Arc extinguishing plate cutting positioning method, system and device

Abstract

The present application belongs to the technical field of detection cutting, and particularly relates to a cutting positioning method, system and device for arc extinguishing plates. The present application aims to solve the problems of low cutting precision and low work efficiency in the cutting process of arc extinguishing plates. The present application accurately positions the arc extinguishing plate by using the center coordinates, center point coordinates and deviation angle, so as to avoid cutting errors caused by inaccurate position and posture. The first recognition area is used to reduce the image range, so as to avoid the influence of the cut arc extinguishing plate on the positioning of the to-be-cut arc extinguishing plate. The second recognition area is obtained by the constraint of the boundary limit parameter, and the second recognition area is more focused on the to-be-cut arc extinguishing plate, thereby improving the accuracy and efficiency of the subsequent cutting process. The image corresponding to the second recognition area is used as the target pipe end image, so that the cutting operation can be directly based on the target pipe end image, thereby avoiding blind processing of the entire pipe end image.

Description

Technical Field

[0001] This invention belongs to the field of detection and cutting technology, and specifically relates to a method, system and equipment for cutting and positioning an arc extinguishing plate. Background Technology

[0002] During steel pipe welding, to ensure weld quality, arc-starting and arc-extinguishing plates are typically placed at the start and end points of the weld. These plates guide the initiation and termination of the electric arc, preventing weld defects caused by directly striking and extinguishing the arc on the steel pipe itself. After welding, the arc-starting and arc-extinguishing plates need to be cut.

[0003] In practical applications, vision-based detection methods are widely used for locating arc-extinguishing plates. After locating the arc-extinguishing plate, an automated cutting robot can quickly and accurately determine the position of the arc-extinguishing plate and the cutting point. By using an automated cutting robot to cut the arc-extinguishing plate, the cutting accuracy and efficiency can be improved, pipe material loss can be reduced, and safety hazards can be minimized.

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

[0005] To address the aforementioned problems in the prior art, the present invention provides a method for cutting and positioning an arc-extinguishing plate, comprising:

[0006] Obtain an image of the pipe end of the steel pipe;

[0007] Based on the pipe end image, the center coordinates of the edge of the pipe end are extracted, as well as the center point coordinates and deviation angle of the arc extinguishing plate connected to the edge of the pipe end; wherein, the deviation angle is the angle between the arc extinguishing plate and the horizontal plane.

[0008] The first identification area is determined based on the preset width and length of the extinguishing plate, the center coordinates, the center point coordinates, and the deviation angle. The second identification area is obtained by constraining the first identification area based on preset boundary restriction parameters.

[0009] The tube end image corresponding to the second identification area is determined as the target tube end image; wherein, the target tube end image is used to cut the arc extinguishing plate.

[0010] Further, the extraction of the center coordinates of the edge of the steel pipe end includes:

[0011] The edge image of the pipe end is obtained by extracting the pipe end image using an edge detection algorithm;

[0012] The centroid coordinates of the pipe end are obtained by weighted averaging of the coordinates of all pixels in the pipe end edge image; wherein the centroid coordinates of the pipe end are the center coordinates of the pipe end edge.

[0013] Further, extracting the center point coordinates and deviation angle of the arc-extinguishing plate connected to the edge of the pipe end includes:

[0014] The edge image of the extinguishing plate connected to the edge image of the pipe end is obtained by extracting the pipe end image using an edge detection algorithm;

[0015] The center point coordinates and the deviation angle are generated based on the edge image.

[0016] Further, generating the center point coordinates and the deviation angle based on the edge image includes:

[0017] The centroid coordinates of the arc plate are obtained by taking a weighted average of the coordinates of all pixels in the edge image.

[0018] Wherein, the centroid coordinates of the arc plate are the coordinates of the center point of the arc plate;

[0019] Determine the tangent direction of each pixel on the edge of the edge image, and calculate the angle between each tangent direction and a preset reference direction;

[0020] The deviation angle of the extinguishing plate is obtained by statistical analysis of multiple included angles.

[0021] Further, determining the first identification area based on the preset width and length of the extinguishing arc plate, the coordinates of the center of the circle, the coordinates of the center point, and the deviation angle includes:

[0022] The center position coordinates of the first identification area are generated based on the center coordinates, the center point coordinates, and the deviation angle.

[0023] The width and length of the first identification area are generated based on the width and length of the arc extinguishing plate.

[0024] Furthermore, it also includes:

[0025] The first image of the end of the steel pipe is obtained using a vision camera;

[0026] The first image at the tube end is converted to grayscale to obtain a grayscale image, and the average brightness value of the grayscale image is calculated.

[0027] If the difference between the average brightness value and the preset target average brightness value is less than the fluctuation threshold of the target average brightness value, then the exposure parameters of the visual camera are adjusted based on the average brightness value and the target average brightness value.

[0028] The visual camera is controlled to acquire images of the pipe ends of the steel pipe based on the adjusted exposure parameters.

[0029] Further, adjusting the exposure parameters of the visual camera based on the average brightness value and the target average brightness value includes:

[0030] An exposure compensation coefficient is generated based on the average brightness value and the target average brightness value;

[0031] The exposure compensation coefficient is used to compensate for the current exposure parameters of the visual camera, thereby obtaining the adjusted exposure parameters of the visual camera.

[0032] In another aspect, the present invention provides a cutting and positioning system for an arc-extinguishing plate, comprising:

[0033] The acquisition module is used to acquire images of the pipe ends of the steel pipe;

[0034] The detection module is used to extract the center coordinates of the edge of the pipe end of the steel pipe based on the pipe end image, and to extract the center point coordinates and deviation angle of the arc extinguishing plate connected to the edge of the pipe end; wherein, the deviation angle is the angle between the arc extinguishing plate and the horizontal plane;

[0035] The region module is used to determine a first identification region based on the preset width and length of the extinguishing plate, the center coordinates, the center point coordinates, and the deviation angle, and to constrain the first identification region based on preset boundary restriction parameters to obtain a second identification region.

[0036] The processing module is used to determine that the pipe end image corresponding to the second identification area is the target pipe end image; wherein, the target pipe end image is used to cut the arc extinguishing plate.

[0037] A third aspect of the present invention provides an electronic device comprising:

[0038] At least one processor;

[0039] and a memory communicatively connected to at least one of the processors;

[0040] The memory stores instructions that can be executed by the processor to implement the above-described arc-extinguishing plate cutting and positioning method.

[0041] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions for execution by a computer to implement the above-described arc-extinguishing plate cutting and positioning method.

[0042] As described above, this embodiment provides a method, system, and device for cutting and positioning an arc-extinguishing plate. By accurately obtaining the center coordinates, center point coordinates, and deviation angle from the pipe-end image, the position of the arc-extinguishing plate to be cut can be accurately located, avoiding cutting errors caused by inaccurate position and orientation judgments. By determining a first identification region, the image range to be processed is narrowed, improving the accuracy and efficiency of subsequent cutting processing while avoiding the influence of already cut arc-extinguishing plates on the positioning of the arc-extinguishing plate to be cut, reducing unnecessary image data processing. A second identification region is obtained by constraining the first identification region with boundary limitation parameters. The second identification region is more focused on the arc-extinguishing plate to be cut, reducing interference from irrelevant information and improving the accuracy and efficiency of subsequent cutting processing. Simultaneously, it can also reduce computational costs and accelerate processing speed. Using the image corresponding to the second identification region as the target pipe-end image allows the cutting operation to be performed directly based on the target pipe-end image, avoiding blind processing of the entire pipe-end image. Attached Figure Description

[0043] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0044] Figure 1 This is a schematic flowchart of a method for cutting and positioning an arc-extinguishing plate according to an embodiment of the present invention.

[0045] Figure 2 This is a flowchart illustrating another method for cutting and positioning an arc-extinguishing plate provided in an embodiment of the present invention.

[0046] Figure 3 This is a schematic diagram of the structure of a steel pipe arc extinguishing plate detection system provided in an embodiment of the present invention.

[0047] Figure 4 This is a flowchart of the steel pipe arc extinguishing plate detection system provided in an embodiment of the present invention.

[0048] Figure 5 This is a schematic diagram of the structure of a computer system used to implement the methods, systems, and devices of this application. Detailed Implementation

[0049] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0050] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0051] To more clearly illustrate the method for cutting and positioning an arc-extinguishing plate provided in the embodiments of the present invention, the following description is in conjunction with... Figure 1 The steps in the embodiments of the present invention will be described in detail below.

[0052] The first embodiment of the present invention provides a cutting and positioning method for an arc-extinguishing plate, including steps S101-S104, each of which is described in detail below:

[0053] S101: Obtain the image of the pipe end of the steel pipe.

[0054] In this step, a vision camera is used to photograph the end of the steel pipe to obtain an image of the pipe end. It should be noted that the photographed pipe end image includes the steel pipe end, the arc-extinguishing plate connected to the steel pipe end, and other arc-extinguishing plates that have been cut off and are not connected to the steel pipe end.

[0055] This step records the actual condition of the steel pipe end and the connected arc-extinguishing plate through pipe-end images, providing a basis for accurate extraction of relevant information later. Furthermore, the vision camera can obtain clear and complete pipe-end images, which helps to more accurately extract the center coordinates, center point coordinates, and deviation angle. This improves the accuracy and reliability of the arc-extinguishing plate's cutting positioning.

[0056] S102: Based on the pipe end image, extract the center coordinates of the edge of the steel pipe end, and extract the center point coordinates and deviation angle of the extinguishing plate connected to the edge of the pipe end; wherein, the deviation angle is the angle between the extinguishing plate and the horizontal plane.

[0057] In this step, based on the pipe end image, the position of the steel pipe end, the position of the arc-extinguishing plate, and the attitude of the arc-extinguishing plate can be accurately obtained. Among them, the center coordinates can determine the center position of the steel pipe end, the center point coordinates can determine the position of the arc-extinguishing plate, and the deviation angle can reflect the inclination of the arc-extinguishing plate relative to the horizontal plane.

[0058] The position and orientation of the steel pipe end and the arc-extinguishing plate in the image can be accurately described by the center coordinates, the center point coordinates, and the deviation angle, so that the appropriate ROI (Region of Interest) can be delineated based on this information.

[0059] Understandably, extracting the center coordinates, center point coordinates, and angle helps in accurately determining the subsequent identification area, avoiding cutting errors caused by inaccurate position and orientation judgments. Simultaneously, this information can also be used to assess whether the installation of the arc-extinguishing plate meets the requirements.

[0060] Specifically, the coordinates of the center of the edge of the steel pipe end are extracted based on the pipe end image, including:

[0061] The pipe end edge image is obtained by extracting the pipe end image using an edge detection algorithm; the centroid coordinates of the pipe end are obtained by weighted averaging of the coordinates of all pixels in the pipe end edge image. It should be noted that the centroid coordinates of the pipe end are the coordinates of the center of the circle at the pipe end edge.

[0062] In extracting the center coordinates of the pipe end edge, this embodiment employs an edge detection algorithm. This algorithm first uses a Gaussian filter to denoise the pipe end image, then calculates the gradient magnitude and direction of the pipe end image, performs non-maximum suppression on the pipe end image to remove unnecessary edge responses, and finally extracts the edge contour of the pipe end through double threshold detection and edge connection based on the steel pipe, i.e., the edge image of the pipe end. After obtaining the edge contour of the steel pipe end, 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.

[0063] After acquiring the pipe edge image, iterate through all pixels within the pipe edge image to obtain the coordinates and pixel value of each pixel. Calculate the weighted sum of the x-coordinates, the weighted sum of the y-coordinates, and the sum of the pixel values ​​of all pixels. Use the ratio of the weighted sum of the x-coordinates to the total sum as the x-coordinate of the centroid, and the ratio of the weighted sum of the y-coordinates to the total sum as the y-coordinate of the centroid.

[0064] It should be noted that the weighted sum of the horizontal coordinates refers to summing the weighted values ​​of the horizontal coordinates. The weighted sum of the vertical coordinates refers to summing the weighted values ​​of 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 a pixel is used as the weight of the horizontal coordinate of that pixel.

[0065] Specifically, the center point coordinates and deviation angle of the arc-extinguishing plate connected to the edge of the pipe end are extracted based on the pipe end image, including:

[0066] An edge image of the extinguishing plate connected to the edge image of the pipe end is obtained by extracting the pipe end image using an edge detection algorithm; the center point coordinates and the deviation angle are generated based on the edge image.

[0067] This embodiment employs an edge detection algorithm. This algorithm first uses a Gaussian filter to denoise the pipe-end image, then calculates the gradient magnitude and direction of the pipe-end image, and performs non-maximum suppression to remove unnecessary edge responses. Finally, through dual-threshold detection and edge connection based on the quenching plate, it extracts the edge contours of all quenching plates, i.e., the edge images of the quenching plates. After obtaining the edge images of the quenching plates, a contour tracking algorithm can be used to track the edge images of the quenching plates to further determine the precise shape and position of the edges of the quenching plates. The distances between all quenching plates and the edge of the steel pipe are determined, and the closest quenching plate is selected as the quenching plate connected to the steel pipe. After obtaining the edge images, the center point coordinates and deviation angle of the quenching plate are generated based on the edge images.

[0068] Generating center point coordinates based on edge images includes:

[0069] The centroid coordinates of the arc plate are obtained by weighted averaging of the coordinates of all pixels within the edge image. Specifically, after acquiring the edge image, all pixels within the edge image are traversed, and the coordinates and pixel value of each pixel are obtained. The weighted sum of the x-coordinates, the weighted sum of the y-coordinates, and the sum of the pixel values ​​of all pixels are calculated respectively. The ratio of the weighted sum of the x-coordinates to the total sum is used as the x-coordinate of the centroid, and the ratio of the weighted sum of the y-coordinates to the total sum is used as the y-coordinate of the centroid.

[0070] It is understandable that the coordinates of the centroid of the arc plate are the coordinates of the center point of the arc plate.

[0071] The deviation angle is generated based on the edge image, including:

[0072] The tangent direction of each pixel on the edge of the edge image is determined, the angle between each tangent direction and a preset reference direction is calculated, and the deviation angle of the extinguishing plate is obtained by statistical analysis of multiple angles.

[0073] Specifically, for each pixel on the edge of the edge image of the extinguishing 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 each pixel. Specifically, the gradient vector of each pixel is obtained by calculating the gradient of the edge image in the horizontal and vertical directions, and the direction of the gradient vector is the tangent direction of that pixel.

[0074] The axis direction of the steel pipe is determined as a preset reference direction. The angle between the tangent direction angle and the reference direction angle is calculated for each pixel on the edge. Specifically, vector operations can be used to perform a dot product between the tangent direction vector and the reference direction vector, and then the angle at that pixel is obtained using the inverse cosine function.

[0075] When performing statistical analysis on the included angles of multiple pixels, the average or median value of the multiple included angles is calculated, and the average or median value is determined as the deviation angle of the final extinguishing plate.

[0076] S103: Determine the first identification area based on the preset width and length of the extinguishing plate, the center coordinates, the center point coordinates, and the deviation angle. Constrain the first identification area based on preset boundary restriction parameters to obtain the second identification area.

[0077] In this step, the image range to be processed is narrowed down by determining the first identification region, improving the accuracy and efficiency of subsequent cutting processing. Furthermore, the first identification region initially defines the approximate location of the arc-extinguishing plate to be cut, avoiding the influence of already cut arc-extinguishing plates on the positioning of the plate to be cut, and reducing unnecessary image data processing. Constraints from adjacent arc-extinguishing plates can be further removed through boundary limitation parameters, making the identification region of the arc-extinguishing plate to be cut more precise.

[0078] By constraining the first identification region with boundary limit parameters, a second identification region is obtained. This second identification region focuses more intently on the arc-extinguishing plate to be cut, reducing interference from irrelevant information and improving the accuracy and efficiency of subsequent cutting processes. Simultaneously, it can also reduce computational costs and accelerate processing speed.

[0079] Further, determining the first identification region includes: generating the center position coordinates of the first identification region based on the center coordinates, center point coordinates, and deviation angle; and generating the width and length of the first identification region based on the width and length of the extinguishing plate. Specifically, the formulas for generating the center position coordinates, width, and length of the first identification region are as follows:

[0080] ;

[0081] in, and These are the x and y coordinates of the center position of the first identification region, respectively. The width of the first recognition region. The length of the first identification region. The x-coordinate of the center of the circle. and These are the x-coordinate and y-coordinate of the center point coordinates, respectively. For the deviation angle, The length of the arc-extinguishing plate, The width of the arc-extinguishing plate, As a scaling factor, The buffer ratio is defined as the buffering ratio, and both the scaling factor and the buffer ratio have values ​​ranging from 0 to 1.

[0082] Furthermore, the formula for constraining the first identification region based on preset boundary limitation parameters is as follows:

[0083] ;

[0084] in, and These are the x and y coordinates of the center position of the second recognition area, respectively. The width of the second recognition region. The length of the second identification region. M and N These are the width and length of the image at the end of the steel pipe, respectively.

[0085] The preset boundary constraint parameters include the width and length of the pipe end image.

[0086] S104: Determine the pipe end image of the corresponding part of the second identification area as the target pipe end image; wherein, the target pipe end image is used to cut the arc extinguishing plate.

[0087] In this step, the target tube end image is used to determine the specific image area for the arc extinguishing plate cutting process, providing accurate image data for subsequent cutting operations.

[0088] By using the image corresponding to the second recognition area as the target tube end image, the cutting operation can be performed directly based on the target tube end image, avoiding blind processing of the entire tube end image.

[0089] The target tube end image more accurately reflects the actual condition of the arc-extinguishing plate to be cut, which helps improve the cutting precision and quality. At the same time, it can also reduce errors and waste during the cutting process and improve production efficiency.

[0090] Furthermore, regarding the arc-extinguishing plate cutting and positioning method in the above embodiments, see [link to documentation]. Figure 2 Specifically, it also includes the following steps:

[0091] S105: Obtain the first image of the end of the steel pipe using a vision camera.

[0092] In this step, a vision camera is used to photograph the end of the steel pipe to obtain the first image of the pipe end. This provides a basis for subsequent processing and analysis.

[0093] S106: Perform grayscale processing on the first image at the tube end to obtain a grayscale image and calculate the average brightness value of the grayscale image.

[0094] In this step, the first color image from the tube end is converted to a grayscale image to simplify the image data. Simultaneously, the average brightness value of the grayscale image is calculated to quantify the overall brightness of the image, providing a basis for determining whether the camera exposure is appropriate. Specifically, the formula for calculating the average brightness value is:

[0095] ;

[0096] in, This represents the average brightness value of the grayscale image. M and N These are the width and length of the image at the end of the steel pipe, respectively. This indicates that the coordinates on the grayscale image are pixels g The grayscale.

[0097] S107: If the difference between the average brightness value and the preset target average brightness value is less than the fluctuation threshold of the target average brightness value, then adjust the exposure parameters of the visual camera based on the average brightness value and the target average brightness value.

[0098] 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. At this point, the exposure parameters of the vision camera are adjusted based on the difference to make the exposure of the vision camera closer to the ideal state. If the difference is greater than or equal to the fluctuation threshold, the exposure of the vision camera needs to be adjusted, and a second image of the pipe end of the steel pipe is re-acquired through the vision camera. This process continues until the difference between the average brightness value and the preset target average brightness value is less than the fluctuation threshold.

[0099] In this step, adjusting the exposure parameters of the visual camera based on the average brightness value and the target average brightness value includes: generating an exposure compensation coefficient based on the average brightness value and the target average brightness value; and compensating the current exposure parameters of the visual camera using the exposure compensation coefficient to obtain the adjusted exposure parameters of the visual camera.

[0100] The specific compensation formula is as follows:

[0101] ;

[0102] in, The adjusted exposure parameters for the visual camera; The current visual camera exposure parameters; To generate an exposure compensation coefficient based on the average brightness value and the target average brightness value;K This is the sensitivity adjustment coefficient, with a value ranging from 0 to 1. The target average brightness value, This represents the average brightness value of the grayscale image. This is the difference between the target average brightness value and the average brightness of the grayscale image. The preset fluctuation threshold is the dynamic condition for terminating the loop.

[0103] It should be noted that the fluctuation threshold can be set according to the 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 tube end.

[0104] In the above formula, To adjust the weights, the adjustment range is calculated using the following formula:

[0105] ;

[0106] in, To control sensitivity to dark areas, the value ranges from 0 to 1; the larger the value, the greater the adjustment range. To control sensitivity to areas of intense light, the value ranges from 0 to 1; the larger the value, the greater the adjustment range. tanh is the hyperbolic tangent function. and These are the set maximum and minimum average brightness values.

[0107] It should be noted that in this step, through The coefficients enable dynamic adaptation of adjustment sensitivity, allowing exposure adjustment to have both rapid response and fine adjustment under different brightness deviations, thus ensuring an efficient and stable adjustment process; and through a dynamic weighting function The smooth and optimized adjustment process enables adaptive control in complex lighting environments, and specifically optimizes the adjustment range for low-light and high-light scenes, ensuring high-precision and real-time exposure control in dynamic environments and extreme lighting conditions.

[0108] S108: Control the vision camera to acquire images of the pipe end of the steel pipe according to the adjusted exposure parameters.

[0109] In this step, the vision camera is controlled to acquire another image of the steel pipe end according to the adjusted exposure parameters. This ensures that the newly acquired second image has a higher brightness requirement, thus accurately reflecting the characteristics of the steel pipe end for subsequent cutting operations. Adjusting the exposure parameters of the vision camera to achieve a suitable brightness in the acquired pipe end image improves the accuracy and reliability of image analysis.

[0110] As described above, the quenching plate cutting and positioning method provided in this embodiment can accurately locate the position of the quenching plate to be cut by precisely obtaining the center coordinates, center point coordinates, and deviation angle from the pipe end image, avoiding cutting errors caused by inaccurate position and attitude judgments. By determining the first identification region, the image range to be processed is narrowed, improving the accuracy and efficiency of subsequent cutting processing while avoiding the influence of the already cut quenching plate on the positioning of the quenching plate to be cut, reducing unnecessary image data processing. By constraining the first identification region with boundary limitation parameters, a second identification region is obtained. The second identification region is more focused on the quenching plate to be cut, reducing interference from irrelevant information and improving the accuracy and efficiency of subsequent cutting processing. At the same time, it can also reduce computational costs and speed up processing. Using the image corresponding to the second identification region as the target pipe end image allows the cutting operation to be performed directly based on the target pipe end image, avoiding blind processing of the entire pipe end image.

[0111] Although the steps in the above embodiments are described in the above order, those skilled in the art will understand that in order to achieve the effect of this embodiment, different steps do not need to be executed in such an order. They can be executed simultaneously (in parallel) or in a reverse order. These simple variations are all within the protection scope of this invention.

[0112] This invention also provides a steel pipe arc-extinguishing plate detection system that applies the above-described arc-extinguishing plate cutting and positioning method, see [link to relevant documentation]. Figure 3 As shown, the steel pipe arc extinguishing plate detection system includes: a vision camera 11, a camera housing 12, a laser sensor 13, a cable chain 14, a steel pipe rotating roller 15, and an arc extinguishing plate 16.

[0113] A vision camera 11 is mounted on a camera bracket and placed inside a camera protective cover 12. The position of the vision camera 11 is controlled by a servo motor via a cable chain 14. A laser sensor 13 is fixed to the front of the vision camera 11 and precisely positions the extinguishing plate 16 using reflected light signals, thereby adjusting the position of the vision camera 11 to acquire images of the steel pipe end. Simultaneously, the rotating roller 15 is controlled to rotate based on the signal feedback from the laser sensor 13, ensuring the extinguishing plate 16 is accurately positioned at a horizontal 180-degree angle.

[0114] See Figure 4 The flowchart shown illustrates the steel pipe arc extinguishing plate detection system in this embodiment. It initializes a vision camera, acquires an image of the steel pipe end using the vision camera, performs grayscale processing on the steel pipe end image, and calculates the average brightness of the resulting grayscale image.

[0115] 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, a new image of the steel pipe end is acquired using the visual camera. This continues until the absolute value of the difference between the average brightness value and the target brightness value is less than [a certain value]. .

[0116] By adaptively adjusting the exposure of the vision camera, clear images can be obtained in both bright and dark environments, facilitating subsequent precise positioning and trajectory planning, thereby improving cutting accuracy and efficiency.

[0117] 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. The image processing includes: extracting the center coordinates of the edge of the steel pipe end, the center point coordinates of the arc extinguishing plate, and the deviation angle based on the image of the steel pipe end; and determining the first recognition area according to the preset width and length of the arc extinguishing plate, the center coordinates, the center point coordinates, and the deviation angle.

[0118] In this invention, the visual camera 11 captures images of the pipe end from top to bottom. Therefore, when calculating the center coordinates of the edge of the pipe end, the edge of the pipe end is corrected to a perfect circle for calculation. This correction process is existing technology, such as affine transformation algorithms, which will not be elaborated here.

[0119] The purpose of extracting the center coordinates in this invention is to preliminarily determine the location of the ROI region in the image. These coordinates are only used as reference points in the image space for coarse positioning of the extinguishing arc plate region in the image, and are not directly used for physical positioning in three-dimensional space.

[0120] The center coordinates described in the instruction manual are two-dimensional image space coordinates obtained by fitting the image processing algorithm after the edge of the steel pipe is identified by a visual image processing algorithm, rather than world coordinates in three-dimensional space.

[0121] The physical positioning in the subsequent system is based on the coordinate mapping relationship from image space to actual space after the system calibration is completed. This mapping relationship is transformed through calibration parameters such as camera intrinsic and extrinsic parameters, so the cutting accuracy will not be affected by the perspective distortion in the image.

[0122] In other words, the center coordinates are obtained from the image space and are used for coarse localization of the dynamic ROI region. They are not used as the direct basis for calculating the physical space coordinates of the extinguishing arc plate. The actual positioning reference coordinates are obtained by the system calibration of the transformation relationship from image space to world coordinate space.

[0123] It should be noted that the first identification area is the ROI (Region of Interest) rectangular area.

[0124] By dynamically adjusting the ROI rectangular area, a second recognition area can be obtained. The image of the steel pipe end corresponding to the second recognition area is determined as the target pipe end image. This target pipe end image contains information about the arc extinguishing plate. The target pipe end image is uploaded to the host computer as upload data so that the host computer can cut the arc extinguishing plate according to the target pipe end image.

[0125] In this embodiment, the steel pipe arc-extinguishing plate detection system is used to execute the steps of the above-mentioned arc-extinguishing plate cutting and positioning method. The specific execution process can be referred to the embodiment of the above-mentioned arc-extinguishing plate cutting and positioning method, and will not be repeated here.

[0126] As described above, by dynamically adjusting the exposure of the vision camera and the ROI rectangular recognition area, the difficulties in recognition caused by light source influence and waste interference are overcome, reducing misjudgments and positioning deviations. This improves the detection speed and positioning accuracy during the cutting of steel pipe arc-extinguishing plates, and lowers the false detection rate and missed detection rate. It also exhibits high environmental adaptability, a wide range of applications, and high stability.

[0127] The second embodiment of the present invention provides a cutting and positioning system for an arc-extinguishing plate, comprising:

[0128] The acquisition module is used to acquire images of the pipe ends of the steel pipe;

[0129] The detection module is used to extract the center coordinates of the edge of the pipe end of the steel pipe based on the pipe end image, and to extract the center point coordinates and deviation angle of the arc extinguishing plate connected to the edge of the pipe end; wherein, the deviation angle is the angle between the arc extinguishing plate and the horizontal plane;

[0130] The region module is used to determine a first identification region based on the preset width and length of the extinguishing plate, the center coordinates, the center point coordinates, and the deviation angle, and to constrain the first identification region based on preset boundary restriction parameters to obtain a second identification region.

[0131] The processing module is used to determine that the pipe end image corresponding to the second identification area is the target pipe end image; wherein, the target pipe end image is used to cut the arc extinguishing plate.

[0132] Furthermore, the detection module includes:

[0133] The first coordinate unit is used to extract the pipe end edge image of the steel pipe from the pipe end image using an edge detection algorithm; and to obtain the centroid coordinates of the pipe end based on a weighted average of the coordinates of all pixels in the pipe end edge image; wherein the centroid coordinates of the pipe end are the center coordinates of the edge of the pipe end.

[0134] Furthermore, the detection module also includes:

[0135] The second coordinate unit is used to extract the edge image of the extinguishing plate connected to the edge image of the pipe end by using an edge detection algorithm; and to generate the center point coordinates and the deviation angle based on the edge image.

[0136] Further, the second coordinate unit includes:

[0137] The coordinate subunit is used to obtain the centroid coordinates of the arc plate by performing a weighted average of the coordinates of all pixels in the edge image; wherein, the centroid coordinates of the arc plate are the coordinates of the center point of the extinguishing arc plate;

[0138] The deviation angle sub-unit is used to determine the tangent direction of each pixel 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 extinguishing plate.

[0139] Furthermore, the region module includes:

[0140] The region unit is used to generate the center position coordinates of the first identification region based on the center coordinates, the center point coordinates, and the deviation angle; and to generate the width and length of the first identification region based on the width and length of the extinguishing arc plate.

[0141] Furthermore, the arc-extinguishing plate cutting and positioning system further includes:

[0142] The image module is used to acquire a first image of the end of the steel pipe using a vision camera;

[0143] The calculation module is used to perform grayscale processing on the first image at the tube end to obtain a grayscale image and calculate the average brightness value of the grayscale image;

[0144] The exposure module is used to determine if the difference between the average brightness value and the preset target average brightness value is less than the fluctuation threshold of the target average brightness value, and then adjust the exposure parameters of the visual camera based on the average brightness value and the target average brightness value.

[0145] The feedback module is used to control the vision camera to acquire images of the pipe end of the steel pipe based on the adjusted exposure parameters.

[0146] Furthermore, the exposure module includes:

[0147] A coefficient unit is used to generate an exposure compensation coefficient based on the average brightness value and the target average brightness value.

[0148] The compensation unit is used to compensate the current exposure parameters of the visual camera using the exposure compensation coefficient, so as to obtain the adjusted exposure parameters of the visual camera.

[0149] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process and related descriptions of the system described above can be found in the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0150] It should be noted that the extinguishing arc plate cutting and positioning system provided in the above embodiments is only an example of the division of the above functional modules. In practical 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 embodiments can be merged 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 various modules or steps and are not considered as an improper limitation of the present invention.

[0151] An electronic device according to a third embodiment of the present invention includes:

[0152] At least one processor;

[0153] and a memory communicatively connected to at least one of the processors;

[0154] The memory stores instructions that can be executed by the processor to implement the above-described arc-extinguishing plate cutting and positioning method.

[0155] A computer-readable storage medium according to a fourth embodiment of the present invention stores computer instructions, which are executed by the computer to implement the above-described arc-extinguishing plate cutting and positioning method.

[0156] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process and related descriptions of the storage device and processing device described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0157] Those skilled in the art will recognize that the modules and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. The programs corresponding to the software modules and method steps can be placed in random access memory (RAM), main 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. To clearly illustrate the interchangeability of electronic hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the invention.

[0158] The following is for reference. Figure 5 It shows a schematic diagram of the structure of a computer system for implementing the methods, systems, and devices of this application. Figure 5 The server shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0159] like Figure 5 As shown, the computer system includes a Central Processing Unit (CPU) 501, which can perform various appropriate actions and processes based on programs stored in Read Only Memory (ROM) 502 or programs loaded from storage section 508 into Random Access Memory (RAM) 503. RAM 503 also stores various programs and data required for system operation. The CPU 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0160] The following components are connected to I / O interface 505: an input section 506 including a keyboard, mouse, etc.; an output section 507 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to I / O interface 505 as needed. Removable media 511, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 510 as needed so that computer programs read from them can be installed into storage section 508 as needed.

[0161] Specifically, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 509, and / or installed from removable medium 511. When the computer program is executed by central processing unit (CPU) 501, it performs the functions defined in the methods of this application. It should be noted that the computer-readable medium described above in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection 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, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0162] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone 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 remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0163] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0164] The terms “first”, “second”, etc., are used to distinguish similar objects, not to describe or indicate a specific order or sequence.

[0165] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent in such process, method, article, or apparatus / device.

[0166] The technical solution of the present invention has been described above with reference to 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 can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A method for cutting and positioning an arc-extinguishing plate, characterized in that, include: Obtain an image of the pipe end of the steel pipe; Based on the pipe end image, the center coordinates of the edge of the pipe end are extracted, as well as the center point coordinates and deviation angle of the arc extinguishing plate connected to the edge of the pipe end; wherein, the deviation angle is the angle between the arc extinguishing plate and the horizontal plane. The first recognition area is determined based on the preset width and length of the arc extinguishing plate, the center coordinates, the center point coordinates, and the deviation angle. The second recognition area is obtained by constraining the first recognition area based on preset boundary constraint parameters. The preset boundary constraint parameters include the width and length of the pipe end image of the steel pipe. The pipe end image corresponding to the second identification area is determined as the target pipe end image; wherein, the target pipe end image is used to cut the arc extinguishing plate; The method further includes: The first image of the end of the steel pipe is obtained using a vision camera; The first image at the tube end is converted to grayscale to obtain a grayscale image, and the average brightness value of the grayscale image is calculated. If the difference between the average brightness value and the preset target average brightness value is less than the fluctuation threshold of the target average brightness value, then the exposure parameters of the visual camera are adjusted based on the average brightness value and the target average brightness value. The visual camera is controlled to acquire images of the steel pipe end based on the adjusted exposure parameters; The step of adjusting the exposure parameters of the visual camera based on the average brightness value and the target average brightness value includes: An exposure compensation coefficient is generated based on the average brightness value and the target average brightness value; The exposure compensation coefficient is used to compensate for the current exposure parameters of the visual camera, thereby obtaining the adjusted exposure parameters of the visual camera.

2. The method for cutting and positioning an arc-extinguishing plate according to claim 1, characterized in that, The extraction of the center coordinates of the edge of the steel pipe end includes: The edge image of the pipe end is obtained by extracting the pipe end image using an edge detection algorithm; The centroid coordinates of the pipe end are obtained by weighted averaging of the coordinates of all pixels in the pipe end edge image; wherein, the centroid coordinates of the pipe end are the center coordinates of the pipe end edge.

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

4. The method for cutting and positioning the arc-extinguishing plate according to claim 3, characterized in that, The step of generating the center point coordinates and the deviation angle based on the edge image includes: The centroid coordinates of the arc plate are obtained by taking a weighted average of the coordinates of all pixels in the edge image. Wherein, the centroid coordinates of the arc plate are the coordinates of the center point of the arc plate; Determine the tangent direction of each pixel on the edge of the edge image, and calculate the angle between each tangent direction and a preset reference direction; The deviation angle of the extinguishing plate is obtained by statistical analysis of multiple included angles.

5. The method for cutting and positioning an arc-extinguishing plate according to claim 1, characterized in that, The step of determining the first identification area based on the preset width and length of the arc-extinguishing plate, the coordinates of the center of the circle, the coordinates of the center point, and the deviation angle includes: The center position coordinates of the first identification area are generated based on the center coordinates, the center point coordinates, and the deviation angle. The width and length of the first identification area are generated based on the width and length of the arc extinguishing plate.

6. A cutting and positioning system for an arc-extinguishing plate, used to implement the cutting and positioning method for an arc-extinguishing plate as described in any one of claims 1-5, characterized in that, include: The acquisition module is used to acquire images of the pipe ends of the steel pipe; The detection module is used to extract the center coordinates of the edge of the pipe end of the steel pipe based on the pipe end image, and to extract the center point coordinates and deviation angle of the arc extinguishing plate connected to the edge of the pipe end; wherein, the deviation angle is the angle between the arc extinguishing plate and the horizontal plane; The region module is used to determine a first identification region based on the preset width and length of the extinguishing plate, the center coordinates, the center point coordinates, and the deviation angle, and to constrain the first identification region based on preset boundary restriction parameters to obtain a second identification region. The processing module is used to determine that the pipe end image corresponding to the second identification area is the target pipe end image; wherein, the target pipe end image is used to cut the arc extinguishing plate.

7. An electronic device, characterized in that, include: At least one processor; and a memory communicatively connected to at least one of the processors; The memory stores instructions that can be executed by the processor to implement the arc-extinguishing plate cutting and positioning method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are executed by the computer to implement the arc-extinguishing plate cutting and positioning method according to any one of claims 1-5.

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