Arc plate cutting control method and device

Abstract

The present application belongs to the technical field of arc-shaped plate processing, and aims to provide an arc-shaped plate cutting control method and device. The present application can realize accurate identification of the arc-shaped plate to be cut and rapid measurement of the profile of the arc-shaped plate to be cut, and can reduce the workload of cutting preparation. In addition, the present application converts the profile point plane coordinates representing the arc-shaped plate to be cut into cutting point space coordinates, and then obtains the space coordinate set of the arc-shaped plate to be cut based on the cutting length of the arc-shaped plate to be cut. Finally, the cutting path data is obtained according to the cutting type parameter confirmed by the user and the space coordinate set of the arc-shaped plate to be cut. Then, the cutting module can cut the arc-shaped plate to be cut based on the cutting path data, which is beneficial to improve the subsequent cutting precision and cutting efficiency, and reduces the production difficulty of arc-shaped plate processing. In this process, the cutting path data is automatically generated, thereby avoiding the problems of large user workload, low cutting precision and the like caused by manual setting by the user.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of arc-shaped plate processing, and particularly relates to an arc-shaped plate cutting control method and device. BACKGROUND

[0002] Currently, the cutting processing equipment for arc-shaped plates in the industry mainly includes five-axis bridge cutting machines and five-axis water jet cutting machines. When using a five-axis bridge cutting machine for processing, the arc-shaped plate needs to be modeled first, and the obtained plate model is imported into the five-axis bridge cutting machine. After the feasibility of the cutting action is simulated and confirmed, the action is generated and cut. When using a five-axis water jet cutting machine for arc plate processing, the manual point-by-point setting of cutting coordinates and cutting angles is usually used.

[0003] However, in the process of using the prior art, the inventors have found that at least the following problems exist in the prior art:

[0004] When using a five-axis bridge cutting machine for processing, the following problems mainly exist:

[0005] (1) The production efficiency is low, and the arc-shaped plate needs to be modeled before cutting;

[0006] (2) Since the arc-shaped plate has many sizes and styles, and the modeling is manually performed by an operator, the modeling accuracy is greatly affected by the operator's technology.

[0007] When using a five-axis water jet cutting machine for arc plate processing, the following problems mainly exist:

[0008] The manual point-by-point setting of cutting coordinates and cutting angles results in a large workload, high difficulty, and low accuracy for the operator. SUMMARY

[0009] The present application aims to at least partially solve the above technical problems, and provides an arc-shaped plate cutting control method and device.

[0010] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0011] In a first aspect, the present application provides an arc-shaped plate cutting control method, which is executed by a main control module. The main control module is in communication with a laser emission module, a cutting module, and an image acquisition module. The laser emission module, the cutting module, and the image acquisition module are sequentially and adjacently arranged on a workbench, and the emission end of the laser emission module and the acquisition end of the image acquisition module are oppositely arranged. The method comprises:

[0012] acquiring calibration data;

[0013] Drive the laser emission module to operate, and obtain the plate mapping image including the contour image of the arc-shaped plate to be cut through the image acquisition module; wherein the arc-shaped plate to be cut is placed on the workbench and located between the laser emission module and the image acquisition module;

[0014] Obtain the contour point plane coordinates corresponding to the contour image of the arc-shaped plate to be cut;

[0015] Convert the contour point plane coordinates into cutting point space coordinates through the calibration data;

[0016] Receive the cutting length to be cut of the arc-shaped plate to be cut, and obtain the space coordinate set of the arc-shaped plate to be cut according to the cutting length to be cut;

[0017] Receive the cutting type parameter, and obtain the cutting path data according to the cutting type parameter and the space coordinate set of the arc-shaped plate to be cut;

[0018] According to the cutting path data, drive the cutting module to cut the arc-shaped plate to be cut.

[0019] The present application can realize accurate identification and rapid measurement of the arc-shaped plate to be cut, and can reduce the workload of cutting preparation. In addition, the present application converts the contour point plane coordinates representing the arc-shaped plate to be cut into cutting point space coordinates, and then obtains the space coordinate set of the arc-shaped plate to be cut based on the cutting length to be cut. Finally, the cutting path data is obtained according to the cutting type parameter confirmed by the user and the space coordinate set of the arc-shaped plate to be cut, and then the cutting module can cut the arc-shaped plate to be cut based on the cutting path data, which is beneficial to improve the subsequent cutting precision and cutting efficiency, and reduces the production difficulty of the arc-shaped plate. In this process, the cutting path data is automatically generated, avoiding repeated and frequent manual measurement, and thus avoiding the problems of large user workload, low cutting precision and the like caused by manual setting.

[0020] In one possible design, the calibration data includes calibration point space coordinates corresponding to calibration positions and calibration point plane coordinates corresponding to calibration positions; correspondingly, obtaining calibration data includes:

[0021] Obtain the calibration point space coordinates corresponding to the preset calibration positions; wherein the calibration point space coordinates are located within the travel range of the preset marker point on the cutting module;

[0022] Drive the laser emission module to operate, and drive the preset marker point on the cutting module to move to the calibration position matched with the calibration point space coordinates, so as to obtain the calibration point image of the marker point located at the calibration position through the image acquisition module;

[0023] obtaining a calibration point planar coordinate of the mark point in the calibration point image.

[0024] In a possible design, the number of the calibration positions N≥3, and among all the calibration positions, there are at least three calibration positions corresponding to non-collinear calibration point space coordinates.

[0025] In a possible design, when the number of the calibration positions N=3, and the calibration point space coordinates corresponding to the three calibration positions are non-collinear, the conversion of the profile point planar coordinate into the cutting point space coordinate by using the calibration data comprises the following steps.

[0026] obtaining a calibration point space coordinate vector corresponding to the calibration point space coordinate according to the calibration point space coordinate;

[0027] obtaining a calibration point planar coordinate vector corresponding to the calibration point planar coordinate according to the calibration point planar coordinate;

[0028] obtaining the cutting point space coordinate vector according to the calibration point space coordinate vector and the calibration point planar coordinate vector;

[0029] obtaining the cutting point space coordinate according to the cutting point space coordinate vector.

[0030] In a possible design, the cutting point space coordinate vector under the cutting point space coordinate corresponding to the kth profile point planar coordinate is:

[0031] p m,k = [α, β]M p [p r,1 -p r,2 ,p r,1 -p r,3 ][p v,2 -p v,1 ,p v,3 -p v,1 ] -1 (p c,k -p v,1 )+p r,1 ;

[0032] In the formula, α and β are base vectors of the profile point planar coordinate corresponding to the profile image of the arc-shaped plate to be cut; M p is a vertical projection matrix, and M p = ([α, β] T [α, β]) -1 [α, β] T ; p r,i is a calibration point space coordinate vector corresponding to the calibration point space coordinate under the ith calibration position, i∈{1, 2, 3}, and p r,i= [x r,i ,y r,i ,z r,i ] T ; p v,i is the i-th calibration point plane coordinate vector corresponding to the calibration point plane coordinate of the i-th calibration position, and p v,i = [x v,i ,y v,i ] T ; p c,k is the k-th contour point plane coordinate vector, and P c,k = [x c,k ,y c,k ] T .

[0033] In one possible design, when the number of calibration positions N > 3, and there are at least 3 calibration positions corresponding to non-collinear calibration point space coordinates, the contour point plane coordinates and the cutting point space coordinates satisfy the following relationship:

[0034]

[0035] where a is any proportional parameter; M p is a vertical projection matrix, and M p = ([α,β] T [α,β]) -1 [α,β] T , α and β are the basis vectors of the contour point plane coordinates corresponding to the contour image of the arc-shaped plate to be cut; p m,k is the k-th contour point plane coordinate corresponding to the cutting point space coordinate vector under the k-th contour point plane coordinate, and p m,k = [x m,k ,y m,k ,z m,k ]; (x c,k ,y c,k ) is the k-th contour point plane coordinate corresponding to the contour image in the plate mapping image; H is a homography matrix vector, and

[0036] The homography parameter vector obtained by converting the homography matrix vector is:

[0037]

[0038] By the calibration data, the contour point plane coordinates are converted into cutting point space coordinates, including:

[0039] The required two-dimensional calibration point coordinates are defined as follows using the calibration point space coordinate vector corresponding to the calibration point space coordinate:

[0040]

[0041] wherein p r,i is a calibration point space coordinate vector corresponding to a calibration point space coordinate at the i-th calibration position, i∈{1,2,……,N}, and p r,i = [x r,i , y r,i , z r,i ] T ;

[0042] define a calibration point plane coordinate vector at the i-th calibration position as p v,i = [x v,i , y v,i ] T , i≤N, and construct a homogeneous linear equation group as follows based on the calibration point plane coordinate vectors corresponding to the calibration point plane coordinates:

[0043] Ah = b;

[0044] wherein

[0045] the homography parameter vector h = (A T A) -1 A T b calculated by the least square method;

[0046] obtain the cutting point space coordinate vector according to the correlation formula, the homogeneous linear equation group and the homography parameter vector;

[0047] obtain the cutting point space coordinate according to the cutting point space coordinate vector.

[0048] In one possible design, the cutting point space coordinate vector at the cutting point space coordinate corresponding to the k-th contour point plane coordinate is:

[0049]

[0050] In one possible design, the preset marker point on the cutting module is located at the cutting point of the cutting module.

[0051] In one possible design, after obtaining the plate mapping image including the contour image of the arc-shaped plate to be cut, the method further includes:

[0052] performing binaryzation processing on the plate mapping image to obtain a binaryzation image;

[0053] performing filtering processing on the binaryzation image to obtain a filtered image, so as to obtain the contour point plane coordinates corresponding to the contour image in the filtered image.

[0054] In a second aspect, the present application provides an arc-shaped plate cutting control device, comprising a master control module, a laser emission module, a cutting module and an image acquisition module, the master control module is in communication connection with the laser emission module, the cutting module and the image acquisition module, the laser emission module, the cutting module and the image acquisition module are sequentially and adjacently arranged on a workbench, and the emission end of the laser emission module and the acquisition end of the image acquisition module are oppositely arranged; the master control module is used for executing the arc-shaped plate cutting control method of any one of the above aspects. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 is a flowchart of the arc-shaped plate cutting control method in Example 1;

[0056] Figure 2 is a real shot picture corresponding to the example plate mapping image and a schematic diagram after processing in different stages in Example 1;

[0057] Figure 3 is a structural schematic diagram of the arc-shaped plate cutting control device in Example 2;

[0058] Figure 4 is a module block diagram of the arc-shaped plate cutting control system in Example 3. DETAILED DESCRIPTION

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the present application will be briefly introduced below in combination with the drawings and the descriptions of the embodiments or the prior art. Obviously, the following description of the drawings structure is only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor. It should be noted that the description of these embodiment modes is used to help understand the present application, but does not constitute a limitation on the present application.

[0060] Example 1:

[0061] This embodiment discloses an arc-shaped plate cutting control method, which can be executed by a computer device or a virtual machine with certain computing resources, such as an electronic device such as a personal computer, a smart phone, a personal digital assistant or a wearable device, or a virtual machine.

[0062] As shown in Figure 1 An arc-shaped plate cutting control method is executed by a master control module, the master control module is in communication connection with a laser emission module, a cutting module and an image acquisition module, the laser emission module, the cutting module and the image acquisition module are sequentially and adjacently arranged on a workbench, and the emission end of the laser emission module and the acquisition end of the image acquisition module are oppositely arranged; the method can include but is not limited to the following steps:

[0063] S1. obtaining calibration data;

[0064] In this embodiment, the calibration data includes calibration point spatial coordinates corresponding to the calibration positions and calibration point plane coordinates corresponding to the calibration positions. Correspondingly, obtaining the calibration data includes:

[0065] S101. obtaining calibration point spatial coordinates corresponding to preset calibration positions; wherein the calibration point spatial coordinates are located within a travel range of a preset marker point on the cutting module; wherein the calibration point spatial coordinates under the ith calibration position are (x r,i ,y r,i ,z r,i ), and the calibration point spatial coordinate vector under the ith calibration position is p r,i =[x r,i ,y r,i ,z r,i ] T ,i≤N, where N is the number of calibration positions, and the symbol T is a transpose symbol. In this embodiment, the calibration positions are manually determined by a user. In addition, in this embodiment, the calibration point spatial coordinates and the calibration point plane coordinates are located in a coordinate system constructed in advance. In this embodiment, the coordinate system takes a corner of the workbench close to the image acquisition module as the origin, takes the line connecting the emission lines of the laser emission module as the Y axis, takes the line perpendicular to the line connecting the emission lines of the laser emission module as the X axis, and takes the longitudinal line of the workbench as the Z axis.

[0066] In this embodiment, the number of calibration positions N≥3, and among all the calibration positions, there are at least three calibration positions corresponding to calibration point spatial coordinates that are not collinear, i.e., the calibration point spatial coordinates of at least three calibration positions are not collinear. As a preferred embodiment, four calibration positions are selected, and when the marker points are located in the calibration point image at the four calibration positions, the marker points are distributed at the four corners of the calibration point image.

[0067] In this embodiment, when setting the marker points, the user can use a marker pen to mark the marker points on the cutting module. The part where the marker points are located needs to be able to move along the X axis, Y axis and Z axis of the cutting module. In this embodiment, the preset marker point on the cutting module is located at the cutting point of the cutting module. As a preferred embodiment, the marker point is located at the center of rotation of the main rotating shaft of the cutting module. It should be understood that, in order to ensure that the marker points can be displayed in the calibration point image, in this embodiment, when the marker points are located at any of the calibration positions, the marker points are located on the laser line emitted by the laser emission module.

[0068] S102. driving the laser emitting module to operate, and driving the preset mark point on the cutting module to move to a calibration position matching the spatial coordinates of the calibration point, so as to obtain a calibration point image of the mark point located at the calibration position by the image acquisition module;

[0069] Since the X and Z axis guide rails of the water jet cutting machine can be bent and deformed, the Y axis coordinate needs to be fine-tuned at different calibration positions to align the mark point with the laser line. In the embodiment, during the process of driving the preset mark point on the cutting module to move to the calibration position matching the spatial coordinates of the calibration point, the preset mark point on the cutting module can be first driven to move to a position on the XOY plane, and then the position in the Y axis direction is manually adjusted by the user, so that the mark point coincides with the laser line.

[0070] S103. obtaining calibration point plane coordinates of the mark point in the calibration point image. Wherein, the calibration point plane coordinates at the i-th calibration position are (x v,i ,y v,i ), and the calibration point plane coordinate vector at the i-th calibration position obtained by taking the coordinate origin as the starting point and the calibration point plane coordinates at the i-th calibration position as the ending point is p v,i =[x v,i ,y v,i ] T , i≤N. It should be understood that the calibration point image is parallel to the laser emitting surface and the XOZ plane of the coordinate system.

[0071] It should be noted that the calibration operation is only performed at the first time of operation, and subsequent cutting of the arc-shaped plate can be based on the calibration data obtained at the first time of operation to control the cutting module to perform the arc-shaped plate cutting operation.

[0072] S2. driving the laser emitting module to operate, and obtaining a plate mapping image including a contour image of the arc-shaped plate to be cut by the image acquisition module; wherein the arc-shaped plate to be cut is placed on the workbench and located between the laser emitting module and the image acquisition module;

[0073] In the embodiment, after obtaining the plate mapping image including the contour image of the arc-shaped plate to be cut, the method further comprises:

[0074] performing binaryzation processing on the plate mapping image to obtain a binaryzation image; specifically, when performing binaryzation processing, the pixel points in the plate mapping image are processed to have pixel values of 1 or 0, that is, the pixel values of the high-light part pixel points in the plate mapping image with brightness greater than a threshold value are taken as 1 (displayed as white), the pixel values of the low-light part pixel points with brightness less than the threshold value are taken as 0 (displayed as black), and then the binaryzation image is obtained;

[0075] Filtering processing is performed on the binary image to obtain a filtered image, so as to obtain a contour point plane coordinate corresponding to the contour image in the filtered image. Specifically, when performing filtering processing on the binary image, a pixel region composed of a plurality of pixel points with the same pixel value, and having an area greater than an area threshold and / or a perimeter less than a perimeter threshold, is filtered out, and then the filtered image is obtained. In the filtered image, there is a contour image of the arc-shaped plate to be cut. In this embodiment, the contour image of the arc-shaped plate to be cut is a pixel region composed of pixel points with a pixel value of 1.

[0076] Specifically, as shown in Figure 2 , this embodiment gives an example of a real shot image corresponding to a plate mapping image and a schematic diagram after processing at different stages, Figure 2 , where Fig. (a) is a real shot image corresponding to a plate mapping image, Fig. (b) is a plate mapping image obtained by the image acquisition module, Fig. (c) is a binary image obtained after binary processing, and Fig. (d) is a filtered image obtained after filtering processing.

[0077] S3. Obtain a contour point plane coordinate corresponding to the contour image of the arc-shaped plate to be cut; wherein the kth contour point plane coordinate is (x c,k ,y c,k ), and a kth contour point plane coordinate vector obtained by taking the coordinate origin as a starting point and the kth contour point plane coordinate as an ending point is P c,k =[x c,k ,y c,k ] T ; it should be noted that after driving the laser emission module to operate, the laser emission module can irradiate a high-brightness laser line on the inner wall or the outer wall of the arc-shaped plate to be cut, and the high-brightness laser line appears in the image in the plate mapping image, that is, constitutes the contour image of the arc-shaped plate to be cut.

[0078] S4. Convert the contour point plane coordinate into a cutting point space coordinate through the calibration data; wherein the cutting point space coordinate corresponding to the kth contour point plane coordinate is (x m,k ,y m,k ,z m,k ), and a kth contour point plane coordinate corresponding cutting point space coordinate vector obtained by taking the coordinate origin as a starting point and the cutting point space coordinate corresponding to the kth contour point plane coordinate as an ending point is p m,k =[x m,k ,y m,k ,z m,k ] T ;

[0079] When the number of the calibration positions N=3, and the calibration point space coordinates corresponding to the three calibration positions are not collinear, the space coordinate vector of the cutting point corresponding to the kth contour point planar coordinate is obtained by affine transformation approximation operation, and then the space coordinate of the cutting point is obtained. Specifically, the contour point planar coordinate is converted into the cutting point space coordinate by the calibration data, including:

[0080] A401. The calibration point space coordinate vector corresponding to the calibration point space coordinate is obtained according to the calibration point space coordinate;

[0081] A402. The calibration point planar coordinate vector corresponding to the calibration point planar coordinate is obtained according to the calibration point planar coordinate;

[0082] A403. The cutting point space coordinate vector is obtained according to the calibration point space coordinate vector and the calibration point planar coordinate vector; wherein the cutting point space coordinate vector under the cutting point space coordinate corresponding to the kth contour point planar coordinate is:

[0083] p m,k =[α,β]M p [p r,1 -p r,2 ,p r,1 -p r,3 ][p v,2 -p v,1 ,p v,3 -p v,1 ] -1 (p c,k -p v,1 )+p r,1 ;

[0084] In the formula, α and β are the basis vectors of the contour point planar coordinate corresponding to the contour image of the arc-shaped plate to be cut; M p is a vertical projection matrix, and M p =([α,β] T [α,β]) -1 [α,β] T ; p r,i is the calibration point space coordinate vector corresponding to the calibration point space coordinate under the i th calibration position, i ∈ {1, 2, 3}, and p r,i =[x r,i ,y r,i ,z r,i ] T ; p v,i is the calibration point planar coordinate vector corresponding to the calibration point planar coordinate under the i th calibration position, and p v,i =[x v,i ,y v,i ] T ;c,k is the kth contour point planar coordinate vector, and P c,k = [x c,k , y c,k ] T ;

[0085] A404. According to the cutting point space coordinate vector, the cutting point space coordinate is obtained.

[0086] When the number of calibration positions N > 3, and there are at least 3 corresponding calibration point space coordinates that are not collinear, the contour point planar coordinate and the cutting point space coordinate have a homography, that is, the contour point planar coordinate and the cutting point space coordinate satisfy the following correlation formula:

[0087]

[0088] In the formula, a is any proportional parameter; M p is a vertical projection matrix, and M p = ([α, β] T [α, β]) -1 [α, β] T , α and β are the basis vectors of the contour point planar coordinates corresponding to the contour image of the arc-shaped plate to be cut, and α and β are perpendicular to each other; p m,k is the cutting point space coordinate vector of the kth contour point planar coordinate corresponding to the cutting point space coordinate, and p m,k = [x m,k , y m,k , z m,k ]; (x c,k , y c,k ) is the kth contour point planar coordinate corresponding to the contour image in the plate mapping image; H is a homography matrix vector, and wherein, refers to a preset 3x3 dimensional matrix;

[0089] The homography parameter vector obtained according to the homography matrix vector is:

[0090]

[0091] wherein, refers to a preset 8x1 dimensional matrix;

[0092] The contour point planar coordinate is converted into a cutting point space coordinate through the calibration data, including:

[0093] B401. The required two-dimensional calibration point coordinates are defined using the calibration point space coordinate vector corresponding to the calibration point space coordinate as follows:

[0094]

[0095] wherein p r,i is a calibration point space coordinate vector corresponding to a calibration point space coordinate at the i-th calibration position, i∈{1,2,……,N}, and p r,i = r,i , r,i , r,i T ;

[0096] It should be noted that the two-dimensional calibration point coordinate refers to the two-dimensional coordinate after the calibration point space coordinate is projected onto the same plane (XOZ plane), which is different from the Y-axis coordinate value of the calibration point space coordinate.

[0097] B402. Defining a calibration point plane coordinate vector p v,i = v,i , v,i T at the i-th calibration position, i≤N, and constructing the following homogeneous linear equation group based on the calibration point plane coordinate vector corresponding to the calibration point plane coordinate:

[0098] Ah=b;

[0099] wherein denotes a preset 2N×8 matrix, denotes a preset 2N×1 matrix;

[0100] B403. The homography parameter vector h=(A T A) -1 A T b calculated by the least square method;

[0101] B404. Obtaining the cutting point space coordinate vector according to the correlation formula, the homogeneous linear equation group and the homography parameter vector; wherein the cutting point space coordinate vector at the cutting point space coordinate corresponding to the k-th contour point plane coordinate is:

[0102]

[0103] B405. Obtaining the cutting point space coordinate according to the cutting point space coordinate vector.

[0104] Let the orientation of the to-be-cut arc-shaped plate placed on the workbench be a unit vector γ, and wherein denotes a preset 3×1 matrix; let the basis vectors of the contour point plane coordinates corresponding to the contour image of the to-be-cut arc-shaped plate be unit vectors α and β, respectively, and​​ wherein the unit vectors a, b, g are perpendicular to each other.

[0105] S5. Receiving a to-be-cut length of the to-be-cut arc-shaped plate, and obtaining a spatial coordinate set of the to-be-cut arc-shaped plate according to the to-be-cut length; it should be noted that, since the cross sections of the arc-shaped plate are equal everywhere, the coordinate data of the whole arc-shaped plate can be calculated according to the to-be-cut length of the arc-shaped plate input by the user, that is, the spatial coordinate set of the to-be-cut arc-shaped plate; in the implementation process, the main control module stretches the cross section in the Y-axis direction according to the to-be-cut length of the to-be-cut arc-shaped plate, such as the overall length of the to-be-cut arc-shaped plate, that is, the spatial coordinate sets of different cross sections of the arc-shaped plate have the same XZ cross section coordinates, and the Y-axis coordinates are different, so as to obtain the spatial coordinate set.

[0106] S6. Receiving a cutting type parameter, and obtaining cutting path data according to the cutting type parameter and the spatial coordinate set of the to-be-cut arc-shaped plate; in this embodiment, the cutting type parameter includes process selection parameters such as edge cutting and hollowing, wherein edge cutting refers to cutting off the whole edge, and hollowing refers to cutting out a rectangular or special-shaped arc-shaped block from the whole arc-shaped plate. In addition, in this embodiment, the cutting path data can be stored in the main control module in the form of CAD parameters, G code files and the like, so as to drive the cutting module to cut the to-be-cut arc-shaped plate according to the cutting path data. Specifically, in this embodiment, the cutting path data includes cutting trajectory data and cutting angle data, and the cutting angle at different positions can be obtained according to the normal line of each coordinate point in the cutting trajectory data.

[0107] S7. Driving the cutting module to cut the to-be-cut arc-shaped plate according to the cutting path data.

[0108] This embodiment can realize accurate identification of the to-be-cut arc-shaped plate and rapid measurement of the profile of the to-be-cut arc-shaped plate, and can reduce the workload of cutting preparation. In addition, in this embodiment, the profile point plane coordinates of the to-be-cut arc-shaped plate are converted into cutting point spatial coordinates, and then the spatial coordinate set of the to-be-cut arc-shaped plate is obtained according to the to-be-cut length of the to-be-cut arc-shaped plate, and finally the cutting path data is obtained according to the cutting type parameter confirmed by the user and the spatial coordinate set of the to-be-cut arc-shaped plate, so that the cutting module can cut the to-be-cut arc-shaped plate based on the cutting path data, which is beneficial to improve the subsequent cutting precision and cutting efficiency, and reduces the production difficulty of the arc-shaped plate. In this process, the cutting path data is automatically generated, which avoids repeated and frequent measurement by manual operation, and further avoids the problems of large user workload, low cutting precision and the like caused by manual setting.

[0109] Embodiment 2:

[0110] This embodiment discloses an arc-shaped plate cutting control device, as shown inFigure 3 As shown in the figure, it comprises a master control module 4, a laser emission module 3, a cutting module 2 and an image acquisition module 1, the master control module 4 is respectively connected with the laser emission module 3, the cutting module 2 and the image acquisition module 1, the laser emission module 3, the cutting module 2 and the image acquisition module 1 are sequentially and adjacently arranged on the workbench, and the emission end of the laser emission module 3 and the acquisition end of the image acquisition module 1 are oppositely arranged; the master control module 4 is used for executing the arc-shaped plate cutting control method in embodiment 1. It should be noted that in the embodiment, the master control module 4 adopts a computer, preferably an industrial computer; the laser emission module 3 adopts a laser, preferably a laser level meter; the cutting module 2 adopts an arc-shaped plate cutting machine, preferably a water jet cutting machine; the image acquisition module 1 adopts a camera, preferably an industrial camera; wherein the laser emission module 3 is used for assisting light recognition of the arc-shaped plate to be cut, the master control module 4 is loaded with a computer vision program, which is used for image processing and data operation, etc. to execute the arc-shaped plate cutting control method in embodiment 1.

[0111] Embodiment 3:

[0112] The embodiment discloses an arc-shaped plate cutting control system for realizing the arc-shaped plate cutting control method in embodiment 1; as shown in the figure, the arc-shaped plate cutting control system comprises: Figure 4 As shown in the figure, the arc-shaped plate cutting control system comprises:

[0113] A calibration data acquisition module is used for acquiring calibration data;

[0114] A plate mapping image acquisition module is connected with the calibration data acquisition module, which is used for driving the laser emission module to run and acquiring a plate mapping image comprising a contour image of the arc-shaped plate to be cut through the image acquisition module; wherein the arc-shaped plate to be cut is placed on the workbench and located between the laser emission module and the image acquisition module;

[0115] A contour point plane coordinate acquisition module is connected with the plate mapping image acquisition module, which is used for acquiring contour point plane coordinates corresponding to the contour image of the arc-shaped plate to be cut;

[0116] A cutting point space coordinate conversion module is connected with the contour point plane coordinate acquisition module, which is used for converting the contour point plane coordinates into cutting point space coordinates through the calibration data;

[0117] A space coordinate set acquisition module is connected with the cutting point space coordinate conversion module, which is used for receiving a cutting length of the arc-shaped plate to be cut and obtaining a space coordinate set of the arc-shaped plate to be cut according to the cutting length;

[0118] The cutting path data acquisition module is connected with the spatial coordinate set acquisition module in communication, configured to receive a cutting type parameter, and to obtain cutting path data according to the cutting type parameter and the spatial coordinate set of the arc-shaped plate to be cut.

[0119] The cutting driving module is connected with the cutting path data acquisition module in communication, configured to drive the cutting module to cut the arc-shaped plate to be cut according to the cutting path data.

[0120] Embodiment 4:

[0121] On the basis of any one of the embodiments 1 to 3, the present embodiment discloses an electronic device, which can be a smart phone, a tablet computer, a notebook computer, or a desktop computer, etc. The electronic device can be referred to as a terminal, a portable terminal, a desktop terminal, etc. The electronic device comprises:

[0122] a memory configured to store computer program instructions; and

[0123] a processor configured to execute the computer program instructions to complete the operations of the arc-shaped plate cutting control method according to any one of the embodiments 1.

[0124] Embodiment 5:

[0125] On the basis of any one of the embodiments 1 to 4, the present embodiment discloses a computer readable storage medium configured to store computer readable computer program instructions, the computer program instructions being configured to execute the operations of the arc-shaped plate cutting control method according to the embodiment 1 when running.

[0126] Obviously, those skilled in the art should understand that the modules or steps of the present application described above can be realized by general computing devices, which can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be realized by program codes executable by computing devices, so that they can be stored in storage devices and executed by computing devices, or they can be respectively manufactured into individual integrated circuit modules, or a plurality of modules or steps among them can be manufactured into a single integrated circuit module to realize. Thus, the present application is not limited to any specific combination of hardware and software.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced equivalently. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

[0128] It should be pointed out finally that the above only describes the preferred embodiments of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of arc plate cutting control, characterized by: The method is executed by a master control module, the master control module is in communication connection with a laser emission module, a cutting module and an image acquisition module, the laser emission module, the cutting module and the image acquisition module are sequentially and adjacently arranged on a workbench, and a transmitting end of the laser emission module and an acquisition end of the image acquisition module are oppositely arranged; the method comprises: acquiring calibration data; driving the laser emission module to operate and acquiring a plate mapping image including a contour image of a to-be-cut arc-shaped plate by the image acquisition module; wherein the to-be-cut arc-shaped plate is placed on the workbench and located between the laser emission module and the image acquisition module; acquiring contour point plane coordinates corresponding to the contour image of the to-be-cut arc-shaped plate; converting the contour point plane coordinates into cutting point space coordinates by the calibration data; receiving a to-be-cut length of the to-be-cut arc-shaped plate and acquiring a space coordinate set of the to-be-cut arc-shaped plate according to the to-be-cut length; receiving a cutting type parameter and acquiring cutting path data according to the cutting type parameter and the space coordinate set of the to-be-cut arc-shaped plate; driving the cutting module to cut the to-be-cut arc-shaped plate according to the cutting path data; the calibration data comprises calibration point space coordinates corresponding to calibration positions and calibration point plane coordinates corresponding to the calibration positions; correspondingly, acquiring calibration data comprises: acquiring calibration point space coordinates corresponding to preset calibration positions; wherein the calibration point space coordinates are located within a stroke range of preset marker points on the cutting module; driving the laser emission module to operate and driving the preset marker points on the cutting module to move to calibration positions matched with the calibration point space coordinates, so as to acquire calibration point images of the marker points located at the calibration positions by the image acquisition module; acquiring calibration point plane coordinates of the marker points in the calibration point images; the number N of the calibration positions is greater than or equal to 3, and among all the calibration positions, there are at least three calibration positions corresponding to non-collinear calibration point space coordinates; when the number N of the calibration positions is 3 and the calibration point space coordinates corresponding to the three calibration positions are non-collinear, converting the contour point plane coordinates into the cutting point space coordinates by the calibration data comprises: acquiring calibration point space coordinate vectors corresponding to the calibration point space coordinates according to the calibration point space coordinates; acquiring calibration point plane coordinate vectors corresponding to the calibration point plane coordinates according to the calibration point plane coordinates; acquiring a cutting point space coordinate vector according to the calibration point space coordinate vectors and the calibration point plane coordinate vectors; acquiring the cutting point space coordinates according to the cutting point space coordinate vector; a cutting point space coordinate vector under a cutting point space coordinate corresponding to a kth contour point plane coordinate is: p m,k = [a, b]M p [p r,1 -p r,2 ,p r,1 -p r,3 ][p v,2 -p v,1 ,p v,3 -p v,1 ] -1 (p c,k -p v,1 )+p r,1 ; wherein, α and β are base vectors of the contour point plane coordinates corresponding to the profile image of the arc-shaped plate to be cut; M p is a vertical projection matrix, and M p = ([α, β] T [α, β]) -1 [α, β] T ; p r,i is a calibration point space coordinate vector corresponding to the calibration point space coordinates at the i-th calibration position, i ∈ {1, 2, 3}, and p r,i = [x r,i , y r,i , z r,i ] T ; p v,i is a calibration point plane coordinate vector corresponding to the calibration point plane coordinates at the i-th calibration position, and p v,i = [x v,i , y v,i ] T ; p c,k is the k-th contour point plane coordinate vector, and P c,k = [x c,k , y c,k ] T ; when the number N of the calibration positions is greater than 3 and there are at least three calibration positions corresponding to non-collinear calibration point space coordinates, the contour point plane coordinates and the cutting point space coordinates satisfy the following correlation formula: wherein a is any scale parameter; M p is a vertical projection matrix, and M p = ([a, b] T [a, b]) -1 [a, b] T , a and b are base vectors of the contour point plane coordinates corresponding to the contour image of the arc-shaped plate to be cut; p m,k is a cutting point space coordinate vector of the kth contour point plane coordinate corresponding to the cutting point space coordinate, and p m,k = [x m,k , y m,k , z m,k ]; (x c,k , y c,k ) is the kth contour point plane coordinate corresponding to the contour image in the plate mapping image; H is a homography matrix vector, and a homography parameter vector obtained by vector conversion according to a homography matrix is: The contour point plane coordinates are converted into cutting point space coordinates through the calibration data, and the conversion includes: A required two-dimensional calibration point coordinate is defined using a calibration point space coordinate vector corresponding to the calibration point space coordinate as follows: In the formula, p r,i is a calibration point space coordinate vector corresponding to a calibration point space coordinate at the i-th calibration position, i ∈ {1, 2, …, N}, and p r,i = [x r,i , y r,i , z r,i ] T ; Define the planar coordinate vector of the i-th calibration point in the i-th calibration position as p v,i = [x v,i ,y v,i ] T ,i≤N, and based on the planar coordinate vector of the corresponding calibration point, construct the following homogeneous linear equation group: Ah=b; In the formulae, The homography parameter vector calculated by the least square method is h = (A T A) -1 A T b; The cutting point space coordinate vector is obtained according to the correlation formula, the homogeneous linear equation set and the homographic parameter vector; The cutting point space coordinate is obtained according to the cutting point space coordinate vector; A cutting point space coordinate vector under the cutting point space coordinate corresponding to the kth contour point plane coordinate is:

2. The arc plate cutting control method according to claim 1, wherein: The preset mark point on the cutting module is located at the cutting point of the cutting module.

3. The method of claim 2, wherein: After obtaining the plate mapping image including the contour image of the arc-shaped plate to be cut, the method further includes: The plate mapping image is subjected to a binaryzation process to obtain a binaryzation image; The binaryzation image is subjected to a filtering process to obtain a filtered image, so as to obtain the contour point plane coordinates corresponding to the contour image in the filtered image.

4. An arc plate cutting control device characterized by: The laser cutting device includes a main control module, a laser emission module, a cutting module and an image acquisition module, the main control module is in communication connection with the laser emission module, the cutting module and the image acquisition module, the laser emission module, the cutting module and the image acquisition module are sequentially and adjacently arranged on a workbench, and the emission end of the laser emission module and the acquisition end of the image acquisition module are oppositely arranged; the main control module is used for executing the arc-shaped plate cutting control method according to any one of claims 1 to 3.

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