Arc striking and extinguishing plate cutting positioning method, system and equipment

Abstract

The invention belongs to the technical field of detection cutting, and particularly relates to an arc striking and extinguishing plate cutting positioning method, system and equipment. The problems that in the arc striking and extinguishing plate cutting process, the cutting precision is low, and the working efficiency is low are solved. The position of the arc striking and extinguishing plate is accurately positioned through the center coordinates, the center point coordinates and the deviation angle, and cutting errors caused by inaccurate positions and postures are avoided. The image range is reduced through the first recognition area, and the influence of the cut run-on and run-off plate on positioning of the to-be-cut run-on and run-off plate is avoided. The second identification area is obtained through the constraint of the boundary limitation parameter, and the second identification area is more focused on the to-be-cut arc striking and extinguishing plate, so that the accuracy and efficiency of subsequent cutting processing are improved. And the image corresponding to the second identification area is taken as the target pipe end image, so that the cutting operation can be directly carried out based on the target pipe end image, and blind processing of the whole pipe end image is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of detection and cutting, and in particular relates to a method, system and equipment for cutting and positioning an arc striking and extinguishing plate. Background Art

[0002] During steel pipe welding, arc-starting and arc-extinguishing plates are typically installed at the weld's starting and ending points to ensure weld quality. These plates guide the arc's initiation and termination, respectively, preventing weld defects caused by arc initiation and extinguishing directly on the pipe. After welding, these plates need to be cut.

[0003] In practical applications, the positioning method for arc-initiating and extinguishing plates based on visual inspection is widely used. After locating the arc-initiating and extinguishing plates, an automated cutting robot can quickly and accurately determine the position of the plates and the cutting point. Using the automated cutting robot to cut the arc-initiating and extinguishing plates improves cutting accuracy and efficiency, reduces pipe loss, and reduces safety hazards.

[0004] However, the falling arc-extinguishing plate after cutting can affect the positioning of the arc-extinguishing plate to be cut, resulting in misjudgment of the target, reduced cutting accuracy and work efficiency. Moreover, in the presence of strong or dim light interference in the cutting environment, visual inspection of the arc-extinguishing plate to be cut is more difficult and has large errors, thus affecting the accuracy of visual inspection results. Summary of the Invention

[0005] In order to solve the above problems in the prior art, the present invention provides a method for cutting and positioning an arc-initiating and extinguishing plate, comprising: Acquire the pipe end image of the steel pipe; Extracting the center coordinates of the pipe end edge of the steel pipe based on the pipe end image, and extracting the center coordinates and deviation angle of the arc striking and extinguishing plate connected to the pipe end edge; wherein the deviation angle is the angle between the arc striking and extinguishing plate and the horizontal plane; Determine a first identification area according to the preset width and length of the arc ignition plate, the circle center coordinates, the center point coordinates, and the deviation angle, and constrain the first identification area based on preset boundary restriction parameters to obtain a second identification area; The pipe end image corresponding to the second recognition area is determined as a target pipe end image; wherein the target pipe end image is used for cutting the arc striking and extinguishing plate.

[0006] Furthermore, the extraction of the center coordinates of the pipe end edge of the steel pipe includes: Extracting the pipe end image by an edge detection algorithm to obtain a pipe end edge image of the steel pipe; The pipe end centroid coordinates are obtained based on weighted averaging of the coordinates of all pixel points in the pipe end edge image; wherein the pipe end centroid coordinates are the center coordinates of the pipe end edge.

[0007] Furthermore, extracting the center point coordinates and deviation angle of the arc striking and extinguishing plate connected to the pipe end edge includes: Extracting the pipe end image by an edge detection algorithm to obtain an edge image of the arc striking and extinguishing plate connected to the pipe end edge image; The center point coordinates and the deviation angle are generated based on the edge image.

[0008] Furthermore, generating the center point coordinates and the deviation angle based on the edge image includes: Obtaining the centroid coordinates of the arc plate by performing weighted averaging on the coordinates of all pixel points in the edge image; Wherein, the arc plate centroid coordinates are the center point coordinates of the arc striking and extinguishing plate; Determining the tangent direction of each pixel point on the edge of the edge image, and calculating the angle between each tangent direction and a preset reference direction; Statistical analysis is performed on a plurality of the included angles to obtain the deviation angle of the arc striking and extinguishing plate.

[0009] Furthermore, determining the first identification area according to the preset width and length of the arc striking and extinguishing plate, the circle center coordinates, the center point coordinates and the deviation angle includes: generating the center position coordinates of the first recognition area according to the circle center coordinates, the center point coordinates and the deviation angle; The width and length of the first identification area are generated according to the width and length of the arc striking and extinguishing plate.

[0010] Furthermore, it also includes: Acquire a first image of the pipe end of the steel pipe by using a visual camera; grayscale the first image of the pipe end to obtain a grayscale image and calculate an average brightness value of the grayscale image; determining that a difference between the average brightness value and a preset target average brightness value is less than a fluctuation threshold of the target average brightness value, and adjusting an exposure parameter of a visual camera based on the average brightness value and the target average brightness value; The visual camera is controlled according to the adjusted exposure parameter to obtain an image of the pipe end of the steel pipe.

[0011] Furthermore, adjusting the exposure parameter of the visual camera based on the average brightness value and the target average brightness value includes: generating an exposure compensation coefficient according to the average brightness value and the target average brightness value; The current exposure parameter of the visual camera is compensated by the exposure compensation coefficient to obtain the exposure parameter of the adjusted visual camera.

[0012] Another aspect of the present invention provides an arc-initiating and extinguishing plate cutting and positioning system, comprising: An acquisition module is used to obtain images of the pipe ends of steel pipes; a detection module, configured to extract, based on the pipe end image, the center coordinates of the pipe end edge of the steel pipe, and the center coordinates and deviation angle of the arc striking and extinguishing plate connected to the pipe end edge; wherein the deviation angle is the angle between the arc striking and extinguishing plate and the horizontal plane; an area module, configured to determine a first identification area based on a preset width and length of the arc striking and extinguishing plate, the coordinates of the circle center, the coordinates of the center point, and the deviation angle, and to constrain the first identification area based on preset boundary restriction parameters to obtain a second identification area; A processing module is used to determine that the pipe end image corresponding to the second recognition area is a target pipe end image; wherein, the target pipe end image is used to perform cutting processing on the arc striking and extinguishing plate.

[0013] A third aspect of the present invention provides an electronic device, comprising: at least one processor; and a memory communicatively coupled to at least one of said processors; The memory stores instructions that can be executed by the processor, and the instructions are used to be executed by the processor to implement the above-mentioned arc striking and extinguishing plate cutting and positioning method.

[0014] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to be executed by the computer to implement the above-mentioned arc striking and extinguishing plate cutting and positioning method.

[0015] As can be seen from the above description, this embodiment provides a method, system and device for positioning the arc extinguishing plate for cutting. The center coordinates, center point coordinates and deviation angles accurately obtained from the pipe end image can accurately locate the position of the arc extinguishing plate to be cut, avoiding cutting errors caused by inaccurate position and posture judgments. By determining the first recognition area to narrow the image range that needs to be processed, the accuracy and efficiency of subsequent cutting processing are improved, while also avoiding the influence of the cut arc extinguishing plate on the positioning of the arc extinguishing plate to be cut, thereby reducing unnecessary image data processing. The first recognition area is constrained by boundary restriction parameters to obtain a second recognition area. The second recognition area is more focused on the arc extinguishing plate to be cut, reducing the interference of irrelevant information and improving the accuracy and efficiency of subsequent cutting processing. At the same time, it can also reduce computing costs and speed up processing. The image corresponding to the second recognition area is used as the target pipe end image, so that the cutting operation can be performed directly based on the target pipe end image, avoiding blind processing of the entire pipe end image. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 It is a flow chart of a method for cutting and positioning an arc striking and extinguishing plate provided in an embodiment of the present invention.

[0017] Figure 2 It is a flow chart of another arc striking and extinguishing plate cutting and positioning method provided by an embodiment of the present invention.

[0018] Figure 3 It is a structural schematic diagram of a steel pipe arc striking and extinguishing plate detection system provided by an embodiment of the present invention.

[0019] Figure 4 This is a flow chart of a steel pipe arc striking and extinguishing plate detection system provided by an embodiment of the present invention.

[0020] Figure 5 It is a structural diagram of a computer system of a server for implementing the method, system, and device embodiments of the present application. DETAILED DESCRIPTION

[0021] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the relevant invention are shown in the accompanying drawings.

[0022] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this 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.

[0023] In order to more clearly illustrate the arc striking and extinguishing plate cutting and positioning method provided by the embodiment of the present invention, the following is combined with Figure 1 Each step in the embodiment of the present invention is described in detail.

[0024] A first embodiment of the present invention provides a method for cutting and positioning an arc striking plate, comprising steps S101 to S104, each of which is described in detail as follows: S101: Acquire an image of the pipe end of a steel pipe.

[0025] In this step, a visual camera is used to capture the steel pipe end to obtain an image of the steel pipe end. It should be noted that the captured image of the steel pipe end includes the steel pipe end, the arc striking and extinguishing plate connected to the steel pipe end, and other arc striking and extinguishing plates that have been cut off and are no longer connected to the steel pipe end.

[0026] This step uses pipe-end images to record the actual conditions of the pipe end and the associated arc-initiating and extinguishing plate, providing a basis for accurate subsequent extraction of relevant information. Furthermore, the visual camera provides a clear and complete image of the pipe end, facilitating more accurate extraction of the center coordinates, center point coordinates, and deviation angles. This in turn improves the accuracy and reliability of arc-initiating and extinguishing plate cutting and positioning.

[0027] S102: Based on the pipe end image, the center coordinates of the pipe end edge of the steel pipe are extracted, as well as the center point coordinates and deviation angle of the arc striking and extinguishing plate connected to the pipe end edge are extracted; wherein the deviation angle is the angle between the arc striking and extinguishing plate and the horizontal plane.

[0028] In this step, the pipe end image is used to accurately determine the position of the pipe end, the position of the arc-initiating and extinguishing plate, and the plate's posture. The center coordinates determine the center of the pipe end, the center point coordinates determine the position of the arc-initiating and extinguishing plate, and the deviation angle reflects the inclination of the arc-initiating and extinguishing plate relative to the horizontal plane.

[0029] The center coordinates, center point coordinates, and deviation angles can accurately describe the position and orientation of the pipe end and the arc-ignition plate in the image, allowing the appropriate ROI (Region of Interest) to be defined based on this information.

[0030] It is understandable that the coordinates of the circle center, center point, and angle extraction help accurately determine the subsequent recognition area, avoiding cutting errors caused by inaccurate position and posture judgment. At the same time, this information can also be used to evaluate whether the installation of the arc ignition plate meets the requirements.

[0031] Specifically, the center coordinates of the pipe end edge of the steel pipe are extracted based on the pipe end image, including: The pipe end image is extracted using an edge detection algorithm to obtain the pipe end edge image of the steel pipe; and the pipe end centroid coordinates are obtained by weighted averaging the coordinates of all pixel points in the pipe end edge image. It should be noted that the pipe end centroid coordinates are the coordinates of the center of the pipe end edge.

[0032] To extract the center coordinates of the pipe end edge, this embodiment uses an edge detection algorithm. This algorithm first uses a Gaussian filter to reduce noise in the pipe end image. It then calculates the gradient amplitude and direction of the pipe end image, performs non-maximum suppression on the pipe end image, and removes unnecessary edge responses. Finally, through dual-threshold detection and edge connection based on the steel pipe, the edge contour of the steel pipe end, i.e., the pipe end edge image, is extracted. Once the edge contour of the steel pipe end is obtained, a contour tracking algorithm can be used to track the edge contour to further determine the precise shape and position of the steel pipe end.

[0033] After obtaining the pipe end edge image, traverse all pixels within the pipe end edge image to obtain the coordinates and pixel values ​​of each pixel. Calculate the weighted sum of the horizontal coordinates and vertical coordinates of all pixels, as well as the sum of all pixel values. The ratio of the weighted sum of the horizontal coordinates to the total is used as the horizontal coordinate of the centroid, and the ratio of the weighted sum of the vertical coordinates to the total is used as the vertical coordinate of the centroid.

[0034] It should be noted that the weighted sum of the horizontal coordinates refers to weighting and summing the horizontal coordinates. The weighted sum of the vertical coordinates refers to weighting and summing the vertical coordinates. In this embodiment, the pixel value is used as the weighting coefficient, that is, the product of the pixel value and the horizontal coordinate of the pixel point is used as the horizontal coordinate weight of the pixel point.

[0035] Specifically, the center coordinates and deviation angle of the arc striking and extinguishing plate connected to the edge of the pipe end are extracted based on the pipe end image, including: The pipe end image is extracted by an edge detection algorithm to obtain an edge image of the arc striking and extinguishing plate connected to the pipe end edge image; and the center point coordinates and the deviation angle are generated based on the edge image.

[0036] This embodiment uses an edge detection algorithm that first uses a Gaussian filter to reduce noise on the pipe end image, then calculates the gradient amplitude and direction of the pipe end image, and performs non-maximum suppression on the pipe end image to remove unnecessary edge responses. Finally, through dual threshold detection and edge connection based on the arc-extinguishing plate, the edge contours of all arc-extinguishing plates, that is, the edge image of the arc-extinguishing plate, are extracted. After obtaining the edge image of the arc-extinguishing plate, a contour tracking algorithm can be used to track the edge image of the arc-extinguishing plate to further determine the precise shape and position of the edge of the arc-extinguishing plate. The distance between all arc-extinguishing plates and the pipe end edge of the steel pipe is determined, and the arc-extinguishing plate with the closest distance is selected as the arc-extinguishing plate connected to the steel pipe. After obtaining the edge image, the center point coordinates and deviation angle of the arc-extinguishing plate are generated based on the edge image.

[0037] Generate center point coordinates based on edge image, including: The coordinates of the arc plate's centroid are obtained by taking a weighted average of the coordinates of all pixels in the edge image. Specifically, after acquiring the edge image, all pixels in the edge image are traversed to obtain the coordinates and pixel value of each pixel. The weighted sum of the horizontal coordinates and vertical coordinates of all pixels is calculated, as well as the sum of the pixel values ​​of all pixels. The ratio of the weighted sum of the horizontal coordinates to the total is used as the horizontal coordinate of the centroid, and the ratio of the weighted sum of the vertical coordinates to the total is used as the vertical coordinate of the centroid.

[0038] It can be understood that the arc plate centroid coordinates are the coordinates of the center point of the arc striking and extinguishing plate.

[0039] Generate deviation angles based on edge images, including: The tangent direction of each pixel point on the edge of the edge image is determined, the angle between each tangent direction and a preset reference direction is calculated, and a plurality of the angles are statistically analyzed to obtain the deviation angle of the arc striking and extinguishing plate.

[0040] Specifically, for each pixel on the edge of the edge image of the arc-ignition plate, the tangent direction of each pixel is calculated. In this embodiment, the tangent direction of each pixel is approximated by calculating the gradient direction at that pixel. Specifically, the gradient vector of each pixel is obtained by calculating the horizontal and vertical gradients of the edge image. The direction of the gradient vector is the tangent direction of that pixel.

[0041] The steel pipe axis is determined as the preset reference direction. Calculate the angle between the tangent direction angle and the reference direction angle for each pixel on the edge. Specifically, use vector operations to perform a dot product operation on the tangent direction vector and the reference direction vector, then use the inverse cosine function to obtain the angle at that pixel.

[0042] When statistically analyzing the angles of multiple pixel points, the average value or median value of the multiple angles is calculated, and the average value or median value is determined as the final deviation angle of the arc striking and extinguishing plate.

[0043] S103: determining a first identification area according to the preset width and length of the arc striking and extinguishing plate, the circle center coordinates, the center point coordinates and the deviation angle, and constraining the first identification area based on preset boundary restriction parameters to obtain a second identification area.

[0044] In this step, determining the first identification area narrows the image scope to be processed, improving the accuracy and efficiency of the subsequent cutting process. Furthermore, the first identification area preliminarily defines the approximate area where the arc-fighting plate to be cut resides, preventing the positioning of the next arc-fighting plate from being affected by previously cut plates and reducing unnecessary image data processing. By applying boundary constraint parameters, interference from adjacent arc-fighting plates can be further eliminated, further refining the identification area of ​​the arc-fighting plate to be cut.

[0045] By constraining the first recognition area with boundary restriction parameters, a second recognition area is generated. This second recognition area focuses more closely on the arc-igniting plate to be cut, reducing interference from irrelevant information and improving the accuracy and efficiency of subsequent cutting. This also reduces computational costs and speeds up processing.

[0046] Furthermore, determining the first identification area includes: generating the center position coordinates of the first identification area according to the circle center coordinates, the center point coordinates, and the deviation angle; and generating the width and length of the first identification area according to the width and length of the arc ignition plate. Specifically, the formula for generating the center position coordinates, width, and length of the first identification area is: ; in, and are the horizontal and vertical coordinates of the center position of the first recognition area, is the width of the first identification area, is the length of the first identification area, is the horizontal coordinate in the center coordinates, and are the horizontal and vertical coordinates of the center point coordinates, is the deviation angle, is the length of the arc striking and extinguishing plate, is the width of the arc striking and extinguishing plate, is the scale factor, is the buffer ratio. The value range of the proportional factor and the buffer ratio are both 0-1.

[0047] Furthermore, the formula for constraining the first recognition area based on the preset boundary restriction parameters is: ; in, and are the horizontal and vertical coordinates of the center position of the second recognition area, is the width of the second identification area, is the length of the second identification area, M and N are the width and length of the pipe end image respectively.

[0048] The preset boundary restriction parameters include the width and length of the pipe end image of the steel pipe.

[0049] S104: Determine the pipe end image corresponding to the second recognition area as a target pipe end image; wherein the target pipe end image is used for cutting the arc striking and extinguishing plate.

[0050] In this step, the target pipe end image is used for the specific image area of ​​the arc-initiating and extinguishing plate cutting process, providing an accurate image basis for subsequent cutting operations.

[0051] The image corresponding to the second recognition area is used as the target pipe end image, so that the cutting operation can be performed directly based on the target pipe end image, avoiding blind processing of the entire pipe end image.

[0052] The target tube end image more accurately reflects the actual condition of the arc-ignition plate to be cut, helping to improve cutting accuracy and quality. At the same time, it can also reduce errors and waste during the cutting process and improve production efficiency.

[0053] Furthermore, in the arc-ignition plate cutting and positioning method in the above embodiment, see Figure 2 , specifically also includes the following steps: S105: Acquire a first image of the pipe end of the steel pipe through a visual camera.

[0054] In this step, the visual camera is used to capture the steel pipe end to obtain a first image of the steel pipe end, providing a basis for subsequent processing and analysis.

[0055] S106: grayscale the first image of the pipe end to obtain a grayscale image and calculate an average brightness value of the grayscale image.

[0056] In this step, the first color tube end image is converted into a grayscale image to simplify the image data. At the same time, the average brightness value of the grayscale image is calculated to quantify the overall brightness of the image and provide a basis for determining whether the camera exposure is appropriate. Specifically, the formula for calculating the average brightness value is: ; in, is the average brightness value of the grayscale image, M and N are the width and length of the pipe end image respectively. Indicates that the coordinates on the grayscale image are Pixels g Grayscale.

[0057] S107: Determine if the difference between the average brightness value and a preset target average brightness value is less than a fluctuation threshold of the target average brightness value, and adjust the exposure parameter of the visual camera based on the average brightness value and the target average brightness value.

[0058] In this step, the calculated average brightness value is compared with the preset target average brightness value. If the difference is less than the fluctuation threshold, it indicates that the current image brightness is close to the target brightness. Based on this difference, the visual camera exposure parameters are adjusted to bring the exposure closer to the ideal state. If the difference is greater than or equal to the fluctuation threshold, the visual camera exposure is adjusted and a second image of the steel pipe end is captured again using the visual camera. This continues until the difference between the average brightness value and the preset target average brightness value is less than the fluctuation threshold.

[0059] In this step, the exposure parameters of the visual camera are adjusted based on the average brightness value and the target average brightness value, including: generating an exposure compensation coefficient according to the average brightness value and the target average brightness value; compensating the current exposure parameters of the visual camera by using the exposure compensation coefficient to obtain the adjusted exposure parameters of the visual camera.

[0060] The specific compensation formula is as follows: ; in, is the adjusted visual camera exposure parameter; is the current visual camera exposure parameter; Generate an exposure compensation coefficient according to the average brightness value and the target average brightness value; K It is the sensitivity adjustment coefficient, and its value range is between 0 and 1. is the target average brightness value, is the average brightness value of the grayscale image; is the difference between the target average brightness value and the average brightness of the grayscale image; is the preset fluctuation threshold, which is the conditional dynamic for terminating the cycle.

[0061] It should be noted that the fluctuation threshold can be set according to usage requirements. The smaller the fluctuation threshold, the closer the average brightness of the grayscale image is to the target average brightness value, and the better the quality of the first image at the pipe end.

[0062] In the above formula, To adjust the weight, the adjustment range formula is as follows: ; in, To control the sensitivity to dark areas, the value range is between 0 and 1. The larger the value, the greater the adjustment; To control the sensitivity to bright light areas, the value range is between 0 and 1. The larger the value, the greater the adjustment amplitude. Tanh is the hyperbolic tangent function. and It is the maximum average brightness value and the minimum average brightness value that are set.

[0063] It should be noted that in this step, The coefficient realizes dynamic adaptation of adjustment sensitivity, so that exposure adjustment has both fast response capability and fine adjustment under different brightness deviation conditions, thus ensuring efficient and smooth adjustment process; and through dynamic weight function Smoothly optimize the adjustment process to achieve adaptive control in complex lighting environments, specifically optimize the adjustment range for low-light and high-light scenes, and ensure high-precision, real-time exposure control in dynamic environments and extreme lighting conditions.

[0064] S108: Controlling the visual camera to acquire an image of the pipe end of the steel pipe according to the adjusted exposure parameter.

[0065] In this step, the visual camera is controlled to capture a second image of the pipe end using the adjusted exposure parameters. This ensures that the newly captured second image meets the required brightness and accurately reflects the characteristics of the pipe end, facilitating subsequent cutting operations. Adjusting the visual camera's exposure parameters to achieve an appropriate brightness for the captured pipe end image improves the accuracy and reliability of image analysis.

[0066] As can be seen from the above description, the arc-extinguishing plate cutting positioning method provided in this embodiment can accurately locate the position of the arc-extinguishing plate to be cut by accurately obtaining the center coordinates, center point coordinates and deviation angles from the pipe end image, thereby avoiding cutting errors caused by inaccurate position and posture judgment. By determining the first recognition area to narrow the image range that needs to be processed, the accuracy and efficiency of subsequent cutting processing are improved, while also avoiding the influence of the cut arc-extinguishing plate on the positioning of the arc-extinguishing plate to be cut, thereby reducing unnecessary image data processing. The first recognition area is constrained by boundary restriction parameters to obtain a second recognition area. The second recognition area is more focused on the arc-extinguishing plate to be cut, reducing the interference of irrelevant information and improving the accuracy and efficiency of subsequent cutting processing. At the same time, it can also reduce computing costs and speed up processing. The image corresponding to the second recognition area is used as the target pipe end image, so that the cutting operation can be performed directly based on the target pipe end image, avoiding blind processing of the entire pipe end image.

[0067] Although the various steps in the above embodiment are described in the above-mentioned order, those skilled in the art will understand that in order to achieve the effect of this embodiment, different steps do not have to be executed in such an order. They can be executed simultaneously (in parallel) or in a reverse order. These simple changes are within the scope of protection of the present invention.

[0068] The embodiment of the present invention also provides a steel pipe arc-initiating plate detection system using the above arc-initiating plate cutting and positioning method, see Figure 3 As shown, the steel pipe arc striking and extinguishing plate detection system includes: a visual camera 11, a camera shield 12, a laser sensor 13, a drag chain 14, a steel pipe rotating roller 15 and an arc striking and extinguishing plate 16.

[0069] The visual camera 11 is mounted on a camera bracket and housed within a camera protective cover 12. Its position is controlled by a servo motor via a drag chain 14. A laser sensor 13, mounted in front of the camera 11, uses reflected light signals to precisely locate the arc-initiating and extinguishing plate 16, thereby adjusting the position of the camera 11 to capture images of the steel pipe end. Furthermore, the feedback from the laser sensor 13 controls the rotation of the rotating roller 15, ensuring that the arc-initiating and extinguishing plate 16 is precisely positioned 180 degrees horizontally.

[0070] See also Figure 4 As shown in the flow chart, the steel pipe arc striking and extinguishing plate detection system in this embodiment initializes the visual camera, obtains the steel pipe end image through the visual camera, performs grayscale processing on the steel pipe end image, and calculates the average brightness of the grayscale image obtained by the grayscale processing.

[0071] If the absolute value of the difference between the average brightness value and the target brightness value is less than the fluctuation threshold , then image processing is performed. If the absolute value of the difference between the average brightness value and the target brightness value is greater than or equal to the fluctuation threshold , then re-acquire the steel pipe end image through the visual camera. Until the absolute value of the difference between the average brightness value and the target brightness value is less than .

[0072] By adaptively adjusting the exposure of the visual camera, clear images can be obtained in both strong and dark light environments, facilitating subsequent precise positioning and trajectory planning, thereby improving cutting accuracy and efficiency.

[0073] When the absolute value of the difference between the average brightness value and the target brightness value is less than the fluctuation threshold, image processing is performed, which includes: extracting the center coordinates of the pipe end edge of the steel pipe, the center point coordinates of the arc striking and extinguishing plate and the deviation angle based on the steel pipe end picture; and determining the first identification area according to the preset width and length, center coordinates, center point coordinates and deviation angle of the arc striking and extinguishing plate.

[0074] Among them, the visual camera 11 of the present invention captures the image of the pipe end from top to bottom. Therefore, when calculating the center coordinates of the pipe end edge of the steel pipe, the pipe end edge is corrected to a perfect circle for calculation. The correction process is an existing technology, such as affine transformation algorithms, which will not be repeated here.

[0075] The purpose of extracting the center coordinates in the present invention is to preliminarily determine the position of the ROI area in the image. The coordinates are only used as a reference point in the image space for the rough positioning of the arc striking and extinguishing plate area in the image, and are not directly used for physical positioning in three-dimensional space.

[0076] The center coordinates described in the specification are two-dimensional image space coordinates obtained by fitting the image processing algorithm after the edge of the steel pipe is identified by the visual image processing algorithm, rather than the world coordinates in the three-dimensional space.

[0077] The physical positioning in the subsequent system is based on the coordinate mapping relationship from the image space to the actual space after the system calibration is completed. This mapping relationship is converted through calibration parameters such as camera intrinsic parameters and extrinsic parameters, so the cutting accuracy will not be affected by the perspective distortion in the image.

[0078] In other words, the coordinates of the circle center are obtained by identification in the image space and are used for rough positioning of the dynamic ROI area. They are not used as a direct basis for calculating the physical space coordinates of the arc ignition plate. The actual positioning reference coordinates are obtained by the conversion relationship from the image space to the world coordinate space completed by the system calibration.

[0079] It should be noted that the first recognition area is the ROI (Region of Interest) rectangular area.

[0080] By dynamically adjusting the ROI rectangular area, a second recognition area can be obtained, and the steel pipe end image corresponding to the second recognition area is determined to be the target pipe end image. The target pipe end image contains the arc striking and extinguishing plate information. The target pipe end image is uploaded to the host computer as upload data, so that the host computer can cut the arc striking and extinguishing plate according to the target pipe end image.

[0081] The steel pipe arc striking and extinguishing plate detection system in this embodiment is used to execute the steps of the above-mentioned arc striking and extinguishing plate cutting and positioning method. The specific execution process can refer to the embodiment of the above-mentioned arc striking and extinguishing plate cutting and positioning method, which will not be repeated here.

[0082] As can be seen from the above description, by dynamically adjusting the visual camera exposure and the ROI rectangular recognition area, we overcome the recognition difficulties caused by light source influence and waste interference, reducing misjudgments and positioning deviations. This improves the detection speed and positioning accuracy during the arc-initiating and extinguishing plate cutting process of steel pipes, reducing the false detection rate and missed detection rate. At the same time, it has high environmental adaptability, a wide range of applications, and high stability.

[0083] A second embodiment of the present invention provides an arc-initiating and extinguishing plate cutting and positioning system, comprising: An acquisition module is used to obtain images of the pipe ends of steel pipes; a detection module, configured to extract, based on the pipe end image, the center coordinates of the pipe end edge of the steel pipe, and the center coordinates and deviation angle of the arc striking and extinguishing plate connected to the pipe end edge; wherein the deviation angle is the angle between the arc striking and extinguishing plate and the horizontal plane; an area module, configured to determine a first identification area based on a preset width and length of the arc striking and extinguishing plate, the coordinates of the circle center, the coordinates of the center point, and the deviation angle, and to constrain the first identification area based on preset boundary restriction parameters to obtain a second identification area; A processing module is used to determine that the pipe end image corresponding to the second recognition area is a target pipe end image; wherein, the target pipe end image is used to perform cutting processing on the arc striking and extinguishing plate.

[0084] Furthermore, the detection module includes: The first coordinate unit is used to extract the pipe end image through an edge detection algorithm to obtain the pipe end edge image of the steel pipe; based on the weighted average of the coordinates of all pixel points in the pipe end edge image, the pipe end centroid coordinates are obtained; wherein the pipe end centroid coordinates are the center coordinates of the pipe end edge.

[0085] Furthermore, the detection module further includes: The second coordinate unit is used to extract the pipe end image through an edge detection algorithm to obtain an edge image of the arc striking and extinguishing plate connected to the pipe end edge image; and generate the center point coordinates and the deviation angle based on the edge image.

[0086] Furthermore, the second coordinate unit includes: A coordinate subunit, configured to obtain the arc plate centroid coordinates by performing weighted averaging on the coordinates of all pixel points in the edge image; wherein the arc plate centroid coordinates are the coordinates of the center point of the arc ignition plate; The deviation angle subunit is used to determine the tangent direction of each pixel point on the edge of the edge image, calculate the angle between each tangent direction and a preset reference direction; and perform statistical analysis on multiple angles to obtain the deviation angle of the arc striking and extinguishing plate.

[0087] Furthermore, the regional module includes: The area unit is used to generate the center position coordinates of the first identification area according to the center coordinates, the center point coordinates and the deviation angle; and generate the width and length of the first identification area according to the width and length of the arc striking and extinguishing plate.

[0088] Furthermore, the arc striking and extinguishing plate cutting and positioning system further includes: An image module, used for acquiring a first image of the pipe end of the steel pipe through a visual camera; a calculation module, configured to grayscale the first image of the pipe end to obtain a grayscale image and calculate an average brightness value of the grayscale image; an exposure module, configured to determine that a difference between the average brightness value and a preset target average brightness value is less than a fluctuation threshold of the target average brightness value, and adjust an exposure parameter of a visual camera based on the average brightness value and the target average brightness value; The feedback module is used to control the visual camera to obtain the pipe end image of the steel pipe according to the adjusted exposure parameter.

[0089] Furthermore, the exposure module includes: a coefficient unit, configured to generate an exposure compensation coefficient according to the average brightness value and the target average brightness value; The compensation unit is used to compensate the current exposure parameter of the visual camera by using the exposure compensation coefficient to obtain the exposure parameter of the adjusted visual camera.

[0090] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working process and related instructions of the system described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0091] It should be noted that the arc-initiating plate cutting and positioning system provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be further decomposed or combined. For example, the modules in the above embodiment can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps and are not to be regarded as improper limitations on the present invention.

[0092] An electronic device according to a third embodiment of the present invention includes: at least one processor; and a memory communicatively coupled to at least one of said processors; The memory stores instructions that can be executed by the processor, and the instructions are used to be executed by the processor to implement the above-mentioned arc striking and extinguishing plate cutting and positioning method.

[0093] A fourth embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to be executed by the computer to implement the above-mentioned arc striking and extinguishing plate cutting and positioning method.

[0094] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes and related instructions of the storage device and processing device described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0095] Those skilled in the art should be able to appreciate that the modules and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two, and the programs corresponding to the software modules and method steps can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the art. In order to clearly illustrate the interchangeability of electronic hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0096] Reference below Figure 5, which shows a structural diagram of a computer system of a server for implementing the method, system, and device embodiments of the present application. Figure 5 The server shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0097] like Figure 5 As shown, the computer system includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage part 508 to the random access memory (RAM) 503. Various programs and data required for system operation are also stored in the RAM 503. The CPU 501, ROM 502 and RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0098] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, and the like; an output section 507 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and the like, is installed in the drive 510 as needed so that a computer program read therefrom can be installed into the storage section 508 as needed.

[0099] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 509, and / or installed from the removable medium 511. When the computer program is executed by the central processing unit (CPU) 501, the above-mentioned functions defined in the method of the present application are executed. It should be noted that the computer-readable medium mentioned above in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code embodied on a computer-readable medium may be transmitted using any suitable medium, including, but not limited to, wireless, wire, optical cable, RF, etc., or any suitable combination thereof.

[0100] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0101] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0102] The terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a particular order or sequence.

[0103] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0104] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A method for cutting and positioning an arc striking plate, characterized in that: include: Acquire the pipe end image of the steel pipe; Extracting the center coordinates of the pipe end edge of the steel pipe based on the pipe end image, and extracting the center coordinates and deviation angle of the arc striking and extinguishing plate connected to the pipe end edge; wherein the deviation angle is the angle between the arc striking and extinguishing plate and the horizontal plane; Determine a first identification area according to the preset width and length of the arc ignition plate, the circle center coordinates, the center point coordinates, and the deviation angle, and constrain the first identification area based on preset boundary restriction parameters to obtain a second identification area; The pipe end image corresponding to the second recognition area is determined as a target pipe end image; wherein the target pipe end image is used for cutting the arc striking and extinguishing plate.

2. The arc striking and extinguishing plate cutting and positioning method according to claim 1, characterized in that: The step of extracting the center coordinates of the pipe end edge of the steel pipe includes: Extracting the pipe end image by an edge detection algorithm to obtain a pipe end edge image of the steel pipe; The pipe end centroid coordinates are obtained based on weighted averaging of the coordinates of all pixel points in the pipe end edge image; wherein the pipe end centroid coordinates are the center coordinates of the pipe end edge.

3. The arc striking and extinguishing plate cutting and positioning method according to claim 2, characterized in that: The extracting of the center point coordinates and the deviation angle of the arc striking and extinguishing plate connected to the pipe end edge includes: Extracting the pipe end image by an edge detection algorithm to obtain an edge image of the arc striking and extinguishing plate connected to the pipe end edge image; The center point coordinates and the deviation angle are generated based on the edge image.

4. The arc striking and extinguishing plate cutting and positioning method according to claim 3, characterized in that: The generating the center point coordinates and the deviation angle based on the edge image includes: Obtaining the centroid coordinates of the arc plate by performing weighted averaging on the coordinates of all pixel points in the edge image; Wherein, the arc plate centroid coordinates are the center point coordinates of the arc striking and extinguishing plate; Determining the tangent direction of each pixel point on the edge of the edge image, and calculating the angle between each tangent direction and a preset reference direction; Statistical analysis is performed on a plurality of the included angles to obtain the deviation angle of the arc striking and extinguishing plate.

5. The arc striking and extinguishing plate cutting and positioning method according to claim 1, characterized in that: The determining of the first identification area according to the preset width and length of the arc striking and extinguishing plate, the circle center coordinates, the center point coordinates and the deviation angle includes: generating the center position coordinates of the first recognition area according to the circle center coordinates, the center point coordinates and the deviation angle; The width and length of the first identification area are generated according to the width and length of the arc striking and extinguishing plate.

6. The arc striking and extinguishing plate cutting and positioning method according to claim 1, characterized in that: Also includes: Acquire a first image of the pipe end of the steel pipe by using a visual camera; grayscale the first image of the pipe end to obtain a grayscale image and calculate an average brightness value of the grayscale image; determining that a difference between the average brightness value and a preset target average brightness value is less than a fluctuation threshold of the target average brightness value, and adjusting an exposure parameter of a visual camera based on the average brightness value and the target average brightness value; The visual camera is controlled according to the adjusted exposure parameter to obtain an image of the pipe end of the steel pipe.

7. The arc striking and extinguishing plate cutting and positioning method according to claim 6, characterized in that: The adjusting the exposure parameter of the visual camera based on the average brightness value and the target average brightness value includes: generating an exposure compensation coefficient according to the average brightness value and the target average brightness value; The current exposure parameter of the visual camera is compensated by the exposure compensation coefficient to obtain the exposure parameter of the adjusted visual camera.

8. An arc striking and extinguishing plate cutting and positioning system, characterized in that: include: An acquisition module is used to obtain images of the pipe ends of steel pipes; a detection module, configured to extract, based on the pipe end image, the center coordinates of the pipe end edge of the steel pipe, and the center coordinates and deviation angle of the arc striking and extinguishing plate connected to the pipe end edge; wherein the deviation angle is the angle between the arc striking and extinguishing plate and the horizontal plane; an area module, configured to determine a first identification area based on a preset width and length of the arc striking and extinguishing plate, the coordinates of the circle center, the coordinates of the center point, and the deviation angle, and to constrain the first identification area based on preset boundary restriction parameters to obtain a second identification area; A processing module is used to determine that the pipe end image corresponding to the second recognition area is a target pipe end image; wherein, the target pipe end image is used to perform cutting processing on the arc striking and extinguishing plate.

9. An electronic device, characterized in that: include: at least one processor; and a memory communicatively coupled to at least one of said processors; The memory stores instructions that can be executed by the processor, and the instructions are used to be executed by the processor to implement the arc striking and extinguishing plate cutting and positioning method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to be executed by the computer to implement the arc striking and extinguishing plate cutting and positioning method according to any one of claims 1 to 7.

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