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A path planning and vision technology, applied in computing, image data processing, instruments, etc., can solve problems such as insufficient vacancy alignment, low position, incomplete punching, etc., and achieve the effect of rapid positioning and recognition
Inactive Publication Date: 2021-04-30
HARGLO APPLIED LASER TECH INST CO LTD +2
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Problems solved by technology
[0002] In the process of traditional iron tower operation, the screw holes of the tower material are sometimes incompletely drilled or the gaps are not aligned properly due
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[0038] Example 1
[0039] A laser path planning vision algorithm is characterized in that it comprises the following steps:
[0040] Step ①, first move the lens to ensure that the hole to be cut is within the area; take a photo to obtain the original image;
[0041] In step ②, Laplace transform is performed on the original image to enhance the edge difference of the image;
[0042] Step ③, perform expansion operation to enlarge the edge area;
[0043] Step ④, threshold segmentation, highlight the edge;
[0044] Step ⑤, find the prototype with the largest area, that is, the hole position of the upper steel plate in reality, and the prototype obtained here is marked as circle R01;
[0045] Step ⑥, based on the hole position found in step ⑤, threshold segmentation is performed on the basis of the Laplace transformed image;
[0046] Step ⑦, find out the contour, and merge similar contours, and finally extract the largest contour;
[0047] In step ⑧, the fitted circle is obtai...
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[0056] Example 2
[0057] A laser path planning vision algorithm is characterized in that it comprises the following steps:
[0058] Step ①, first move the lens to ensure that the hole to be cut is within the area; take a photo to obtain the original image;
[0059] In step ②, Laplace transform is performed on the original image to enhance the edge difference of the image;
[0060] Step ③, perform expansion operation to enlarge the edge area;
[0061] Step ④, threshold segmentation, highlight the edge;
[0062] Step ⑤, find the prototype with the largest area, that is, the hole position of the upper steel plate in reality, and the prototype obtained here is marked as circle R01;
[0063] Step ⑥, based on the hole position found in step ⑤, threshold segmentation is performed on the basis of the Laplace transformed image;
[0064] Step ⑦, find out the contour, and merge similar contours, and finally extract the largest contour;
[0065] In step ⑧, the fitted circle is obtai...
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Abstract
The invention relates to a laser path planning visual algorithm, which comprises the following steps of: firstly, moving a lens to ensure that a to-be-cut hole position is in an area; performing photographing to obtain an original image; performing Laplace transformation on the original image to enhance the edge difference of the image; carrying out expansion operation, and enlarging the edge area; carrying out threshold segmentation, and highlighting edges; finding out a prototype with the maximum area; carrying out threshold segmentation on the found hole position on the basis of the Laplace transform image; finding ou the contours, combining the similar contours, and finally extracting the maximum contour; and obtaining a fitting circle through the the contour, wherein the fitted arc is an arc with a cutting function and is also a cutting path. The industrial camera is additionally arranged on the laser cutting head and used for hole recognition and searching and positioning calculation of cutting points, and circle supplementing and cutting path planning can be rapidly carried out. Through a visual algorithm, path planning can be completed within 0.5 second, and positioning and recognition of a to-be-cut point can be rapidly achieved.
Description
technical field [0001] The invention relates to the technical field of laser cutting vision, in particular to a laser path planning vision algorithm. Background technique [0002] In the process of traditional iron tower operation, the screw holes of the tower material are sometimes incompletely drilled or the gaps are not aligned properly due to processing reasons; during the laser cutting process, it is very dangerous and inefficient to manually find the compensation cutting position required for the wrong hole . Contents of the invention [0003] The invention aims to solve the deficiencies of the prior art, and provides a laser path planning vision algorithm. [0004] In order to achieve the above object, the present invention adopts the following technical solutions: a visual algorithm for laser path planning, which is characterized in that it comprises the following steps: [0005] Step ①, first move the lens to ensure that the hole to be cut is within the area; ta...
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