A material cutting control method and system based on laser cutting of irregular products

Abstract

The present application relates to the technical field of cutting machines, and in particular to a material unloading control method and system based on laser cutting of irregular products. The present application first obtains the two-dimensional image data of the product after cutting on the sprocket conveyor through a visual inspection system; then extracts the actual outer contour information of the product based on the two-dimensional image data; then calculates the contour feature parameters of the product; according to the contour feature parameters, controls the separation action parameters of the separation mechanism on the discharge rack, thereby automatically separating the product from the plate frame; at the same time, monitors and determines whether the entire plate has completely entered the discharge rack through a visual inspection system, and after confirming that it has completely entered, controls the sprocket conveyor to suspend work, and realizes automatic and high-precision separation of irregular-shaped products from the plate frame through visual inspection, avoiding manual operation, and improving production efficiency and automation level; at the same time, visual monitoring stops the transmission after the entire plate enters the discharge rack, avoiding product damage and reducing manual labor intensity.

Description

Technical Field

[0001] The present application relates to the technical field of cutting machines, and in particular to a material cutting control method and system based on laser cutting of irregular products. Background Art

[0002] Laser cutting is to focus the laser emitted by the laser into a high-power density laser beam through the optical path system. The laser beam irradiates the surface of the workpiece, causing the workpiece to reach the melting point or boiling point. At the same time, the high-pressure gas coaxial with the beam blows away the molten or vaporized metal, thereby achieving high-precision cutting of metal sheets. Laser cutting has the advantages of fast cutting speed, high production efficiency and small heat-affected zone.

[0003] The existing thin metal sheet processing field uses laser cutting devices for cutting. The invention patent with publication number CN113857696A discloses a thin metal sheet laser cutting device and a material unloading method thereof, including a machine base, a cutting head driving device, a laser cutting head and a controller, as well as a sprocket conveyor and a discharge rack for conveying the sheet. The cutting head driving device drives the laser cutting head to cut the sheet placed on the sprocket conveyor, and after the cutting is completed, the sheet is conveyed to the discharge rack. However, the existing thin metal sheet laser cutting device is difficult to achieve automatic high-precision separation for irregularly shaped products, and this situation needs to be further improved. Summary of the invention

[0004] In order to solve the problem that the existing thin metal plate laser cutting device is difficult to achieve automatic high-precision separation for irregular-shaped products, the present application provides a material feeding control method and system based on laser cutting of irregular products, which adopts the following technical solutions:

[0005] In a first aspect, the present application provides a material unloading control method based on laser cutting of irregular products, which is applied to a thin metal plate laser cutting device, wherein the laser cutting device comprises a machine base, a laser cutting head, a sprocket-type conveyor for conveying the plate, and a discharge rack; a visual inspection system is provided on the discharge rack, and the method comprises the following steps:

[0006] Acquiring two-dimensional image data of the cut product on the sprocket conveyor by means of the visual inspection system;

[0007] Based on the two-dimensional image data, extracting actual outer contour information of the product;

[0008] Calculating contour feature parameters of the product according to the actual outer contour information;

[0009] According to the contour feature parameters, the separation action parameters of the separation mechanism on the discharge rack are controlled to separate the product from the plate frame;

[0010] The visual inspection system is used to monitor and determine whether the entire plate has completely entered the discharging rack. After it is determined that the entire plate has entered the discharging rack, the sprocket-type conveyor is controlled to stop working.

[0011] By adopting the above-mentioned technical scheme, the present application first obtains the two-dimensional image data of the product after cutting on the sprocket conveyor through a visual inspection system; then extracts the actual outer contour information of the product based on the two-dimensional image data; then calculates the contour feature parameters of the product according to the outer contour information; according to these contour feature parameters, controls the separation action parameters of the separation mechanism on the discharge rack, thereby automatically separating the product from the plate frame; at the same time, monitors and determines whether the entire plate has completely entered the discharge rack through the visual inspection system, and after confirming that it has completely entered, controls the sprocket conveyor to suspend work, and realizes automatic and high-precision separation of irregular-shaped products from the plate frame through visual inspection, avoiding manual operation, and improving production efficiency and automation level; at the same time, visual monitoring is performed after the entire plate enters the discharge rack and then the transmission is stopped, thereby avoiding product damage, reducing manual labor intensity, and significantly improving the automation level of cutting and separation.

[0012] Optionally, based on the two-dimensional image data, extracting actual outer contour information of the product specifically comprises the following steps:

[0013] Performing image preprocessing on the two-dimensional image data to obtain preprocessed image data;

[0014] Performing edge detection on the preprocessed image data to extract edge contour lines of the product;

[0015] Performing polygon fitting on the edge contour line to obtain a polygonal outer contour model of the product;

[0016] According to the polygonal outer contour model, the actual outer contour information of the product is obtained.

[0017] By adopting the above-mentioned technical scheme, the present application first performs image preprocessing on the acquired two-dimensional image data to obtain preprocessed image data; then performs an edge detection algorithm on the preprocessed image data to extract the edge contour line of the product; then performs polygon fitting on the extracted edge contour line to obtain a polygonal outer contour model of the product; finally, based on the polygonal model, the accurate actual outer contour information of the product is obtained, and through image processing technologies such as image preprocessing, edge detection and polygon fitting, the actual outer contour information of irregular-shaped products is accurately and efficiently extracted from the original two-dimensional image, laying the foundation for the subsequent separation action of the separation mechanism controlled based on the outer contour information, thereby realizing automatic and high-precision separation of irregular products.

[0018] Optionally, according to the contour feature parameters, the separation action parameters of the separation mechanism on the discharge rack are controlled to separate the product from the plate frame, which specifically includes the following steps:

[0019] Determining the specific position where the separation mechanism acts on the product according to the profile feature parameters;

[0020] Calculating the force of the separation mechanism based on the radius of curvature and the degree of concavity and convexity in the profile feature parameters;

[0021] Based on the perimeter parameter and the area parameter in the profile characteristic parameters, the conveying speed of the sprocket conveyor is determined, and the opening size of the material collecting port of the discharge rack is adjusted.

[0022] By adopting the above-mentioned technical scheme, since irregular products of different shapes and sizes require the separation mechanism to adopt different separation action parameters, such as action position, action force, and transmission speed, this application calculates the characteristic parameters describing the outer contour, such as curvature radius, degree of convexity and concavity, circumference, area, etc., based on the extracted product outer contour information; then based on the characteristic parameters, the specific position where the separation mechanism acts on the product is determined, the action force of the separation mechanism is calculated, and the separation action parameters such as the sprocket transmission speed and the opening size of the discharge rack are adjusted, thereby achieving precise separation of the product and improving the intelligence and automation level of separation.

[0023] Optionally, the visual inspection system is used to monitor and determine whether the entire plate has completely entered the discharge rack, and after determining that the entire plate has entered the discharge rack, the sprocket conveyor is controlled to stop working, which specifically includes the following steps:

[0024] Acquiring an image data sequence by monitoring through the visual inspection system;

[0025] Performing image segmentation on the image data sequence to extract the plate area;

[0026] Calculating a displacement change of the plate according to the plate area;

[0027] Judging whether the plate exceeds the threshold of the discharge rack area according to the displacement change, and if so, determining that the entire plate has completely entered the discharge rack;

[0028] According to the determination result, the sprocket type transmission member is controlled to stop working.

[0029] By adopting the above technical scheme, since stopping the conveyance too early or too late may cause product damage or inability to fully enter the discharge rack, in order to accurately determine whether the entire plate has completely entered the discharge rack area before controlling the conveyor to stop working to avoid product damage, the application first monitors and obtains an image data sequence through a visual inspection system; then performs image segmentation on the image data sequence to extract the plate area; then calculates the displacement change of the plate based on the extracted plate area; then compares the displacement change with the preset discharge rack area threshold, and when the displacement change exceeds the threshold, it is determined that the entire plate has completely entered the discharge rack area; finally, based on the judgment result, the sprocket conveyor is accurately controlled to stop working, thereby reducing product damage and improving the efficiency and reliability of material unloading.

[0030] Optionally, the actual outer contour information includes an outer contour line coordinate set, a corner point coordinate set, and an outer contour line segment length set and an angle set calculated from the corner point coordinate set of the product.

[0031] By adopting the above-mentioned technical solution, the present application obtains the complete outer contour line coordinate set of the product through image processing, and then extracts the coordinate set of all corner points; then based on the coordinates of the corner points, the length of each line segment of the outer contour line and the angle between adjacent line segments are calculated as the actual outer contour information of the product, which lays the foundation for the subsequent precise control of the separation action of the separation mechanism based on this information, and improves the level of intelligent separation.

[0032] Optionally, calculating the contour feature parameters of the product according to the actual outer contour information specifically includes the following steps:

[0033] Based on the outer contour coordinate set, calculate the perimeter and area of ​​the product;

[0034] Based on the corner point coordinate set, calculating the maximum circumscribed circle radius of the product;

[0035] The minimum inscribed circle radius of the product is calculated according to the outer contour line segment length set and the included angle set.

[0036] By adopting the above technical solution, the present application first calculates the accurate circumference and area of ​​the product based on the outer contour line coordinate set using the circumference and area formulas of analytic geometry; then, based on the corner point coordinate set, the maximum circumscribed circle radius of the product is obtained by extreme value calculation; finally, based on the length and angle information of each line segment of the outer contour line, the minimum inscribed circle radius of the product is obtained by solving the geometric constraints, which can comprehensively describe the appearance characteristics of the product and lay the foundation for the separation action of the separation mechanism.

[0037] Optionally, the separation mechanism includes a plurality of separation members, and the action force of each separation member is determined according to the minimum inscribed circle radius of the product; the conveying speed of the sprocket conveyor is determined according to the functional relationship between the area and circumference of the product; and the opening size of the discharge rack collection port is determined according to the maximum circumscribed circle radius of the corresponding product.

[0038] By adopting the above-mentioned technical scheme, the present application determines the action force of the separation mechanism separation member, the transmission speed of the sprocket transmission member, and the opening size of the discharge rack collection port according to the calculated contour feature parameters such as the minimum inscribed circle radius, area and circumference, and maximum circumscribed circle radius of the product, thereby realizing intelligent adaptive adjustment of the separation action, greatly improving the separation accuracy and efficiency, and effectively avoiding product damage.

[0039] In the second aspect, the present application provides a material unloading control system based on laser cutting of irregular products, which is applied to a thin metal plate laser cutting device, wherein the laser cutting device includes a machine base, a laser cutting head, a sprocket-type conveyor for conveying the plate, and a discharge rack; the discharge rack is provided with a visual detection system, and the material unloading control system includes:

[0040] An image data acquisition module, used to acquire two-dimensional image data of the cut product on the sprocket conveyor through the visual inspection system;

[0041] An actual outer contour information extraction module is used to extract the actual outer contour information of the product based on the two-dimensional image data; a contour feature parameter calculation module is used to calculate the contour feature parameters of the product according to the actual outer contour information; a separation action parameter control module is used to control the separation action parameters of the separation mechanism on the discharge rack according to the contour feature parameters, so as to separate the product from the plate frame;

[0042] The conveying control module is used to monitor and determine whether the whole plate has completely entered the discharging rack through the visual inspection system, and after determining that the whole plate has entered the discharging rack, control the sprocket type conveying member to stop working.

[0043] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned material cutting control method based on laser cutting of irregular products when executing the computer program.

[0044] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above-mentioned material cutting control method based on laser cutting of irregular products are implemented.

[0045] In summary, the present application includes at least one of the following beneficial technical effects:

[0046] 1. The present application first obtains two-dimensional image data of the cut product on the sprocket conveyor through a visual inspection system; then extracts the actual outer contour information of the product based on the two-dimensional image data; then calculates the contour feature parameters of the product based on the outer contour information; based on these contour feature parameters, controls the separation action parameters of the separation mechanism on the discharge rack, thereby automatically separating the product from the plate frame; at the same time, monitors and determines whether the entire plate has completely entered the discharge rack through a visual inspection system, and after confirming that it has completely entered, controls the sprocket conveyor to stop working, and realizes automatic and high-precision separation of irregular-shaped products from the plate frame through visual inspection, thereby avoiding manual operation and improving production efficiency and automation level; at the same time, visual monitoring is performed to stop the transmission after the entire plate has entered the discharge rack, thereby avoiding product damage. The manual labor intensity is reduced, and the automation level of cutting and separation is significantly improved; 2. The present application first performs image preprocessing on the acquired two-dimensional image data to obtain preprocessed image data; then performs edge detection algorithm on the preprocessed image data to extract the edge contour line of the product; then performs polygon fitting on the extracted edge contour line to obtain a polygonal outer contour model of the product; finally, based on the polygonal model, the accurate actual outer contour information of the product is obtained, and the actual outer contour information of the irregular-shaped product is accurately and efficiently extracted from the original two-dimensional image through image processing technologies such as image preprocessing, edge detection and polygon fitting, laying the foundation for the subsequent separation action of the separation mechanism based on the outer contour information, thereby realizing automatic and high-precision separation of irregular products;

[0047] 3. Since irregular products of different shapes and sizes require the separation mechanism to adopt different separation action parameters, such as action position, action force, and transmission speed, the present application calculates the characteristic parameters describing the outer contour, such as curvature radius, degree of concavity, circumference, area, etc., based on the extracted product outer contour information; then based on the characteristic parameters, the specific position where the separation mechanism acts on the product is determined, the action force of the separation mechanism is calculated, and the separation action parameters such as the sprocket transmission speed and the opening size of the discharge rack are adjusted, thereby achieving precise separation of the product and improving the intelligence and automation level of separation. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a flow chart of a material cutting control method based on laser cutting of irregular products according to an embodiment of the present application;

[0049] Figure 2 It is a flow chart of step S30 in a material cutting control method based on laser cutting of irregular products in an embodiment of the present application;

[0050] Figure 3It is a flow chart of step S40 in a material cutting control method based on laser cutting of irregular products in an embodiment of the present application;

[0051] Figure 4 It is a flow chart of step S50 in a material cutting control method based on laser cutting of irregular products in an embodiment of the present application;

[0052] Figure 5 It is a module schematic diagram of a material unloading control system based on laser cutting of irregular products according to an embodiment of the present application;

[0053] Figure 6 It is a diagram of the internal structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0054] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application refers to any or all possible combinations comprising one or more listed items.

[0055] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0056] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0057] In the first aspect, the present application provides a material unloading control method based on laser cutting of irregular products, which is applied to a thin metal plate laser cutting device, wherein the laser cutting device includes a machine base, a laser cutting head, a sprocket-type conveyor for conveying the plate, and a discharge rack; a visual detection system is provided on the discharge rack, referring to Figure 1 , the method comprises the following steps:

[0058] S10. Obtain two-dimensional image data of the cut product on the sprocket conveyor through a visual inspection system.

[0059] In this embodiment, the visual inspection system refers to an image acquisition device installed above the discharge rack, such as an industrial camera, a linear array camera, etc., which can take real-time photos of the cut products on the sprocket conveyor.

[0060] Specifically, an industrial camera with a higher resolution, such as 2048×2048 pixels and an exposure time of 1 / 1000 second is used, which is connected to the control system through an image acquisition card to obtain a two-dimensional image data sequence of the cut product during the transmission process.

[0061] S20: extracting the actual outer contour information of the product based on the two-dimensional image data.

[0062] In this embodiment, the actual outer contour information refers to a set of geometric parameters that can accurately describe the outer contour of the product, including outer contour line coordinates, corner point coordinates, line segment length and angle, etc.

[0063] Specifically, the acquired two-dimensional image data is first preprocessed, such as denoising and contrast enhancement, and then an edge detection algorithm is executed to extract the edge contour line of the product. The contour line is then fitted with a polygon to obtain a polygonal outer contour model and a set of corner point coordinates. Finally, the length and angle of each line segment are calculated based on the corner point coordinates to obtain the complete actual outer contour information of the product.

[0064] S30. Calculate contour feature parameters of the product according to the actual outer contour information.

[0065] In this embodiment, the contour feature parameters include the circumference, area, maximum circumscribed circle radius and minimum inscribed circle radius of the product, etc., which are used to guide the action control of the separation mechanism.

[0066] Specifically, a simple substitution method is used to directly input the actual outer contour information extracted into the trained machine learning model, and the model automatically calculates the approximate values ​​of the above contour feature parameters, thereby avoiding complex geometric calculations. In this embodiment, a regression model based on a convolutional neural network is used, and the model input is an outer contour line coordinate set and a corner point coordinate set, and the output is the predicted circumference, area, maximum circumscribed circle radius, and minimum inscribed circle radius value.

[0067] S40, controlling the separation action parameters of the separation mechanism on the discharge rack according to the contour feature parameters to separate the product from the plate frame.

[0068] In this embodiment, the separation mechanism includes a plurality of independently movable separation members, and parameters such as the force of action and the position of action thereof need to be adjusted and controlled according to the characteristic parameters of the product profile.

[0069] The calculated minimum inscribed circle radius is used as input, and the preset separation force comparison table is consulted to set a reasonable force for each separation part, so that it is sufficient to separate but will not damage the product. At the same time, the action position of the separation part is determined based on the maximum circumscribed circle radius, so as to control each separation part to cooperate in separating the product from the plate frame.

[0070] Specifically, on the basis of the traditional laser device, the separation mechanism is composed of a plurality of separation parts, each of which includes an elastic separation claw and a cylinder drive device. The elastic separation claw adopts a structure of a metal frame covered with a flexible outer layer. In this embodiment, the metal frame is made of aluminum alloy, and the outer flexible material is made of thermoplastic elastomer. The cylinder drive device includes a double-acting cylinder and a servo motor. The piston rod of the cylinder is connected to the metal frame of the separation claw, driving the separation claw to perform linear reciprocating motion; the servo motor controls the stroke of the cylinder through a cam slider mechanism, and adjusts the force of the separation claw according to the minimum inscribed circle radius. Multiple separation parts are installed on the discharge rack through an adjustable mounting base, and the base is configured to slide along the length direction of the discharge rack, so as to adjust the action position of the separation part according to the maximum circumscribed circle radius.

[0071] S50, monitoring and determining whether the entire plate has completely entered the discharge rack through a visual inspection system, and after determining that the entire plate has entered the discharge rack, controlling the sprocket conveyor to stop working.

[0072] In this embodiment, by monitoring the feeding status of the entire plate, the conveyor is controlled to pause after the plate completely enters the discharge rack to prevent the product from slipping out or being damaged.

[0073] Specifically, the image data sequence captured by the visual inspection system is continuously acquired, and the plate area is extracted in each frame of the image through the image segmentation algorithm. The displacement change of the plate area is used to determine whether the plate has exceeded the threshold of the discharge rack area. Once exceeded, it is confirmed that the entire plate has completely entered the discharge rack, and the sprocket conveyor is immediately controlled to stop working.

[0074] In one embodiment, referring to Figure 2 In step S30, the actual outer contour information includes the outer contour line coordinate set of the product, the corner point coordinate set, and the outer contour line segment length set and angle set calculated from the corner point coordinate set.

[0075] According to the actual outer contour information, the contour feature parameters of the product are calculated, which specifically includes the following steps:

[0076] S31. Calculate the perimeter and area of ​​the product based on the outer contour coordinate set.

[0077] In this embodiment, the perimeter and area are basic geometric parameters describing the product shape, and are accurately calculated based on the extracted outer contour line coordinate set.

[0078] Specifically, the outer contour coordinate set is regarded as the vertex coordinate set of the polygon, and the Gaussian ring area formula is used to directly calculate the perimeter and area of ​​the polygon as the actual perimeter and area values ​​of the product.

[0079] S32. Calculate the maximum circumscribed circle radius of the product based on the corner point coordinate set.

[0080] In this embodiment, the maximum circumscribed circle radius reflects the maximum outer enclosure size of the product and plays an important role in determining the action position of the separation mechanism.

[0081] Specifically, by traversing the corner point coordinate set, the distance between any two points is calculated, the maximum value is taken as the diameter of the maximum circumscribed circle, and then divided by 2 to obtain the radius of the maximum circumscribed circle.

[0082] S33. Calculate the minimum inscribed circle radius of the product based on the outer contour line segment length set and the included angle set.

[0083] Specifically, a geometric constraint model based on the length set and the angle set of the outer contour line segments is constructed, and the radius of the circle with the smallest radius that can simultaneously touch all the line segments is solved in the model as the minimum inscribed circle radius of the product.

[0084] In one embodiment, referring to Figure 3 In step S40, according to the contour feature parameters, the separation action parameters of the separation mechanism on the discharge rack are controlled to separate the product from the plate frame, which specifically includes the following steps:

[0085] S41. Determine the specific position where the separation mechanism acts on the product according to the contour feature parameters.

[0086] Specifically, the calculated maximum circumscribed circle radius is used as a reference, and several action points are evenly distributed on the discharge rack, and the distance from each action point to the center of the maximum circumscribed circle is equal to the radius value. Then, the working end of each separation piece is aligned with the position of the corresponding action point, so that the separation piece can act on the reasonable position of the product.

[0087] S42. Calculate the force of the separation mechanism based on the radius of curvature and the degree of concavity and convexity in the contour feature parameters.

[0088] In this embodiment, the curvature radius and the degree of concavity and convexity of different regions determine that different separation forces need to be applied to avoid damaging the edges and corners or transition parts.

[0089] Specifically, the extracted corner point coordinates are used as input, and the trained deep learning model outputs the corresponding optimal force value. The model is trained on a large amount of actual product data to learn the mapping relationship between the curvature radius and the degree of concavity and convexity and the separation force.

[0090] S43. Based on the perimeter parameter and the area parameter in the profile feature parameters, determine the conveying speed of the sprocket conveyor and adjust the opening size of the material collection port of the discharge rack.

[0091] In this embodiment, the size of the circumference and area of ​​the product directly affects its force and arrangement during the conveying and discharging process, so it is necessary to reasonably set the conveying speed and the discharge port size.

[0092] Among them, the functional relationship between the conveying speed and the perimeter area is fitted through experiments, and the calculated perimeter and area are substituted into the function to determine the optimal conveying speed value. At the same time, the maximum circumscribed circle radius is used as the basis for setting the opening size of the material collection port of the discharge rack. The opening size should be slightly larger than the radius value so that the product can be discharged smoothly.

[0093] Specifically, the functional relationship between the transmission speed v and the product circumference l and area A can be expressed as: v = k1*l^α1*A^β1+k2, where k1, α1, β1, and k2 are coefficients and exponential values ​​obtained by fitting experimental data. k1 reflects the overall influence of the circumference and area on the transmission speed; α1 is the exponential factor of the circumference l, which describes the influence of the circumference change on the transmission speed when the area A is fixed; β1 is the exponential factor of the area A, which describes the influence of the area change on the transmission speed when the circumference l is fixed; k2 is a constant term, which can be regarded as the benchmark value of the minimum transmission speed.

[0094] Among them, the separation mechanism includes several separation parts, and the action force of each separation part is determined according to the minimum inscribed circle radius of the product; the transmission speed of the sprocket type transmission part is determined according to the functional relationship between the area and circumference of the product; the opening size of the material collection port of the discharge rack is determined according to the maximum circumscribed circle radius of the corresponding product.

[0095] In one embodiment, referring to Figure 4 In step S50, the visual inspection system is used to monitor and determine whether the entire plate has completely entered the discharge rack. After determining that the entire plate has entered the discharge rack, the sprocket conveyor is controlled to stop working, which specifically includes the following steps:

[0096] S51. Monitor through a visual inspection system to obtain an image data sequence.

[0097] In this embodiment, image data of the plate during the conveying process is continuously acquired to track the displacement change of the plate.

[0098] S52, performing image segmentation on the image data sequence to extract the plate area.

[0099] Specifically, the image is preprocessed, such as median filtering to remove noise and adaptive histogram equalization to enhance contrast. Then, based on the color or grayscale difference between the plate and the background, the binary area of ​​the plate is accurately extracted in each frame of the image.

[0100] S53. Calculate the displacement change of the plate according to the plate area.

[0101] S54, judging whether the plate exceeds the threshold of the discharge rack area according to the displacement change, and if so, determining that the entire plate has completely entered the discharge rack.

[0102] In this embodiment, a discharge rack area threshold is preset, and when the accumulated displacement of the plate exceeds the threshold, it is determined that the entire plate has completely entered the discharge rack.

[0103] Specifically, by calibrating the relative position relationship between the camera and the outfeed rack, the pixel coordinate range corresponding to the outfeed rack in the image coordinate system is obtained, and the range boundary is the outfeed rack area threshold. After each calculation of the plate displacement, it is compared with the threshold. Once it exceeds the threshold, it can be confirmed that the entire plate has entered the outfeed rack.

[0104] S55. According to the determination result, the sprocket type transmission member is controlled to stop working.

[0105] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0106] On the second aspect, the present application provides a material unloading control system based on laser cutting of irregular products. The material unloading control system based on laser cutting of irregular products of the present application is described below in combination with the above-mentioned material unloading control method based on laser cutting of irregular products.

[0107] Reference Figure 5 , a material unloading control system based on laser cutting of irregular products, applied to a thin metal plate laser cutting device, the laser cutting device includes a machine base, a laser cutting head, a sprocket type conveyor for conveying the plate and a discharge rack; the discharge rack is provided with a visual detection system, and the material unloading control system includes:

[0108] An image data acquisition module, used for acquiring two-dimensional image data of the cut product on the sprocket conveyor through a visual inspection system;

[0109] An actual outer contour information extraction module is used to extract the actual outer contour information of the product based on the two-dimensional image data;

[0110] A contour feature parameter calculation module is used to calculate the contour feature parameters of the product based on the actual outer contour information;

[0111] A separation action parameter control module is used to control the separation action parameters of the separation mechanism on the discharge rack according to the contour feature parameters, so as to separate the product from the plate frame;

[0112] The conveying control module is used to monitor and determine whether the whole plate has completely entered the discharge rack through the visual inspection system, and after determining that the whole plate has entered the discharge rack, control the sprocket conveyor to stop working.

[0113] In one embodiment, the present application provides an electronic device, which may be a server, and its internal structure diagram may be as follows: Figure 6 As shown. The electronic device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the electronic device is used to store data. The network interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a material cutting control method based on laser cutting of irregular products is implemented.

[0114] Those skilled in the art will understand that Figure 6 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0115] In one embodiment, an electronic device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0116] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the above-mentioned computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0117] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A material unloading control method based on laser cutting of irregular products, applied to a thin metal plate laser cutting device, the laser cutting device comprising a machine base, a laser cutting head, a sprocket-type conveyor for conveying the plate, and a discharge rack; characterized in that: The discharging rack is provided with a visual detection system, and the method comprises the following steps: Acquiring two-dimensional image data of the cut product on the sprocket conveyor by means of the visual inspection system; Based on the two-dimensional image data, extracting actual outer contour information of the product, the actual outer contour information including an outer contour line coordinate set, a corner point coordinate set, and an outer contour line segment length set and an angle set calculated from the corner point coordinate set; Calculating contour feature parameters of the product according to the actual outer contour information; According to the contour feature parameters, the separation action parameters of the separation mechanism on the discharge rack are controlled to separate the product from the plate frame; Monitor and determine whether the whole plate has completely entered the discharging rack by the visual inspection system, and after determining that the whole plate has entered the discharging rack, control the sprocket type conveyor to stop working; Based on the two-dimensional image data, extracting the actual outer contour information of the product specifically includes the following steps: Performing image preprocessing on the two-dimensional image data to obtain preprocessed image data; Performing edge detection on the preprocessed image data to extract edge contour lines of the product; Performing polygon fitting on the edge contour line to obtain a polygonal outer contour model of the product; According to the polygonal outer contour model, obtaining actual outer contour information of the product; According to the contour feature parameters, the separation action parameters of the separation mechanism on the discharge rack are controlled to separate the product from the plate frame, specifically comprising the following steps: Determining the specific position where the separation mechanism acts on the product according to the profile feature parameters; Calculating the force of the separation mechanism based on the radius of curvature and the degree of concavity and convexity in the profile feature parameters; Based on the perimeter parameter and the area parameter in the profile characteristic parameters, the conveying speed of the sprocket conveyor is determined, and the opening size of the material collecting opening of the discharging rack is adjusted; The visual inspection system is used to monitor and determine whether the entire plate has completely entered the discharge rack. After determining that the entire plate has entered the discharge rack, the sprocket conveyor is controlled to stop working, which specifically includes the following steps: Acquiring an image data sequence by monitoring through the visual inspection system; Performing image segmentation on the image data sequence to extract the plate area; Calculating a displacement change of the plate according to the plate area; Judging whether the plate exceeds the threshold of the discharge rack area according to the displacement change, and if so, determining that the entire plate has completely entered the discharge rack; According to the determination result, controlling the sprocket type transmission member to stop working; Calculating the contour feature parameters of the product according to the actual outer contour information specifically includes the following steps: Based on the outer contour coordinate set, calculate the perimeter and area of ​​the product; Based on the corner point coordinate set, calculating the maximum circumscribed circle radius of the product; Calculating the minimum inscribed circle radius of the product according to the outer contour line segment length set and the included angle set; The separation mechanism includes a plurality of separation members, and the force of each separation member is determined according to the minimum inscribed circle radius of the product; the conveying speed of the sprocket conveyor is determined according to the functional relationship between the area and the perimeter of the product; The opening size of the material collecting opening of the discharging rack is determined according to the maximum circumscribed circle radius of the corresponding product.

2. A material unloading control system based on laser cutting of irregular products, applied to a thin metal plate laser cutting device, the laser cutting device comprising a machine base, a laser cutting head, a sprocket-type conveyor for conveying the plate, and a discharge rack; characterized in that: The unloading rack is provided with a visual detection system, and the unloading control system applies the unloading control method based on laser cutting of irregular products according to claim 1 to unload materials, including: An image data acquisition module, used to acquire two-dimensional image data of the cut product on the sprocket conveyor through the visual inspection system; An actual outer contour information extraction module, used to extract the actual outer contour information of the product based on the two-dimensional image data; A contour feature parameter calculation module, used to calculate the contour feature parameters of the product according to the actual outer contour information; A separation action parameter control module, used to control the separation action parameters of the separation mechanism on the discharge rack according to the contour feature parameters, so as to separate the product from the plate frame; The conveying control module is used to monitor and determine whether the whole plate has completely entered the discharging rack through the visual inspection system, and after determining that the whole plate has entered the discharging rack, control the sprocket type conveying member to stop working.

3. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the material cutting control method based on laser cutting of irregular products as described in claim 1 are implemented.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the steps of the material cutting control method based on laser cutting of irregular products described in claim 1 are implemented.

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