个待焊接点开始，对第二焊接子区域进行标牌焊接，以此类推，直至完成所有标牌的焊接。
需要说明的是，每焊接完一个标牌，都要使用双目相机采集钢捆端面图像，以判断标牌焊接是否成功。在检测标牌焊接是否成功时，选取任意一个相机采集的端面图像，对其进行图像预处理(如灰度化、滤波及腐蚀处理)，得到标牌的轮廓，如果该轮廓大于预设的面积阈值，则焊接成功，否则焊接失败。作为示例，面积阈值的设置范围为：不小于标牌面积的一半。
若所有待焊接点集都已被舍弃，但标牌仍未全部焊接完成，此时，系统发出警报，提示工作人员焊接失败，需重新进行焊接点选取工作。
通常，钢捆的端面凹凸不平，有些钢材的端面是凹进去的，若其凹进去的深度大于伸缩焊枪的枪头长度，那么在针对这些钢材端面进行焊接时，将会撞坏伸缩焊枪。
为了防止伸缩焊枪被撞，本申请实施例中，所述根据所有钢材端面轮廓中心点坐标的Z值，从所有钢材端面轮廓的中心点中筛选出多个待焊接点，包括：
设定目标子区域的基准面，所述基准面为所述目标子区域中Z值最小的中心点对应的钢材端面所处的平面(即与双目相机距离最近的钢材端面)，所述目标子区域为任一个焊接子区域。
获取目标端面与所述基准面之间的最小距离，所述目标端面为所述目标子区域中任一根钢材端面所处的平面。
判断所述最小距离是否不超过伸缩焊枪的枪头长度，若是，则将所述目标端面对应的钢材端面轮廓中心点设为所述待焊接点。
基准面为当前钢捆端面中最凸出的钢材端面，通过筛选，将凹进去深度大于伸缩焊枪枪头长度的钢材滤除，将剩下的钢材端面轮廓中心点作为待焊接点，能够防止后期焊接过程中发生事故，有效确保焊接过程中的安全性。
下述为本申请公开的装置实施例，用于执行上述方法实施例。对于装置实施例中未披露的细节，请参照方法实施例。
本申请第二实施例公开了一种自动焊接标牌的装置，所述装置应用于本申请第一实施例所述的一种自动焊接标牌的方法，参见图5所示的结构示意图，所述装置包括：
端面图像获取模块10，用于获取当前钢捆的端面图像，并从所述端面图像中提取每根钢材的端面轮廓。
中心点坐标获取模块20，用于获取每根钢材端面轮廓的中心点坐标。
焊接区域设定模块30，用于根据所有钢材端面轮廓中心点坐标的X值与Y值，设定所述当前钢捆的端面焊接区域。
焊接区域分割模块40，用于将所述端面焊接区域分割为多个焊接子区域，所述焊接子区域的数量与需焊接标牌的数量一致。
待焊接点筛选模块50，用于根据所有钢材端面轮廓中心点坐标的Z值，从所有钢材端面轮廓的中心点中筛选出多个待焊接点。
待焊接点集生成模块60，用于根据所述多个待焊接点，生成多个待焊接点集，其中，每个待焊接点集中包含的待焊接点数量与所述焊接子区域的数量一致，每个待焊接点集中不同的待焊接点对应不同的焊接子区域，且，每个待焊接点集中不同待焊接点之间的距离不小于所述需焊接标牌的尺寸。
焊接模块70，用于按照所述待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上。
进一步的，所述焊接模块包括：
Z值求和单元，用于获取每个待焊接点集中所有待焊接点的Z值之和。
优先等级设置单元，用于根据所述Z值之和从小到大的顺序，设置所有待焊接点集的优先等级，其中，Z值之和最小的待焊接点集的优先等级最高。
等级焊接单元，用于从优先等级最高的待焊接点集开始，依次按照待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上。
进一步的，所述等级焊接单元包括：
等级焊接子单元，用于从优先等级最高的待焊接点集开始，获取待焊接点集中所有的待焊接点，依次焊接所有标牌，焊接过程中，若存在标牌焊接失败，则从该标牌开始，使用下一优先等级的待焊接点集中的待焊接点继续进行焊接。
进一步的，所述待焊接点筛选模块包括：
基准面设定单元，用于设定目标子区域的基准面，所述基准面为所述目标子区域中Z值最小的中心点对应的钢材端面所处的平面，所述目标子区域为任一个焊接子区域。
距离获取单元，用于获取目标端面与所述基准面之间的最小距离，所述目标端面为所述目标子区域中任一根钢材端面所处的平面。
待焊接点判定单元，用于判断所述最小距离是否不超过伸缩焊枪的枪头长度，若是，则将所述目标端面对应的钢材端面轮廓中心点设为所述待焊接点。
进一步的，所述焊接区域设定模块包括：
区域划定单元，用于从所有钢材端面轮廓中心点坐标中提取最大X值、最小X值、最大Y值及最小Y值，并根据这四个值划定矩形区域。
焊接区域设定单元，用于将所述矩形区域设定为所述当前钢捆的端面焊接区域。
进一步的，所述焊接区域分割模块包括：
面积获取单元，用于获取所述端面焊接区域的面积。
面积等分单元，用于根据所述需焊接标牌的数量，按面积将所述端面焊接区域等分为多个焊接子区域。
进一步的，所述端面图像获取模块包括：
图像采集单元，用于通过双目相机采集所述当前钢捆的端面图像，所述双目相机包括第一相机及第二相机，所述端面图像包括所述第一相机采集的第一端面图像及所述第二相机采集的第二端面图像。
轮廓提取单元，用于从所述第一端面图像中提取每根钢材的端面轮廓，获取第一端面轮廓集，及，从所述第二端面图像中提取每根钢材的端面轮廓，获取第二端面轮廓集。
进一步的，所述中心点坐标获取模块包括：
中心点集获取单元，用于获取第一中心点集及第二中心点集，其中，所述第一中心点集包括所述第一端面轮廓集中所有端面轮廓的中心点，所述第二中心点集包括所述第二端面轮廓集中所有端面轮廓的中心点。
匹配单元，用于对所述第一中心点集与所述第二中心点集中的所有中心点进行匹配，其中，若第二中心点集中有且仅有一个中心点与目标点之间的距离不超过预设阈值，则匹配成功，否则匹配失败，所述目标点为第一中心点集中的任一个中心点，所述预设阈值为所述钢材端面的半径。
目标点集获取单元，用于将所述第一中心点集中所有匹配成功的中心点作为第一目标点集，及，将所述第二中心点集中所有匹配成功的中心点作为第二目标点集。
中心点坐标获取单元，用于根据所述第一目标点集与所述第二目标点集，获取所述每根钢材端面轮廓的中心点坐标。
以上结合具体实施方式和范例性实例对本申请进行了详细说明，不过这些说明并不能理解为对本申请的限制。本领域技术人员理解，在不偏离本申请精神和范围的情况下，可以对本申请技术方案及其实施方式进行多种等价替换、修饰或改进，这些均落入本申请的范围内。本申请的保护范围以所附权利要求为准。
Claims (12)
- 一种自动焊接标牌的方法，其特征在于，所述方法包括：通过双目相机获取当前钢捆的端面图像，并从所述端面图像中提取每根钢材的端面轮廓；获取每根钢材端面轮廓的中心点坐标，坐标原点位于所述端面图像的左上角；根据所有钢材端面轮廓中心点坐标的X值与Y值，设定所述当前钢捆的端面焊接区域，其中，所述X值表示所述钢材端面轮廓中心点与所述坐标原点之间的水平距离，所述Y值表示所述钢材端面轮廓中心点与所述坐标原点之间的垂直距离；将所述端面焊接区域分割为多个焊接子区域，所述焊接子区域的数量与需焊接标牌的数量一致，每个所述焊接子区域仅用来焊接一个标牌；根据所有钢材端面轮廓中心点坐标的Z值，从所有钢材端面轮廓的中心点中筛选出多个待焊接点，所述Z值表示所述钢材端面轮廓中心点与所述双目相机之间的直线距离；根据所述多个待焊接点，生成多个待焊接点集，其中，每个待焊接点集中包含的待焊接点数量与所述焊接子区域的数量一致，每个待焊接点集中不同的待焊接点对应不同的焊接子区域，且，每个待焊接点集中不同待焊接点之间的距离不小于所述需焊接标牌的尺寸；按照所述待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上。
- 根据权利要求1所述的一种自动焊接标牌的方法，其特征在于，所述按照所述待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上，包括：获取每个待焊接点集中所有待焊接点的Z值之和；根据所述Z值之和从小到大的顺序，设置所有待焊接点集的优先等级，其中，Z值之和最小的待焊接点集的优先等级最高；从优先等级最高的待焊接点集开始，依次按照待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上。
- 根据权利要求2所述的一种自动焊接标牌的方法，其特征在于，所述从优先等级最高的待焊接点集开始，依次按照待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上，包括：从优先等级最高的待焊接点集开始，获取待焊接点集中所有的待焊接点，依次焊接所有标牌，焊接过程中，若存在标牌焊接失败，则从该标牌开始，使用下一优先等级的待焊接点集中的待焊接点继续进行焊接。
- 根据权利要求1所述的一种自动焊接标牌的方法，其特征在于，所述根据所有钢材端面轮廓中心点坐标的Z值，从所有钢材端面轮廓的中心点中筛选出多个待焊接点，包括：设定目标子区域的基准面，所述基准面为所述目标子区域中Z值最小的中心点对 应的钢材端面所处的平面，所述目标子区域为任一个焊接子区域；获取目标端面与所述基准面之间的最小距离，所述目标端面为所述目标子区域中任一根钢材端面所处的平面；判断所述最小距离是否不超过伸缩焊枪的枪头长度，若是，则将所述目标端面对应的钢材端面轮廓中心点设为所述待焊接点。
- 根据权利要求1所述的一种自动焊接标牌的方法，其特征在于，所述根据所有钢材端面轮廓中心点坐标的X值与Y值，设定所述当前钢捆的端面焊接区域，包括：从所有钢材端面轮廓中心点坐标中提取最大X值、最小X值、最大Y值及最小Y值，并根据这四个值划定矩形区域；将所述矩形区域设定为所述当前钢捆的端面焊接区域。
- 根据权利要求1或5所述的一种自动焊接标牌的方法，其特征在于，所述将所述端面焊接区域分割为多个焊接子区域，包括：获取所述端面焊接区域的面积；根据所述需焊接标牌的数量，按面积将所述端面焊接区域等分为多个焊接子区域。
- 根据权利要求6所述的一种自动焊接标牌的方法，其特征在于，所述根据所述多个待焊接点，生成多个待焊接点集时，若某一焊接子区域不存在待焊接点，则从其它焊接子区域中选取目标待焊接点，与所述其它焊接子区域中已选定的待焊接点组成待焊接点集，所述目标待焊接点为除了所述已选定的待焊接点之外的Z值最小的待焊接点。
- 根据权利要求1所述的一种自动焊接标牌的方法，其特征在于，所述获取当前钢捆的端面图像，并从所述端面图像中提取每根钢材的端面轮廓，包括：通过双目相机采集所述当前钢捆的端面图像，所述双目相机包括第一相机及第二相机，所述端面图像包括所述第一相机采集的第一端面图像及所述第二相机采集的第二端面图像；从所述第一端面图像中提取每根钢材的端面轮廓，获取第一端面轮廓集，及，从所述第二端面图像中提取每根钢材的端面轮廓，获取第二端面轮廓集。
- 根据权利要求8所述的一种自动焊接标牌的方法，其特征在于，所述获取每根钢材端面轮廓的中心点坐标，包括：获取第一中心点集及第二中心点集，其中，所述第一中心点集包括所述第一端面轮廓集中所有端面轮廓的中心点，所述第二中心点集包括所述第二端面轮廓集中所有端面轮廓的中心点；对所述第一中心点集与所述第二中心点集中的所有中心点进行匹配，其中，若第二中心点集中有且仅有一个中心点与目标点之间的距离不超过预设阈值，则匹配成功，否则匹配失败，所述目标点为第一中心点集中的任一个中心点，所述预设阈值为所述钢材端面的半径；将所述第一中心点集中所有匹配成功的中心点作为第一目标点集，及，将所述第 二中心点集中所有匹配成功的中心点作为第二目标点集；根据所述第一目标点集与所述第二目标点集，获取所述每根钢材端面轮廓的中心点坐标。
- 根据权利要求1所述的一种自动焊接标牌的方法，其特征在于，每个所述待焊接点集中，任意两个横向相邻的焊接子区域中对应的两个待焊接点之间的水平距离不小于所述需焊接标牌的长度，任意两个纵向相邻的焊接子区域中对应的两个待焊接点之间的垂直距离不小于所述需焊接标牌的宽度，任意两个斜向相邻的焊接子区域中对应的两个待焊接点之间的直线距离不小于所述需焊接标牌的斜边长度。
- 一种自动焊接标牌的装置，其特征在于，所述装置应用于权利要求1-10任一项所述的一种自动焊接标牌的方法，所述装置包括：端面图像获取模块，用于通过双目相机获取当前钢捆的端面图像，并从所述端面图像中提取每根钢材的端面轮廓；中心点坐标获取模块，用于获取每根钢材端面轮廓的中心点坐标，坐标原点位于所述端面图像的左上角；焊接区域设定模块，用于根据所有钢材端面轮廓中心点坐标的X值与Y值，设定所述当前钢捆的端面焊接区域，其中，所述X值表示所述钢材端面轮廓中心点与所述坐标原点之间的水平距离，所述Y值表示所述钢材端面轮廓中心点与所述坐标原点之间的垂直距离；焊接区域分割模块，用于将所述端面焊接区域分割为多个焊接子区域，所述焊接子区域的数量与需焊接标牌的数量一致；待焊接点筛选模块，用于根据所有钢材端面轮廓中心点坐标的Z值，从所有钢材端面轮廓的中心点中筛选出多个待焊接点，所述Z值表示所述钢材端面轮廓中心点与所述双目相机之间的直线距离；待焊接点集生成模块，用于根据所述多个待焊接点，生成多个待焊接点集，其中，每个待焊接点集中包含的待焊接点数量与所述焊接子区域的数量一致，每个待焊接点集中不同的待焊接点对应不同的焊接子区域，且，每个待焊接点集中不同待焊接点之间的距离不小于所述需焊接标牌的尺寸；焊接模块，用于按照所述待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上。
- 根据权利要求11所述的一种自动焊接标牌的装置，其特征在于，所述焊接模块包括：Z值求和单元，用于获取每个待焊接点集中所有待焊接点的Z值之和；优先等级设置单元，用于根据所述Z值之和从小到大的顺序，设置所有待焊接点集的优先等级，其中，Z值之和最小的待焊接点集的优先等级最高；等级焊接单元，用于从优先等级最高的待焊接点集开始，依次按照待焊接点集中的待焊接点，将所述需焊接标牌焊接至所述当前钢捆的端面上。
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