Automatic groove cutting system and cutting method based on three-dimensional vision and model matching

Abstract

The invention provides an automatic groove cutting system and a cutting method based on three-dimensional vision and model matching, and relates to the technical filed of groove processing equipment.The automatic groove cutting system based on three-dimensional vision and model matching comprises a 3D vision subsystem, a host computer, a motion control system, a cutting robot and a cutting device. The 3D vision subsystem is connected with the host computer in a signal mode, the host computer is connected with the motion control system in a signal mode, the cutting device is arranged on the cutting robot, and the motion control system is electrically connected with the cutting robot. The automatic groove cutting method uses a 3D vision system and an image processing software and is based on an image processing algorithm, and the mapping between a robot, the 3D vision system and a workpiece coordinate system is realized by using a 3D camera internal and external parameter calibration algorithm, a three-point calibration method and an attitude matching algorithm . Different workpieces and groove types can be automatically cut, groove quality is good and efficiency is high, and automation and intelligence of the groove cutting system are improved.

Description

technical field [0001] The present invention relates to the technical field of bevel processing equipment, in particular to an automatic bevel cutting system and cutting method based on three-dimensional vision and model matching. Through image acquisition and image processing, the workpiece is matched with the template to obtain processing track information, and then the robot is controlled. Motion for beveling. Background technique [0002] In the processing and production process of large-scale equipment such as shield machines, the amount of groove processing of parts is very large. At present, for small batches, non-linear and other special-shaped grooves, manual or semi-automatic cutting methods are mostly used, and there are a series of problems such as poor groove cutting quality, unstable quality, low groove processing efficiency, and high cost; and the groove quality Poor or unstable processing quality not only affects the precision of the part itself, but also se...

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Problems solved by technology

[0004] The object of the present invention is to provide a bevel automatic cutting system and cutting method based on three-dimensional vision and model matching. The workpiece is scanned by a 3D camera to obtain an image of the workpiece without bevel, and the image and the template library with bevel The three-dimensional model of the workpiece is matched. After the ma

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