A product cutting control method, electronic device and storage medium

Abstract

Embodiments of the present application disclose a product cutting control method, an electronic device and a storage medium. The method comprises: obtaining an image scanning path plan for a to-be-tested product; sequentially obtaining image scanning units corresponding to the to-be-tested product in the to-be-tested product based on the image scanning path plan, and determining edge contour positions of the image scanning units; determining position conversion relationships of the image scanning units based on the image scanning path plan; splicing the edge contour positions into an overall edge contour according to the position conversion relationships; and performing positioning detection on the to-be-tested product according to the overall edge contour and a standard drawing edge contour, and outputting a cutting drawing. In the embodiments of the present application, the edge contour positions of the image scanning units are determined through the image scanning path plan, and the edge contour positions are spliced into the overall edge contour through the position conversion relationships, so that the positioning detection on the to-be-tested product can be performed, the detection and positioning accuracy of image contour splicing can be improved, and the positioning detection on the complete contour of the product and the cutting can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of contour positioning and cutting, and particularly relates to a product cutting control method, an electronic device and a storage medium. BACKGROUND

[0002] As a process means, laser cutting technology is widely used in the cutting of raw materials and semi-transparent vehicle-mounted glass with curved surfaces in the 3C, semiconductor and automobile industries due to its advantages of fast cutting speed, small heat affected zone, stable cutting performance and low maintenance cost.

[0003] At present, positioning of laser cutting is mostly achieved by mechanical positioning, and cutting accuracy needs to be checked regularly by manual means, which makes calibration difficult. Moreover, the compatibility of different products is poor, making product change difficult. With the development of machine vision technology, machine vision technology is introduced in some laser cutting application scenarios to guide and plan the cutting position and path, solving the problem of mechanical positioning difficulty in complex and small application scenarios. However, due to the limitation of the camera chip size of visual imaging, the resolution of the collected image is limited, and the area array camera cannot achieve high-precision imaging for large-size products to be cut. The line array camera can image larger flat products by line scanning, but cannot effectively image products with curved surfaces or height differences, or transparent products. In some current inventions and industry applications, local features of large-size products are captured and positioned by image feature matching. This method has the problem of insufficient image contour splicing positioning accuracy, and cannot locate the complete contour of the product and the position distribution of the transparent curved product for further product quality detection. SUMMARY

[0004] Therefore, the present application provides a product cutting control method, an electronic device and a storage medium, which can accurately locate the contour of the product, improve the detection and positioning accuracy of image contour splicing, realize complete contour positioning and detection of curved or large-area products, and control the cutting of the product.

[0005] According to an aspect of the present application, an embodiment of the present application provides a product cutting control method, which comprises:

[0006] Obtaining a preconfigured image scanning path plan for a product to be measured;

[0007] Obtaining image scanning units corresponding to the product to be measured in the product to be measured based on the image scanning path plan, and determining the edge contour position of each image scanning unit;

[0008] determine a position conversion relationship of each of the image scanning units based on the image scanning path planning, and splice the edge profile positions of each of the image scanning units into an overall edge profile according to the position conversion relationship;

[0009] perform positioning detection on the product to be measured according to the overall edge profile and a preset standard paper edge profile, and output a cutting paper, so that a cutting module cuts the detected product.

[0010] According to another aspect of the present application, the embodiments of the present application further provide a product cutting control processing device, which comprises:

[0011] an acquisition module, configured to acquire a preconfigured image scanning path planning for a product to be measured;

[0012] a determination module, configured to sequentially acquire image scanning units corresponding to the product to be measured in the product to be measured based on the image scanning path planning, and determine edge profile positions of each of the image scanning units;

[0013] a splicing module, configured to determine a position conversion relationship of each of the image scanning units based on the image scanning path planning, and splice the edge profile positions of each of the image scanning units into an overall edge profile according to the position conversion relationship;

[0014] an output module, configured to perform positioning detection on the product to be measured according to the overall edge profile and a preset standard paper edge profile, and output a cutting paper, so that a cutting module cuts the detected product.

[0015] According to another aspect of the present application, the embodiments of the present application further provide an electronic device, which comprises:

[0016] at least one processor; and

[0017] a memory connected with the at least one processor in communication; wherein

[0018] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the product cutting control method according to any one of the embodiments of the present application.

[0019] According to another aspect of the present application, the embodiments of the present application further provide a computer readable storage medium, which stores computer instructions for enabling a processor to execute the product cutting control method according to any one of the embodiments of the present application.

[0020] According to another aspect of the present application, the present application further provides a computer program product comprising a computer program which, when executed by a processor, implements the product cutting control method according to any of the embodiments of the present application.

[0021] The technical scheme of the embodiment of the present application segments the product to be measured according to the image scanning path planning, determines the edge contour positions of the image scanning units, determines the position conversion relationship of the image scanning units based on the image scanning path planning, and splices the edge contour positions according to the position conversion relationship to obtain the overall edge contour, so as to position and detect the product to be measured. The contour of the product can be accurately positioned, the detection and positioning precision of the image contour splicing is improved, the complete contour positioning and detection of the curved surface or large-area product is realized, and the product is controlled to be cut.

[0022] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 A flowchart of a product cutting control processing method provided by an embodiment of the present application is shown in FIG. 1;

[0025] Figure 2 A schematic diagram of a curved surface product path planning method provided by an embodiment of the present application is shown in FIG. 2;

[0026] Figure 3 A schematic diagram of an n-th scanning unit and its start and end coordinate markers provided by an embodiment of the present application is shown in FIG. 3;

[0027] Figure 4 A flowchart of another product cutting control method provided by an embodiment of the present application is shown in FIG. 4;

[0028] Figure 5 A process schematic diagram of contour matching provided by an embodiment of the present application is shown in FIG. 5;

[0029] Figure 6 A flowchart of another product cutting control processing method provided by an embodiment of the present application is shown in FIG. 6;

[0030] Figure 7A structural block diagram of a product cutting control device provided by an embodiment of the present application is shown in the figure.

[0031] Figure 8 A structural schematic diagram of an electronic device provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0032] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiment of the present application will be described clearly and completely in the following with reference to the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiment of the present application, not all. Based on the embodiment in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the present application.

[0033] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0034] In an embodiment, Figure 1 A flow chart of a product cutting control processing method provided by an embodiment of the present application is shown in the figure. The embodiment can be applicable to the case of cutting control of a transparent curved surface product. The transparent curved surface product can be a vehicle-mounted glass product, etc. The method can be executed by a product cutting control processing device, which can be realized in the form of hardware and / or software, and can be configured in an electronic device.

[0035] As Figure 1 shown, the specific steps of the method include:

[0036] S110, obtaining a preconfigured image scanning path plan for the product to be tested.

[0037] The product to be measured refers to a product to be positioned and cut, which can be a product with a curved surface and / or transparent, for example, a large-size transparent vehicle glass, a glass with a curved surface, etc. The image scanning path planning refers to the path planning for scanning the product to be measured, which can be pre-configured by experience, manually, etc.

[0038] In this embodiment, the image scanning path planning corresponding to the product to be measured can be pre-configured according to the parameter information of the product to be measured and the parameter information of the preset scanning device. It can be understood that the image scanning path can be planned automatically according to the parameter information of the product to be measured by inputting the parameter information of the product to be measured into the software, wherein the parameter information of the product to be measured includes but is not limited to the size information of the image scanning unit corresponding to the product to be measured, the scanning pulse number corresponding to each image scanning unit, and the trigger interval; the parameter information of the preset scanning device can include but is not limited to the scanning line width corresponding to the preset scanning device, the distance between scanning pulses, the scanning start point coordinates and the scanning end point coordinates corresponding to each image scanning unit.

[0039] S120, based on the image scanning path planning, sequentially obtaining the image scanning unit corresponding to the product to be measured in the product to be measured, and determining the edge contour position of each image scanning unit.

[0040] The image scanning unit refers to two or more image scanning units corresponding to the product to be measured, and each image scanning unit corresponds to a corresponding size, a scanning start point coordinate and a scanning end point coordinate. The edge contour position can be understood as the product contour coordinates corresponding to each image scanning unit, and each image scanning unit corresponds to a corresponding product contour coordinate.

[0041] In this embodiment, the image scanning unit of the product to be measured can be controlled by the preset scanning device according to the scanning sequence of each image scanning unit in the image scanning path planning, the scanning line width, the resolution of the preset scanning device and the scanning pulse number corresponding to each image scanning unit, and the product contour coordinates corresponding to each image scanning unit are extracted from each image scanning unit of the product image as the position point coordinates according to the preset edge detection rule. The product contour coordinates corresponding to each image scanning unit are the edge contour positions corresponding to the image scanning unit. In some embodiments, the edge contour positions can also be obtained by positioning the image boundary according to the gray difference characteristics of the background and the foreground, and calculating the boundary feature points corresponding to each image scanning unit.

[0042] S130, determine the position conversion relationship of each image scanning unit based on the image scanning path planning, and splice the positions of each edge contour into an overall edge contour according to the position conversion relationship.

[0043] The position conversion relationship can be understood as the position conversion relationship of the product image contour coordinates corresponding to each image scanning unit in the scanning module coordinate system. The overall edge contour can be understood as splicing the edge contour positions corresponding to each image scanning unit in a certain way to obtain the overall edge contour of the product to be measured. The overall edge contour includes edge contour coordinate information corresponding to each image scanning unit, which can be understood as the complete product contour coordinates of the product to be measured.

[0044] In this embodiment, the position conversion relationship can be related to the scanning order of the image scanning unit of the preset scanning device. The scanning order can determine the scanning direction of each image scanning unit. The position conversion relationship of each image scanning unit is also related to the scanning direction. For example, the horizontal right and vertical down are the positive direction of scanning, and the offset in the position conversion relationship can be added. On the contrary, if the horizontal left and vertical up are the negative direction of scanning, the offset in the position conversion relationship can be subtracted.

[0045] In this embodiment, the offset of the edge contour position of each image scanning unit relative to the starting point coordinate can be determined according to the image scanning path planning by constructing the scanning module coordinate system, and the offset is used as the position conversion relationship corresponding to the scanning module coordinate system. The edge contour positions of each image scanning unit are converted to the scanning module coordinate system according to the position conversion relationship, and the edge contour positions of each image scanning unit in the scanning module coordinate system are obtained. In some embodiments, after the position conversion relationship of each image scanning unit is determined, the position point coordinates corresponding to each image scanning unit are combined to form a position point coordinate set corresponding to the image of the product to be measured. Each position point coordinate in the position point coordinate set is converted to the scanning module coordinate system, and the converted position point coordinate set is combined to form the overall edge contour of the product to be measured.

[0046] S140, according to the overall edge contour and the preset standard drawing edge contour, the product to be measured is positioned and detected, and the cutting drawing is outputted, so that the cutting module cuts the detected product.

[0047] The preset standard drawing edge contour refers to the contour edge corresponding to the standard drawing, which can be understood as the standard drawing corresponding to the product in production. The standard drawing is converted into an image drawing to obtain the edge contour in the image drawing, and the edge contour includes the contour coordinate information corresponding to the standard drawing.

[0048] In the embodiment, the standard drawing edge profile corresponding to each image scanning unit in the to-be-tested product is determined, each standard edge profile coordinate in the standard drawing edge profile is composed into a standard drawing edge profile point set and taken as a preset standard drawing edge profile, a coordinate conversion relationship between the overall edge profile and the preset standard drawing edge profile is determined, and the to-be-tested product is profiled according to a conversion result corresponding to the coordinate conversion relationship, so that the cutting die set cuts the detected to-be-tested product; in some embodiments, the to-be-tested product can also be positioned and detected by directly comparing the overall edge profile and the preset standard drawing edge profile in terms of profile feature points, which is not limited in the embodiment.

[0049] The technical scheme of the embodiment of the application segments the to-be-tested product by the image scanning path planning to determine the edge profile positions of the image scanning units, determines the position conversion relationship of the image scanning units based on the image scanning path planning, and splices the edge profile positions into the overall edge profile according to the position conversion relationship, so as to position and detect the to-be-tested product, accurately position the profile of the product, improve the detection and positioning precision of the image profile splicing, realize the complete profile positioning and detection of the curved surface or large-area product, and control the cutting of the product.

[0050] In an embodiment, the configuration of the image scanning path planning comprises:

[0051] The scanning pulse number corresponding to each image scanning unit is determined.

[0052] The size information corresponding to each image scanning unit is determined according to the scanning line width, the scanning pulse number and the distance between the scanning pulses of the preset scanning device.

[0053] The first image scanning unit and the first scanning start point coordinate corresponding to the first image scanning unit in the to-be-tested product are determined, the first image scanning unit is taken as the current image scanning unit, and the first scanning start point coordinate is taken as the current scanning start point coordinate.

[0054] The current scanning end point coordinate corresponding to the current scanning start point coordinate is determined according to the size information and the current scanning start point coordinate.

[0055] The current scanning end point coordinate is taken as the second scanning start point coordinate corresponding to the next image scanning unit in the to-be-tested product, and the step is repeated until the current scanning start point coordinate and the second scanning end point coordinate corresponding to the next image scanning unit coincide, so as to determine the image scanning path planning corresponding to the to-be-tested product.

[0056] The image scanning unit can be understood as an image area scanned each time, and each product to be measured corresponds to two or more image scanning units, and each image scanning unit corresponds to a corresponding scanning pulse number. The scanning pulse number is the pulse triggering number corresponding to any one image scanning unit in the product to be measured. The preset scanning device can be, for example, a 3D camera, a 3D sensor, and the like, which scans one line each time the preset scanning device is triggered. The scanning line width refers to the maximum width that can be scanned by the preset scanning device in the horizontal direction (laser line direction) at a certain working distance. The distance between the scanning pulses can be understood as the pulse equivalent triggered by the preset scanning device, that is, the physical distance between each two pulses.

[0057] In the embodiment, the first image scanning unit refers to the first image scanning unit in the product to be measured, which can be randomly selected from the product to be measured or sequentially selected. The next image scanning unit refers to other scanning units after the first image scanning unit, and the next image scanning unit includes a plurality of image scanning units, which can be the second image scanning unit, the third image scanning unit, and the like, which are not limited in the embodiment. The first scanning start point coordinate refers to the scanning start point coordinate corresponding to the first image scanning unit, that is, the first scanning start point coordinate selected in the product to be measured. The current scanning end point coordinate refers to the scanning end point coordinate corresponding to the image scanning unit currently being scanned in the product to be measured. The second scanning end point coordinate refers to the scanning end point coordinate corresponding to the next image scanning unit.

[0058] In the embodiment, by acquiring the image scanning unit corresponding to the product to be measured, by determining the scanning pulse number corresponding to each image scanning unit and the scanning line width and the distance between the scanning pulses corresponding to the preset scanning device, the size information corresponding to each image scanning unit can be determined, and by determining the first image scanning unit in the product to be measured and the first scanning start point coordinate corresponding to the first image scanning unit, taking the first image scanning unit as the current image scanning unit and taking the first scanning start point coordinate as the current scanning start point coordinate, according to the size information corresponding to each image scanning unit and the current scanning start point coordinate, the current scanning end point coordinate corresponding to the current scanning start point coordinate can be determined, the current scanning end point coordinate is taken as the second scanning start point coordinate corresponding to the next image scanning unit in the product to be measured, and the step is repeated until the current scanning start point coordinate in the product to be measured coincides with the second scanning end point coordinate corresponding to the next image scanning unit, so that the image scanning path planning corresponding to the product to be measured can be determined.

[0059] In an embodiment, in order to facilitate the understanding of the configuration of the image scanning path planning, Figure 2 A schematic diagram of a curved surface product path planning method provided in an embodiment of the present application. Figure 3A schematic diagram of a first image scanning unit and its start and end coordinate markers is provided for an embodiment of the present application. In this embodiment, the product to be measured is a curved vehicle glass product, S 10 (X 10 ,Y 10 ,Z 10 ) is the first scanning start point coordinate corresponding to the first image scanning unit, S 11 (X 11 ,Y 11 ,Z 11 ) is the first scanning end point coordinate corresponding to the first image scanning unit, S 20 (X 20 ,Y 20 ,Z 20 ) is the second scanning start point coordinate covering the first scanning end point coordinate, which can be understood as S 11 (X 11 ,Y 11 ,Z 11 ) and S 20 (X 20 ,Y 20 ,Z 20 ) are at the same position.

[0060] In this embodiment, the specific method for path planning pre-configuration of the curved product can be as follows: 1) the resolution nPix of the 3D sensor line width direction used can be directly determined from the selected sensor specification; 2) the size of each scanning unit is determined. The scanning unit (the area scanned each time) along the scanning length in the y direction perpendicular to the scanning direction is fixed (i.e. the sensor line width D); for the convenience of image processing and calculation, the scanning unit length in the scanning direction is also fixed as D. The specific setting method is as follows: the physical distance between every two pulses triggered by the sensor is P, the trigger interval (the sensor is triggered once every several pulses) is Np, then the pulse trigger number Nn corresponding to the scanning length D (y direction) is Nn = D / (P*Np), and the calculation result is rounded down. This will lose less than one pulse equivalent of scanning data, but since the actual engineering has a precision of microns corresponding to one pulse, about 10-15 um, which is very small, and the final contour data splicing starts from the start point coordinate of each scanning segment, therefore, the loss of one pulse data at the end of scanning has no effect on the result. Therefore, Nn pulses are sent after each trigger is started, which can correspond to the scanning distance D. 3) turn on the sensor light source, select a position where an angle of the product to be measured is located as the first image scanning start point, move the motion mechanism of the scanning module so that the sensor light fixed on the module is at the starting scanning position, fine-tune to the position where the product profile is in the middle of the light spot, and record the coordinate S 10 (X 10 ,Y 10 ,Z10 The first scan starting point coordinate is 0; next, the module moves along the product outline direction, advancing a distance D in the scan direction, while the Z and X directions remain unchanged, moving to the new position coordinate S. 11 (X 11 ,Y 11 Z 11 The first scanning unit ends at the point where the product outline in the previous scanning unit ends. Next, the module is moved, ensuring that the end point of the product outline in the previous scanning unit can be used as the starting point of the new scanning unit, and that the product outline is not lost. The module's XYZ values ​​are then adjusted so that the new scanning unit covers the next segment of the outline. The coordinate S at this point is recorded. 20 (X 20 ,Y 20 Z 20 The first scan cell serves as the starting point for the second scan cell, and this process continues until the contour covered by the last scan cell overlaps with that of the first scan cell, at which point the path planning ends. All scan start and end point coordinates are stored sequentially.

[0061] In one embodiment, Figure 4 This is a flowchart of another product cutting control method provided in an embodiment of the present invention. Based on the above embodiments, this embodiment further refines the following steps: sequentially acquiring the image scanning units corresponding to the product under test based on image scanning path planning, and determining the edge contour positions of each image scanning unit; determining the position transformation relationship of each image scanning unit based on image scanning path planning, and splicing the edge contour positions of each edge contour into the overall edge contour according to the position transformation relationship; and performing positioning detection on the product under test and outputting the cutting drawing based on the overall edge contour and the edge contour of the preset standard drawing.

[0062] like Figure 4 As shown, the product cutting control method in this embodiment may specifically include the following steps:

[0063] S410: Obtain a pre-configured image scanning path plan for the product under test.

[0064] S420: Control the preset scanning device to acquire the image scanning units of the product under test according to the scanning sequence, scanning line width, resolution, number of scanning pulses and the size information corresponding to each image scanning unit in the image scanning path planning.

[0065] The scanning order refers to the order in which each image scanning unit is scanned sequentially. This scanning order can be set automatically based on experience, human intervention, etc.

[0066] In this embodiment, by determining the scanning order in the image scanning path planning, obtaining the number of scanning pulses corresponding to each image scanning unit, the scanning line width and resolution corresponding to the preset scanning device, and the size information corresponding to each image scanning unit, the preset scanning device can be controlled to acquire the image scanning units of the product under test based on the above parameter information. It should be noted that the scanning order can determine the scanning direction of each image scanning unit. This scanning direction is divided into a positive scanning direction and a negative scanning direction. For example, horizontal to the right and vertical downward are positive scanning directions, and horizontal to the left and vertical upward are negative scanning directions, etc.

[0067] In this embodiment, the scanning module can be moved sequentially to the starting coordinates of the planned path corresponding to each image scanning unit. When moving from the starting coordinates to the ending coordinates, image scanning begins and ends upon reaching the ending coordinates, thus obtaining a product outline height map corresponding to that image scanning unit. This can be represented in coordinate form as f(X) n ,Y n Z n ), where X n Let x be the x-axis coordinate of the nth image scanning unit, and y be the y-axis coordinate. n Z represents the y-axis coordinate of the nth image scanning unit. n Let be the z-axis coordinate of the nth image scanning unit, where the z-axis coordinate is the height coordinate. The size information of the nth image scanning unit is D*D, where D is the scanning length.

[0068] S430. Based on the preset edge detection rules, extract the coordinates of the position points in each image scanning unit to form the edge contour position.

[0069] The preset edge detection rules may include, but are not limited to, image edge processing methods, in order to obtain the corresponding contour edge position coordinates through image edge detection.

[0070] In this embodiment, each scanning unit corresponds to a product contour height map. Based on the maximum and minimum height values ​​of each product contour height map, the product under test is segmented to obtain the image region corresponding to the product under test. The image plane fitting method is used to find the image contour edge points of the product under test in the image region, and the image contour edge points are formed into an image contour edge point set. The image contour edge points in the image contour edge point set are connected sequentially to form a continuous image contour. On this basis, the least squares method is used to fit the continuous image contour with the standard image contour corresponding to the product under test to obtain the position point coordinates corresponding to each image scanning unit.

[0071] In one embodiment, the edge contour position is formed by extracting the coordinates of location points in each image scanning unit according to a preset edge detection rule, including:

[0072] Determine the first height threshold and the second height threshold corresponding to each image scanning unit;

[0073] The product under test is segmented based on a first height threshold and a second height threshold to obtain the image region corresponding to the product under test;

[0074] The image plane fitting method is used to find the image contour edge points of the product under test in the image region, so as to obtain the set of image contour edge points of the product under test;

[0075] The edge points of each image contour in the image contour edge point set are connected sequentially to form a continuous image contour. The least squares method is then used to fit the continuous image contour to the standard image contour corresponding to the product under test in order to obtain the position point coordinates corresponding to each image scanning unit.

[0076] The first height threshold refers to the maximum height threshold corresponding to each image scanning unit. The second height threshold refers to the minimum height threshold corresponding to each image scanning unit. For example, since the product height is within a fixed range, a threshold Z in the Z direction is set. min Z max The image is segmented to obtain the image region F where the product is located. z (x,y,z) where F z (x,y,z)=f(X n ,Y n Z n );Z min ≤Z n ≤Z max .

[0077] In this embodiment, image filtering is first performed to determine the first and second height thresholds corresponding to each image scanning unit. The product under test is then segmented based on these thresholds to obtain the image region corresponding to the product. An image plane fitting method is used to find the image contour edge points of the product within the image region, and these edge points are grouped into an image contour edge point set. The image contour edge points in this set are then connected sequentially to form a continuous image contour. The least squares method is used to fit this continuous image contour to the standard image contour corresponding to the product under test, thus obtaining the coordinates of the position points corresponding to each image scanning unit. Essentially, each scanning unit corresponds to a product height map. The actual range of the product in the z-direction needs to be extracted. Then, based on this extracted range, the edge positions of the product can be extracted, and the coordinates of the position points corresponding to each consecutive image scanning unit of the product can be determined on the z-axis.

[0078] In this embodiment, the purpose of the image plane fitting method is to find the approximate location of the product edge, converting the three-dimensional coordinate information corresponding to the product surface into two-dimensional plane coordinate information, so as to use two-dimensional image processing methods to find the edge contour points. The plane fitting formula corresponding to the image plane fitting method is as follows:

[0079] Panel(x,y)=α(x-r_r) 2 +β(y-c_c) 2 +χ(x-r_r)(y-c_c)+δ(x-r_r)+ε(y-c_c)+φ

[0080] Where r_r and c_c are regions F z (x, y, z) represents the center in the x and y directions; where α, β, χ, δ, ε, and φ are fitting coefficients that can be used as input parameters. In this embodiment, the method of finding the image contour edge points of the product under test in the image region using the plane fitting formula is as follows: in the height-filtered image F... z In the coordinate system (x, y, z), find the coordinate points that intersect the fitted plane Panel(x, y). Connect these coordinate points sequentially to form a continuous contour. Calculate the contour direction angle at each point. Search for the image grayscale F that meets the requirements (grayscale difference greater than or equal to a set threshold) along the direction perpendicular to the angle. xy (x,y,z), will Connect them sequentially to form a continuous contour, and then use the least squares method to transform F. xy Fitting (x, y, z) to the corresponding contour on the standard drawing yields the final actual product contour F(X) of the current image scanning unit. n ,Y n Z n In this embodiment, fitting the extracted contour with the contour in the standard drawing is mainly to check whether there are foreign objects on the product image. For example, if there are foreign objects attached to a scanning unit of the product under test, there will be occlusion when there are foreign objects. When occlusion occurs, the contour can still be extracted, but the extracted contour may not match the standard. Therefore, the angle of the normal corresponding to the ideal contour can be calculated.

[0081] S440. Construct a scanning module coordinate system using the starting coordinates of any image scanning unit as the origin.

[0082] In this embodiment, to obtain the complete contour in the device coordinate system, it is necessary to stitch the coordinates of each contour segment onto the scanning module coordinate system. This can be achieved by constructing the scanning module coordinate system using the starting coordinates of any image scanning unit as the origin. In this embodiment, the device coordinate system is a two-dimensional planar coordinate system.

[0083] S450. According to the image scanning path planning, determine the offset of the edge contour position of each image scanning unit relative to the starting point coordinate as the position transformation relationship of the corresponding scanning module coordinate system.

[0084] The offset can be understood as the amount of movement relative to the starting point of the coordinate system, which can be included in the movement corresponding to the x-axis, y-axis, and z-axis coordinates, respectively.

[0085] In this embodiment, the offset of the edge contour position of each image scanning unit relative to the starting point coordinates can be determined according to the image scanning path planning, and this offset is used as the position transformation relationship of the corresponding scanning module coordinate system. Specifically, the first movement amount of each edge contour position relative to the starting point coordinates on the first coordinate axis, the second movement amount on the second coordinate axis, and the third movement amount on the third coordinate axis of the scanning module coordinate system are determined, and the position transformation relationship of the corresponding scanning module coordinate system is based on the first movement amount, the second movement amount, and the third movement amount.

[0086] In one embodiment, the offset of the edge contour position of each image scanning unit relative to the starting point coordinates is determined according to the image scanning path planning as the position transformation relationship of the corresponding scanning module coordinate system, including:

[0087] Based on the scanning sequence, scanning line width, and resolution of the image scanning path planning, determine the first movement of each edge contour position relative to the starting point coordinates on the first coordinate axis of the scanning module coordinate system;

[0088] Based on the scanning sequence and the number of scanning pulses planned by the image scanning path, the second movement of each edge contour position relative to the starting point coordinates on the second coordinate axis of the scanning module coordinate system is determined;

[0089] Set the third movement amount of each edge contour position on the third coordinate axis of the scanning module coordinate system to remain unchanged;

[0090] The first movement, the second movement, and the third movement are used as position transformation relationships.

[0091] The first movement amount refers to the movement amount in the x-axis direction, the second movement amount refers to the movement amount in the y-axis direction, and the third movement amount refers to the movement amount in the z-axis direction. The first, second, and third movement amounts are related to the scanning direction of the preset scanning device.

[0092] In this embodiment, the first movement amount of each edge contour position relative to the starting point coordinate on the first coordinate axis of the scanning module coordinate system can be determined based on the scanning sequence planned by the image scanning path, the scanning line width and resolution corresponding to the preset scanning device. The second movement amount of each edge contour position relative to the starting point coordinate on the second coordinate axis of the scanning module coordinate system can be determined based on the scanning sequence planned by the image scanning path and the number of scanning pulses. The third movement amount of each edge contour position on the third coordinate axis of the scanning module coordinate system is set to remain unchanged. Then, the first movement amount, the second movement amount and the third movement amount are used as the position transformation relationship.

[0093] For example, assume that the coordinates of each contour segment on the module coordinate system are: F(x n ,y n ,z n The transformation relationship between image coordinates (contour coordinates) and module coordinates is as follows: The choice of + and - depends on the scanning direction of the preset scanning device; horizontal to the right and vertical downward are positive directions, and horizontal to the left and vertical upward are negative directions; X n Y is represented as the x-coordinate corresponding to the nth image scanning unit. n Z is represented as the ordinate of the nth image scanning unit. n Let X be the height coordinate corresponding to the nth image scanning unit. n0 Y is represented as the x-coordinate of the starting point of the nth segmented scan unit. n0 Z represents the starting ordinate of the nth segmented scan unit. n0 Let represent the starting height coordinates of the nth segmented scanning unit, D represent the line width of the preset scanning device, and Pix represent the resolution of the preset scanning device.

[0094] In this embodiment, when scanning in the vertical direction, since the camera coordinates rotate by 90 degrees while the module orientation remains unchanged, X in the above formula... n and Y n An exchange is required. Following the conversion relationship between the image coordinates (outline coordinates) and the module coordinates, the stitching is performed in a loop. After scanning and processing the last image, the complete product outline coordinates F(X,Y,Z) on the module coordinates can be obtained.

[0095] S460. Transform the positions of each edge contour to the scanning module coordinate system according to the position transformation relationship to form the overall edge contour.

[0096] In this embodiment, after determining the position transformation relationship between the scanning module coordinate system and the image contour coordinate system, the positions of each edge contour are transformed to the scanning module coordinate system according to the position transformation relationship, and the overall edge contour is formed based on the transformed edge contour coordinates.

[0097] S470. Determine the standard drawing edge contour corresponding to each image scanning unit in the product under test, and form a set of standard drawing edge contour points as the preset standard drawing edge contour.

[0098] In this embodiment, by scanning each image scanning unit in the standard drawing, the edge contour of the standard drawing corresponding to each image scanning unit in the product under test is determined. The edge contours of the standard drawing corresponding to each image scanning unit are then combined to form a set of edge contour points corresponding to the standard drawing, and this set of edge contour points is used as the preset edge contour of the standard drawing. It should be noted that the set of edge contour points includes multiple edge contours of the standard drawing, and each edge contour of the standard drawing can be represented by corresponding coordinate information.

[0099] S480. Determine the coordinate transformation relationship between the overall edge contour and the preset standard drawing edge contour.

[0100] The overall edge contour includes at least two or more contour edge coordinate information corresponding to image scanning units.

[0101] In this embodiment, the angular relationship between each image scanning unit in the overall edge contour and the preset standard drawing edge contour can be determined by matching the edge contour of the preset standard drawing edge contour with the overall edge contour and the overall edge contour, and the coordinate transformation relationship between the overall edge contour and the preset standard drawing edge contour can be determined by the centroid of the contour corresponding to the preset standard drawing edge contour and the overall edge contour, respectively.

[0102] In one embodiment, determining the coordinate transformation relationship between the standard drawing outline position information set and the overall edge outline includes:

[0103] Match the preset standard drawing edge contour with the overall edge contour to obtain the corresponding matching result;

[0104] Based on the matching results, determine the angular relationship between the overall edge contour and each image scanning unit in the preset standard drawing edge contour;

[0105] Determine the centroid of the first contour corresponding to the overall edge contour, and the centroid of the second contour of the preset standard drawing edge contour;

[0106] Based on the angular relationship, the centroid of the first contour, and the centroid of the second contour, the translation and rotation transformation matrix between the edge contour of the preset standard drawing and the overall edge contour is determined, and the translation and rotation transformation matrix is ​​used as the coordinate transformation relationship.

[0107] Among them, the first contour centroid refers to the contour centroid corresponding to the overall edge contour, and the second contour centroid refers to the contour centroid corresponding to the edge contour of the preset standard drawing.

[0108] In this embodiment, since the coordinates on the standard drawing are limited while the points on the scanned contour are dense, effective matching between the two is not possible. Therefore, the least squares interpolation method can be used to predict more standard contour points based on the existing points on the drawing, so that the number of coordinates of the two contours reaches the same level. Based on the set of contour position information of the standard drawing and the overall edge contour, a transformation matrix from the scanned contour to the drawing contour is generated, transforming the scanned contour to the position of the drawing contour. Specifically, the preset standard drawing edge contour is matched with the overall edge contour to obtain the corresponding matching result. Based on the matching result, the angular relationship between each image scanning unit in the overall edge contour and the preset standard drawing edge contour is determined, and the first contour centroid and the second contour centroid of the preset standard drawing edge contour are determined. Based on the angular relationship, the first contour centroid, and the second contour centroid, the translation and rotation transformation matrix between the preset standard drawing edge contour and the overall edge contour is determined, and the translation and rotation transformation matrix is ​​used as the coordinate transformation relationship.

[0109] For example, 1) First, perform centroid calculation. Specifically, the centroid of the first contour is the centroid H(x,y) of the actual scanned contour, which can be directly calculated based on the overall edge contour. The centroid of the second contour is the centroid H0(x0,y0) of the edge contour of the preset standard drawing. Since the number of points on the standard drawing increases, it can be predicted. If the centroid of the second contour is calculated directly using the set of contour position information of the standard drawing, a large error will occur. To solve this problem, the scaling method can be used to calculate the centroid H0(x0,y0) of the second contour. Specifically, the estimated set of contour position information points of the standard drawing is enlarged by a certain factor d in both the X and Y directions, and the centroid is calculated at this time. Then, the coordinates of the centroid are reduced by a factor d. The obtained centroid is more accurate. According to experience, the effect is best when d=100.

[0110] 2) Perform angular relationship calculations. To facilitate a better understanding of angular relationship calculations, Figure 5 A schematic diagram of a contour matching process provided in an embodiment of the present invention is shown in the attached figure. Figure 5 As shown, the angle A0 of the standard drawing is 0 by default; the angle of the scanned contour is based on the angle A between one of its straight sides and the positive direction of the X or Y axis, with the clockwise direction being positive by default.

[0111] 3) Calculate the transformation matrix: The process of contour matching is to determine the translation and rotation transformation matrix H between the edge contour of the preset standard drawing and the overall edge contour based on the angle relationship, the centroid of the first contour and the centroid of the second contour, and transform the scanned contour to the position on the drawing so as to perform scanned contour detection. Figure 5The image on the left is a stitched image of a scanned outline, and the image on the right is a product outline from a standard drawing. The goal is to match the stitched image to the product outline on the standard drawing. This can be achieved by calculating the angles of the outlines. The angle of the product outline on the standard drawing is A0. h(x0,y0) is the centroid of the product outline on the standard drawing, which is also the second centroid. h(x,y) is the first centroid. Based on the angle relationship and the first and second centroids, the transformation matrix H is calculated. The calculation process for the transformation matrix H is as follows:

[0112] Assumption Since the angle is known; therefore Substitute into the following formula:

[0113]

[0114] We can obtain: e = x0 - ax - by, f = y0 - cx - dy

[0115] Where a equals cos(A-A0), b equals -sin(A-A0), c equals sin(A-A0), and d equals cos(A-A0), a, b, c, and d are all rotation variables, i.e., angle variables; e and f are translation components, i.e., a translation and rotation process, which can be determined by the transformation matrix H by how much translation and rotation were performed.

[0116] 4) Contour detection: Calculate the contour direction angle of each point on the original drawing contour, calculate and generate the normal vector line of the point along the direction perpendicular to the angle, intersect the scanned contour at a point, and calculate whether the distance between the point and the corresponding point on the drawing contour exceeds the set maximum allowable deviation.

[0117] S490. Based on the second position conversion relationship, the overall edge contour and the standard drawing contour position information are converted, and the contour detection of the product to be tested is performed based on the conversion result, so that the cutting module can cut the detected product to be tested.

[0118] In this embodiment, the overall edge contour and the contour position information of the standard drawing can be converted according to the coordinate transformation relationship, and the contour detection of the product to be tested can be performed according to the conversion result, so that the cutting module can cut the detected product to be tested. Specifically, the contour of the module position is transformed to the laser cutting position using nine-point calibration, and the contour points of the cutting position are sent to the cutting module. Under the laser coordinate system, the module moves the laser head to complete the cutting.

[0119] The above-described technical solution of this invention is achieved by controlling a preset scanning device to acquire images of the product under test according to the scanning sequence, line width, resolution, number of scanning pulses, and size information corresponding to each image scanning unit in the image scanning path planning. This embodiment uses a 3D line laser sensor camera for complete imaging of large-size products, expanding traditional machine vision processing methods while maintaining high-precision imaging quality; the accuracy can reach 50µm in a 1000mm full field of view. Based on preset edge detection rules, the coordinates of position points are extracted from each image scanning unit to form the edge contour position. The starting coordinates of any image scanning unit are used as the origin to construct the scanning module coordinate system. The offset of the edge contour position of each image scanning unit relative to the starting point coordinate is determined according to the image scanning path planning. This is used as the position transformation relationship of the corresponding scanning module coordinate system. The positions of each edge contour are transformed to the scanning module coordinate system according to the position transformation relationship to form the overall edge contour. Based on the overall edge contour and the edge contour of the preset standard drawing, the product to be tested is positioned and detected, and the cutting drawing is output. This solves the problem of clear imaging and complete contour extraction of uneven and irregular products. It can accurately locate the contour of the product, improve the detection and positioning accuracy of image contour stitching, and realize the complete contour positioning and detection of curved or large-format products for product cutting control.

[0120] In one embodiment, to facilitate a better understanding of the product cutting control method, this embodiment can be used as a preferred embodiment to further describe the product cutting control method. Figure 6 This is a flowchart illustrating another product cutting control processing method provided in an embodiment of the present invention. In this embodiment, a 3D line laser camera is used to scan the edges of a large-format product in segments. Combined with line laser calibration in the coordinate system of the scanning module, the contour segments obtained from the processed scan images are stitched together to form the complete actual contour of the product. This method enables the positioning of large-format products using line laser scanning with small linewidths while maintaining the high precision of the line laser, achieving complete contour positioning and detection for curved or large-format products. The preset scanning device in this embodiment is a 3D line laser camera.

[0121] like Figure 6 As shown, the specific steps are as follows:

[0122] S610: Obtain the pre-configured image scanning path plan corresponding to the product under test.

[0123] S620 uses an image scanning path planning-based 3D line laser camera to scan each image scanning unit of the product under test in order to determine the edge contour position of each image scanning unit.

[0124] S630. Extract the edge contour positions of each image scanning unit.

[0125] S640. Based on image scanning path planning, determine the position transformation relationship of each image scanning unit, and according to the position transformation relationship, stitch together the positions of each edge contour to obtain the overall edge contour.

[0126] S650. Match the edge contour of the preset standard drawing with the overall edge contour, and perform overall edge contour detection.

[0127] S660. Check if the overall edge contour detection result is complete. If yes, proceed to S670; otherwise, proceed to S6110.

[0128] S670. Based on the angular relationship between the edge contour of the preset standard drawing and the overall edge contour, the centroid of the first contour and the centroid of the second contour, determine the translation and rotation transformation matrix between the edge contour of the preset standard drawing and the overall edge contour.

[0129] S680. Based on the translation and rotation transformation matrix, the overall edge contour and the contour position information of the standard drawing are converted, and the contour positioning of the product to be tested is performed based on the conversion result.

[0130] S690. Based on the overall edge contour after positioning, the overall edge contour of the scanning module position is transformed to the laser cutting position using nine-point calibration.

[0131] S6100 outputs the drawing, sending the outline points of the cutting position to the cutting module. Under the laser coordinate system, the module moves the laser head to complete the cutting.

[0132] S6110. Remove defective products.

[0133] In one embodiment, Figure 7 This is a structural block diagram of a product cutting control device according to an embodiment of the present invention. This device is suitable for cutting transparent curved products, such as glass, and can be implemented in hardware or software. It can be configured in an electronic device to implement a product cutting control processing method according to an embodiment of the present invention.

[0134] like Figure 7 As shown, the device includes: an acquisition module 710, a determination module 720, a splicing module 730, and an output module 740.

[0135] Among them, the acquisition module 710 is used to acquire a pre-configured image scanning path plan for the product under test;

[0136] The determination module 720 is used to sequentially obtain the image scanning units corresponding to the product under test in the product under test based on the image scanning path planning, and determine the edge contour position of each image scanning unit;

[0137] The stitching module 730 is used to determine the position transformation relationship of each of the image scanning units based on the image scanning path planning, and stitch the positions of each edge contour into an overall edge contour according to the position transformation relationship;

[0138] The output module 740 is used to locate and detect the product to be tested based on the overall edge contour and the edge contour of the preset standard drawing, and output the cutting drawing so that the cutting module can cut the detected product.

[0139] In this embodiment of the invention, the determining module scans the product under test in segments through image scanning path planning to determine the edge contour positions of each image scanning unit. The stitching module determines the position transformation relationship of each image scanning unit based on the image scanning path planning, and stitches the edge contour positions of each unit into an overall edge contour according to the position transformation relationship. This allows for the positioning and detection of the product under test, accurately locating the product's contour, improving the detection and positioning accuracy of image contour stitching, and enabling the complete contour positioning and detection of curved or large-format products for product cutting control.

[0140] In one embodiment, the configuration of the image scanning path planning includes:

[0141] Determine the number of scanning pulses corresponding to each of the image scanning units;

[0142] The size information of each image scanning unit is determined based on the scan line width corresponding to the preset scanning device, the number of scan pulses, and the distance between scan pulses.

[0143] Determine the first image scanning unit in the product under test and the first scanning start coordinates corresponding to the first image scanning unit, and take the first image scanning unit as the current image scanning unit and the first scanning start coordinates as the current scanning start coordinates;

[0144] Based on the size information and the current scan start point coordinates, determine the current scan end point coordinates corresponding to the current scan start point coordinates;

[0145] The current scanning endpoint coordinates are used as the second scanning start coordinates corresponding to the next image scanning unit in the product under test. This step is repeated until the current scanning start coordinates in the product under test coincide with the second scanning endpoint coordinates corresponding to the next image scanning unit, so as to determine the image scanning path planning corresponding to the product under test.

[0146] In one embodiment, the determining module 720 includes:

[0147] The acquisition unit is used to control a preset scanning device to acquire the image scanning units of the product under test according to the scanning order, scanning line width, resolution, number of scanning pulses and the size information corresponding to each image scanning unit in the image scanning path planning.

[0148] The extraction unit is used to extract the coordinates of position points in each of the image scanning units according to a preset edge detection rule to form the edge contour position.

[0149] In one embodiment, the extraction unit further includes:

[0150] The first determining subunit is used to determine the first height threshold and the second height threshold corresponding to each of the image scanning units;

[0151] A segmentation subunit is used to segment the product under test based on the first height threshold and the second height threshold to obtain the image region corresponding to the product under test;

[0152] The search subunit is used to find the image contour edge points of the product under test in the image region using an image plane fitting method, so as to obtain the image contour edge point set of the product under test;

[0153] The fitting subunit is used to connect each of the image contour edge points in the image contour edge point set in sequence to form a continuous image contour, and to fit the continuous image contour with the standard image contour corresponding to the product under test using the least squares method, so as to obtain the position point coordinates corresponding to each image scanning unit.

[0154] In one embodiment, the splicing module 730 includes:

[0155] The construction unit is used to construct the coordinate system of the scanning module by taking the starting coordinates of any image scanning unit as the origin;

[0156] The subunit is determined according to the image scanning path planning to determine the offset of the edge contour position of each image scanning unit relative to the starting point coordinates as the position transformation relationship of the corresponding scanning module coordinate system;

[0157] The transformation subunit is used to transform the positions of each edge contour to the coordinate system of the scanning module according to the position transformation relationship to form the overall edge contour.

[0158] In one embodiment, determining the subunit further includes:

[0159] The first determining subunit is used to determine, based on the scanning sequence, scanning line width and resolution of the image scanning path, the first amount of movement of each edge contour position relative to the starting point coordinate on the first coordinate axis of the scanning module coordinate system;

[0160] The second determining subunit is used to determine the second movement amount of each edge contour position relative to the starting point coordinate on the second coordinate axis of the scanning module coordinate system based on the scanning sequence planned by the image scanning path and the number of scanning pulses.

[0161] The third determining subunit is used to set the third movement amount of each edge contour position on the third coordinate axis of the scanning module coordinate system to remain unchanged;

[0162] The fourth determining subunit is used to use the first movement amount, the second movement amount, and the third movement amount as the position transformation relationship.

[0163] In one embodiment, the output module 740 includes:

[0164] The first determining unit is used to determine the standard drawing edge contour corresponding to each image scanning unit in the product under test, and to form a set of standard drawing edge contour points as the preset standard drawing edge contour.

[0165] The second determining unit is used to determine the coordinate transformation relationship between the overall edge contour and the edge contour of the preset standard drawing; wherein, the overall edge contour includes at least two or more contour edge coordinate information corresponding to image scanning units;

[0166] The cutting unit is used to convert the overall edge contour and the contour position information of the standard drawing according to the coordinate transformation relationship, and to perform contour detection on the product to be tested according to the conversion result, so that the cutting module can cut the detected product to be tested.

[0167] In one embodiment, the second determining unit includes:

[0168] The result determination subunit is used to match the edge contour of the preset standard drawing with the overall edge contour to obtain the corresponding matching result;

[0169] The relationship determination subunit is used to determine the angular relationship between the overall edge contour and each of the image scanning units in the preset standard drawing edge contour based on the matching result;

[0170] The centroid determination subunit is used to determine the first centroid of the overall edge contour and the second centroid of the edge contour of the preset standard drawing.

[0171] The transformation matrix determination sub-unit is used to determine the translation and rotation transformation matrix between the edge contour of the preset standard drawing and the overall edge contour based on the angular relationship, the centroid of the first contour and the centroid of the second contour, and to use the translation and rotation transformation matrix as the coordinate transformation relationship.

[0172] The product cutting control processing device provided in the embodiments of the present invention can execute the product cutting control processing method applied to the financial system provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0173] In one embodiment, Figure 8 This is a schematic diagram of an electronic device provided for an embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0174] like Figure 8 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0175] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0176] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as product cutting control methods.

[0177] In some embodiments, the product cutting control processing method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the product cutting control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the product cutting control method by any other suitable means (e.g., by means of firmware).

[0178] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0179] Computer programs used to implement the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable product cutting control device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0180] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0181] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0182] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0183] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0184] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0185] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A product cutting control method, applicable to curved or large-format products, characterized in that, include: Obtain a pre-configured image scanning path plan for the product under test; Based on the image scanning path planning, the image scanning units corresponding to the product under test are sequentially obtained in the product under test, and the edge contour positions of each image scanning unit are determined. Based on the image scanning path planning, the position transformation relationship of each image scanning unit is determined, and the positions of each edge contour are spliced ​​into the overall edge contour according to the position transformation relationship; The product to be tested is positioned and detected based on the overall edge contour and the edge contour of the preset standard drawing, and a cutting drawing is output so that the cutting module can cut the detected product. The step of sequentially acquiring the image scanning units corresponding to the product under test based on the image scanning path planning, and determining the edge contour position of each image scanning unit, includes: According to the scanning order, scanning line width, resolution, number of scanning pulses, and size information corresponding to each image scanning unit in the image scanning path planning, the preset scanning device is controlled to acquire the image scanning units of the product under test; The coordinates of the position points are extracted from each of the image scanning units according to the preset edge detection rules to form the edge contour position.

2. The method according to claim 1, characterized in that, The configuration of the image scanning path planning includes: Determine the number of scanning pulses corresponding to each of the image scanning units; The size information of each image scanning unit is determined based on the scan line width corresponding to the preset scanning device, the number of scan pulses, and the distance between scan pulses. Determine the first image scanning unit in the product under test and the coordinates of the first scanning start point corresponding to the first image scanning unit; The following steps are performed iteratively to plan subsequent image scanning units: The first image scanning unit is used as the current image scanning unit, and the first scanning start point coordinates are used as the current scanning start point coordinates; Based on the size information and the current scan start point coordinates, determine the current scan end point coordinates corresponding to the current scan start point coordinates; The current scan endpoint coordinates are used as the second scan start coordinates corresponding to the next image scan unit in the product under test. The image scanning path planning for the product under test is determined until the coordinates of the current scanning start point in the product under test coincide with the coordinates of the second scanning end point corresponding to the next image scanning unit.

3. The method according to claim 1, characterized in that, The step of extracting the coordinates of location points in each of the image scanning units according to a preset edge detection rule to form the edge contour position includes: Determine the first height threshold and the second height threshold corresponding to each of the image scanning units; The product under test is segmented based on the first height threshold and the second height threshold to obtain the image region corresponding to the product under test; An image plane fitting method is used to find the image contour edge points of the product under test in the image region, so as to obtain the image contour edge point set of the product under test; The image contour edge points in the image contour edge point set are connected sequentially to form a continuous image contour. The continuous image contour is then fitted to the standard image contour corresponding to the product under test using the least squares method to obtain the position point coordinates corresponding to each image scanning unit.

4. The method according to claim 1, characterized in that, The step of determining the position transformation relationship of each image scanning unit based on the image scanning path planning, and stitching together the positions of each edge contour into an overall edge contour according to the position transformation relationship, includes: Construct the scanning module coordinate system using the starting coordinates of any image scanning unit as the origin; The offset of the edge contour position of each image scanning unit relative to the starting point coordinates is determined according to the image scanning path planning as the position transformation relationship of the corresponding scanning module coordinate system; The positions of each edge contour are transformed to the coordinate system of the scanning module according to the position transformation relationship to form the overall edge contour.

5. The method according to claim 4, characterized in that, The step of determining the offset of the edge contour position of each image scanning unit relative to the starting point coordinates according to the image scanning path planning as the position transformation relationship of the corresponding scanning module coordinate system includes: Based on the scanning sequence, scanning line width, and resolution of the image scanning path plan, determine the first movement amount of each edge contour position relative to the starting point coordinate on the first coordinate axis of the scanning module coordinate system; Based on the scanning sequence and the number of scanning pulses planned by the image scanning path, determine the second movement amount of each edge contour position relative to the starting point coordinate on the second coordinate axis of the scanning module coordinate system; The third movement amount of each edge contour position on the third coordinate axis of the scanning module coordinate system is set to remain unchanged; The first movement amount, the second movement amount, and the third movement amount are used as the position transformation relationship.

6. The method according to claim 1, characterized in that, The step of positioning and detecting the product to be tested based on the overall edge contour and the edge contour of the preset standard drawing, and outputting the cutting drawing, includes: Determine the standard drawing edge contour corresponding to each image scanning unit in the product under test, and form a set of standard drawing edge contour points from the standard drawing edge contours as the preset standard drawing edge contour. Determine the coordinate transformation relationship between the overall edge contour and the edge contour of a preset standard drawing; wherein the overall edge contour includes at least two or more contour edge coordinate information corresponding to image scanning units; Based on the coordinate transformation relationship, the overall edge contour is transformed to the edge contour position information of the standard drawing, and the contour detection of the product to be tested is performed based on the transformation result, so that the cutting module can cut the detected product to be tested.

7. The method according to claim 6, characterized in that, Determining the coordinate transformation relationship between the overall edge contour and the preset standard drawing edge contour includes: The edge contour of the preset standard drawing is matched with the overall edge contour to obtain the corresponding matching result; Based on the matching results, the angular relationship between the overall edge contour and each image scanning unit in the preset standard drawing edge contour is determined; Determine the first centroid of the overall edge contour and the second centroid of the edge contour of the preset standard drawing. Based on the angular relationship, the centroid of the first contour, and the centroid of the second contour, the translation and rotation transformation matrix between the edge contour of the preset standard drawing and the overall edge contour is determined, and the translation and rotation transformation matrix is ​​used as the coordinate transformation relationship.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the product cutting control method according to any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the product cutting control method according to any one of claims 1-7.

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