Deburring method, deburring device and deburring equipment

Abstract

The present application provides a deburring method, a device and a deburring equipment, the method comprising: obtaining a brush image of a target brush, the brush image being an image taken at a perspective perpendicular to the central axis of the target brush; detecting the edge of the brush image, and determining a wear compensation amount according to the edge of the brush image, the wear compensation amount being the difference between the feed amount required for the target brush and the feed amount required for the wear-free brush when the deburring effect achieved by using the target brush is the same as the deburring effect achieved by using a wear-free brush; using the wear compensation amount to compensate for the set feed amount to obtain a target feed amount, controlling the target brush to deburr the target object with the target feed amount, setting the feed amount to the feed amount for deburring the wear-free target brush, thereby solving the problem of poor deburring effect caused by damage to the burr cleaning brush in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of burr removal, and in particular to a deburring method, a deburring device and a deburring equipment. Background Art

[0002] During the production of engine bodies, a large amount of manpower is required to clean the burrs produced during processing. Due to different operators and different operating techniques, the deburring effect varies, the ability to ensure product process consistency is poor, and there are great risks.

[0003] The deburring device of the prior art uses a brush to clean the burrs. When the brush is damaged, the deburring effect will also be affected, and even the engine body will be damaged. Summary of the invention

[0004] The main purpose of the present application is to provide a deburring method, a deburring device and a deburring equipment, so as to at least solve the problem of poor deburring effect caused by damage to the brush for cleaning burrs in the prior art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a deburring method is provided, comprising: acquiring a brush image of a target brush, the brush image being an image taken at a perspective perpendicular to the central axis of the target brush; detecting the edge of the brush image, and determining a wear compensation amount based on the edge of the brush image, the wear compensation amount being the difference between a feed amount required for the target brush and a feed amount required for the wear-free brush when the deburring effect achieved by using the target brush is the same as that achieved by using a wear-free brush; compensating a set feed amount with the wear compensation amount to obtain a target feed amount, and controlling the target brush to deburr a target object with the target feed amount, the set feed amount being the feed amount for deburring the target brush without wear.

[0006] Optionally, detecting the edge of the brush image includes: when the target brush is a cylindrical brush, detecting an edge of the brush image to obtain a first brush edge point set; fitting the first brush edge point set to obtain a brush edge line segment; calculating the distance from each first brush edge point of the first brush edge point set to the corresponding brush edge line segment to obtain a plurality of first distances, wherein the first distances correspond to the first brush edge points one-to-one; when the first distance corresponding to the first brush edge point is greater than a first distance threshold and the grayscale value of the first brush edge point is greater than a first grayscale threshold, determining that the first brush edge point is a bad point; when the number of bad points in the first brush edge point set is greater than a bad point number threshold, determining that the edge corresponding to the first brush edge point set is damaged, and sounding an alarm to remind the user to replace the brush; when the number of bad points in the first brush edge point set is less than or equal to the bad point number threshold, determining that the target brush is qualified.

[0007] Optionally, the wear compensation amount is determined based on the edge of the brush image, including: when it is determined that the target brush is qualified and the target brush is a cylindrical brush, calculating the distance between the brush edge line segment and the center line of the target brush to obtain the outer diameter of the target brush, the center line of the target brush being the line segment corresponding to the center axis of the target brush; calculating the difference between the outer diameter of the target brush and the outer diameter of a cylindrical brush without wear to obtain the wear compensation amount.

[0008] Optionally, detecting the edge of the brush image and determining the wear compensation amount based on the edge of the brush image includes: when the target brush is a conical brush, detecting an oblique edge of the brush image to obtain a second brush edge point set; fitting the second brush edge point set to obtain a brush oblique edge line segment; detecting the angle between the brush oblique edge line segment and the center line of the target brush to obtain a first angle, the center line of the target brush being a line segment corresponding to the center axis of the target brush; calculating a reference feed according to the radius of the circular hole and the first angle The reference feed amount is the theoretical minimum feed amount for the edge of the target brush to contact the inner wall surface of the hole to be deburred, and the circular hole radius is the radius of the hole to be deburred of the target object; the wear compensation amount is obtained by subtracting the difference between the sum of the reference feed amount and the vertex wear amount and the reference feed amount, and the vertex wear amount is the distance between the vertex of the unworn target brush and the vertex of the current target brush on the center line of the target brush, and the reference feed amount is the feed amount of the unworn target brush for removing burrs from the hole to be deburred.

[0009] Optionally, after calculating the reference feed amount according to the radius of the circular hole and the first angle, the method further includes: generating a first perpendicular line according to the reference feed amount, so that the first perpendicular line is perpendicular to the center line of the target brush and the distance between the first perpendicular line and the current vertex of the target brush is equal to the reference feed amount; moving the first perpendicular line along the center line of the target brush by a target distance in one direction to obtain a second perpendicular line, and moving the first perpendicular line along the center line of the target brush by the target distance in another direction to obtain a third perpendicular line; and obtaining the intersection of the second perpendicular line and the oblique edge segment of the brush. Determine as the first intersection point, and determine the intersection point of the third perpendicular line and the oblique edge line segment of the brush as the second intersection point; determine the line segment between the first intersection point and the second intersection point as the target line segment; determine the point in the target line segment whose distance from the center line of the target brush is equal to the radius of the circular hole as the target point; calculate the distance between the target point and the current vertex of the target brush to obtain the hypotenuse distance; calculate the component of the hypotenuse distance on the center line of the target brush to obtain the projection distance; calculate the difference between the sum of the projection distance and the vertex wear amount minus the reference feed amount to obtain the wear compensation amount.

[0010] Optionally, the method further includes: when the target object is deburred, acquiring an image of the target object; detecting the edge of the target object to obtain a target object edge point set; fitting the target object edge point set to obtain a target object edge line segment, calculating the distance from each target object edge point in the target object edge point set to the target object edge line segment, and obtaining multiple second distances; when the second distance corresponding to the target object edge point is greater than a second distance threshold and the grayscale value of the target object edge point is less than or equal to a second grayscale threshold, determining that a damage defect occurs at the target object edge point; when the second distance corresponding to the target object edge point is greater than the second distance threshold and the grayscale value of the target object edge point is greater than the second grayscale threshold, calculating the length of a continuous line segment composed of all the target object edge points; when the length is less than or equal to the length threshold, determining that a burr occurs at the target object edge point, and when the length is greater than the length threshold, determining that an edge step occurs at the target object edge point.

[0011] Optionally, the target object edge point set is fitted to obtain target object edge segments, and the distance from each target object edge point in the target object edge point set to the target object edge segment is calculated to obtain multiple second distances, including: fitting the target object edge point set to obtain a first target object edge segment; calculating the distance from each target object edge point in the first target object edge point set to the target object edge segment to obtain multiple preliminary distances; removing the target object edge points corresponding to the largest preliminary distance and the smallest preliminary distance, and fitting the remaining target object edge points in the target object edge point set to obtain a second target object edge segment; calculating the distance from each target object edge point in the second target object edge point set to the target object edge segment to obtain multiple second distances.

[0012] Optionally, the deburring equipment includes a turning machine, a robot, a brush prop library, a turntable, a pallet and a track, and the process of deburring the target object includes: when the target object is placed in the pallet on the track, controlling the track to send the pallet into the turntable; controlling the robot to take out the target brush from the brush prop library; controlling the turntable to rotate to a first target angle, so that the robot is controlled to use the target brush to deburr a first target area of ​​the target object, where the first target area is an area of ​​the target object currently exposed and needs to have burrs removed; when the deburring of the first target area is completed, controlling the turning machine to flip the target object; controlling the turntable to rotate to a second target angle, so that the robot is controlled to use the target brush to deburr a second target area of ​​the target object, where the second target area is an area of ​​the target object exposed after flipping and needs to have burrs removed; when the deburring of the first target area and the second target area is completed, determining that the deburring of the target object is completed.

[0013] According to another aspect of the present application, a deburring device is provided, comprising: a first acquisition unit, for acquiring a brush image of a target brush, the brush image being an image taken at a perspective perpendicular to the central axis of the target brush; a first determination unit, for detecting an edge of the brush image, and determining a wear compensation amount based on the edge of the brush image, the wear compensation amount being the difference between a feed amount required for the target brush and a feed amount required for the wear-free brush when the deburring effect achieved by using the target brush is the same as that achieved by using a wear-free brush; a control unit, for compensating a set feed amount with the wear compensation amount to obtain a target feed amount, and controlling the target brush to deburr a target object with the target feed amount, the set feed amount being the feed amount for deburring the wear-free target brush.

[0014] According to another aspect of the present application, a deburring device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the methods described.

[0015] By applying the technical solution of the present application, in the above-mentioned deburring method, the method detects the edge of the target brush through the brush image, thereby determining the wear compensation amount, and uses the wear compensation amount to compensate the set feed amount during deburring to compensate for the reduction in the contact area between the target brush and the burrs of the target object during deburring caused by the wear of the brush, thereby ensuring the deburring effect and solving the problem of poor deburring effect caused by the damage of the burr cleaning brush in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for performing a deburring method provided in an embodiment of the present application is shown;

[0017] Figure 2 A schematic flow chart of a deburring method provided according to an embodiment of the present application is shown;

[0018] Figure 3 A flow chart of cylindrical brush state detection provided according to an embodiment of the present application is shown;

[0019] Figure 4 A schematic diagram of measuring the size of a cylindrical brush provided according to an embodiment of the present application is shown;

[0020] Figure 5 A flow chart of brush state detection of a conical brush provided in accordance with an embodiment of the present application is shown;

[0021] Figure 6 A schematic diagram of measuring the size of a conical brush provided according to an embodiment of the present application is shown;

[0022] Figure 7 A schematic diagram of a deburring machine device provided according to an embodiment of the present application is shown;

[0023] Figure 8 A schematic diagram of a brush tool library provided according to an embodiment of the present application is shown;

[0024] Fig. 9 A flowchart of automatic deburring provided according to an embodiment of the present application is shown;

[0025] Fig.10 A schematic diagram of a camera quick-change disk provided according to an embodiment of the present application is shown;

[0026] Fig.11 A structural block diagram of a deburring device provided according to an embodiment of the present application is shown.

[0027] The above drawings include the following reference numerals:

[0028] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device; 10. Flipping machine; 20. Target object; 30. Robot; 40. Turntable; 50. Brush prop library; 51. Brush; 52. Camera quick-change disk; 60. Tray; 70. Track. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] For the convenience of description, some nouns or terms involved in the embodiments of the present application are explained below:

[0033] Vision guidance: Industrial cameras take pictures and perform image processing to calculate the position and angle of the object being measured.

[0034] As introduced in the background technology, the brush used to clean burrs in the prior art is damaged, resulting in poor deburring effect. To solve this technical problem, the embodiments of the present application provide a deburring method, a deburring device and a deburring equipment.

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0036] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure diagram of a mobile terminal of a method for deburring according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0037] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the deburring method in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0038] In this embodiment, a deburring method running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0039] Figure 2 1 is a flow chart of a deburring method according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0040] Step S201, obtaining a brush image of a target brush, wherein the brush image is an image taken at a viewing angle perpendicular to the central axis of the target brush;

[0041] Step S202, detecting the edge of the brush image, and determining the wear compensation amount according to the edge of the brush image, wherein the wear compensation amount is the difference between the feed amount required by the target brush and the feed amount required by the non-wear brush when the deburring effect achieved by the target brush is the same as the deburring effect achieved by the non-wear brush;

[0042] Step S203, using the wear compensation amount to compensate for the set feed amount to obtain a target feed amount, and controlling the target brush to deburr the target object with the target feed amount, wherein the set feed amount is the feed amount for deburring the target brush without wear.

[0043] In the above-mentioned deburring method, the method detects the edge of the target brush through the brush image, thereby determining the wear compensation amount, and uses the wear compensation amount to compensate the set feed amount during deburring to compensate for the reduction in contact area between the target brush and the burrs of the target object during deburring caused by brush wear, thereby ensuring the deburring effect and solving the problem of poor deburring effect caused by damage to the burr cleaning brush in the prior art.

[0044] It should be noted that the above method achieves high-precision positioning of the engine body (target object) through visual guidance, intelligently identifies and selects different types of brushes, adaptively compensates for the size of brush wear, and realizes automation and intelligence of the deburring process, thereby improving work efficiency and quality.

[0045] In order to detect whether the target brush has defects, in an optional implementation, the above step S202 includes:

[0046] Step S20201, when the target brush is a cylindrical brush, detecting an edge of the brush image to obtain a first brush edge point set;

[0047] Step S20202, fitting the first brush edge point set to obtain brush edge line segments;

[0048] Step S20203, calculating the distance between each first brush edge point in the first brush edge point set and the corresponding brush edge line segment to obtain a plurality of first distances, wherein the first distances correspond to the first brush edge points one by one;

[0049] Step S20204, when the first distance corresponding to the first brush edge point is greater than the first distance threshold and the gray value of the first brush edge point is greater than the first gray threshold, determining that the first brush edge point is a bad point;

[0050] Step S20205, when the number of the bad points in the first brush edge point set is greater than the bad point number threshold, determining that the edge corresponding to the first brush edge point set is damaged, and sounding an alarm to remind the user to replace the brush;

[0051] Step S20206: When the number of the bad points in the first brush edge point set is less than or equal to the bad point number threshold, determine that the target brush is qualified.

[0052] In the above implementation, if Figure 3 As shown, the robot carries a brush into the brush detection camera position to take a photo. Visual detection identifies the shape and model of the brush and locks the search area. The cylindrical brush detection algorithm is as follows: scan the brush edge to calculate the coordinates []X[]Y (array {(X1,Y1), (X2,Y2)… (Xn,Yn)}), that is, the first brush edge point set, fit the brush edge line segment, calculate the vertical distance [i]h from the coordinate [i]X[i]Y to the brush edge line segment, that is, the first distance. When [i]h≥the set value H (the first distance threshold) appears continuously, the number of bad points n=n+1. If n>the set value N (the number of bad points threshold), the gray value a1 at each bad point is analyzed and calculated. When a1>the set value A (the first gray threshold), the brush is damaged and an alarm is issued to replace the brush. Otherwise, the target brush is qualified.

[0053] In order to determine the wear compensation amount, in an optional implementation manner, the above step S202 further includes:

[0054] Step S20207, when it is determined that the target brush is qualified and the target brush is a cylindrical brush, the distance between the brush edge line segment and the center line of the target brush is calculated to obtain the outer diameter of the target brush, and the center line of the target brush is the line segment corresponding to the central axis of the target brush;

[0055] Step S20208, calculating the difference between the outer diameter of the target brush and the outer diameter of the cylindrical brush without wear to obtain the wear compensation amount.

[0056] In the above implementation mode, if Figure 3 and Figure 4 As shown, if qualified, measure the distance X1 from the outer diameter of the brush to the center of the brush, that is, the outer diameter of the target brush, and subtract it from the initial size X of the brush (the outer diameter of a cylindrical brush without wear), calculate the wear amount of the brush X1-X=DX, send the data to the PLC, the PLC sends the data to the robot, the robot determines the wear compensation amount according to the wear amount, compensates the grinding position, and alarms to replace the brush when DX exceeds the wear limit.

[0057] In order to determine the wear compensation amount, in an optional implementation manner, the above step S202 further includes:

[0058] Step S20209, when the target brush is a conical brush, detecting an oblique edge of the brush image to obtain a second brush edge point set;

[0059] Step S20210, fitting the second brush edge point set to obtain a brush oblique edge line segment;

[0060] Step S20211, detecting the angle between the oblique edge line segment of the brush and the center line of the target brush to obtain a first angle, wherein the center line of the target brush is a line segment corresponding to the central axis of the target brush;

[0061] Step S20212, calculating a reference feed amount according to the circular hole radius and the first angle, the reference feed amount being the minimum feed amount for the edge of the target brush to contact the inner wall surface of the hole to be deburred in theory, and the circular hole radius being the radius of the hole to be deburred of the target object;

[0062] Step S20213, calculate the difference between the sum of the above-mentioned reference feed amount and the vertex wear amount and subtract the reference feed amount to obtain the above-mentioned wear compensation amount, the above-mentioned vertex wear amount is the distance between the vertex of the above-mentioned unworn target brush and the vertex of the above-mentioned current target brush on the center line of the above-mentioned target brush, and the above-mentioned reference feed amount is the feed amount of the above-mentioned unworn target brush for removing burrs from the hole to be deburred.

[0063] In the above implementation mode, if Figure 5 and Figure 6As shown, the robot carries a brush into the brush detection camera position to take a photo. Visual detection identifies the shape and model of the brush and locks the search area. The conical brush detection algorithm is as follows: Scan the edge of the brush to calculate the coordinates []X[]Y (array {(X1,Y1), (X2,Y2)… (Xn,Yn)}), fit the brush edge straight line, fit the intersection points A, B, and D of the three straight lines, fit the triangle ∆ABD through the intersection points, calculate the angle a between the oblique edge segment AB and AC of the brush, that is, the first angle, calculate the distance l1 from point B to the center line, calculate the total length h3 of the brush currently in use, obtain the radius R of the circular hole obtained by taking a photo, calculate the distance from the top A of the brush to the straight line IJ (the length of the line segment IJ = R) h4 = R / tan(a) (h4 is the calculated ideal distance, and there is still a certain front and back error with the actual distance. Therefore, it is necessary to move DL distance forward and backward at this distance, and intercept this range to calculate the actual accurate distance), then calculate the distance from point J to the new brush vertex N h2 = h1-(h3-h4), that is, the reference feed amount, and calculate the final wear compensation amount Dh = h2-H.

[0064] In order to ensure the accuracy of the wear compensation amount, in an optional implementation manner, after the reference feed amount is calculated according to the circular hole radius and the first angle, the method further includes:

[0065] Step S301, generating a first perpendicular line according to the reference feed amount, so that the first perpendicular line is perpendicular to the center line of the target brush and the distance between the first perpendicular line and the current vertex of the target brush is equal to the reference feed amount;

[0066] Step S302, moving the first perpendicular line along the center line of the target brush by a target distance in one direction to obtain a second perpendicular line, and moving the first perpendicular line along the center line of the target brush by the target distance in another direction to obtain a third perpendicular line;

[0067] Step S303, determining the intersection point of the second perpendicular line and the oblique edge line segment of the brush as the first intersection point, and determining the intersection point of the third perpendicular line and the oblique edge line segment of the brush as the second intersection point;

[0068] Step S304, determining the line segment between the first intersection point and the second intersection point as a target line segment;

[0069] Step S305, determining a point in the target line segment whose distance from the center line of the target brush is equal to the radius of the circular hole as the target point;

[0070] Step S306, calculating the distance between the target point and the vertex of the current target brush to obtain the hypotenuse distance;

[0071] Step S307, calculating the component of the hypotenuse distance on the center line of the target brush to obtain the projection distance;

[0072] Step S308, calculating the difference between the sum of the projection distance and the vertex wear amount and the reference feed amount, to obtain the wear compensation amount.

[0073] In the above implementation, if Figure 5 and Figure 6 As shown in the figure, due to the inaccurate measurement of the angle a, the length of IJ may not be equal to R. With point A as the reference and h4 as the offset, create the IJ straight line perpendicular to the center line NC. With DL (target distance) as the offset, translate the straight line IJ back and forth to create the second perpendicular line EL and the third perpendicular line FM. Calculate and analyze the position coordinates []X1[]Y1 at the target line segment EF, and poll and calculate the point [i]X1[i]Y1 (array {(X1,Y1), (X2,Y2)… (Xn,Yn)}) to the center line NC distance [i]L, calculate the absolute value |[i]LR| < set error k (error k is set artificially), then it is considered that the actual radius of the brush corresponding to the coordinate [i]X1[i]Y1 here is R, draw a straight line through the target point [i]X1[i]Y1 perpendicular to the center line NC and intersect at point O, calculate the distance h5 from the brush vertex A to point O, calculate the distance h6=h1-(h3-h5) from point O to the new brush vertex N, that is, the projection distance, calculate the brush feed reference H=R / tan(b) corresponding to the radius R (the second angle b parameter here is calculated and obtained when the brush is used for the first time, and will always be saved in the visual system for subsequent dynamic calculation of the reference H), calculate the final wear compensation amount Dh=h6-H, and send the data Dh and h6 to the equipment control system.

[0074] In order to detect the deburring quality, in an optional implementation manner, the method further includes:

[0075] Step S401, when the target object is deburred, acquiring an image of the target object;

[0076] Step S402, detecting the edge of the target object to obtain an edge point set of the target object;

[0077] Step S403, fitting the target object edge point set to obtain a target object edge line segment, calculating the distance from each target object edge point in the target object edge point set to the target object edge line segment, and obtaining a plurality of second distances;

[0078] Step S404, when the second distance corresponding to the edge point of the target object is greater than the second distance threshold and the gray value of the edge point of the target object is less than or equal to the second gray value threshold, determining that a damage defect occurs at the edge point of the target object;

[0079] Step S405, when the second distance corresponding to the target object edge point is greater than the second distance threshold and the grayscale value of the target object edge point is greater than the second grayscale threshold, calculating the length of the continuous line segment formed by all the target object edge points;

[0080] Step S406, when the length is less than or equal to the length threshold, it is determined that a burr appears at the edge point of the target object; when the length is greater than the length threshold, it is determined that an edge step appears at the edge point of the target object.

[0081] In the above implementation, the camera identifies the target and calculates the target position information, locates and segments the edge curve of the scanning engine according to this position information, and calculates and extracts the edge position coordinates []X[]Y to form a target object edge point set, and then fits the line segment to obtain the target object edge segment, and calculates the vertical distance [i]h from the position [i]X[i]Y to the target object edge segment. If [i]h≥the set value H (the second distance threshold), the grayscale value a1 here is calculated. If it is less than the set value A (the second grayscale threshold), it is a damage defect. If the a1 value is greater than the set value A, the width l of this area is detected. If the width is greater than the set value L, it is an edge step. If it is less than the set value L, it is a burr.

[0082] In order to avoid accidental errors, in an optional implementation, the above step S403 includes:

[0083] Step S4031, fitting the target object edge point set to obtain a first target object edge line segment;

[0084] Step S4032, calculating the distance between each target object edge point in the first target object edge point set and the target object edge line segment to obtain a plurality of preliminary distances;

[0085] Step S4033, removing the target object edge points corresponding to the largest and the smallest preparation distances, and fitting the remaining target object edge points in the target object edge point set to obtain a second target object edge segment;

[0086] Step S4034, calculating the distance between each target object edge point in the second target object edge point set and the target object edge line segment to obtain a plurality of the second distances.

[0087] In the above implementation, the maximum and minimum values ​​in the vertical distance []h array are calculated to avoid detecting individual non-edge points that affect the fitting effect of the edge segment, and the corresponding position []X[]Y coordinates are eliminated to generate a new position []X2[]Y2 array, and the position []X2[]Y2 array is used to fit the segment again, and the distance [k]h2 from the position [k]X[k]Y to the segment is calculated again. If [k]h2 ≥ the set value H, the grayscale value a1 here is calculated. If it is less than the set value A, it is a damage defect. If the a1 value is greater than the set value A, the width l of this area is detected. If the width is greater than the set value L, it is an edge step. If it is less than the set value L, it is a burr.

[0088] In order to realize automatic deburring, in an optional implementation, as Figure 7 As shown, the deburring equipment includes a turning machine 10, a robot 30, a turntable 40, a brush prop library 50, a tray 60 and a track 70, and the above step S203 includes:

[0089] Step S2031, when the target object 20 is placed in the tray 60 on the track 70, the track 70 is controlled to send the tray to the turntable 40;

[0090] Step S2032, controlling the robot 30 to take out the target brush from the brush prop library 50;

[0091] Step S2033, controlling the turntable 40 to rotate to a first target angle, so that the control robot 30 uses the target brush to deburr a first target area of ​​the target object 20, where the first target area is an area of ​​the target object currently exposed and requiring deburring;

[0092] Step S2034, when the deburring of the first target area is completed, controlling the flipping machine 10 to flip the target object 20;

[0093] Step S2035, controlling the turntable 40 to rotate to a second target angle, so that the control robot 30 uses the target brush to deburr a second target area of ​​the target object 20, where the second target area is an area that needs to be deburred and is exposed after the target object is turned over;

[0094] Step S2036, when the deburring of the first target area and the second target area is completed, it is determined that the deburring of the target object 20 is completed.

[0095] In the above implementation mode, if Figure 8 As shown, the brush prop library 50 includes a brush 51 and a camera quick-change plate 52. Fig. 9As shown, the deburring process is as follows: put the material and put the product into the pallet; the track transports the pallet into the turntable, the turntable rotates to the appropriate position, and the robot automatically installs the camera quick-change plate in the brush prop library according to the preset program. The robot carries the camera to take pictures of the entire engine deburring area, analyzes and calculates the edge trajectory coordinates of the deburring, and saves them by area; the robot carries the brush into the brush detection and photography position to take pictures, and the visual inspection identifies the shape and model of the brush and locks the search area to determine whether the brush has defects, and detects the offset of the outer diameter of the brush to determine the wear compensation amount, and controls the above-mentioned target brush to control the feed amount after compensation to deburr the target object. After the deburring action is completed, the robot automatically installs the industrial camera in the brush prop library according to the preset program. Fig.10 As shown, the robot carries a camera to perform deburring quality inspection on the surface of the engine body. After the deburring quality inspection is completed, the engine enters the flipping machine and is flipped over with the bottom of the engine facing upwards. After the reversal is completed, it enters the turntable again to deburr the bottom of the engine. After the engine body is deburred, the engine flows out and enters the next workstation.

[0096] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0097] The embodiment of the present application also provides a deburring device. It should be noted that the deburring device of the embodiment of the present application can be used to execute the deburring method provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0098] The deburring device provided in the embodiments of the present application is introduced below.

[0099] Fig.11 is a structural block diagram of a deburring device according to an embodiment of the present application. Fig.11 As shown, the device comprises:

[0100] The first acquisition unit 100 is used to acquire a brush image of a target brush, where the brush image is an image taken at a viewing angle perpendicular to the central axis of the target brush;

[0101] A first determination unit 200 is used to detect the edge of the brush image and determine the wear compensation amount according to the edge of the brush image, wherein the wear compensation amount is the difference between the feed amount required by the target brush and the feed amount required by the non-wear brush when the deburring effect achieved by the target brush is the same as the deburring effect achieved by the non-wear brush;

[0102] The control unit 300 is used to use the above-mentioned wear compensation amount to compensate the set feed amount to obtain a target feed amount, and control the above-mentioned target brush to deburr the target object with the above-mentioned target feed amount. The above-mentioned set feed amount is the feed amount for deburring the above-mentioned target brush without wear.

[0103] In the above-mentioned deburring device, the edge of the target brush is detected by the brush image to determine the wear compensation amount. The wear compensation amount is used to compensate the set feed amount during deburring to compensate for the reduction in contact area between the target brush and the burrs of the target object during deburring caused by brush wear, thereby ensuring the deburring effect and solving the problem of poor deburring effect caused by damage to the burr cleaning brush in the prior art.

[0104] It should be noted that the above method achieves high-precision positioning of the engine body (target object) through visual guidance, intelligently identifies and selects different types of brushes, adaptively compensates for the size of brush wear, and realizes automation and intelligence of the deburring process, thereby improving work efficiency and quality.

[0105] In order to detect whether the target brush has defects, in an optional implementation, the first determination unit includes:

[0106] A first detection module is used to detect an edge of the brush image when the target brush is a cylindrical brush, so as to obtain a first brush edge point set;

[0107] A first fitting module, used for fitting the first brush edge point set to obtain a brush edge segment;

[0108] A first calculation module is used to calculate the distance from each first brush edge point of the first brush edge point set to the corresponding brush edge line segment to obtain a plurality of first distances, wherein the first distances correspond to the first brush edge points one by one;

[0109] A first determination module, configured to determine that the first brush edge point is a bad pixel when the first distance corresponding to the first brush edge point is greater than a first distance threshold and the gray value of the first brush edge point is greater than a first gray threshold;

[0110] A second determination module is used to determine that the edge corresponding to the first brush edge point set is damaged when the number of the bad points in the first brush edge point set is greater than a bad point number threshold, and to sound an alarm to remind the user to replace the brush;

[0111] The third determination module is used to determine that the target brush is qualified when the number of the bad points in the first brush edge point set is less than or equal to the bad point number threshold.

[0112] In the above implementation mode, if Figure 3 As shown, the robot carries a brush into the brush detection camera position to take a photo. Visual detection identifies the shape and model of the brush and locks the search area. The cylindrical brush detection algorithm is as follows: scan the brush edge to calculate the coordinates []X[]Y (array {(X1,Y1), (X2,Y2)… (Xn,Yn)}), that is, the first brush edge point set, fit the brush edge line segment, calculate the vertical distance [i]h from the coordinate [i]X[i]Y to the brush edge line segment, that is, the first distance. When [i]h≥the set value H (the first distance threshold) appears continuously, the number of bad points n=n+1. If n>the set value N (the number of bad points threshold), the gray value a1 at each bad point is analyzed and calculated. When a1>the set value A (the first gray threshold), the brush is damaged and an alarm is issued to replace the brush. Otherwise, the target brush is qualified.

[0113] In order to determine the wear compensation amount, in an optional implementation manner, the first determination unit further includes:

[0114] A second calculation module is used to calculate the distance between the brush edge line segment and the center line of the target brush to obtain the outer diameter of the target brush when it is determined that the target brush is qualified and the target brush is a cylindrical brush, and the center line of the target brush is a line segment corresponding to the central axis of the target brush;

[0115] The third calculation module is used to calculate the difference between the outer diameter of the target brush and the outer diameter of the cylindrical brush without wear to obtain the wear compensation amount.

[0116] In the above implementation mode, if Figure 3 and Figure 4 As shown, if qualified, measure the distance X1 from the outer diameter of the brush to the center of the brush, that is, the outer diameter of the target brush, and subtract it from the initial size X of the brush (the outer diameter of a cylindrical brush without wear), calculate the wear amount of the brush X1-X=DX, send the data to the PLC, the PLC sends the data to the robot, the robot determines the wear compensation amount according to the wear amount, compensates the grinding position, and alarms to replace the brush when DX exceeds the wear limit.

[0117] In order to determine the wear compensation amount, in an optional implementation manner, the first determination unit further includes:

[0118] A second detection module is used to detect an oblique edge of the brush image when the target brush is a conical brush, so as to obtain a second brush edge point set;

[0119] A second fitting module is used to fit the second brush edge point set to obtain a brush oblique edge line segment;

[0120] A third detection module is used to detect the angle between the oblique edge line segment of the brush and the center line of the target brush to obtain a first angle, where the center line of the target brush is the line segment corresponding to the central axis of the target brush;

[0121] A fourth calculation module is used to calculate a reference feed amount according to the circular hole radius and the first angle, wherein the reference feed amount is a theoretical minimum feed amount for the edge of the target brush to contact the inner wall surface of the hole to be deburred, and the circular hole radius is the radius of the hole to be deburred of the target object;

[0122] The fifth calculation module is used to calculate the difference between the sum of the above-mentioned reference feed amount and the vertex wear amount minus the reference feed amount to obtain the above-mentioned wear compensation amount. The above-mentioned vertex wear amount is the distance between the vertex of the above-mentioned unworn target brush and the vertex of the current target brush on the center line of the above-mentioned target brush. The above-mentioned reference feed amount is the feed amount of the above-mentioned unworn target brush for removing burrs from the hole to be deburred.

[0123] In the above implementation mode, if Figure 5 and Figure 6 As shown, the robot carries a brush into the brush detection camera position to take a photo. Visual detection identifies the shape and model of the brush and locks the search area. The conical brush detection algorithm is as follows: Scan the edge of the brush to calculate the coordinates []X[]Y (array {(X1,Y1), (X2,Y2)… (Xn,Yn)}), fit the brush edge straight line, fit the intersection points A, B, and D of the three straight lines, fit the triangle ∆ABD through the intersection points, calculate the angle a between the oblique edge segment AB and AC of the brush, that is, the first angle, calculate the distance l1 from point B to the center line, calculate the total length h3 of the brush currently in use, obtain the radius R of the circular hole obtained by taking a photo, calculate the distance from the top A of the brush to the straight line IJ (the length of the line segment IJ = R) h4 = R / tan(a) (h4 is the calculated ideal distance, and there is still a certain front and back error with the actual distance. Therefore, it is necessary to move DL distance forward and backward at this distance, and intercept this range to calculate the actual accurate distance), then calculate the distance from point J to the new brush vertex N h2 = h1-(h3-h4), that is, the reference feed amount, and calculate the final wear compensation amount Dh = h2-H.

[0124] In order to ensure the accuracy of the wear compensation amount, in an optional implementation manner, the above device further includes:

[0125] A first generating unit is used for generating a first perpendicular line according to the reference feed amount after calculating the reference feed amount according to the radius of the circular hole and the first angle, so that the first perpendicular line is perpendicular to the center line of the target brush and the distance between the first perpendicular line and the current vertex of the target brush is equal to the reference feed amount;

[0126] A second generating unit is used to move the first perpendicular line along one direction of the center line of the target brush by a target distance to obtain a second perpendicular line, and to move the first perpendicular line along another direction of the center line of the target brush by the target distance to obtain a third perpendicular line;

[0127] A second determining unit is used to determine the intersection point of the second vertical line and the oblique edge line segment of the brush as the first intersection point, and determine the intersection point of the third vertical line and the oblique edge line segment of the brush as the second intersection point;

[0128] A third determining unit, configured to determine a line segment between the first intersection point and the second intersection point as a target line segment;

[0129] A fourth determining unit, configured to determine a point in the target line segment whose distance from the center line of the target brush is equal to the radius of the circular hole as a target point;

[0130] A first calculation unit is used to calculate the distance between the target point and the vertex of the current target brush to obtain the hypotenuse distance;

[0131] A second calculation unit is used to calculate the component of the hypotenuse distance on the center line of the target brush to obtain the projection distance;

[0132] The third calculation unit is used to calculate the difference between the sum of the projection distance and the vertex wear amount minus the reference feed amount to obtain the wear compensation amount.

[0133] In the above implementation, if Figure 5 and Figure 6As shown in the figure, due to the inaccurate measurement of the angle a, the length of IJ may not be equal to R. With point A as the reference and h4 as the offset, create the IJ straight line perpendicular to the center line NC. With DL (target distance) as the offset, translate the straight line IJ back and forth to create the second perpendicular line EL and the third perpendicular line FM. Calculate and analyze the position coordinates []X1[]Y1 at the target line segment EF, and poll and calculate the point [i]X1[i]Y1 (array {(X1,Y1), (X2,Y2)… (Xn,Yn)}) to the center line NC distance [i]L, calculate the absolute value |[i]LR| < set error k (error k is set artificially), then it is considered that the actual radius of the brush corresponding to the coordinate [i]X1[i]Y1 here is R, draw a straight line through the target point [i]X1[i]Y1 perpendicular to the center line NC and intersect at point O, calculate the distance h5 from the brush vertex A to point O, calculate the distance h6=h1-(h3-h5) from point O to the new brush vertex N, that is, the projection distance, calculate the brush feed reference H=R / tan(b) corresponding to the radius R (the second angle b parameter here is calculated and obtained when the brush is used for the first time, and will always be saved in the visual system for subsequent dynamic calculation of the reference H), calculate the final wear compensation amount Dh=h6-H, and send the data Dh and h6 to the equipment control system.

[0134] In order to detect the deburring quality, in an optional implementation manner, the above device further includes:

[0135] A second acquisition unit is used to acquire an image of the target object when the deburring of the target object is completed;

[0136] A detection unit, used to detect the edge of the target object and obtain an edge point set of the target object;

[0137] A fitting unit, configured to fit the target object edge point set to obtain a target object edge line segment, calculate a distance from each target object edge point in the target object edge point set to the target object edge line segment, and obtain a plurality of second distances;

[0138] A fifth determining unit, configured to determine that a damage defect occurs at the edge point of the target object when the second distance corresponding to the edge point of the target object is greater than a second distance threshold and the grayscale value of the edge point of the target object is less than or equal to the second grayscale threshold;

[0139] a fourth calculating unit, configured to calculate the length of a continuous line segment formed by all the target object edge points when the second distance corresponding to the target object edge point is greater than the second distance threshold and the grayscale value of the target object edge point is greater than the second grayscale threshold;

[0140] The sixth determination unit is used to determine that a burr appears at the edge point of the target object when the length is less than or equal to the length threshold, and to determine that an edge step appears at the edge point of the target object when the length is greater than the length threshold.

[0141] In the above implementation, the camera identifies the target and calculates the target position information, locates and segments the edge curve of the scanning engine according to this position information, and calculates and extracts the edge position coordinates []X[]Y to form a target object edge point set, and then fits the line segment to obtain the target object edge segment, and calculates the vertical distance [i]h from the position [i]X[i]Y to the target object edge segment. If [i]h≥the set value H (the second distance threshold), the grayscale value a1 here is calculated. If it is less than the set value A (the second grayscale threshold), it is a damage defect. If the a1 value is greater than the set value A, the width l of this area is detected. If the width is greater than the set value L, it is an edge step. If it is less than the set value L, it is a burr.

[0142] In order to avoid accidental errors, in an optional implementation, the fitting unit includes:

[0143] A third fitting module is used to fit the target object edge point set to obtain a first target object edge segment;

[0144] a sixth calculation module, configured to calculate the distance between each target object edge point in the first target object edge point set and the target object edge line segment to obtain a plurality of preliminary distances;

[0145] a fourth fitting module, used for removing the target object edge points corresponding to the largest and the smallest preparation distances, and fitting the remaining target object edge points in the target object edge point set to obtain a second target object edge segment;

[0146] The seventh calculation module is used to calculate the distance from each target object edge point in the second target object edge point set to the target object edge line segment to obtain a plurality of the second distances.

[0147] In the above implementation, the maximum and minimum values ​​in the vertical distance []h array are calculated to avoid detecting individual non-edge points that affect the fitting effect of the edge segment, and the corresponding position []X[]Y coordinates are eliminated to generate a new position []X2[]Y2 array, and the position []X2[]Y2 array is used to fit the segment again, and the distance [k]h2 from the position [k]X[k]Y to the segment is calculated again. If [k]h2 ≥ the set value H, the grayscale value a1 here is calculated. If it is less than the set value A, it is a damage defect. If the a1 value is greater than the set value A, the width l of this area is detected. If the width is greater than the set value L, it is an edge step. If it is less than the set value L, it is a burr.

[0148] In order to realize automatic deburring, in an optional implementation, as Figure 7 As shown, the deburring device includes a turning machine 10, a robot 30, a turntable 40, a brush prop library 50, a tray and a track 70, and the above control unit includes:

[0149] A first control module, configured to control the track 70 to send the tray to the turntable 40 when the target object 20 is placed in the tray on the track 70;

[0150] A second control module is used to control the robot 30 to take out the target brush from the brush prop library 50;

[0151] A third control module is used to control the turntable to rotate to a first target angle, so that the control robot uses the target brush to deburr a first target area of ​​the target object, where the first target area is an area of ​​the target object that is currently exposed and needs to be deburred;

[0152] A fourth control module, configured to control the flipping machine to flip the target object when the deburring of the first target area is completed;

[0153] a fifth control module, configured to control the turntable to rotate to a second target angle, so that the control robot uses the target brush to deburr a second target area of ​​the target object, where the second target area is an area of ​​the target object that is exposed after the target object is turned over and needs to be deburred;

[0154] The fourth determination module is used to determine that the deburring of the target object is completed when the deburring of the first target area and the second target area is completed.

[0155] In the above implementation mode, if Figure 8 As shown, the brush prop library 50 includes a brush 51 and a camera quick-change plate 52. Fig. 9 As shown, the deburring process is as follows: put the material and put the product into the pallet; the track transports the pallet into the turntable, the turntable rotates to the appropriate position, and the robot automatically installs the camera quick-change plate in the brush prop library according to the preset program. The robot carries the camera to take pictures of the entire engine deburring area, analyzes and calculates the edge trajectory coordinates of the deburring, and saves them by area; the robot carries the brush into the brush detection and photography position to take pictures, and the visual inspection identifies the shape and model of the brush and locks the search area to determine whether the brush has defects, and detects the offset of the outer diameter of the brush to determine the wear compensation amount, and controls the above-mentioned target brush to control the feed amount after compensation to deburr the target object. After the deburring action is completed, the robot automatically installs the industrial camera in the brush prop library according to the preset program. Fig.10As shown, the robot carries a camera to perform deburring quality inspection on the surface of the engine body. After the deburring quality inspection is completed, the engine enters the flipping machine and is flipped over with the bottom of the engine facing upwards. After the reversal is completed, it enters the turntable again to deburr the bottom of the engine. After the engine body is deburred, the engine flows out and enters the next workstation.

[0156] The deburring device includes a processor and a memory, and the first acquisition unit, the first determination unit, the control unit, etc. are all stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0157] The processor includes a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of poor deburring effect caused by damaged brushes in the prior art can be solved by adjusting kernel parameters.

[0158] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0159] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, a device where the computer-readable storage medium is located is controlled to execute the deburring method.

[0160] Specifically, the deburring methods include:

[0161] Step S201, obtaining a brush image of a target brush, wherein the brush image is an image taken at a viewing angle perpendicular to the central axis of the target brush;

[0162] Step S202, detecting the edge of the brush image, and determining the wear compensation amount according to the edge of the brush image, wherein the wear compensation amount is the difference between the feed amount required by the target brush and the feed amount required by the non-wear brush when the deburring effect achieved by the target brush is the same as the deburring effect achieved by the non-wear brush;

[0163] Step S203, using the wear compensation amount to compensate for the set feed amount to obtain a target feed amount, and controlling the target brush to deburr the target object with the target feed amount, wherein the set feed amount is the feed amount for deburring the target brush without wear.

[0164] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the deburring method is executed when the program is run.

[0165] Specifically, the deburring methods include:

[0166] Step S201, obtaining a brush image of a target brush, wherein the brush image is an image taken at a viewing angle perpendicular to the central axis of the target brush;

[0167] Step S202, detecting the edge of the brush image, and determining the wear compensation amount according to the edge of the brush image, wherein the wear compensation amount is the difference between the feed amount required by the target brush and the feed amount required by the non-wear brush when the deburring effect achieved by the target brush is the same as the deburring effect achieved by the non-wear brush;

[0168] Step S203, using the wear compensation amount to compensate for the set feed amount to obtain a target feed amount, and controlling the target brush to deburr the target object with the target feed amount, wherein the set feed amount is the feed amount for deburring the target brush without wear.

[0169] An embodiment of the present invention provides a deburring device, the deburring device comprising a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0170] Step S201, obtaining a brush image of a target brush, wherein the brush image is an image taken at a viewing angle perpendicular to the central axis of the target brush;

[0171] Step S202, detecting the edge of the brush image, and determining the wear compensation amount according to the edge of the brush image, wherein the wear compensation amount is the difference between the feed amount required by the target brush and the feed amount required by the non-wear brush when the deburring effect achieved by the target brush is the same as the deburring effect achieved by the non-wear brush;

[0172] Step S203, using the wear compensation amount to compensate for the set feed amount to obtain a target feed amount, and controlling the target brush to deburr the target object with the target feed amount, wherein the set feed amount is the feed amount for deburring the target brush without wear.

[0173] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0174] Step S201, obtaining a brush image of a target brush, wherein the brush image is an image taken at a viewing angle perpendicular to the central axis of the target brush;

[0175] Step S202, detecting the edge of the brush image, and determining the wear compensation amount according to the edge of the brush image, wherein the wear compensation amount is the difference between the feed amount required by the target brush and the feed amount required by the non-wear brush when the deburring effect achieved by the target brush is the same as the deburring effect achieved by the non-wear brush;

[0176] Step S203, using the wear compensation amount to compensate for the set feed amount to obtain a target feed amount, and controlling the target brush to deburr the target object with the target feed amount, wherein the set feed amount is the feed amount for deburring the target brush without wear.

[0177] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0178] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0179] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0180] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0181] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0182] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0183] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0184] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0185] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0186] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0187] 1) In the deburring method of the present application, the edge of the target brush is detected by the brush image to determine the wear compensation amount. The wear compensation amount is used to compensate the set feed amount during deburring to compensate for the reduction in the contact area between the target brush and the burrs of the target object during deburring caused by the wear of the brush, thereby ensuring the deburring effect and solving the problem of poor deburring effect caused by the damage of the burr cleaning brush in the prior art.

[0188] 2) In the deburring device of the present application, the edge of the target brush is detected by the brush image to determine the wear compensation amount. The wear compensation amount is used to compensate the set feed amount during deburring to compensate for the reduction in the contact area between the target brush and the burrs of the target object during deburring caused by the wear of the brush, thereby ensuring the deburring effect and solving the problem of poor deburring effect caused by the damage of the burr cleaning brush in the prior art.

[0189] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A deburring method, characterized in that: include: Acquire a brush image of a target brush, wherein the brush image is an image taken at a viewing angle perpendicular to a central axis of the target brush; Detecting the edge of the brush image, and determining a wear compensation amount according to the edge of the brush image, wherein the wear compensation amount is the difference between the feed amount required by the target brush and the feed amount required by the non-wear brush when the deburring effect achieved by the target brush is the same as the deburring effect achieved by the non-wear brush; The wear compensation amount is used to compensate the set feed amount to obtain a target feed amount, and the target brush is controlled to deburr the target object with the target feed amount, wherein the set feed amount is the deburring feed amount of the target brush without wear; Detecting the edge of the brush image and determining the wear compensation amount according to the edge of the brush image, including: when the target brush is a conical brush, detecting an oblique edge of the brush image to obtain a second brush edge point set; fitting the second brush edge point set to obtain a brush oblique edge line segment; detecting the angle between the brush oblique edge line segment and the center line of the target brush to obtain a first angle, the center line of the target brush being a line segment corresponding to the center axis of the target brush; calculating a reference feed amount according to the radius of the circular hole and the first angle, The reference feed amount is the minimum feed amount for the edge of the target brush to contact the inner wall surface of the hole to be deburred in theory, and the circular hole radius is the radius of the hole to be deburred of the target object; the wear compensation amount is obtained by subtracting the difference between the sum of the reference feed amount and the vertex wear amount and the reference feed amount, and the vertex wear amount is the distance between the vertex of the unworn target brush and the vertex of the current target brush on the center line of the target brush, and the reference feed amount is the feed amount of the unworn target brush for removing burrs from the hole to be deburred.

2. The method according to claim 1, characterized in that After calculating the reference feed amount according to the circular hole radius and the first angle, the method further includes: Generate a first vertical line according to the reference feed amount, so that the first vertical line is perpendicular to the center line of the target brush and the distance between the first vertical line and the current vertex of the target brush is equal to the reference feed amount; Move the first perpendicular line along the center line of the target brush by a target distance in one direction to obtain a second perpendicular line, and move the first perpendicular line along the center line of the target brush by the target distance in another direction to obtain a third perpendicular line; Determine the intersection point of the second perpendicular line and the oblique edge line segment of the brush as the first intersection point, and determine the intersection point of the third perpendicular line and the oblique edge line segment of the brush as the second intersection point; Determine a line segment between the first intersection point and the second intersection point as a target line segment; A point in the target line segment whose distance from the center line of the target brush is equal to the radius of the circular hole is determined as the target point; Calculate the distance between the target point and the current vertex of the target brush to obtain the hypotenuse distance; Calculate the component of the hypotenuse distance on the center line of the target brush to obtain the projection distance; The wear compensation amount is obtained by calculating the difference between the sum of the projection distance and the vertex wear amount and the reference feed amount.

3. The method according to claim 1, characterized in that The method further comprises: When the deburring of the target object is completed, acquiring an image of the target object; Detecting the edge of the target object to obtain an edge point set of the target object; Fitting the target object edge point set to obtain a target object edge line segment, and calculating the distance from each target object edge point in the target object edge point set to the target object edge line segment to obtain a plurality of second distances; When the second distance corresponding to the edge point of the target object is greater than a second distance threshold and the grayscale value of the edge point of the target object is less than or equal to a second grayscale threshold, determining that a damage defect occurs at the edge point of the target object; When the second distance corresponding to the edge point of the target object is greater than the second distance threshold and the grayscale value of the edge point of the target object is greater than the second grayscale threshold, calculating the length of the continuous line segment formed by all the edge points of the target object; When the length is less than or equal to a length threshold, it is determined that a burr appears at the edge point of the target object; and when the length is greater than the length threshold, it is determined that an edge step appears at the edge point of the target object.

4. The method according to claim 3, characterized in that: Fitting the target object edge point set to obtain a target object edge line segment, calculating the distance from each target object edge point in the target object edge point set to the target object edge line segment, and obtaining a plurality of second distances, including: Fitting the target object edge point set to obtain a first target object edge line segment; Calculating the distance from each target object edge point in the target object edge point set to the first target object edge line segment to obtain a plurality of preliminary distances; removing the target object edge points corresponding to the largest and the smallest preparation distances, and fitting the remaining target object edge points in the target object edge point set to obtain a second target object edge segment; The distance from each target object edge point in the target object edge point set to the second target object edge line segment is calculated to obtain a plurality of second distances.

5. The method according to any one of claims 1 to 4, characterized in that The deburring equipment includes a flip machine, a robot, a brush prop library, a turntable, a tray and a track. The process of deburring the target object includes: When the target object is placed in the tray on the track, controlling the track to send the tray into the turntable; Controlling the robot to take out the target brush from the brush prop library; Controlling the turntable to rotate to a first target angle, so that the robot is controlled to use the target brush to deburr a first target area of ​​the target object, where the first target area is an area of ​​the target object that is currently exposed and needs to be deburred; When the deburring of the first target area is completed, controlling the flipping machine to flip the target object; Controlling the turntable to rotate to a second target angle, so that the robot is controlled to use the target brush to deburr a second target area of ​​the target object, where the second target area is an area of ​​the target object that is exposed after the target object is turned over and needs to be deburred; When the deburring of the first target area and the second target area is completed, it is determined that the deburring of the target object is completed.

6. A deburring device, characterized in that: include: A first acquisition unit is used to acquire a brush image of a target brush, wherein the brush image is an image taken at a viewing angle perpendicular to a central axis of the target brush; a first determination unit, configured to detect an edge of the brush image, and determine a wear compensation amount according to the edge of the brush image, wherein the wear compensation amount is a difference between a feed amount required by the target brush and a feed amount required by the non-wear brush when a deburring effect achieved by using the target brush is the same as an effect achieved by using a non-wear brush; A control unit, configured to compensate a set feed amount with the wear compensation amount to obtain a target feed amount, and control the target brush to deburr a target object with the target feed amount, wherein the set feed amount is a deburring feed amount of the target brush without wear; The first determination unit further includes: a second detection module, which is used to detect an oblique edge of the brush image when the target brush is a conical brush, and obtain a second brush edge point set; a second fitting module, which is used to fit the second brush edge point set to obtain a brush oblique edge line segment; a third detection module, which is used to detect the angle between the brush oblique edge line segment and the center line of the target brush, and obtain a first angle, wherein the center line of the target brush is a line segment corresponding to the center axis of the target brush; and a fourth calculation module, which is used to calculate a reference feed according to the radius of the circular hole and the first angle. The reference feed amount is the minimum feed amount for the edge of the target brush to contact the inner wall surface of the hole to be deburred in theory, and the circular hole radius is the radius of the hole to be deburred of the target object; a fifth calculation module is used to calculate the difference between the sum of the reference feed amount and the vertex wear amount minus the reference feed amount to obtain the wear compensation amount, the vertex wear amount is the distance between the vertex of the unworn target brush and the vertex of the current target brush on the center line of the target brush, and the reference feed amount is the feed amount of the unworn target brush to remove burrs from the hole to be deburred.

7. A deburring device, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of claims 1 to 5.

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