Method and device for automatically generating groove cutting track, computer equipment and medium

Abstract

The invention provides a method for automatically generating a groove cutting track. The method for automatically generating the groove cutting track comprises the following steps that a 2D drawing of a workpiece template is analyzed to obtain a plurality of template reference lines S (i = 1, 2,..., N); based on the preset distance D

and the preset direction, the template reference lines are shifted to generate a first template groove line S<gi> (i = 1, 2,..., N); the first template groove line S<gi> (i = 1, 2,..., N) is cut to generate a second template groove line S<Gi> (i = 1, 2,..., N); an actual workpiece contour point cloud C and a workpiece template contour point cloud C<t> are acquired, and an optimal compensation distance D of an offset between the two contour point clouds and an optimal transformation matrix T of pose matching are acquired; based on the D and a preset direction, the second template groove line S<Gi> (i = 1, 2,..., N) is shifted to generate a first serious groove line S<oi> (i = 1, 2,..., N); the first serious groove line S<oi> (i = 1, 2,..., N) is cut, and a second serious groove line S<oi> (i = 1, 2,..., N) of the workpiece template is generated; and the second serious groove line S<oi> (i = 1, 2,..., N) is rotated and translated based on the T, a cutting track of an actual workpiece is generated, and the cutting track of the actual workpiece can be automatically obtained only through one-time photographing. The workpiece machining errors and feeding placement errors can be adopted, and the manual operation difficulty and the feeding and feeding requirements are lowered.

Description

technical field [0001] The invention belongs to the field of image recognition, and in particular relates to a method, device, computer equipment and storage medium for automatically generating groove track. Background technique [0002] Steel plate groove cutting is the previous process of welding, and the accuracy and consistency of the groove are the key factors affecting the welding quality. For workpieces with simple contours, such as straight-edged steel plates, traditional manual beveling or CNC beveling machines are still competent. However, there are many arcs and curves in the contours of steel plate workpieces in modern industry, and there are many types and new additions. It is difficult to guarantee the accuracy and consistency of the bevel by the traditional bevel cutting method. With the increasing application of industrial robots, the cutting and beveling method of robots carrying flame cutting guns or plasma cutting guns has gradually attracted the attentio...

AI Technical Summary

Problems solved by technology

[0006] The object of the present invention is to propose a method for automatically generating robot trajectory for steel plate cutting and beveling, so as to solve the problems existing in the prior art

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