Material pressing processing method, device and server

Abstract

The application provides a material pressing processing method and device and a server, relates to data processing technology, and the method comprises the following steps: extracting a to-be-detected point cloud in a to-be-detected range on a steel plate; the to-be-detected range comprises a material pressing position and steel plate waste outside the material pressing position; the material pressing position is a position for separating a workpiece on the steel plate. The to-be-detected point cloud is subjected to clustering processing to obtain a workpiece point cloud in the material pressing position, and a workpiece area of the workpiece point cloud is determined. A standard area of the workpiece point cloud is determined. If a difference between the workpiece area of the workpiece point cloud and the standard area is less than or equal to a preset threshold, it is determined that the workpiece in the material pressing position is in an unpressed state. The method of the application can accurately determine whether the workpiece is pressed, so that the unpressed workpiece can be subsequently sucked, the pressed workpiece is avoided from being sucked to the steel plate, and the subsequent un-sucked workpiece in the steel plate is prevented from being misaligned, thereby solving the technical problem that the subsequent un-sucked workpiece in the steel plate is misaligned due to the steel plate being sucked.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, in particular to a pressing processing method and device and server. BACKGROUND

[0002] At present, in the pipeline, the workpiece made in the steel plate needs to be sucked.

[0003] In the prior art, the workpieces in the steel plate are directly sucked in sequence.

[0004] However, in the prior art, since the workpieces in the steel plate are directly sucked in sequence, if the current workpiece is pressed by the steel plate, the current workpiece is in a pressing state, and when the current workpiece is sucked, the steel plate will be lifted, which will cause the subsequent workpieces in the steel plate to be misaligned, and thus the workpiece sucking operation cannot be performed. SUMMARY

[0005] The present application provides a pressing processing method, device and server to solve the technical problem that the subsequent workpieces in the steel plate are misaligned due to the suction of the steel plate.

[0006] In a first aspect, the present application provides a pressing processing method, comprising:

[0007] extracting a to-be-detected point cloud in a to-be-detected range on a steel plate; wherein the to-be-detected range includes a pressing position and steel plate waste outside the pressing position, and the pressing position is a position on the steel plate where a workpiece is separated and made;

[0008] performing clustering processing on the to-be-detected point cloud to obtain a workpiece point cloud in the pressing position, and determining a workpiece area of the workpiece point cloud;

[0009] determining a standard area of the workpiece point cloud;

[0010] if a difference between the workpiece area of the workpiece point cloud and the standard area is less than or equal to a preset threshold, determining that the workpiece in the pressing position is in an unpressed state.

[0011] Further, the clustering processing on the to-be-detected point cloud to obtain the workpiece point cloud in the pressing position comprises:

[0012] randomly determining any point in the to-be-detected point cloud as a starting point;

[0013] starting from the starting point, performing clustering processing on the to-be-detected point cloud according to preset clustering information to obtain the workpiece point cloud in the pressing position; wherein the clustering information is used to indicate clustering rule information.

[0014] Further, the clustering processing of the to-be-detected point cloud is performed according to preset clustering information, starting from the starting point, to obtain the workpiece point cloud in the pressing position, and the clustering processing includes:

[0015] The normal of each point in the to-be-detected point cloud is traversed in sequence according to preset first clustering information, starting from the starting point, to determine an included angle between the normal of each point in the to-be-detected point cloud and the plane where the steel plate is located.

[0016] The clustering processing of the included angle is performed according to a preset included angle threshold range, to obtain the workpiece point cloud in the pressing position.

[0017] Further, the clustering processing of the to-be-detected point cloud is performed according to preset clustering information, starting from the starting point, to obtain the workpiece point cloud in the pressing position, and the clustering processing includes:

[0018] The curvature of each point in the to-be-detected point cloud is traversed according to preset second clustering information, starting from the starting point, to determine the curvature of each point in the to-be-detected point cloud.

[0019] The clustering processing of the curvature is performed according to a preset curvature threshold range, to obtain the workpiece point cloud in the pressing position.

[0020] Further, the determination of the standard area of the workpiece point cloud includes:

[0021] Based on a preset mapping relationship between the workpiece point cloud and a workpiece contour template point cloud, a target workpiece contour template point cloud corresponding to the workpiece point cloud is determined.

[0022] Based on a preset mapping relationship between the workpiece contour template point cloud and the standard area, a standard area corresponding to the target workpiece contour template point cloud is determined.

[0023] Further, the method further includes:

[0024] According to the workpiece point cloud in the pressing position and the target workpiece contour template point cloud, an actual position of the workpiece in the pressing position is determined.

[0025] The workpiece at the actual position is sucked.

[0026] Further, the determination of the actual position of the workpiece in the pressing position according to the workpiece point cloud in the pressing position and the target workpiece contour template point cloud includes:

[0027] The workpiece point cloud in the pressing position and the target workpiece contour template point cloud are overlapped to determine the actual position of the workpiece in the pressing position.

[0028] Further, the method further comprises:

[0029] If it is determined that the difference between the workpiece area of the workpiece point cloud and the standard area is greater than a preset threshold, it is determined that the workpiece in the material pressing position is in a material pressing state, and an alarm signal is issued.

[0030] In a second aspect, the present application provides a material pressing processing device, comprising:

[0031] An extraction unit is configured to extract a to-be-detected point cloud in a to-be-detected range on a steel plate; wherein the to-be-detected range includes a material pressing position and steel plate waste outside the material pressing position, and the material pressing position is a position on the steel plate where a workpiece is separated and manufactured;

[0032] A clustering unit is configured to perform clustering processing on the to-be-detected point cloud to obtain a workpiece point cloud in the material pressing position.

[0033] A first determination unit is configured to determine a workpiece area of the workpiece point cloud.

[0034] A second determination unit is configured to determine a standard area of the workpiece point cloud.

[0035] A third determination unit is configured to determine that the workpiece in the material pressing position is in an unpressed state if it is determined that the difference between the workpiece area of the workpiece point cloud and the standard area is less than or equal to a preset threshold.

[0036] Further, the clustering unit comprises:

[0037] A first determination module is configured to randomly determine any point in the to-be-detected point cloud as a starting point.

[0038] A clustering module is configured to perform clustering processing on the to-be-detected point cloud from the starting point according to preset clustering information to obtain the workpiece point cloud in the material pressing position; wherein the clustering information is used to indicate clustering rule information.

[0039] Further, the clustering module comprises:

[0040] A first determination submodule is configured to sequentially traverse the normal of each point in the to-be-detected point cloud from the starting point according to preset first clustering information to determine the included angle between the normal of each point in the to-be-detected point cloud and the plane where the steel plate is located.

[0041] A first clustering submodule is configured to perform clustering processing on the included angle according to a preset included angle threshold range to obtain the workpiece point cloud in the material pressing position.

[0042] Further, the clustering module comprises:

[0043] a second determining sub-module, configured to determine the curvature of each point in the to-be-detected point cloud by traversing the curvature of each point in the to-be-detected point cloud starting from the starting point according to preset second clustering information;

[0044] a second clustering sub-module, configured to perform clustering processing on the curvature according to a preset curvature threshold range, to obtain the workpiece point cloud in the pressing position.

[0045] Further, the second determining unit comprises:

[0046] a second determining module, configured to determine a target workpiece contour template point cloud corresponding to the workpiece point cloud based on a preset mapping relationship between the workpiece point cloud and the workpiece contour template point cloud.

[0047] a third determining module, configured to determine a standard area corresponding to the target workpiece contour template point cloud based on a preset mapping relationship between the workpiece contour template point cloud and the standard area.

[0048] Further, the device further comprises:

[0049] a fourth determining unit, configured to determine an actual position of the workpiece in the pressing position according to the workpiece point cloud in the pressing position and the target workpiece contour template point cloud.

[0050] a suction unit, configured to suck the workpiece at the actual position.

[0051] Further, the fourth determining unit is specifically configured to:

[0052] superimpose the workpiece point cloud in the pressing position and the target workpiece contour template point cloud to determine the actual position of the workpiece in the pressing position.

[0053] Further, the device further comprises:

[0054] an alarm unit, configured to determine that the workpiece in the pressing position is in a pressing state and send an alarm signal if a difference between the workpiece area of the workpiece point cloud and the standard area is greater than a preset threshold.

[0055] In a third aspect, a server is provided, comprising a memory and a processor, the memory stores a computer program executable on the processor, and the processor implements the method in the first aspect when executing the computer program.

[0056] In a fourth aspect, a computer readable storage medium is provided, the computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by a processor to implement the method in the first aspect.

[0057] In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method of the first aspect.

[0058] The method, device and server provided by the present application extract a to-be-detected point cloud in a to-be-detected range on a steel plate; the to-be-detected range contains a pressing position and a steel plate waste outside the pressing position, and the pressing position is a position on the steel plate at which a workpiece is separated and manufactured. The to-be-detected point cloud is subjected to clustering processing to obtain a workpiece point cloud in the pressing position, and a workpiece area of the workpiece point cloud is determined. A standard area of the workpiece point cloud is determined. If a difference between the workpiece area of the workpiece point cloud and the standard area is less than or equal to a preset threshold, it is determined that the workpiece in the pressing position is in an unpressed state. In the present solution, the to-be-detected point cloud in the to-be-detected range is extracted, and then the to-be-detected point cloud is subjected to clustering processing to obtain the workpiece point cloud in the pressing position, and the workpiece area of the workpiece point cloud is determined, and then the standard area corresponding to the workpiece point cloud is determined. The difference between the workpiece area of the workpiece point cloud and the standard area is compared with the preset threshold. If the difference between the workpiece area of the workpiece point cloud and the standard area is less than or equal to the preset threshold, it is determined that the workpiece in the pressing position is in the unpressed state, and then the workpiece can be sucked. Therefore, it can be determined whether the workpiece is pressed or not, so that the unpressed workpiece can be sucked subsequently, and the pressed workpiece is avoided from being sucked to cause the subsequent un-sucked workpiece in the steel plate to be misaligned, thereby solving the technical problem that the subsequent un-sucked workpiece in the steel plate is misaligned due to the pressed workpiece being sucked to the steel plate. BRIEF DESCRIPTION OF DRAWINGS

[0059] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, further serve to explain the principles of the present disclosure.

[0060] Figure 1 A flowchart of a pressing processing method provided by an embodiment of the present application;

[0061] Figure 2 A flowchart of another pressing processing method provided by an embodiment of the present application;

[0062] Figure 3 A structural diagram of a pressing processing device provided by an embodiment of the present application;

[0063] Figure 4 A structural diagram of another pressing processing device provided by an embodiment of the present application;

[0064] Figure 5 A structural diagram of a server provided by an embodiment of the present application.

[0065] The present disclosure has been shown and described with reference to the preferred embodiments. As is readily appreciated by those skilled in the art, other embodiments than the one specifically described herein can be constructed in accordance with the present disclosure, and all equivalents thereof, without departing from the scope of the present disclosure. It is intended that all such embodiments are within the scope of the present disclosure and are encompassed by the appended claims. DETAILED DESCRIPTION

[0066] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The same numbers are used in different drawings to denote the same or similar elements. The following detailed description is not intended to limit the scope of the present disclosure, but is merely illustrative of one example embodiment of the present disclosure.

[0067] In one example, in the pipeline, the finished workpiece in the steel plate needs to be sucked. In the prior art, the workpieces in the steel plate are directly sucked in sequence. However, in the prior art, since the workpieces in the steel plate are directly sucked in sequence, if the current workpiece is pressed by the steel plate, the current workpiece is in a pressed state, and when the current workpiece is sucked, the steel plate will be lifted, which will cause the subsequent workpieces in the steel plate to be misaligned, and thus the workpiece sucking operation cannot be performed.

[0068] The present application provides a pressing processing method, device and server, which aims to solve the above technical problems in the prior art.

[0069] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The embodiments of the present application will be described below with reference to the drawings.

[0070] Figure 1 A flowchart of a pressing processing method provided by an embodiment of the present application is shown in FIG. 1, which includes the following steps. Figure 1

[0071] Step 101: Extracting a to-be-detected point cloud in a to-be-detected range on the steel plate; wherein the to-be-detected range includes a pressing position and a steel plate waste outside the pressing position, and the pressing position is a position on the steel plate for separating a workpiece.

[0072] ​Exemplarily, the execution subject of the embodiment can be a server. First, a to-be-detected point cloud in a to-be-detected range on the steel plate needs to be extracted, the to-be-detected range containing a pressing position and steel plate waste outside the pressing position. The pressing position is a position on the steel plate at which a workpiece is separated and formed, including stamping / cutting the workpiece on the steel plate and separating the workpiece; the pressing position outside is a peripheral adjacent part of the pressing position on the steel plate, that is, a peripheral adjacent part of a blank position after the workpiece is separated, which is the remaining steel plate waste after the workpiece is separated; and the to-be-detected point cloud represents the point cloud of both the pressing position and the steel plate waste outside the pressing position.

[0073] For example, the to-be-detected point cloud in the to-be-detected range can be extracted according to the 3D image of the steel plate obtained by the camera.

[0074] Step 102, performing clustering processing on the to-be-detected point cloud to obtain a workpiece point cloud in the pressing position and determining a workpiece area of the workpiece point cloud.

[0075] Exemplarily, the server can determine any point in the to-be-detected point cloud as a starting point, and perform clustering processing on each point in the to-be-detected point cloud starting from the starting point to determine the workpiece point cloud in the pressing position, that is, the point cloud after removing the steel plate waste outside the pressing position. And determine the workpiece area of the workpiece point cloud. The clustering method includes calculating the curvature or normal of each point, which is not limited.

[0076] Step 103, determining a standard area of the workpiece point cloud.

[0077] Exemplarily, the type, shape, and other information of a plurality of types of workpieces are known, and the workpiece contour template point cloud corresponding to each type of workpiece, the standard area corresponding to each workpiece contour template point cloud can be determined in advance. The workpiece contour template point cloud represents the standard point cloud of the contour of the workpiece. For example, the workpiece contour template point cloud is determined according to the shape of the workpiece point cloud, and the standard point cloud of the contour of the corresponding workpiece is determined according to the shape. Therefore, the mapping relationship between the workpiece point cloud and the workpiece contour template point cloud and the mapping relationship between the workpiece contour template point cloud and the standard area are pre-stored in the server. Based on the pre-set mapping relationship between the workpiece point cloud and the workpiece contour template point cloud, the server performs 3D matching on the workpiece point cloud to find and determine the target workpiece contour template point cloud corresponding to the workpiece point cloud. And based on the pre-set mapping relationship between the workpiece contour template point cloud and the standard area, the standard corresponding to the target workpiece contour template point cloud is found and determined, and the standard area of the workpiece point cloud is determined.

[0078] Step 104, if the difference between the workpiece area of the workpiece point cloud and the standard area is less than or equal to a pre-set threshold, it is determined that the workpiece in the pressing position is in an un-pressed state.

[0079] Exemplarily, the server compares the difference between the workpiece area of the workpiece point cloud and the standard area with a preset threshold value, and if the difference between the workpiece area of the workpiece point cloud and the standard area is less than or equal to the preset threshold value, it is determined that the workpiece in the pressing position is in an unpressed state, and then the workpiece can be sucked. If it is determined that the difference between the workpiece area of the workpiece point cloud and the standard area is greater than the preset threshold value, it is determined that the workpiece in the pressing position is in a pressed state, and the workpiece cannot be continuously sucked, and an alarm signal is sent to prompt the worker to adjust the position of the workpiece.

[0080] In the embodiment of the application, a workpiece point cloud in a detection range on a steel plate is extracted, wherein the detection range includes a pressing position and steel plate waste outside the pressing position, and the pressing position is a position on the steel plate where a workpiece is separated and manufactured. The workpiece point cloud is subjected to clustering processing to obtain a workpiece point cloud in the pressing position, and a workpiece area of the workpiece point cloud is determined. A standard area of the workpiece point cloud is determined. If the difference between the workpiece area of the workpiece point cloud and the standard area is less than or equal to a preset threshold value, it is determined that the workpiece in the pressing position is in an unpressed state. In the present scheme, the workpiece point cloud in the detection range is extracted, and then the workpiece point cloud in the pressing position is obtained by clustering processing the workpiece point cloud, and the workpiece area of the workpiece point cloud is determined, and then the standard area corresponding to the workpiece point cloud is determined. The difference between the workpiece area of the workpiece point cloud and the standard area is compared with a preset threshold value, and if the difference between the workpiece area of the workpiece point cloud and the standard area is less than or equal to the preset threshold value, it is determined that the workpiece in the pressing position is in an unpressed state, and then the workpiece can be sucked. Therefore, it can be accurately determined whether the workpiece is pressed or not, so as to suck the unpressed workpiece subsequently, avoid sucking the pressed workpiece to cause the steel plate to be sucked, and then cause the subsequent un-sucked workpiece in the steel plate to be misaligned, thereby solving the technical problem of misalignment of the subsequent un-sucked workpiece in the steel plate caused by sucking the steel plate.

[0081] Figure 2 Another flowchart of a pressing processing method provided by the embodiment of the application is shown in FIG. 6, and the method comprises the following steps. Figure 2

[0082] Step 201: Extracting a workpiece point cloud in a detection range on a steel plate; wherein the detection range includes a pressing position and steel plate waste outside the pressing position, and the pressing position is a position on the steel plate where a workpiece is separated and manufactured.

[0083] Exemplarily, the present step can refer to step 101 in the method shown in FIG. 1, and will not be described herein again. Figure 1

[0084] Step 202: Randomly determining any point in the workpiece point cloud as a starting point.

[0085] Exemplarily, the server can randomly determine any point in the workpiece point cloud as a starting point. ​​

[0086] Step 203, according to the preset clustering information, starting from the starting point, the point cloud to be detected is clustered to obtain the workpiece point cloud in the pressing position; wherein the clustering information is used to indicate the clustering rule information.

[0087] Step 203 includes two implementation modes:

[0088] The first implementation mode of step 203: according to the preset first clustering information, starting from the starting point, the normal of each point in the point cloud to be detected is sequentially traversed, the angle between the normal of each point in the point cloud to be detected and the plane where the steel plate is located is determined; according to the preset angle threshold range, the angle is clustered to obtain the workpiece point cloud in the pressing position.

[0089] The second implementation mode of step 203: according to the preset second clustering information, starting from the starting point, the curvature of each point in the point cloud to be detected is traversed, the curvature of each point in the point cloud to be detected is determined; according to the preset curvature threshold range, the curvature is clustered to obtain the workpiece point cloud in the pressing position.

[0090] Exemplarily, the server can determine any point in the point cloud to be detected as a starting point, starting from the starting point, each point in the point cloud to be detected is clustered to determine the workpiece point cloud in the pressing position, that is, the point cloud of the steel plate waste outside the pressing position is removed. And determine the workpiece area of the workpiece point cloud. Wherein the clustering mode includes calculating the curvature or normal of each point, etc., which is not limited.

[0091] For example, in the first implementation mode, the first clustering information is used to indicate the clustering rule information about the normal of the point cloud. According to the preset first clustering information, starting from the starting point, the server sequentially traverses the normal of each point in the point cloud to be detected, calculates and determines the angle between the normal of each point in the point cloud to be detected and the plane where the steel plate is located. According to the preset angle threshold range, the angle is clustered to obtain the workpiece point cloud in the pressing position. For example, the angle threshold range includes 90 degrees, [0 degrees, 90 degrees), (90 degrees, 180 degrees], 90 degrees indicates that the normal of the point is perpendicular to the plane where the steel plate is located, the point cloud of [0 degrees, 90 degrees) and the point cloud of (90 degrees, 180 degrees) all indicate that the steel plate waste is in contact with the outline of the pressing position, coincides, etc., if the clustering obtains the point cloud of 90 degrees, it is explained that the point cloud of 90 degrees does not overlap with the point cloud of the steel plate waste, the point cloud of 90 degrees is the workpiece point cloud in the pressing position.

[0092] Or, in the second implementation, the second clustering information is used to indicate the clustering rule information about the curvature of the point cloud. According to the preset second clustering information, the server traverses the curvature of each point in the to-be-detected point cloud starting from the starting point, calculates and determines the curvature of each point in the to-be-detected point cloud. According to the preset curvature threshold range, the curvature is clustered to determine the point cloud that satisfies the preset curvature threshold range, and the point cloud that satisfies the curvature threshold range is determined as the workpiece point cloud in the pressing position.

[0093] Step 204, determining the workpiece area of the workpiece point cloud.

[0094] Exemplarily, the server can map the workpiece two-dimensional image corresponding to the workpiece point cloud, and determine the workpiece area of the workpiece point cloud according to the workpiece two-dimensional image.

[0095] Step 205, determining the target workpiece contour template point cloud corresponding to the workpiece point cloud based on the preset mapping relationship between the workpiece point cloud and the workpiece contour template point cloud.

[0096] Exemplarily, the model, shape and other information of a plurality of types of workpieces are known, and the workpiece contour template point cloud corresponding to each type of workpiece, the standard area corresponding to each workpiece contour template point cloud can be determined in advance. The workpiece contour template point cloud represents the standard point cloud of the contour of the workpiece. For example, the workpiece contour template point cloud is determined according to the shape of the workpiece point cloud, and the standard point cloud of the contour of the corresponding workpiece is determined according to the shape. Therefore, the mapping relationship between the workpiece point cloud and the workpiece contour template point cloud, and the mapping relationship between the workpiece contour template point cloud and the standard area are pre-stored in the server.

[0097] In this step, based on the preset mapping relationship between the workpiece point cloud and the workpiece contour template point cloud, the server can perform 3D matching on the workpiece point cloud, and find and determine the target workpiece contour template point cloud corresponding to the workpiece point cloud.

[0098] Step 206, determining the standard area corresponding to the target workpiece contour template point cloud based on the preset mapping relationship between the workpiece contour template point cloud and the standard area.

[0099] Exemplarily, based on the preset mapping relationship between the workpiece contour template point cloud and the standard area, the server finds and determines the standard corresponding to the target workpiece contour template point cloud, and further determines the standard area of the workpiece point cloud.

[0100] Step 207, if the difference between the workpiece area of the workpiece point cloud and the standard area is less than or equal to a preset threshold, it is determined that the workpiece in the pressing position is in an unpressed state.

[0101] Exemplarily, the server compares the difference between the workpiece area of the workpiece point cloud and the standard area with a preset threshold value, and if the difference between the workpiece area of the workpiece point cloud and the standard area is less than or equal to the preset threshold value, it is determined that the workpiece in the pressing position is in an unpressed state, and then the workpiece can be sucked.

[0102] Step 208: According to the workpiece point cloud in the pressing position and the target workpiece contour template point cloud, the actual position of the workpiece in the pressing position is determined.

[0103] In one example, step 208 includes: superimposing the workpiece point cloud in the pressing position and the target workpiece contour template point cloud to determine the actual position of the workpiece in the pressing position.

[0104] Exemplarily, since the workpiece point cloud and the target workpiece contour template point cloud are both known, the server superimposes the template contour point cloud and the partial contour to obtain the actual position of the workpiece.

[0105] Step 209: Suck the workpiece at the actual position.

[0106] Exemplarily, the server sucks the workpiece at the actual position. When sucking the workpiece, if it is determined that the workpiece is in an unpressed state, the workpiece can be directly sucked and moved upward or to one side. If it is determined that the workpiece is in a pressed state, an alarm signal is issued to remind the operator to adjust the position of the workpiece, and if it is determined that the workpiece at the adjusted actual position is in an unpressed state, the workpiece is directly sucked and moved upward or to one side. Alternatively, when sucking the workpiece in a pressed state, the workpiece is not moved upward first, but the translation distance is calculated according to the actual position of the workpiece, and the workpiece is automatically translated according to the translation distance to reduce the pressed area of the workpiece. Finally, if it is determined that the workpiece at the adjusted actual position is in an unpressed state, the workpiece is directly sucked and moved upward or to one side.

[0107] Step 210: If the difference between the workpiece area of the workpiece point cloud and the standard area is greater than the preset threshold value, it is determined that the workpiece in the pressing position is in a pressed state, and an alarm signal is issued.

[0108] Exemplarily, if the server determines that the difference between the workpiece area of the workpiece point cloud and the standard area is greater than the preset threshold value, it is determined that the workpiece in the pressing position is in a pressed state, and the workpiece cannot be further sucked, and an alarm signal is issued to prompt the operator to adjust the position of the workpiece.

[0109] In the embodiment of the present application, a to-be-detected point cloud in a to-be-detected range on a steel plate is extracted; the to-be-detected range includes a pressing position and steel plate waste around the pressing position, and the pressing position is a position on the steel plate at which a workpiece is separated and manufactured. A random point in the to-be-detected point cloud is determined as a starting point. According to preset clustering information, the to-be-detected point cloud is clustered starting from the starting point to obtain a workpiece point cloud in the pressing position; the clustering information is used to indicate clustering rule information. A workpiece area of the workpiece point cloud is determined. Based on a preset mapping relationship between the workpiece point cloud and a target workpiece contour template point cloud corresponding to the workpiece point cloud, the target workpiece contour template point cloud is determined. Based on a preset mapping relationship between the workpiece contour template point cloud and a standard area corresponding to the target workpiece contour template point cloud, the standard area is determined. If a difference between the workpiece area of the workpiece point cloud and the standard area is less than or equal to a preset threshold, it is determined that the workpiece in the pressing position is in an unpressed state. An actual position of the workpiece in the pressing position is determined according to the workpiece point cloud and the target workpiece contour template point cloud. The workpiece at the actual position is sucked. If the difference between the workpiece area of the workpiece point cloud and the standard area is greater than the preset threshold, it is determined that the workpiece in the pressing position is in a pressed state, and an alarm signal is sent. Therefore, whether the workpiece is pressed or not can be accurately determined, so that the unpressed workpiece can be sucked subsequently, and the pressed workpiece is avoided from being sucked to cause the subsequent un-sucked workpiece in the steel plate to be misaligned, thereby solving the technical problem that the subsequent un-sucked workpiece in the steel plate is misaligned due to the pressed workpiece being sucked to the steel plate.

[0110] Figure 3 A structural schematic diagram of a pressing processing device provided by the embodiment of the present application is shown in FIG. 1. Figure 3 As shown in FIG. 1, the device includes:

[0111] An extraction unit 31 is configured to extract a to-be-detected point cloud in a to-be-detected range on a steel plate; the to-be-detected range includes a pressing position and steel plate waste around the pressing position, and the pressing position is a position on the steel plate at which a workpiece is separated and manufactured.

[0112] A clustering unit 32 is configured to cluster the to-be-detected point cloud to obtain a workpiece point cloud in the pressing position.

[0113] A first determination unit 33 is configured to determine a workpiece area of the workpiece point cloud.

[0114] A second determination unit 34 is configured to determine a standard area of the workpiece point cloud.

[0115] A third determination unit 35 is configured to determine that the workpiece in the pressing position is in an unpressed state if a difference between the workpiece area of the workpiece point cloud and the standard area is less than or equal to a preset threshold.

[0116] The device of the embodiment can execute the technical solutions in the method, and the specific implementation process and technical principles are the same, which will not be repeated here.

[0117] Figure 4 Another structure schematic diagram of the material pressing processing device provided by the embodiment of the application is shown in Figure 3 Based on the embodiment shown in Figure 4 The clustering unit 32 comprises:

[0118] The first determination module 321 is configured to randomly determine any point in the to-be-detected point cloud as a starting point.

[0119] The clustering module 322 is configured to perform clustering processing on the to-be-detected point cloud starting from the starting point according to preset clustering information, to obtain the workpiece point cloud in the material pressing position; and the clustering information is used to indicate clustering rule information.

[0120] In one example, the clustering module 322 comprises:

[0121] The first determination sub-module 3221 is configured to sequentially traverse the normal of each point in the to-be-detected point cloud starting from the starting point according to preset first clustering information, to determine the included angle between the normal of each point in the to-be-detected point cloud and the plane on which the steel plate is located.

[0122] The first clustering sub-module 3222 is configured to perform clustering processing on the included angle according to a preset included angle threshold range, to obtain the workpiece point cloud in the material pressing position.

[0123] In one example, the clustering module 322 comprises:

[0124] The second determination sub-module 3223 is configured to traverse the curvature of each point in the to-be-detected point cloud starting from the starting point according to preset second clustering information, to determine the curvature of each point in the to-be-detected point cloud.

[0125] The second clustering sub-module 3224 is configured to perform clustering processing on the curvature according to a preset curvature threshold range, to obtain the workpiece point cloud in the material pressing position.

[0126] In one example, the second determination unit 34 comprises:

[0127] The second determination module 341 is configured to determine the target workpiece contour template point cloud corresponding to the workpiece point cloud based on a preset mapping relationship between the workpiece point cloud and the workpiece contour template point cloud.

[0128] The third determination module 342 is configured to determine the standard area corresponding to the target workpiece contour template point cloud based on a preset mapping relationship between the workpiece contour template point cloud and the standard area.

[0129] In one example, the device further comprises:

[0130] The fourth determination unit 41 is configured to determine the actual position of the workpiece in the pressing position according to the workpiece point cloud in the pressing position and the target workpiece contour template point cloud.

[0131] The suction unit 42 is configured to suck the workpiece at the actual position.

[0132] In one example, the fourth determination unit 41 is specifically configured to:

[0133] align the workpiece point cloud in the pressing position with the target workpiece contour template point cloud to determine the actual position of the workpiece in the pressing position.

[0134] In one example, the device further comprises:

[0135] The alarm unit 43 is configured to determine that the workpiece in the pressing position is in the pressing state and send an alarm signal if the difference between the workpiece area of the workpiece point cloud and the standard area is greater than the preset threshold.

[0136] The device of the embodiment can execute the technical solutions in the above method, and the specific implementation process and technical principles are the same, which will not be repeated here.

[0137] Figure 5 A structural diagram of a server provided by the embodiment of the present application is shown in Figure 5 The server includes a memory 51 and a processor 52.

[0138] The memory 51 stores a computer program that can run on the processor 52.

[0139] The processor 52 is configured to execute the method provided by the above embodiment.

[0140] The server further includes a receiver 53 and a transmitter 54. The receiver 53 is configured to receive instructions and data sent by an external device, and the transmitter 54 is configured to send instructions and data to the external device.

[0141] The embodiment of the present application further provides a non-transitory computer readable storage medium, when the instructions in the storage medium are executed by the processor of the server, the server can execute the method provided by the above embodiment.

[0142] The embodiment of the present application further provides a computer program product, the computer program product includes: a computer program, the computer program is stored in a readable storage medium, at least one processor of the server can read the computer program from the readable storage medium, and the at least one processor executes the computer program so that the server executes the scheme provided by any one of the above embodiments.

[0143] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

[0144] It should be understood that the present disclosure is not limited to the precise structures as herein described and illustrated in the drawings, and that various modifications and changes can be made without departing from its scope. The scope of the present disclosure is limited only by the claims that follow.

Claims

1. A pressing process, characterized in that, include: Extract the point cloud of the area to be detected from the steel plate; wherein, the area to be detected includes the pressing position and the steel plate scrap outside the pressing position, and the pressing position is the position on the steel plate where the workpiece is separated; Clustering is performed on the point cloud to be detected to obtain the workpiece point cloud within the pressing position, and the workpiece area of ​​the workpiece point cloud is determined. The workpiece point cloud within the pressing position is the point cloud after removing the steel plate scrap outside the pressing position. Determine the standard area of ​​the workpiece point cloud, where the standard area is the standard area corresponding to the workpiece contour template point cloud, and the workpiece contour template point cloud represents the standard point cloud of the workpiece contour. If the difference between the workpiece area of ​​the workpiece point cloud and the standard area is less than or equal to a preset threshold, then the workpiece within the pressing position is determined to be in an unpressed state.

2. The method according to claim 1, characterized in that, Clustering is performed on the point cloud to be detected to obtain the workpiece point cloud within the pressing position, including: Randomly select any point in the point cloud to be detected as the starting point; According to the preset clustering information, starting from the starting point, the point cloud to be detected is clustered to obtain the workpiece point cloud within the pressing position; wherein, the clustering information is used to indicate clustering rule information.

3. The method according to claim 2, characterized in that, The step of clustering the point cloud to be detected according to preset clustering information, starting from the starting point, to obtain the workpiece point cloud within the pressing position, includes: According to the preset first clustering information, starting from the starting point, the normal of each point in the point cloud to be detected is traversed in turn to determine the angle between the normal of each point in the point cloud to be detected and the plane where the steel plate is located. Based on a preset angle threshold range, the angle is clustered to obtain the workpiece point cloud within the pressing position.

4. The method according to claim 2, characterized in that, The step of clustering the point cloud to be detected according to preset clustering information, starting from the starting point, to obtain the workpiece point cloud within the pressing position, includes: According to the preset second clustering information, starting from the starting point, the curvature of each point in the point cloud to be detected is traversed to determine the curvature of each point in the point cloud to be detected. Based on a preset curvature threshold range, the curvature is clustered to obtain the workpiece point cloud within the pressing position.

5. The method according to claim 1, characterized in that, Determining the standard area of ​​the workpiece point cloud includes: Based on the preset mapping relationship between the workpiece point cloud and the workpiece contour template point cloud, the target workpiece contour template point cloud corresponding to the workpiece point cloud is determined. Based on the preset mapping relationship between the workpiece contour template point cloud and the standard area, the standard area corresponding to the target workpiece contour template point cloud is determined.

6. The method according to claim 5, characterized in that, The method further includes: The actual position of the workpiece within the pressing position is determined based on the workpiece point cloud within the pressing position and the target workpiece contour template point cloud. The workpiece at the actual location is picked up.

7. The method according to claim 6, characterized in that, Determining the actual position of the workpiece within the pressing position based on the workpiece point cloud within the pressing position and the target workpiece contour template point cloud includes: The point cloud of the workpiece in the pressing position is overlapped with the point cloud of the target workpiece contour template to determine the actual position of the workpiece in the pressing position.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: If the difference between the workpiece area of ​​the workpiece point cloud and the standard area is determined to be greater than a preset threshold, then the workpiece in the pressing position is determined to be in a pressing state, and an alarm signal is issued.

9. A server, characterized in that, The method includes a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the computer program to implement the method of any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-6.

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