Cutting method, device and equipment for side wall of bullet train and storage medium

Abstract

A cutting method, device and equipment of a side wall of a motor train unit and a storage medium, the cutting method of the side wall of the motor train unit comprising: acquiring target images collected on a plurality of windows of the side wall of the motor train unit; determining at least one boundary line of each window in each target image; determining an initial cutting path of each window based on the boundary line of each window; adjusting the initial cutting path of each window using a preset positional relationship of each window to obtain a final cutting path of each window, so as to cut each window using the final cutting path. The above scheme can determine the initial cutting path of the window of the side wall of the motor train unit according to the target images collected on the plurality of windows of the side wall of the motor train unit, and then determine the corresponding rectangular center of each window according to the rectangular center of the window of the side wall of the motor train unit in the initial cutting path, so as to determine the window cutting path.

Description

Technical Field

[0001] This invention relates to the field of high-speed train welding and processing, specifically to a method, apparatus, equipment, and storage medium for cutting the side wall of a high-speed train. Background Technology

[0002] In recent years, with the development of technology, high-speed trains have been widely used. Currently, both domestic and international mainstream high-speed trains use aluminum alloy as the material for the car body structure, assembled and welded from large hollow thin-walled aluminum profiles. The side wall of the high-speed train is one of the core components of the car body, and the window openings in the side wall are its key structures. The size of the window openings directly affects the subsequent overall assembly and appearance, and is crucial to the high-speed train. Due to the problem of large deformation during side wall welding, the side wall is generally hoisted onto a cutting fixture after welding is completed, and the four sides of the side wall and the window openings are cut. First, the edges of the window panel and the four corner ribs of the high-speed train window are located, and then the center of its largest inscribed rectangle is determined as the reference for the window cutting path.

[0003] However, due to welding deformation, the closed edge formed by the window panel and the four corner stiffeners is not exactly a rectangle. The center of the largest inscribed rectangle determined by it cannot accurately reflect the center of the cutable area of ​​the window panel, resulting in an inability to generate a proper window cutting path. In addition, the existing window opening cutting does not take into account the overall layout design of the window opening. In the case of particularly large welding deformation, there is a large deviation between the heights of the center of the window opening on the same side wall, which cannot meet the process requirements. Summary of the Invention

[0004] To address the above problems, this application provides a method, apparatus, equipment, and storage medium for cutting the sidewall of a high-speed train.

[0005] The first aspect of this application provides a method for cutting the side wall of a high-speed train. The method includes: acquiring target images of several windows on the side wall of the high-speed train; determining at least one boundary line in each target image for each window; determining an initial cutting path for each window based on the boundary line of each window; adjusting the initial cutting path of each window using a preset positional relationship of each window to obtain a final cutting path for each window, so as to cut each window using the final cutting path.

[0006] In one embodiment, the initial cutting path of each window is determined based on the boundary lines of each window, including: for each window, fitting the boundary lines of the window to obtain at least four initial cutting lines of the window; determining an initial rectangular border based on the geometric positional relationship of the four initial cutting lines; and using the initial rectangular border as the initial cutting path.

[0007] In one embodiment, at least four initial cutting lines include two first initial cutting lines belonging to the longer side and two second initial cutting lines belonging to the shorter side. Determining the initial rectangular border based on the geometric positional relationship of the four initial cutting lines includes: fitting the directions of the two first initial cutting lines to obtain a first fitted line; using the direction of the first fitted line as the final direction of the two first initial cutting lines; adjusting the directions of the two second initial cutting lines based on the final directions of the two first initial cutting lines to obtain the final directions of the two second initial cutting lines; and using the border of the rectangle enclosed by the two first initial cutting lines and the two second initial cutting lines as the initial rectangular border.

[0008] In one embodiment, the initial cutting path of each window is adjusted using the preset positional relationship of each window to obtain the final cutting path of each window, including: obtaining the center of the rectangle corresponding to each initial rectangular border; fitting each rectangular center to obtain a second fitted line; adjusting the position of each rectangular center based on the distance between each rectangular center and the second fitted line; and determining the final cutting path for each window based on the new rectangular center.

[0009] In one embodiment, adjusting the position of each rectangle center based on the distance between each rectangle center and the second fitted line includes: adjusting the position of rectangle centers whose target distance from the second fitted line is greater than or equal to a first preset distance to obtain new rectangle centers, wherein the distance between the new rectangle centers and the second fitted line is less than the first preset distance.

[0010] In one embodiment, for each window, the final cutting path is determined based on the new rectangular center, including: obtaining a second distance between the new rectangle and each side of the initial rectangular frame; in response to the second distance being greater than or equal to a second preset distance, determining the new rectangular center as the center of the window cutting path; taking the direction of each boundary in the initial rectangular frame as the direction of each boundary in the window cutting path, and using the standard window cutting size as the length of each boundary in the window cutting path.

[0011] In one embodiment, the method further includes connecting the joints of the boundaries with a preset fillet.

[0012] In one embodiment, before fitting the centers of each rectangle to obtain a second fitted line, the method further includes: obtaining the length and width of each initial rectangle border; for each initial rectangle border, in response to the length and / or width of the initial rectangle border meeting a preset size condition, performing the step of fitting the centers of each rectangle to obtain a second fitted line; or, for each initial rectangle border, in response to the length and / or width of the initial rectangle border not meeting the preset size condition, performing preset alarm processing.

[0013] The second aspect of this application provides a cutting device for the side wall of a high-speed train. The device includes: an acquisition module for acquiring target images of several windows on the side wall of the high-speed train; a first determination module for determining at least one boundary line of each window in each target image; a second determination module for determining an initial cutting path of each window based on the boundary line of each window; and a path planning module for adjusting the initial cutting path of each window using a preset positional relationship of each window to obtain a final cutting path of each window, so as to cut each window using the final cutting path.

[0014] A third aspect of this application provides an electronic device including a memory and a processor, the processor being configured to execute program instructions stored in the memory to implement the method described above.

[0015] The fourth aspect of this application provides a storage medium storing program instructions, which, when executed by a processor, implement a method for cutting the side wall of an upper train.

[0016] The above solution, compared to existing technologies where welding deformation results in the closed edges formed by the window panels and corner stiffeners not being perfectly rectangular, and causing significant deviations in the height of the window opening centers on the same side wall, addresses the issue of existing technologies. This solution allows for further adjustment based on the rectangular centers of the train's side wall windows in the initial cutting path to determine the corresponding rectangular centers of each window, thereby defining the window cutting path. This avoids the problems of welding deformation preventing the closed edges formed by the window panels and corner stiffeners from forming standard rectangles, and also prevents significant deviations in the height of the window opening centers on the train's side wall.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0019] Figure 1 This is a flowchart illustrating an exemplary embodiment of the method for cutting the side wall of a motor vehicle according to this application;

[0020] Figure 2 This is a visual inspection diagram of the side wall windows of the high-speed train;

[0021] Figure 3 This is a schematic diagram of the boundary line of the train window extracted visually;

[0022] Figure 4 This is the initial cutting path diagram for cutting windows in the side wall of the high-speed train;

[0023] Figure 5 yes Figure 1 A schematic flowchart of an exemplary embodiment of step S130 in the method for cutting the side wall of a train is shown.

[0024] Figure 6 yes Figure 1 A schematic flowchart of an exemplary embodiment of step S140 in the method for cutting the side wall of a train is shown.

[0025] Figure 7 yes Figure 6 A schematic flowchart of an exemplary embodiment of step S340 in the method for cutting the side wall of a train is shown.

[0026] Figure 8 This is a flowchart illustrating the process of confirming and adjusting the initial rectangular border length and width in this application;

[0027] Figure 9 This is a schematic diagram of the structure of an embodiment of the cutting device for the present application;

[0028] Figure 10 This is a schematic diagram of the structure of an embodiment of the electronic device of this application;

[0029] Figure 11 This is a schematic diagram of the structure of an embodiment of the computer-readable storage medium of this application. Detailed Implementation

[0030] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0031] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Furthermore, "many" in this document means two or more. Moreover, the term "at least one" in this document means any combination of at least two of any one or more of a plurality of objects. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0032] It should also be noted that the terms "first" or "second," etc., used in this specification to refer to numbers or ordinal numbers are for descriptive purposes only and should not be construed as indicating relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features.

[0033] Please see Figure 1 , Figure 1This is a flowchart illustrating an exemplary embodiment of the method for cutting the side wall of a motor vehicle according to this application. Specifically, it may include the following steps:

[0034] Step S110: Acquire target images of several windows on the side wall of the train. The target images may include the window panels and the edges of the corner ribs on the side wall of the train.

[0035] For example, please refer to Figure 2 , Figure 2 This is a visual inspection image of the windows on the side wall of a high-speed train. Visual inspection technology can acquire target images of several windows on the side wall of the train. Object detection algorithms can be used to locate the edges of the window panels and corner ribs within the windows and determine their coordinates. Combined with image cropping, images of the target objects can be obtained. Common object detection algorithms include YOLO, Faster R-CNN, and SSD. Object segmentation techniques can be used to separate the windows from the side wall of the train, and then the edges of the window panels and corner ribs can be obtained by cropping the segmented images. Common object segmentation techniques include Mask R-CNN, DeepLab, and U-Net.

[0036] Step S120: Determine at least one boundary line about each window in each target image.

[0037] The boundary line can be the dividing line between the car window glass and the metal frame of the car body. It can be used to identify the specific location and shape of the window for subsequent image segmentation and cutting operations. The window boundary line can be a closed curve or a series of discrete line segments. Computer vision techniques, such as edge detection and contour extraction algorithms, can be used to extract the window boundary line from the car window image. After extracting the window boundary line, more precise window region segmentation and cutting operations can be performed to achieve more efficient and accurate window cutting results.

[0038] For example, please refer to Figure 3 , Figure 3 This is a schematic diagram of the train window boundary line extracted visually. It's understandable that the train window boundary line extracted visually may not be a strictly rectangular shape due to image distortion, aberrations, noise, and other factors during actual image acquisition and visual processing. Furthermore, the actual window size may deviate from the preset size due to welding and material handling errors; therefore, the visually extracted train window boundary line may not accurately represent the actual window boundary line.

[0039] Step S130: Based on the boundary lines of each window, determine the initial cutting path for each window.

[0040] The initial cutting path can be a window cutting path determined based on the window boundary line of each train side wall and the standard size window of the train side wall.

[0041] For example, please refer to Figure 4 , Figure 4 This is the initial cutting path diagram for cutting windows in the side wall of a high-speed train. As shown in the figure, firstly, the boundary line of each window in step S120 is determined; then, according to the shape and outline of the standard-sized windows in the side wall of the high-speed train, a suitable position can be selected on the boundary line as the position of the initial cutting line; next, according to the actual situation, such as some special-shaped windows, the initial cutting line is adjusted; finally, the initial cutting path is determined based on the adjusted initial cutting line.

[0042] S140: Using the preset positional relationship of each window, adjust the initial cutting path of each window to obtain the final cutting path of each window, and use the final cutting path to cut each window.

[0043] The preset positional relationship can be the positional relationship between the rectangular centers of the windows on the side wall of the train. For example, if the rectangular centers of the initial cutting paths of each window are not at the same height, the initial cutting paths of each window need to be adjusted so that the rectangular centers of the initial cutting paths of each window are at the same height. After determining that the rectangular centers of the initial cutting paths of each window are at the same height, the final cutting path is determined using this rectangular center, and the final cutting path is used to cut each window.

[0044] The above scheme first acquires target images of several windows on the side wall of the train; then, it determines at least one boundary for each window in each target image; next, based on the boundary lines of each window, it determines the initial cutting path for each window; finally, using the preset positional relationship of each window, it adjusts the initial cutting path to obtain the final cutting path for each window, and uses the final cutting path to cut each window. Furthermore, it adjusts the rectangular center of each window based on the rectangular center of the train side wall window in the initial cutting path to determine the corresponding rectangular center, thus determining the window cutting path. This avoids the problems that the closed edge formed by the window panel and the four corner ribs is not completely rectangular, and that there is a large deviation between the height of the center of the window opening on the train side wall.

[0045] In some embodiments, before performing step S110 above, the following steps may also be performed:

[0046] First, the initial positioning result for locating the side wall of the train is obtained, including the reference position of the side wall in a preset world coordinate system. Using the reference position of the side wall in the preset world coordinate system, the reference position of the windows on the side wall of the train is obtained in the preset world coordinate system. Based on the reference position of the windows on the side wall of the train in the preset world coordinate system, the shooting position for target images of several train windows is determined. The reference image obtained by the image acquisition device from the shooting position of the target images of several train windows is received. The reference image includes the edges of the window panel and the four corner ribs.

[0047] Then, the reference image is processed to obtain the position of the train window in the reference image; based on the position of the window panel and the edges of the four corner ribs in the reference image, the first position of the train window in the camera coordinate system where the image acquisition device is located is determined; based on the first position and the transformation relationship between the camera coordinate system and the world coordinate system, the second position of the train window in the world coordinate system is determined; using the second position, the actual position of the train side wall window in the world coordinate system is determined.

[0048] Finally, the actual position of the train side wall windows in the preset world coordinate system and the position transformation relationship between the actual position and the reference position of the train side wall windows in the preset world coordinate system, as well as the reference position of the edge of each window panel and the four corner ribs on the train side wall, are determined to be the actual position of each window panel and the edge of the four corner ribs in the preset world coordinate system; the target image is acquired by the image acquisition device based on the actual position of each window in the preset world coordinate system.

[0049] The world coordinate system can be a three-dimensional coordinate system, a reference system that remains unchanged regardless of movement or rotation, used to compare and measure the position and orientation of an object with other objects. The image acquisition device can be a device or equipment that converts optical information from the real world into digital information for digital image processing. Examples of image acquisition devices include, but are not limited to, image acquisition components, digital cameras, video cameras, scanners, telescopes, and microscopes. The reference position can be the position of the train sidewall determined based on the size of a standard workpiece of the train sidewall, and not the actual position of the train sidewall in the world coordinate system.

[0050] The initial positioning result can be the reference position of the train sidewall in a preset world coordinate system. It's important to understand that this reference position is not the actual position of the train sidewall in the world coordinate system. The reference position can be determined based on the size of a standard workpiece for the train sidewall. This standard workpiece can be a workpiece without positioning or dimensional deviations, and can be determined through visual inspection, manual marking, or external data (by obtaining the positioning point information of the train sidewall from maps or other external data sources, such as the GPS coordinates of the train sidewall or the positioning information of the train sidewall already marked in a map standardization dataset). The reference position of the train sidewall in the preset world coordinate system is determined using the pose information of the standard workpiece in the world coordinate system.

[0051] The target localization result can be the actual position of the train sidewall in a preset world coordinate system. The target localization result can be determined based on the initial localization result. The localization process can involve first using an image processing model to perform target detection and contour extraction on the captured images. Then, based on the position of the extracted target points or contours in the image and the correspondence between the robot guide rail and the image, the actual position of the train sidewall is determined, and its position in the preset world coordinate system is further determined. Of course, there are many image-based localization methods currently available, and no specific limitation is made here. For example, the actual position of the train sidewall is determined based on several local point clouds of reference images; then, the shooting trajectory is adjusted according to the actual position of the train sidewall, image sampling data at each positioning point is acquired, and the sampling data is processed to identify and extract edges from the cross-section of the train sidewall's frame and the train windows, identifying the positioning points of the train sidewall in the sampling point cloud. Based on the positioning points of the train sidewall in the sampling point cloud, the actual position of the train sidewall is further determined, thus obtaining the actual position of the train sidewall in the preset world coordinate system. The shooting trajectory can be the location where the shooting operation needs to be performed during the movement of the image acquisition device.

[0052] In the above scheme, the actual position of the EMU sidewall in the preset world coordinate system is obtained by the initial positioning result of the EMU sidewall. Then, the cutting trajectory of the EMU sidewall is determined according to the actual position of the EMU sidewall in the preset world coordinate system. The EMU sidewall is cut based on the cutting trajectory. This can reduce the problem of poor cutting effect of the EMU sidewall caused by the deviation of the EMU sidewall position due to the error of incoming materials and welding errors.

[0053] Based on the above embodiments, please refer to Figure 5 , Figure 5 yes Figure 1 A schematic flowchart illustrating an exemplary embodiment of step S130 in the method for cutting the side wall of a moving vehicle is shown. Figure 5As shown, step S130, which determines the initial cutting path for each window based on its boundary line, further includes the following steps:

[0054] Step S210: Perform direction fitting on the two first initial cutting lines to obtain the first fitted straight line.

[0055] The first initial cutting line can be a cutting line that includes the long side of the rectangle, and the second initial cutting line can be a cutting line that includes the short side of the rectangle.

[0056] The first fitted line can be a straight line obtained by fitting the direction of the two first initial cutting lines.

[0057] For example, please refer to Figure 4 , Figure 4 This is the initial cutting path diagram for the side wall window of the high-speed train. First, based on the visually extracted boundary lines 1 and 2, the first initial cutting line A, which is closest to boundary lines 1 and 2, is obtained. Then, based on the visually extracted boundary lines 3 and 4, the first initial cutting line B, which is closest to boundary lines 3 and 4, is obtained. Finally, the unit vectors A and B are added together to obtain the final first fitted line C.

[0058] Step S220: The direction of the first fitted straight line is taken as the final direction of the two first initial cutting lines.

[0059] For example, please continue reading Figure 4 , Figure 4 This is the initial cutting path diagram for cutting windows in the side wall of the high-speed train. After determining the first fitted straight line, the direction of the first fitted straight line is taken as the final direction of the two first initial cutting lines, that is, the direction of the first fitted straight line is taken as the direction of the long side of the cutting rectangle.

[0060] Step 230: Based on the final directions of the two first initial cutting lines, adjust the directions of the two second initial cutting lines to obtain the final directions of the two second initial cutting lines.

[0061] For example, please continue reading Figure 4 , Figure 4 This is the initial cutting path diagram for the window cut in the side wall of the train. The first fitted straight line C from step S220 represents the direction of the long side of the window opening rectangle. Finally, by rotating straight line C by 90 degrees, the direction of the short side of the window opening rectangle, D, is obtained. The direction of the short side is the final direction of the two second initial cutting lines.

[0062] Step S240: The border of the rectangle formed by the two first initial cutting lines and the two second initial cutting lines is taken as the initial rectangle border.

[0063] For example, given the direction and size of the rectangular window opening of the train, the initial rectangular border can be determined after determining the coordinates of the center of the rectangular window opening.

[0064] As can be seen, the method for determining the initial rectangular border in this application involves: firstly, fitting the directions of two first initial cutting lines to obtain a first fitted straight line; then, using the direction of the first fitted straight line as the final direction of the two first initial cutting lines; next, adjusting the directions of two second initial cutting lines based on the final directions of the two first initial cutting lines to obtain the final directions of the two second initial cutting lines; finally, using the border of the rectangle formed by the two first initial cutting lines and the two second initial cutting lines as the initial rectangular border. By fitting the boundary lines of the window and then obtaining the initial rectangular border based on the fitted cutting lines, the problem of rectangular deformation of the train window caused by welding errors can be avoided.

[0065] In some embodiments, please refer to Figure 6 , Figure 6 yes Figure 1 A schematic flowchart of an exemplary embodiment of step S140 in the method for cutting the side wall of a train is shown. Figure 6 As shown, step S140, which adjusts the initial cutting path of each window based on the preset positional relationship of each window to obtain the final cutting path of each window, also includes the following steps:

[0066] Step S310: Obtain the center of the rectangle corresponding to each initial rectangle border.

[0067] For example, the positions of the top corners and sides of the rectangle are calculated based on the size and orientation of the initial rectangle borders, and then the center position of the rectangle corresponding to each initial rectangle border is obtained based on the positions of the top corners and sides of the rectangle.

[0068] Step S320: Fit the center of each rectangle to obtain the second fitted line.

[0069] The second fitted line can be the line containing the center of the rectangular frame of the train window.

[0070] For example, based on the center position information of the rectangles corresponding to the initial rectangle borders obtained in step S310, firstly, all the centers of the rectangles to be fitted are stored in an array or list, sorted from left to right according to the projection points of the points on the line; then, the average of the horizontal and vertical coordinates of all points is calculated; next, the distance of each rectangle center from the average of the horizontal and vertical coordinates is calculated; then, based on the distance of all points from the average, the slope and intercept of the fitted line are calculated. The least squares method or other fitting algorithms can be used to minimize the sum of the distances of all points on the line; finally, based on the fitted line equation, the second fitted line can be calculated.

[0071] Step S330: Adjust the position of the center of the rectangle whose distance from the second fitted line is greater than or equal to the first preset distance to obtain a new rectangle center.

[0072] The first preset distance can be described as the degree of fit between the center of the rectangle and the second fitted line. The smaller the first preset distance, the closer the center of the rectangle is to the second fitted line.

[0073] For example, the position of the center of a rectangle whose distance from the second fitted line is greater than or equal to the first preset distance is adjusted to obtain a new rectangle center, and the distance between the new rectangle center and the second fitted line is less than the first preset distance.

[0074] Step S340: For each window, determine the final cutting path based on the new rectangle center.

[0075] For example, given the direction, size, and center of the window rectangle, the frame of the window rectangle can be determined, thereby determining the final cutting path.

[0076] As can be seen, the method of adjusting the initial cutting path of each window to obtain the final cutting path of each window by utilizing the preset positional relationship of each window in this application involves first obtaining the center of the rectangle corresponding to each initial rectangular frame; then fitting each rectangular center to obtain a second fitted line; then adjusting the position of each rectangular center based on the distance between each rectangular center and the second fitted line; finally, for each window, determining the final cutting path based on the new rectangular center. The second fitted line allows adjustment of the height of the rectangular frame center, avoiding the problem of large deviations in the height of the window opening centers on the side wall of the train.

[0077] Based on the above embodiments, please refer to Figure 7 , Figure 7 yes Figure 6 The illustrated flowchart shows an exemplary embodiment of step S340 in the method for cutting the side wall of a train. Specifically, the method of this embodiment includes the following steps:

[0078] Step S410: Obtain the second distance between the new rectangle center and each side of the initial rectangle border.

[0079] The second distance can be the distance between the center of the new rectangle and the sides of the initial rectangle's border.

[0080] For example, the size and direction of the new rectangle center and the initial rectangle border obtained by step S310 can be calculated by using the length and width of the initial rectangle, the center point of the initial rectangle, the center point of the new rectangle, and the distance from the center point of the new rectangle to the center point of the initial rectangle to obtain the second distance between the new rectangle center and each side of the initial rectangle border.

[0081] In step S420, in response to the second distance being greater than or equal to the second preset distance, a new rectangle center is determined as the center of the cutting window path.

[0082] The second preset distance can describe the minimum distance between the center of the new rectangle and each side of the initial rectangle's border. Setting the second preset distance allows for some space during cutting to avoid objects such as ribs. For example, if the second preset distance is 25mm, then during cutting, it is necessary to ensure that the distance from the center point of each new rectangle to the four sides of the initial rectangle is greater than or equal to 25mm, and the center of the new rectangle at this time is used as the center of the cutting window path. This can effectively avoid cutting errors caused by objects such as ribs.

[0083] Step S430: Use the direction of each boundary in the initial rectangular border as the direction of each boundary in the window cutting path, use the standard window cutting size as the length of each boundary in the window cutting path, and determine the final window cutting path according to the standard window cutting requirements.

[0084] For example, according to the standard window cutting requirements, the connection points of each boundary are connected with preset rounded corners to form a window cutting path with a rectangle as the window boundary and preset rounded corners as the top corners of the window.

[0085] In some embodiments, after performing step S430 above, the following steps may also be performed:

[0086] First, the planned cutting path and preset cutting process parameters for the train sidewall are obtained. Then, based on the cutting path and preset cutting process parameters, the target motion trajectory of the robot's tool during the cutting process is determined. Next, based on the target motion parameters and the positional transformation relationship between the tool and each joint on the robot's robotic arm, the predicted motion parameters for each joint are determined. Then, based on the predicted motion parameters of each joint, the robot's operability on the external axis is determined, and the candidate position corresponding to the smallest operability is selected as the target position. Finally, the external axis is adjusted to the target position, and the robot located on the external axis is controlled to cut the train sidewall.

[0087] The cutting path can refer to the path through which a workpiece is divided according to a certain size and shape; the preset cutting process parameters can be cutting speed, cutting angle, cutting allowance, and other cutting process requirements; the target motion trajectory can be the planned machining path of the robot tool in the robot coordinate system when performing a specific machining operation; the target motion parameters can be the speed and acceleration requirements of the path points traversed by the end effector of the robotic arm; the position transformation relationship between the tool and the joints on the robot's robotic arm can be used to transform the position relationship between the joints on the robot's robotic arm and the tool; manipulation is a concept in robotics, representing the controllability of the robot's end effector under kinematic constraints.

[0088] As can be seen, the method for determining the final cutting path based on the new rectangular center in this embodiment first obtains the second distance between the new rectangular center and each side of the initial rectangular frame; then, in response to the second distance being greater than or equal to a second preset distance, the new rectangular center is determined as the center of the window cutting path; finally, the direction of each boundary in the initial rectangular frame is used as the direction of each boundary in the window cutting path, the standard window cutting size is used as the length of each boundary in the window cutting path, and the final window cutting path is determined according to the standard window cutting requirements. This method can leave sufficient margin for window cutting and effectively avoid cutting errors caused by insufficient reserved distance cutting into objects such as ribs.

[0089] Based on the above embodiments, please refer to Figure 8 , Figure 8 This is a flowchart illustrating the process of confirming and adjusting the initial rectangular border length and width in this application. Specifically, before fitting the centers of each rectangle to obtain the second fitted line, the method further includes the following steps:

[0090] Step S510: Obtain the length and width of each initial rectangle border.

[0091] Step S520: For each initial rectangular border, in response to the length and / or width of the initial rectangular border satisfying the preset size condition, perform the step of fitting the center of each rectangle to obtain the second fitted line.

[0092] The preset size can be the minimum length and width of the initial rectangular border. For example, when the length and / or width of the initial rectangular border meets the preset size condition (i.e., the length and width of the initial rectangular border are greater than or equal to the preset size condition), the center of each rectangle is fitted to obtain a second fitted line, and the position of the rectangle center is adjusted based on the second fitted line to further determine the final cutting window path.

[0093] Step S530: For each initial rectangular border, in response to the length and / or width of the initial rectangular border not meeting the preset size conditions, a preset alarm process is executed.

[0094] For example, when the length and / or width of the initial rectangular border does not meet the preset size conditions (i.e., the length and width of the initial rectangular border are smaller than the preset size conditions), the cutting path cannot be planned using the length and width of the initial rectangular border. The cutting path must be manually defined based on the coordinates of the center point of the offset rectangle determined by the minimum offset.

[0095] As can be seen, the method for confirming and adjusting the length and width of the initial rectangular border in this application embodiment first obtains the length and width of each initial rectangular border; for each initial rectangular border, in response to the length and / or width of the initial rectangular border meeting the preset size condition, a step of fitting the center of each rectangle to obtain a second fitted line is performed; for each initial rectangular border, in response to the length and / or width of the initial rectangular border not meeting the preset size condition, a preset alarm processing is performed. This ensures that the length and width of the initial rectangular border are greater than the minimum preset size, avoiding the problem of cutting errors caused by insufficient cutting allowance due to the initial border length and width being too small.

[0096] It should be further noted that the entity executing the train cutting method can be a train cutting device. For example, the train cutting device can be a terminal device, a server, or other processing equipment. The terminal device can be a user equipment (UE), computer, mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital assistant (PDA), handheld device, computing device, vehicle-mounted equipment, wearable device, etc.

[0097] Figure 9 This is a schematic diagram of an embodiment of a train cutting device according to this application. Figure 9 As shown, the exemplary high-speed train cutting device 900 includes: an acquisition module 910, a first determination module 920, a second determination module 930, and a path planning module 940. Specifically: the acquisition module is used to acquire target images collected from several windows on the side wall of the high-speed train; the first determination module is used to determine at least one boundary line in each target image related to each window; the second determination module is used to determine the initial cutting path of each window based on the boundary line of each window; and the path planning module is used to adjust the initial cutting path of each window using the preset positional relationship of each window to obtain the final cutting path of each window, so as to cut each window using the final cutting path.

[0098] The above scheme first acquires target images of several windows on the side wall of the train; then, it determines at least one boundary for each window in each target image; next, based on the boundary lines of each window, it determines the initial cutting path for each window; finally, it adjusts the initial cutting path of each window using the preset positional relationship of each window to obtain the final cutting path of each window, and then uses the final cutting path to cut each window. Adjusting the initial cutting path of the train side wall windows based on the target images acquired from several windows, and then adjusting it based on the rectangular centers of several windows to determine the rectangular center of each window, thus determining the window path, avoids the problems of welding deformation causing the closed edge formed by the window panel and the four corner stiffeners to not form a standard rectangle, and the large deviation between the height of the window opening center on the train side wall.

[0099] The functions of each module can be found in the embodiment of the cutting method for the side wall of the EMU, and will not be repeated here.

[0100] Please see Figure 10 , Figure 10 This is a schematic diagram of the structure of an embodiment of the electronic device of this application. An electronic device 100 includes a memory 101 and a processor 102. The processor 102 is used to execute program instructions stored in the memory 101 to implement the steps in the embodiment of the method for cutting the side wall of a train. In a specific implementation scenario, the electronic device 100 may include, but is not limited to, a microcomputer or a server. Furthermore, the electronic device 100 may also include mobile devices such as laptops and tablets, which are not limited here.

[0101] Specifically, processor 102 controls itself and memory 101 to implement the steps in any of the above-described embodiments of the method for cutting the side wall of a train. Processor 102 can also be referred to as a CPU (Central Processing Unit). Processor 102 may be an integrated circuit chip with signal processing capabilities. Processor 102 can also be a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor or any conventional processor. Furthermore, processor 102 can be implemented using integrated circuit chips.

[0102] The above scheme first acquires target images of several windows on the side wall of the train; then, it determines at least one boundary for each window in each target image; next, based on the boundary lines of each window, it determines the initial cutting path for each window; finally, it adjusts the initial cutting path of each window using the preset positional relationship of each window to obtain the final cutting path of each window, and then uses the final cutting path to cut each window. Adjusting the initial cutting path of the train side wall windows based on the target images acquired from several windows, and then adjusting it based on the rectangular centers of several windows to determine the rectangular center of each window, thus determining the window path, avoids the problems of welding deformation causing the closed edge formed by the window panel and the four corner stiffeners to not form a standard rectangle, and the large deviation between the height of the window opening center on the train side wall.

[0103] Please see Figure 11 , Figure 11 This is a schematic diagram of an embodiment of a computer storage medium according to this application. The computer storage medium 200 stores program instructions 201 that can be executed by a processor. The program instructions 201 are used to implement the steps in any of the above embodiments of the method for cutting the side wall of a train. The above scheme first acquires target images of several windows on the side wall of the train; then determines at least one boundary of each window in each target image; next, based on the boundary lines of each window, determines the initial cutting path of each window; finally, using the preset positional relationship of each window, the initial cutting path of each window is adjusted to obtain the final cutting path of each window, so as to cut each window using the final cutting path. The initial cutting path of the windows on the side wall of the train is adjusted according to the target images of several windows on the side wall of the train, and then the rectangular center of each window is determined according to the rectangular center of several windows, thereby determining the window path. This can avoid the problems that the closed edge formed by the edge of the window panel and the four corner ribs cannot form a standard rectangle due to welding deformation and the large deviation between the height of the center of the window opening on the side wall of the train.

[0104] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0105] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus implementations described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0106] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A method for cutting the side wall of a high-speed train, characterized in that, The method includes: Acquire target images captured from several windows on the side wall of the train; Determine at least one boundary line in each of the target images with respect to each of the vehicle windows; Based on the boundary lines of each of the windows, the initial cutting path of each window is determined. By utilizing the preset positional relationship of each of the vehicle windows, the initial cutting path of each of the vehicle windows is adjusted to obtain the final cutting path of each of the vehicle windows, so as to cut each of the vehicle windows using the final cutting path; The step of determining the initial cutting path for each of the vehicle windows based on their boundary lines includes: for each vehicle window, fitting the boundary lines of the window to obtain at least four initial cutting lines, the at least four initial cutting lines including two first initial cutting lines belonging to the longer side and two second initial cutting lines belonging to the shorter side; fitting the directions of the two first initial cutting lines to obtain a first fitted straight line; using the direction of the first fitted straight line as the final direction of the two first initial cutting lines; adjusting the directions of the two second initial cutting lines based on the final directions of the two first initial cutting lines to obtain the final directions of the two second initial cutting lines; using the border of the rectangle formed by the two first initial cutting lines and the two second initial cutting lines as the initial rectangle border; and using the initial rectangle border as the initial cutting path. The step of adjusting the initial cutting path of each of the vehicle windows based on their preset positional relationships to obtain the final cutting path of each of the vehicle windows includes: Obtain the center of the rectangle corresponding to each initial rectangle border; fit each rectangle center to obtain a second fitted line; adjust the position of each rectangle center based on the distance between each rectangle center and the second fitted line; for each window, determine the final cutting path based on the new rectangle center.

2. The cutting method according to claim 1, characterized in that, The step of adjusting the position of the centers of each rectangle based on the distance between the center of each rectangle and the second fitted line includes: The position of the center of the rectangle whose distance from the second fitted line is greater than or equal to the first preset distance is adjusted to obtain a new rectangle center, wherein the distance between the new rectangle center and the second fitted line is less than the first preset distance.

3. The cutting method according to claim 1, characterized in that, For each of the vehicle windows, determining the final cutting path based on the new rectangular center includes: Obtain the second distance between the new center of the rectangle and each side of the initial rectangle's border; In response to the second distance being greater than or equal to the second preset distance, a new center of the rectangle is determined as the center of the window cutting path; The direction of each boundary in the initial rectangular frame is used as the direction of each boundary in the window cutting path, and the standard window cutting size is used as the length of each boundary in the window cutting path.

4. The cutting method according to claim 3, characterized in that, The method further includes: The joints of the aforementioned boundaries are connected with preset rounded corners.

5. The cutting method according to any one of claims 1-4, characterized in that, Before fitting the centers of each of the rectangles to obtain the second fitted line, the method further includes: Obtain the length and width of each of the initial rectangular borders; For each of the initial rectangular borders, in response to the length and / or width of the initial rectangular borders satisfying the preset size condition, the step of fitting the center of each of the rectangles to obtain a second fitted line is performed; Alternatively, for each of the initial rectangular borders, in response to the length and / or width of the initial rectangular border not meeting the preset size conditions, a preset alarm process is executed.

6. A cutting device for the side wall of a high-speed train, characterized in that, The device includes: The acquisition module is used to acquire target images captured from several windows on the side wall of the train. The first determining module is used to determine at least one boundary line in each of the target images with respect to each of the vehicle windows; The second determining module is used to determine the initial cutting path of each of the vehicle windows based on the boundary lines of each of the vehicle windows; specifically, for each of the vehicle windows, it fits the boundary lines of the vehicle window to obtain at least four initial cutting lines of the vehicle window, the at least four initial cutting lines including two first initial cutting lines belonging to the long side and two second initial cutting lines belonging to the short side; it fits the direction of the two first initial cutting lines to obtain a first fitted straight line; it takes the direction of the first fitted straight line as the final direction of the two first initial cutting lines; it adjusts the direction of the two second initial cutting lines based on the final direction of the two first initial cutting lines to obtain the final direction of the two second initial cutting lines; it takes the border of the rectangle enclosed by the two first initial cutting lines and the two second initial cutting lines as the initial rectangle border; and it takes the initial rectangle border as the initial cutting path. The path planning module is used to adjust the initial cutting path of each of the windows based on the preset positional relationship of each window, so as to obtain the final cutting path of each window, and to cut each window using the final cutting path; specifically, it is used to obtain the center of the rectangle corresponding to each initial rectangular border; fit each rectangular center to obtain a second fitted line; adjust the position of each rectangular center based on the distance between each rectangular center and the second fitted line; and for each window, determine the final cutting path based on the new rectangular center.

7. An electronic device, characterized in that, The method includes a memory and a processor, the processor being configured to execute program instructions stored in the memory to implement the method according to any one of claims 1 to 5.

8. A storage medium storing program instructions thereon, characterized in that, When the program instructions are executed by the processor, they implement the method described in any one of claims 1 to 5.

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