Visual guidance method and system for high-temperature profile steel cutting

Abstract

The invention discloses a high-temperature profile steel cutting visual guidance method and system, and the method comprises the steps: obtaining an image of to-be-cut deformed steel, and carrying out the recognition of edge point information in the image through a visual algorithm; the recognized edge point coordinates are converted, and cutting point coordinates of the robot are obtained; and arc starting cutting is conducted on the deformed steel according to the cutting point coordinates. According to the high-temperature profile steel cutting visual guidance system, an operator directly operates the upper computer on the main operation table to interact pictures, automatic positioning, cutting and sampling of steel of different specifications by a mechanical arm are completed, and the problem that safety accidents are likely to happen due to the severe environment and excessive manual intervention is solved; and the method can be widely applied to various systems of the same production mode.

Description

Technical Field

[0001] The invention relates to the technical field of industrial automatic control, and in particular to a visual guidance method and system for high-temperature steel cutting. Background Art

[0002] With the development of robot technology and the increasing demand for intelligence, the combination of robot technology and high-temperature steel cutting technology has become an inevitable trend. Through the control of the robot, the planning of the cutting path can be realized, especially in application scenarios that require high temperature resistance and high precision, which significantly improves the cutting ability and cutting efficiency.

[0003] However, in the prior art, there are many dangerous factors in manual cutting of steel for sampling in steel profile factories that produce special-shaped steel. The high-temperature gun barrel for manual cutting is heavy and difficult to hold, and the high-temperature gas at the gun head is prone to shaking. In addition, the ambient temperature during cutting is as high as 40-50°C, and the amount of dust is large. Each time cutting, a heavy explosion-proof mask must be worn, which requires high physical strength from the operator. Repeating this labor for a long time will cause great damage to the operator's body. In addition, the working environment is complex and safety accidents are prone to occur. Summary of the invention

[0004] In order to solve the above technical problems, this application proposes the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides a visual guidance method for high temperature steel cutting, comprising:

[0006] Acquire an image of the special-shaped steel to be cut, and identify edge point information in the image through a visual algorithm;

[0007] Convert the identified edge point coordinates to obtain the robot's cutting point coordinates;

[0008] Arc cutting is performed on the special-shaped steel according to the cutting point coordinates.

[0009] In a possible implementation, the acquiring of an image of the special-shaped steel to be cut and identifying edge point information in the image by a visual algorithm include:

[0010] The image of the special-shaped steel to be cut is captured by an industrial camera;

[0011] Input the captured images of special-shaped steel into the halcon database and obtain the current steel specification information;

[0012] Image processing parameters are set according to the steel material specification information to perform edge point recognition.

[0013] In a possible implementation, setting image processing parameters according to the steel material specification information to perform edge point recognition includes:

[0014] Set image processing operator parameters;

[0015] Set the gray value jump threshold and smoothness according to the brightness of the steel image in the on-site environment;

[0016] Edge point recognition is performed using the gray value jump threshold and smoothness.

[0017] In a possible implementation, converting the identified edge point coordinates to obtain the cutting point coordinates of the robot includes:

[0018] Obtain the grayscale values ​​of the steel body and the surrounding environment background under the light environment background;

[0019] Threshold analysis is performed based on the grayscale values ​​of the steel body and the surrounding environment background under the light environment background to obtain the grayscale value jump point;

[0020] The identified grayscale value jump points are converted into the cutting point coordinates of the robot through calibration transformation.

[0021] In a possible implementation, converting the identified grayscale value jump point into the cutting point coordinates of the robot through calibration conversion includes:

[0022] Obtain the robot coordinate points and image pixel coordinate points of the cutting position;

[0023] Calibrate the corresponding relationship between the corresponding coordinate points of the steel in the robot fixture and the image pixel coordinate points to obtain the conversion ratio relationship matrix;

[0024] The cutting point coordinates of the robot are obtained by multiplying each identified grayscale value jump point with the conversion ratio.

[0025] In a possible implementation, arc cutting is performed on the special-shaped steel according to the cutting point coordinates, including:

[0026] Control the fixture to move to the cutting starting point at the flange of the steel material according to the cutting point coordinates;

[0027] The high-temperature plasma arc formed by the plasma arc starting device cuts the position where the guide point is located.

[0028] In the second aspect, an embodiment of the present application provides a high-temperature steel cutting visual guidance system, comprising: an image processing system, a six-axis robot, a plasma arc starting device and a sample conveying device; the image processing system is connected to the six-axis robot via Ethernet, and the six-axis robot is provided with a plasma arc starting device.

[0029] In a possible implementation, the sample conveying device is disposed on a ground rail, and the six-axis robot is disposed on one side of the ground rail.

[0030] In a possible implementation, the plasma arc starting device includes a clamp having a plasma cutting element.

[0031] Compared with the prior art, the beneficial effects of this application are:

[0032] This application uses machine vision to guide the robot to automatically perform high-temperature cutting, which is of significant significance in keeping operators away from harsh working environments, ensuring personal safety, improving labor productivity, reducing labor intensity, and reducing user costs.

[0033] This application uses a high-temperature steel cutting visual guidance system to enable the operator to directly operate the host computer interactive screen on the main operating table to complete the automatic positioning, cutting and sampling of steels of different specifications by the robotic arm, solving the problem of safety accidents that are prone to occur due to harsh environment and excessive manual intervention, and can be widely used in various systems of the same production method. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of a process flow of a visual guidance method for high-temperature steel cutting provided in an embodiment of the present application;

[0035] Figure 2 An overall block diagram of a visual guidance method for high-temperature steel cutting provided in an embodiment of the present application;

[0036] Figure 3 A schematic diagram of a high-temperature steel cutting visual guidance system provided in an embodiment of the present application;

[0037] Figure 4 A schematic diagram of a sample conveying device provided in an embodiment of the present application;

[0038] Figure 5 A schematic diagram of a clamp provided in an embodiment of the present application.

[0039] in, Figure 1-5 The symbols in the figure are: 1-six-axis robot, 2-plasma arc starting device, 3-sample conveying device, 4-industrial camera, 5-fixture. DETAILED DESCRIPTION

[0040] The present solution is described below in conjunction with the accompanying drawings and specific implementation methods.

[0041] Figure 1 A schematic diagram of a high-temperature steel cutting visual guidance method provided in an embodiment of the present application, see Figure 1 and Figure 2In this embodiment, a visual guidance method for high temperature steel cutting includes:

[0042] S101, obtaining an image of the special-shaped steel to be cut, and identifying edge point information in the image by using a visual algorithm.

[0043] In this embodiment, an industrial camera is used to capture images of the special-shaped steel to be cut, and then the captured images of the special-shaped steel are input into the halcon database, and the specification information of the currently produced steel is obtained, and the image processing parameters are set according to the obtained steel specification information to perform edge point recognition. In this embodiment, during the process of edge point recognition, the image processing operator parameters are set, and the grayscale value jump threshold and smoothness are set according to the image brightness of the steel in the on-site environment, and the edge point recognition is performed by the set grayscale value jump threshold and smoothness.

[0044] S102, converting the identified edge point coordinates to obtain the cutting point coordinates of the robot.

[0045] In this embodiment, the grayscale values ​​of the steel body and the surrounding background under the light environment background are obtained, and threshold analysis is performed based on the grayscale values ​​of the steel body and the surrounding background under the light environment background to obtain the grayscale value jump point. At the same time, the robot coordinate points and the image pixel coordinate points of the cutting position are obtained, and calibration is performed through the correspondence between the corresponding coordinate points of the steel in the robot fixture and the image pixel coordinate points to obtain the conversion ratio relationship matrix. The cutting coordinates of the robot are obtained by multiplying the grayscale value jump point identified each time with the conversion ratio.

[0046] In this embodiment, the image in the source image is mapped to the corresponding point of the robot through the hom_vector_to_proj_hom_mat2d operator, and the projection transformation matrix is ​​output. Then, the calculated projection transformation matrix is ​​projected on the source image through projective_trans_image to obtain the coordinates of the cutting target point.

[0047] S103, performing arc cutting on the special-shaped steel according to the cutting point coordinates.

[0048] In this embodiment, the fixture is controlled to move to the cutting starting point at the flange of the steel material according to the obtained cutting point coordinates, and the high-temperature plasma arc formed by the plasma arc starting device is used to cut the position where the guide point is located.

[0049] Corresponding to the visual guidance method for high-temperature steel cutting provided in the above embodiment, the present application also provides an embodiment of a visual guidance system for high-temperature steel cutting.

[0050] See also Figure 3The embodiment of the present application provides a high-temperature steel cutting visual guidance system, comprising: an image processing system, a six-axis robot 1, a plasma arc starting device 2 and a sample conveying device 3. The image processing system is connected to the six-axis robot 1 through Ethernet, and the six-axis robot 1 is provided with a plasma arc starting device 2. Among them, the image processing system includes an industrial camera 4. In this embodiment, combined with the actual situation of the steel production line, the industrial camera 4 is arranged at a suitable position near the steel, and a light source is arranged on the same side of the industrial camera 4 to physically intervene in the corresponding steel picture currently imaged.

[0051] See also Figure 4 , a schematic diagram of a sample conveying device provided in an embodiment of the present application, wherein the sample conveying device 3 in this embodiment is installed on a ground rail, and the six-axis robot 1 is arranged on one side of the ground rail. After the six-axis robot 1 cuts the special-shaped steel, it is moved to the required position through the sample conveying device 3.

[0052] See also Figure 5 , a schematic diagram of a fixture provided in an embodiment of the present application, in this embodiment, the fixture 5 is a fixture with a plasma cutting element, and plasma is a gas heated to an extremely high temperature and highly ionized. It transfers the arc power to the workpiece, and the high heat causes the workpiece to melt and be blown off, forming a working state of plasma arc cutting. After the compressed air enters the cutting torch, it is distributed in two ways by the gas chamber, namely, plasma gas and auxiliary gas are formed. The plasma gas arc melts the metal, while the auxiliary gas cools the various components of the cutting torch and blows off the melted metal. The cutting power supply includes two parts: a main circuit and a control circuit. The main circuit includes a contactor, a three-phase power transformer with high leakage reactance, a three-phase bridge rectifier, a high-frequency arc starting coil and protective elements. The control circuit completes the entire cutting process through the button switch on the cutting torch.

[0053] In the embodiments of the present application, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0054] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0055] The above is only a specific implementation of the present application. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A visual guidance method for high temperature steel cutting, characterized in that: include: Acquire an image of the special-shaped steel to be cut, and identify edge point information in the image through a visual algorithm; Convert the identified edge point coordinates to obtain the robot's cutting point coordinates; Arc cutting is performed on the special-shaped steel according to the cutting point coordinates.

2. The high temperature steel cutting visual guidance method according to claim 1, characterized in that: The step of acquiring an image of the special-shaped steel to be cut and identifying edge point information in the image by using a visual algorithm includes: The image of the special-shaped steel to be cut is captured by an industrial camera; Input the captured images of special-shaped steel into the halcon database and obtain the current steel specification information; Image processing parameters are set according to the steel material specification information to perform edge point recognition.

3. The visual guidance method for high temperature steel cutting according to claim 2, characterized in that: Setting image processing parameters according to the steel material specification information to perform edge point recognition includes: Set image processing operator parameters; Set the gray value jump threshold and smoothness according to the brightness of the steel image in the on-site environment; Edge point recognition is performed using the gray value jump threshold and smoothness.

4. The visual guidance method for high temperature steel cutting according to claim 1, characterized in that: The step of converting the identified edge point coordinates to obtain the cutting point coordinates of the robot includes: Obtain the grayscale values ​​of the steel body and the surrounding environment background under the light environment background; Threshold analysis is performed based on the grayscale values ​​of the steel body and the surrounding environment background under the light environment background to obtain the grayscale value jump point; The identified grayscale value jump points are converted into the cutting point coordinates of the robot through calibration transformation.

5. The visual guidance method for high temperature steel cutting according to claim 4, characterized in that: The step of converting the identified grayscale value jump point into the cutting point coordinates of the robot through calibration conversion includes: Obtain the robot coordinate points and image pixel coordinate points of the cutting position; Calibrate the corresponding relationship between the corresponding coordinate points of the steel in the robot fixture and the image pixel coordinate points to obtain the conversion ratio relationship matrix; The cutting point coordinates of the robot are obtained by multiplying each identified grayscale value jump point with the conversion ratio.

6. The high temperature steel cutting visual guidance method according to claim 1, characterized in that: Arc cutting is performed on the special-shaped steel according to the cutting point coordinates, including: Control the fixture to move to the cutting starting point at the flange of the steel material according to the cutting point coordinates; The high-temperature plasma arc formed by the plasma arc starting device cuts the position where the guide point is located.

7. A high temperature steel cutting vision guidance system for executing the method according to any one of claims 1 to 6, characterized in that: include: Image processing system, six-axis robot, plasma arc starting device and sample conveyor; The image processing system is connected to the six-axis robot through Ethernet, and a plasma arc starting device is provided on the six-axis robot.

8. The high temperature steel cutting visual guidance system according to claim 7, characterized in that: The sample conveying device is arranged on a ground rail, and the six-axis robot is arranged on one side of the ground rail.

9. The high temperature steel cutting visual guidance system according to claim 7, characterized in that: The plasma arc starting device includes a fixture having a plasma cutting element.

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