Conformal processing method and system based on visual guidance and related equipment

Abstract

The invention discloses a shape follow-up machining method and system based on visual guidance and related equipment. The method comprises the steps that a workpiece to be machined is fixed to a working table; the to-be-machined workpiece is subjected to contour data scanning based on a camera and line laser; processing track height compensation of the contour data is carried out on the plane carving NC file of the workpiece to be machined, and a three-dimensional carving NC file is obtained; on the basis of the three-dimensional carving NC numerical control file, a simulation machining graph is generated, and the simulation machining graph is verified; and after the verification is passed, the to-be-machined workpiece is machined through the three-dimensional engraved NC numerical control file. According to the method, the surface of the workpiece is measured by adopting the camera and the line laser visual guidance, the precision is high, three-dimensional compensation is carried out on the plane NC numerical control file after the surface contour data of the workpiece is obtained, the compensated numerical control file is firstly simulated and then is used for actual machining, a mapper does not need to draw a three-dimensional path, the operation difficulty is lower, and the efficiency is higher.

Description

Technical Field

[0001] The present invention relates to the field of numerical control machining, and in particular to a conformal machining method, system and related equipment based on vision guidance. Background Art

[0002] The existing technology is aimed at processing some precious material handicrafts, such as precious jewelry such as jade. In order to maximize the use of the surface material of the jewelry and carve the graphics onto the material surface to reduce material loss, it is necessary to carve the plane graphics on the uneven material surface. Currently, to achieve similar processing effects on the market, it is necessary to scan the material contour with a 3D contour scanner, import the contour into the mapping software, draw the trajectory on the mapping software, and output the G code path to the machine for processing. However, there are problems such as low efficiency, high technical requirements for mapping personnel, and complicated operation procedures.

[0003] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0004] The present invention provides a conformal machining method, system and related equipment based on vision guidance, aiming to solve the technical problems mentioned in the background technology of existing numerical control.

[0005] The first aspect of the present invention provides a conformal processing method based on vision guidance, comprising the steps of:

[0006] Fix the workpiece to be processed on the work surface;

[0007] Scanning the contour data of the workpiece to be processed based on a camera and a line laser;

[0008] Performing machining trajectory height compensation of the contour data on the plane engraving NC numerical control file of the workpiece to be machined to obtain a three-dimensional engraving NC numerical control file;

[0009] Generate a simulation processing graphic based on the three-dimensional engraving NC numerical control file, and verify the simulation processing graphic;

[0010] After the verification is passed, the workpiece to be processed is processed using the three-dimensional engraving NC numerical control file.

[0011] Optionally, in some embodiments of the first aspect of the present invention, scanning the contour data of the workpiece to be processed based on a camera and a line laser comprises:

[0012] Determine a scanning starting point, and construct a scanning coordinate system based on the scanning starting point;

[0013] Taking the Y axis as the moving axis, the line laser is moved and scanned at equal intervals on the workpiece to be processed, and the camera is used to capture the line laser imaging on the workpiece to be processed each time the line laser scans;

[0014] For each of the line laser images, a preset checkerboard calibration algorithm is used to obtain the coordinates of each pixel point on the line laser image;

[0015] Collect all pixel point sets of the line laser imaging of the workpiece to be processed to obtain contour data of the workpiece to be processed.

[0016] Optionally, in some implementations of the first aspect of the present invention, performing height compensation for the machining trajectory of the contour data on the plane engraving NC numerical control file of the workpiece to be machined to obtain the three-dimensional engraving NC numerical control file comprises:

[0017] Selecting a position alignment point in the plane engraving NC numerical control file;

[0018] Aligning the position alignment points of the contour data and the plane engraving NC numerical control file;

[0019] Establishing a mapping between the plane engraving NC numerical control file processing path point set and the pixel point set of the contour data;

[0020] For each pair of mapping points between the plane engraving NC numerical control file and the contour data, compensating the height value of the processing path point of the plane engraving NC numerical control file based on the height value of the pixel point of the contour data;

[0021] After the height values ​​of the various processing path points of the plane engraving NC numerical control file are compensated, a three-dimensional engraving NC numerical control file is obtained.

[0022] Optionally, in some implementations of the first aspect of the present invention, for each pair of mapping points of the plane engraving NC numerical control file and the contour data, compensating the height value of the processing path point of the plane engraving NC numerical control file based on the height value of the pixel point of the contour data comprises:

[0023] For each pair of mapping points between the plane engraving NC numerical control file and the contour data, obtaining a height value of a processing path point of the plane engraving NC numerical control file;

[0024] Obtaining the height value of the pixel point of the contour data;

[0025] The height value of the pixel point of the contour data is added to the height value of the processing path point of the plane engraving NC numerical control file to obtain the compensation height value of the processing path point of the plane engraving NC numerical control file.

[0026] Optionally, in some implementations of the first aspect of the present invention, the selected position alignment point in the plane engraving NC numerical control file includes:

[0027] Obtaining a plane graphic of the processing path of the plane engraving NC numerical control file;

[0028] Determining whether the plane figure is a closed figure;

[0029] If the plane figure is not a closed figure, the starting point or the end point of the plane figure is used as the selected position alignment point;

[0030] If the plane figure is a closed figure, determining whether the plane figure has a geometric center point;

[0031] If the plane figure has a geometric center point, the geometric center point is used as the selected position alignment point.

[0032] Optionally, in some implementations of the first aspect of the present invention, generating a simulated processing graphic based on the three-dimensional engraving NC numerical control file, and verifying the simulated processing graphic includes:

[0033] generating a simulation sample based on the workpiece to be processed;

[0034] Importing the three-dimensional engraving NC numerical control file into a processing system, and generating a simulated processing trajectory on the simulated sample through the processing system;

[0035] Performing a fitting judgment on the simulated processing trajectory and the simulated sample;

[0036] If the fit between the simulated processing trajectory and the simulated sample meets the preset requirements, it is determined that the simulation processing graphic verification has passed.

[0037] Optionally, in some embodiments of the first aspect of the present invention, the line laser irradiates perpendicularly to the work surface, and an angle of 45° is formed between the camera and the work surface.

[0038] A second aspect of the present invention provides a conformal processing system based on vision guidance, comprising:

[0039] A workpiece fixing module is used to fix the workpiece to be processed on the work surface;

[0040] A workpiece scanning module, used for scanning the contour data of the workpiece to be processed based on a camera and a line laser;

[0041] A height compensation module is used to perform height compensation on the processing trajectory of the contour data of the plane engraving NC numerical control file of the workpiece to be processed to obtain a three-dimensional engraving NC numerical control file;

[0042] A simulation verification module, used to generate a simulation processing graphic based on the three-dimensional engraving NC numerical control file, and verify the simulation processing graphic;

[0043] The processing module is used to process the workpiece to be processed through the three-dimensional engraving NC numerical control file after passing the verification.

[0044] A third aspect of the present invention provides a conformal processing device based on vision guidance, the conformal processing device based on vision guidance comprises: a memory and at least one processor, the memory stores instructions, the memory and the at least one processor are interconnected through a line;

[0045] The at least one processor calls the instructions in the memory to enable the vision-guided conformal machining device to execute the vision-guided conformal machining method as described in any one of the first aspects of the present invention.

[0046] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the visually guided conformal machining method as described in any one of the first aspect of the present invention is implemented.

[0047] Beneficial effects: The present invention discloses a conformal processing method, system and related equipment based on visual guidance. The method comprises fixing a workpiece to be processed on a work surface; scanning the contour data of the workpiece to be processed based on a camera and a line laser; performing height compensation for the processing trajectory of the contour data on the plane engraving NC numerical control file of the workpiece to be processed to obtain a three-dimensional engraving NC numerical control file; generating a simulation processing graphic based on the three-dimensional engraving NC numerical control file, and verifying the simulation processing graphic; after the verification is passed, the workpiece to be processed is processed by the three-dimensional engraving NC numerical control file. The present invention adopts camera + line laser vision guidance to measure the surface of the workpiece, with high precision. After obtaining the surface contour data of the workpiece, the plane NC numerical control file will be compensated in three dimensions. The compensated numerical control file will be simulated first and then used for actual processing. The present invention does not require a draftsman to draw a three-dimensional path, and the operation difficulty is lower and the efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 The figure is a flow chart of an exemplary conformal machining method based on vision guidance according to the present invention.

[0049] Figure 2 A schematic diagram of an exemplary camera and line laser imaging system of the present invention.

[0050] Figure 3The figure is a schematic diagram of contour imaging of a spherical object by an exemplary camera and a line laser imaging system of the present invention.

[0051] Figure 4 The figure is a schematic diagram of a scanning profile of a workpiece to be processed according to an exemplary embodiment of the present invention.

[0052] Figure 5 It is a schematic diagram of an exemplary processing path of the flat engraving NC numerical control file before and after compensation of the present invention.

[0053] Figure 6 The figure is a schematic diagram of the module composition of an exemplary vision-guided conformal machining system of the present invention.

[0054] Figure 7 The figure is a schematic structural diagram of an exemplary conformal processing device based on vision guidance according to the present invention. DETAILED DESCRIPTION

[0055] The embodiments disclosed in the present invention are described in more detail below with reference to the accompanying drawings. Although certain embodiments disclosed in the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments disclosed in the present invention are only for exemplary purposes and are not intended to limit the scope of protection disclosed in the present invention.

[0056] In the description of the embodiments disclosed in the present invention, if there are terms, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. can refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0057] See also Figure 1 The first aspect of the present invention provides a conformal processing method based on vision guidance, comprising the steps of:

[0058] S100, fixing the workpiece to be processed on the work surface; in the present invention, the workpiece to be processed can be some precious material handicrafts, such as jade and other precious jewelry. The processing scenario of the present invention can be to maximize the use of the surface material of the jewelry to carve the pattern onto the material surface to reduce material loss, and it is necessary to carve the plane pattern on the uneven material surface.

[0059] S200, scanning the contour data of the workpiece to be processed based on a camera and a line laser; the visual guided measurement technology of the present invention requires the use of a 2D camera and a line laser, the line laser is irradiated perpendicular to the work surface, and the camera and the work surface form an angle of 45°. More specifically, the line laser is installed above the work surface perpendicularly, and the camera is also above the work surface. The lens of the camera is installed at a 45° angle to the platform. Figure 2 shown.

[0060] In some optional implementations of step S200 of the present invention, the contour data scanning of the workpiece to be processed based on the camera and the line laser includes: determining a scanning starting point, and constructing a scanning coordinate system with the scanning starting point. Generally speaking, the scanning starting point can be selected as the edge point of the workpiece to be processed; using the Y axis as the moving axis, the workpiece to be processed is subjected to a moving scanning of the line laser at equal intervals, the camera is used to capture the line laser imaging of the line laser scanning on the workpiece to be processed each time, the line laser is irradiated to the workpiece surface, and the camera takes a laser imaging picture of the workpiece surface to see the upper surface contour line of this position, such as Figure 3 As shown; for each of the line laser images, the coordinates of each pixel point on the line laser image are obtained using a preset checkerboard calibration algorithm. In the present invention, the height of each pixel point on the contour line can be calculated based on the position X2 of the pixel point on the contour line and the position X1 of the reference 0 point pixel of the teaching point; the pixel point set of all the line laser images of the workpiece to be processed is collected to obtain the contour data of the workpiece to be processed.

[0061] In the present invention, according to the 2D vision, a standard checkerboard calibration algorithm method is used to refer to existing patents. For example, the patent titled "A Line Laser Plane Equation Calibration Method Based on Checkerboard" can obtain the horizontal and vertical pixel difference values ​​X2, Y2 between the contour pixel points and the reference 0 point pixel points, and the relative position difference DZ1, DX1 between the contour imaging pixel points and the reference 0 point pixel points can be calculated, that is, the Z and X trajectories of the contour are obtained, and the contour data of the object surface can be obtained by moving the Y axis in the Y direction according to the scanning interval. The above steps complete the scanning measurement of the object surface to obtain the contour data. The system operation steps are as follows: the machine tool moves to a fixed position starting point and extracts data once by moving one interval according to the set Y direction interval until the entire surface measurement is completed, and the processing contour data of the entire upper surface of the workpiece to be processed is obtained. Figure 4 .

[0062] S300, performing machining trajectory height compensation of the contour data on the plane engraving NC numerical control file of the workpiece to be processed to obtain a three-dimensional engraving NC numerical control file; in the present invention, the conformal trajectory generation technology is mainly used. Specifically, under normal circumstances, the machining trajectory is often made on the assumption that the machining surface of the rough blank is flat, which is easier to make in terms of graphic proportion and size. The conformal technology is a conformal technology that converts the machining file of a regular surface into an irregular surface processing file. The contour trajectory of the rough blank is obtained through 2D vision-guided measurement technology.

[0063] In some optional implementations of the first aspect of the present invention, performing height compensation on the machining trajectory of the contour data of the planar engraving NC numerical control file of the workpiece to be machined to obtain a three-dimensional engraving NC numerical control file comprises:

[0064] S301. Selecting a position alignment point in the plane engraving NC numerical control file; in some optional implementations of step S301 of the present invention, the step S301 may specifically include: obtaining a plane figure traveled by the processing path of the plane engraving NC numerical control file; determining whether the plane figure is a closed figure; if the plane figure is not a closed figure, taking the starting point or the end point of the plane figure as the selected position alignment point; if the plane figure is a closed figure, determining whether the plane figure has a geometric center point; if the plane figure has a geometric center point, taking the geometric center point as the selected position alignment point; if the plane figure does not have a geometric center point, taking a random outermost point of the plane figure as the selected position alignment point.

[0065] S302, aligning the position alignment points of the contour data and the plane engraving NC numerical control file; in some exemplary embodiments of step S302, since the relief trajectory also uses a horizontal processing trajectory, the lower left corner zero point of the original trajectory is selected to align the position of the lower left corner of the contour, and the file is traversed from the file header to perform coordinate point positioning compensation in the Z direction. For example, the first point 1X, 1Y, 1Z is obtained, and the height of the contour surface DZ can be found in the contour data through X and Y data. Then the compensated BZ=1Z+DZ, and the new Z direction coordinate replaces the original coordinate to obtain the new first position point 1X, 1Y, BZ. In this way, the new file after the entire file is compensated can be processed on the workpiece to ensure that all trajectories can be processed, and the position of the graphics processed in the contour can be adjusted by modifying the lower left corner origin alignment position.

[0066] S303, establishing a mapping between the processing path point set of the plane engraving NC numerical control file and the pixel point set of the contour data; in the present invention, the plane engraving NC numerical control file is drawn on the assumption that the surface of the workpiece is flat. To engrave the image path of the plane engraving NC numerical control file onto an irregular surface, the processing path of the plane engraving NC numerical control file also needs information on height. In the present invention, the number of the processing path point set of the plane engraving NC numerical control file and the pixel point set of the contour data can be the same. Of course, the number of the processing path point set of the plane engraving NC numerical control file can also be less than the number of the pixel point set of the contour data. Establishing a mapping between the processing path point set of the plane engraving NC numerical control file and the pixel point set of the contour data is to bind the plane engraving NC numerical control file and the points at the same position in the contour data, and then the height of the processing path point of the plane engraving NC numerical control file can be compensated by the height of the pixel points of the contour data.

[0067] S304. For each pair of mapping points between the plane engraving NC numerical control file and the contour data, compensate the height value of the processing path point of the plane engraving NC numerical control file based on the height value of the pixel point of the contour data; in some optional implementations of this step of the present invention, this step may specifically include: for each pair of mapping points between the plane engraving NC numerical control file and the contour data, obtain the height value of the processing path point of the plane engraving NC numerical control file; obtain the height value of the pixel point of the contour data; add the height value of the pixel point of the contour data to the height value of the processing path point of the plane engraving NC numerical control file to obtain the compensated height value of the processing path point of the plane engraving NC numerical control file.

[0068] S305. After the height values ​​of each processing path point of the plane engraving NC numerical control file are compensated, a three-dimensional engraving NC numerical control file is obtained. In the present invention, since the three-dimensional engraving NC numerical control file is a processing path with height information, it can be ensured that the tool can process the surface of the workpiece at each processing position, so that the pattern to be engraved is engraved on the surface of the processed workpiece. Since the height information of the path is added to the NC numerical control file, the method of the present invention has a better fitting effect on the concave and convex surface of the processed workpiece. The processing path schematic diagram of the plane engraving NC numerical control file before compensation and the processing path comparison diagram of the three-dimensional engraving NC numerical control file after compensation can be shown as follows: Figure 5 shown.

[0069] S400, generating a simulation processing graphic based on the three-dimensional engraving NC numerical control file, and verifying the simulation processing graphic; after the three-dimensional engraving NC numerical control file is generated, it is imported into the system, and a simulation comparison and fitting effect display can be performed, and processing and production can be performed after checking that there is no problem. More specifically, in some optional implementations of step S400 of the present invention, the generation of a simulation processing graphic based on the three-dimensional engraving NC numerical control file and the verification of the simulation processing graphic include: generating a simulation sample based on the workpiece to be processed; importing the three-dimensional engraving NC numerical control file into the processing system, and generating a simulation processing trajectory on the simulation sample through the processing system; judging the fitting of the simulation processing trajectory and the simulation sample; if the fitting of the simulation processing trajectory and the simulation sample meets the preset requirements, it is determined that the simulation processing graphic verification has passed.

[0070] S500, after the verification is passed, the workpiece to be processed is processed through the three-dimensional engraving NC numerical control file. In general, the prior art is aimed at the processing of some precious material handicrafts, such as precious jewelry such as jade. In order to maximize the use of the surface material of the jewelry and engrave the graphics on the material surface to reduce material loss, it is necessary to engrave the plane graphics on the uneven material surface. At present, to achieve similar processing effects on the market, it is necessary to scan the material contour with a 3D contour scanner, import the contour into the mapping software, perform trajectory drawing and fitting processing on the mapping software, and output the G code path to the machine for processing. There are problems such as low efficiency, high technical requirements for mapping personnel, and complex operation procedures. The present invention adopts a visual guidance method to measure with high accuracy to achieve a surface scanning effect, and uses a surface fitting algorithm to automatically generate a processing path to complete the processing. This method can achieve high accuracy and good concave and convex surface fitting effect, high efficiency, and no need for additional mapping personnel to participate.

[0071] See also Figure 6 The second aspect of the present invention provides a conformal processing system based on vision guidance, comprising:

[0072] A workpiece fixing module 10 is used to fix the workpiece to be processed on the work surface;

[0073] A workpiece scanning module 20, used for scanning the contour data of the workpiece to be processed based on a camera and a line laser;

[0074] A height compensation module 30 is used to perform height compensation on the machining trajectory of the contour data of the plane engraving NC numerical control file of the workpiece to be machined, so as to obtain a three-dimensional engraving NC numerical control file;

[0075] A simulation verification module 40 is used to generate a simulation processing graphic based on the three-dimensional engraving NC numerical control file and verify the simulation processing graphic;

[0076] The processing module 50 is used to process the workpiece to be processed by using the three-dimensional engraving NC numerical control file after passing the verification.

[0077] In some optional implementations of the second aspect of the present invention, the workpiece scanning module includes:

[0078] A starting point determination unit, used to determine a scanning starting point and construct a scanning coordinate system based on the scanning starting point;

[0079] An interval scanning unit, used for moving and scanning the line laser at equal intervals on the workpiece to be processed with the Y axis as the moving axis, and the camera is used for photographing the line laser imaging of the line laser scanning on the workpiece to be processed each time;

[0080] A contour coordinate acquisition unit, used for obtaining the coordinates of each pixel point on the line laser imaging by using a preset checkerboard calibration algorithm for each line laser imaging;

[0081] The data collection unit is used to collect all pixel point sets of the line laser imaging of the workpiece to be processed to obtain the contour data of the workpiece to be processed.

[0082] In some optional implementations of the second aspect of the present invention, the height compensation module includes:

[0083] An alignment point selection unit is used to select a position alignment point in the plane engraving NC numerical control file;

[0084] An alignment unit, used for aligning the contour data with the plane engraving NC numerical control file at the position alignment point;

[0085] A mapping binding unit, used to establish a mapping between the processing path point set of the plane engraving NC numerical control file and the pixel point set of the contour data;

[0086] A height compensation unit, for compensating, for each pair of mapping points between the plane engraving NC numerical control file and the contour data, a height value of a processing path point of the plane engraving NC numerical control file based on a height value of a pixel point of the contour data;

[0087] The three-dimensional numerical control file generating unit is used to obtain the three-dimensional engraving NC numerical control file after the height values ​​of the various processing path points of the plane engraving NC numerical control file are compensated.

[0088] In some optional implementations of the second aspect of the present invention, the height compensation unit includes:

[0089] A processing path height value acquisition subunit is used to acquire the height value of the processing path point of the plane engraving NC numerical control file for each pair of mapping points between the plane engraving NC numerical control file and the contour data;

[0090] A contour pixel point height value acquisition subunit, used to acquire the height value of the pixel point of the contour data;

[0091] The height value adding subunit is used to add the height value of the pixel point of the contour data with the height value of the processing path point of the plane engraving NC numerical control file to obtain the compensation height value of the processing path point of the plane engraving NC numerical control file.

[0092] In some optional implementations of the second aspect of the present invention, the alignment point selection unit includes:

[0093] A path graphics acquisition subunit is used to acquire a plane graphics of the processing path of the plane engraving NC numerical control file;

[0094] A graphic closure judgment subunit, used to judge whether the plane graphic is a closed graphic;

[0095] A first selecting subunit, for, if the plane figure is not a closed figure, using the starting point or the end point of the plane figure as the selected position alignment point;

[0096] A geometric center determination subunit, used for determining whether the plane figure has a geometric center point if the plane figure is a closed figure;

[0097] The second selecting subunit is used to use the geometric center point as the selected position alignment point if the plane figure has the geometric center point.

[0098] In some optional implementations of the second aspect of the present invention, the simulation verification module includes:

[0099] A sample generation unit, used for generating a simulation sample based on the workpiece to be processed;

[0100] A processing trajectory generating unit, used for importing the three-dimensional engraving NC numerical control file into a processing system, and generating a simulated processing trajectory on the simulated sample through the processing system;

[0101] A fitting judgment unit, used for judging the fitting of the simulated processing track and the simulated sample;

[0102] The verification and judgment unit is used to judge that the verification of the simulation processing graphic has passed if the fit between the simulation processing trajectory and the simulation sample meets the preset requirements.

[0103] In some optional implementations of the second aspect of the present invention, the line laser irradiates perpendicularly to the work surface, and an angle of 45° is formed between the camera and the work surface.

[0104] Figure 7 It is a structural schematic diagram of a conformal processing device based on vision guidance provided by an embodiment of the present invention. The conformal processing device 70 based on vision guidance may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 80 (for example, one or more processors) and a memory 90, and one or more storage media 110 for storing application programs 100 or data (for example, one or more mass storage devices). Among them, the memory and the storage medium may be temporary storage or permanent storage. The program stored in the storage medium may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the conformal processing device based on vision guidance. Furthermore, the processor may be configured to communicate with the storage medium to execute a series of instruction operations in the storage medium on the conformal processing device based on vision guidance.

[0105] The visually guided conformal processing device of the present invention may further include one or more power supplies 120, one or more wired or wireless network interfaces 130, one or more input and output interfaces 140, and / or one or more operating systems 150, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. It will be understood by those skilled in the art that Figure 7 The structure of the vision-guided conformal processing equipment shown does not constitute a limitation on the vision-guided conformal processing equipment, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0106] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the vision-guided conformal processing method.

[0107] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0108] In addition, although each operation is described in a specific order, this should be understood as requiring such operation to be performed in the specific order shown or in a sequential order, or requiring that all illustrated operations should be performed to obtain desired results. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single implementation in combination. On the contrary, the various features described in the context of a single implementation can also be implemented in multiple implementations individually or in any suitable sub-combination mode.

[0109] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A conformal processing method based on vision guidance, characterized in that: Includes steps: Fix the workpiece to be processed on the work surface; Scanning the contour data of the workpiece to be processed based on a camera and a line laser; Performing machining trajectory height compensation of the contour data on the plane engraving NC numerical control file of the workpiece to be machined to obtain a three-dimensional engraving NC numerical control file; Generate a simulation processing graphic based on the three-dimensional engraving NC numerical control file, and verify the simulation processing graphic; After the verification is passed, the workpiece to be processed is processed using the three-dimensional engraving NC numerical control file.

2. The conformal processing method based on vision guidance according to claim 1, characterized in that: The scanning of the contour data of the workpiece to be processed based on a camera and a line laser comprises: Determine a scanning starting point, and construct a scanning coordinate system based on the scanning starting point; Using the Y axis as the moving axis, the line laser is moved and scanned at equal intervals on the workpiece to be processed, and the camera is used to capture the line laser imaging on the workpiece to be processed each time the line laser scans; For each of the line laser images, a preset checkerboard calibration algorithm is used to obtain the coordinates of each pixel point on the line laser image; Collect all pixel point sets of the line laser imaging of the workpiece to be processed to obtain contour data of the workpiece to be processed.

3. The conformal machining method based on vision guidance according to claim 1, characterized in that: The process of performing machining track height compensation for the contour data on the plane engraving NC numerical control file of the workpiece to be machined to obtain the three-dimensional engraving NC numerical control file comprises: Selecting a position alignment point in the plane engraving NC numerical control file; Aligning the position alignment points of the contour data and the plane engraving NC numerical control file; Establishing a mapping between the plane engraving NC numerical control file processing path point set and the pixel point set of the contour data; For each pair of mapping points between the plane engraving NC numerical control file and the contour data, compensating the height value of the processing path point of the plane engraving NC numerical control file based on the height value of the pixel point of the contour data; After the height values ​​of the various processing path points of the plane engraving NC numerical control file are compensated, a three-dimensional engraving NC numerical control file is obtained.

4. The conformal processing method based on vision guidance according to claim 3 is characterized in that: For each pair of mapping points between the plane engraving NC numerical control file and the contour data, compensating the height value of the processing path point of the plane engraving NC numerical control file based on the height value of the pixel point of the contour data comprises: For each pair of mapping points between the plane engraving NC numerical control file and the contour data, obtaining a height value of a processing path point of the plane engraving NC numerical control file; Obtaining the height value of the pixel point of the contour data; The height value of the pixel point of the contour data is added to the height value of the processing path point of the plane engraving NC numerical control file to obtain the compensation height value of the processing path point of the plane engraving NC numerical control file.

5. The conformal machining method based on vision guidance according to claim 3, characterized in that: The selected position alignment point in the plane engraving NC numerical control file includes: Obtaining a plane graphic of the processing path of the plane engraving NC numerical control file; Determining whether the plane figure is a closed figure; If the plane figure is not a closed figure, the starting point or the end point of the plane figure is used as the selected position alignment point; If the plane figure is a closed figure, determining whether the plane figure has a geometric center point; If the plane figure has a geometric center point, the geometric center point is used as the selected position alignment point.

6. The conformal machining method based on vision guidance according to claim 1, characterized in that: The generating of the simulation processing graphics based on the three-dimensional engraving NC numerical control file and verifying the simulation processing graphics includes: generating a simulation sample based on the workpiece to be processed; Importing the three-dimensional engraving NC numerical control file into a processing system, and generating a simulated processing trajectory on the simulated sample through the processing system; Performing a fitting judgment on the simulated processing trajectory and the simulated sample; If the fit between the simulated processing trajectory and the simulated sample meets the preset requirements, it is determined that the simulation processing graphic verification has passed.

7. The conformal machining method based on vision guidance according to claim 2, characterized in that: The line laser irradiates perpendicularly to the work surface, and the camera and the work surface form an angle of 45°.

8. A conformal processing system based on vision guidance, characterized in that: include: A workpiece fixing module is used to fix the workpiece to be processed on the work surface; A workpiece scanning module, used for scanning the contour data of the workpiece to be processed based on a camera and a line laser; A height compensation module is used to perform height compensation on the processing trajectory of the contour data of the plane engraving NC numerical control file of the workpiece to be processed to obtain a three-dimensional engraving NC numerical control file; A simulation verification module, used to generate a simulation processing graphic based on the three-dimensional engraving NC numerical control file, and verify the simulation processing graphic; The processing module is used to process the workpiece to be processed through the three-dimensional engraving NC numerical control file after passing the verification.

9. A conformal processing device based on vision guidance, characterized in that: The conformal processing device based on vision guidance comprises: a memory and at least one processor, the memory stores instructions, and the memory and the at least one processor are interconnected through a line; The at least one processor calls the instructions in the memory to enable the vision-guided conformal machining device to execute the vision-guided conformal machining method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the conformal machining method based on vision guidance as described in any one of claims 1 to 7 is implemented.

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