Adaptive portable graphics processing device and method based on visual positioning

Abstract

The application relates to the technical field of graphic processing, in particular to an adaptive portable graphic processing device and method based on visual positioning. The processing device comprises a rack, a processing execution mechanism, a support leveling mechanism and a visual identification mechanism. The processing execution mechanism comprises a cutter assembly, a horizontal driving unit and a vertical driving unit. The horizontal driving unit and the vertical driving unit are arranged on the rack, and the cutter assembly is connected with the horizontal driving unit. The support leveling mechanism comprises an adjustable support column, a distance sensor and a leveling controller. The adjustable support column is arranged at the bottom of the rack, the distance sensor is arranged on the adjustable support column, the distance sensor is used for detecting the vertical distance between the top of the adjustable support column and the plane of a workpiece to be processed, and the leveling controller is electrically connected with the distance sensor and the adjustable support column. The visual identification mechanism is arranged on the cutter assembly. A control mechanism is connected with the processing execution mechanism, the visual identification mechanism and the support leveling mechanism.

Description

Technical Field

[0001] This invention relates to the field of graphics processing technology, and more specifically to an adaptive portable graphics processing device and method based on visual positioning. Background Technology

[0002] Traditional graphic processing equipment, such as CNC engraving machines and laser marking machines, is usually bulky, fixed in the workshop, and lacks portability. Furthermore, it requires a fixed worktable, and the workpiece processing range is completely limited by the worktable size. For ultra-large flat workpieces (such as large metal sheets or stone panels), they cannot be processed because they cannot fit on the worktable. For partial processing of large workpieces, on-site repairs, and outdoor operations, this type of equipment is difficult to meet the needs.

[0003] If machine tools are used to process the graphics, the following disadvantages also exist: Leveling is a cumbersome process: Before processing, the workpiece or worktable needs to be leveled manually with the help of tools such as a level and shims. The operation is time-consuming and the accuracy depends on human experience. If the leveling error is large, it will easily lead to uneven depth and dimensional deviation in the processed graphic. High programming threshold: Before processing, professionals need to draw a model based on the drawing to be processed using CAD software and then convert it into G-code and other processing instructions. The programming process is complex and requires professional knowledge. Ordinary operators cannot complete it independently. Moreover, the program needs to be repeatedly written or modified for different drawings, resulting in low efficiency. Therefore, current operating methods generally involve handheld processing tools. However, some existing handheld portable processing tools, such as handheld engraving pens and handheld sanders, are highly dependent on human experience and skills, resulting in low processing accuracy, poor graphic consistency, and difficulty in accurately processing complex graphics. Although some auxiliary positioning methods exist, such as template guidance, they lack flexibility and adaptability. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problems of low precision of portable processing tools, high dependence on manual skills, and lack of portability and on-site adaptability of large processing equipment in the prior art, so as to provide an adaptive portable graphics processing device and method based on vision positioning.

[0005] To address the aforementioned technical problems, this invention provides an adaptive portable graphics processing device based on vision positioning, comprising: a frame; a processing execution mechanism including a tool assembly and a horizontal drive unit and a vertical drive unit, wherein the horizontal drive unit and the vertical drive unit are mounted on the frame, and the tool assembly is connected to the horizontal drive unit; a support and leveling mechanism including an adjustable support column, a distance sensor, and a leveling controller, wherein the adjustable support column is located at the bottom of the frame, the distance sensor is located on the adjustable support column, and the distance sensor is used to detect the vertical distance between the top of the adjustable support column and the plane of the workpiece to be processed; the leveling controller is electrically connected to the distance sensor and the adjustable support column; a vision recognition mechanism mounted on the tool assembly; and a control mechanism connected to the processing execution mechanism, the vision recognition mechanism, and the support and leveling mechanism.

[0006] Furthermore, the adjustable support pillars are multiple and symmetrically arranged at the bottom of the frame.

[0007] Furthermore, the bottom of the adjustable support column is provided with an electromagnetic device, which is used to attract the workpiece to be processed.

[0008] Furthermore, the adjustable support is an electric actuator structure.

[0009] Furthermore, the horizontal drive unit includes a crossbeam and an X-axis guide rail, an X-axis drive servo motor, and a Y-axis drive servo motor. The X-axis guide rail is mounted on the frame, the crossbeam is mounted on the X-axis guide rail, the X-axis drive servo motor is connected to the X-axis guide rail and the crossbeam, the Y-axis drive servo motor is connected to the crossbeam, and the tool assembly is mounted on the crossbeam.

[0010] Furthermore, the vertical drive unit includes a Z-axis moving guide rail and a Z-axis driving servo motor, both of which are mounted on the crossbeam.

[0011] Furthermore, the visual recognition mechanism includes a visual sensor and an image processor, the visual sensor being disposed close to the tool assembly, and the image processor being electrically connected to the visual sensor.

[0012] Furthermore, the tool assembly includes a tool drive motor and a tool body, the tool drive motor is mounted on the crossbeam, and the tool body is connected to the tool drive motor.

[0013] Furthermore, the frame includes a power end support beam and a non-power end support beam, which are symmetrically arranged on the adjustable support column.

[0014] The present invention also provides a method for operating the aforementioned vision-based adaptive portable graphics processing device, comprising: The operator smoothly pastes the solid pattern of the graphic to be processed onto the planar processing area of ​​the workpiece. The machine frame is then positioned on the workpiece plane, ensuring the adjustable supports are in contact with the workpiece plane, and the vision sensor and tool body correspond to the area where the pattern is located. Distance sensors activate, detecting the distance between the top of each adjustable support and the workpiece plane, transmitting the data to a leveling controller. The leveling controller calculates the difference in distance and controls the extension and retraction of the electric push rods of the adjustable supports to level the entire machine frame. After leveling, the adjustable supports remain fixed. The vision sensor activates, scanning the pattern on the workpiece plane and transmitting the image data to an image processor. The image processor processes the image, extracts the graphic outline, and converts it into digital graphic data, which is then transmitted to a computer terminal. The computer terminal receives the graphic data and automatically converts it into processing instructions. After confirming the processing depth parameters through the human-machine interface, the operator sends instructions to the motion controller. The motion controller receives the instructions, starts the tool drive motor, and rotates the tool body. Simultaneously, it controls the horizontal drive unit to move the tool body along the graphic outline path, while the vertical drive unit controls the vertical feed of the tool body according to the set processing depth, completing the graphic milling process.

[0015] The technical solution of this invention has the following advantages: The visual positioning-based adaptive portable graphics processing device provided by this invention breaks through the limitations of worktable size: this device does not require a traditional machine tool worktable, and can work directly by placing it on the plane of the workpiece to be processed. It can adapt to planar workpieces of any size (especially ultra-large workpieces), and solves the processing range limitations of traditional milling machines. Automatic high-precision leveling: The device achieves self-leveling through the coordinated operation of the distance sensor and the adjustable support column, without the need for manual operation. The leveling accuracy depends on the hardware precision of the distance sensor and the adjustable support column, resulting in higher stability and avoiding errors caused by manual leveling. The leveling accuracy can be controlled within 0.2mm. No manual programming required: Processing instructions are automatically generated by visually scanning physical patterns. Operators only need to paste the pattern and confirm the processing depth. No professional programming knowledge is required, which lowers the operation threshold and improves processing efficiency. Compared with manual programming, it saves an average of about 30 minutes.

[0016] Highly flexible: For different graphics, only the pasted pattern needs to be changed, without modifying the program, making it suitable for small-batch, multi-variety flat graphic processing scenarios. High-precision visual positioning: Through advanced machine vision algorithms, precise positioning of the workpiece and processing path is achieved, reducing reliance on manual alignment and improving processing accuracy. Graphics can be processed without electronic engineering drawings.

[0017] The summary section is provided to present the chosen concepts in a simplified form, which will be further described in the detailed description below. The summary section is not intended to identify essential or necessary features of this disclosure, nor is it intended to limit the scope of this disclosure. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the structure of the adaptive portable graphics processing device based on visual positioning provided by the present invention; Figure 2 A schematic diagram of the adjustable support column of the visual positioning-based adaptive portable graphics processing device provided by the present invention; Figure 3 This is a schematic diagram of the tool assembly of the vision-based adaptive portable graphics processing device provided by the present invention.

[0020] Explanation of reference numerals in the attached figures: 1. Frame; 2. Tool assembly; 3. Horizontal drive unit; 4. Vertical drive unit; 5. Adjustable support column; 6. Distance sensor; 7. Electromagnetic device; 8. Crossbeam; 9. X-axis guide rail; 10. Z-axis drive servo motor; 11. Y-axis drive servo motor; 12. Z-axis moving guide rail; 13. X-axis drive servo motor; 14. Vision sensor; 16. Tool drive motor; 17. Tool body; 18. Power end support beam; 19. Non-power end support beam. Detailed Implementation

[0021] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure. Therefore, the drawings and description are to be considered exemplary in nature and not restrictive.

[0022] The preferred embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0023] Please see Figures 1 to 3As shown, the present invention provides an adaptive portable graphics processing device based on vision positioning, characterized in that it includes: a frame 1; a processing execution mechanism including a tool assembly 2 and a horizontal drive unit 3 and a vertical drive unit 4, wherein the horizontal drive unit 3 and the vertical drive unit 4 are disposed on the frame 1, and the tool assembly 2 is connected to the horizontal drive unit 3; a support and leveling mechanism including an adjustable support column 5 and a distance sensor 6 and a leveling controller, wherein the adjustable support column 5 is disposed at the bottom of the frame 1, the distance sensor 6 is disposed on the adjustable support column 5, and the distance sensor 6 is used to detect the vertical distance between the top of the adjustable support column 5 and the plane of the workpiece to be processed, and the leveling controller is electrically connected to the distance sensor 6 and the adjustable support column 5; a vision recognition mechanism disposed on the tool assembly 2; and a control mechanism connected to the processing execution mechanism, the vision recognition mechanism, and the support and leveling mechanism.

[0024] By installing a machining execution mechanism on the frame 1, the position of the tool assembly 2 can be adjusted using the horizontal drive unit 3 and the vertical drive unit 4, that is, the position of the tool assembly 2 can be adjusted along the X-axis, Y-axis, and Z-axis directions to process the workpiece. Simultaneously, a support and leveling mechanism is installed at the bottom of the frame 1. Through the connection between the control mechanism, the vision recognition mechanism, and the support and leveling mechanism, that is, by utilizing the distance sensor 6 and the adjustable support column 5 in coordination, the device achieves self-leveling without manual operation.

[0025] In this embodiment, there are multiple adjustable support columns 5, which are symmetrically arranged at the bottom of the frame 1.

[0026] There are four adjustable support columns 5, which are arranged in a rectangle at the bottom of the frame 1. The adjustable support columns 5 are electric push rod structures, and the ends of the electric push rods are equipped with anti-slip pads that contact the plane of the workpiece to be processed.

[0027] The adjustable support 5 uses an electric actuator with a stroke of 100mm and a rated thrust of 500N.

[0028] The number of distance sensors 6 corresponds one-to-one with the adjustable support column 5. The distance sensors 6 are fixed at the top of the adjustable support column 5 near the frame 1. The adjustable support column 5 uses a laser rangefinder to detect the vertical distance between the top of the support column and the plane of the workpiece to be processed.

[0029] The distance sensor 6 uses a laser rangefinder, with a measurement range of 0-300mm and an accuracy of ±0.1mm.

[0030] The adjustable support column 5 is equipped with an electromagnetic device 7 at its bottom, which is used to attract the workpiece to be processed. The electromagnetic device 7 is equipped with a magnetic switch. When the knob of the magnetic switch is turned on, a magnetic force is generated to firmly bond with the workpiece to be processed.

[0031] The leveling controller is electrically connected to the distance sensor 6 and the adjustable support column 5. It receives the distance data transmitted by the distance sensor 6, calculates the height difference that each adjustable support column 5 needs to be adjusted, and controls the extension and retraction of the electric push rod to keep the frame 1 level.

[0032] The leveling controller uses an STM32F103 microcontroller; In some optional embodiments, the horizontal drive unit 3 includes a crossbeam 8, an X-axis guide rail 9, an X-axis drive servo motor 13, and a Y-axis drive servo motor 11. The X-axis guide rail 9 is mounted on the frame 1, the crossbeam 8 is mounted on the X-axis guide rail 9, the X-axis drive servo motor 13 is connected to the X-axis guide rail 9 and the crossbeam 8, the Y-axis drive servo motor 11 is connected to the crossbeam 8, and the tool assembly 2 is mounted on the crossbeam 8.

[0033] The X-axis drive servo motor 13 and the Y-axis drive servo motor 11 are stepper motors with a step angle of 1.8° and a repeatability of ±0.02mm.

[0034] Specifically, the vertical drive unit 4 includes a Z-axis moving guide rail 12 and a Z-axis driving servo motor 10, both of which are mounted on the crossbeam 8.

[0035] The Z-axis drive servo motor 10 meets the requirements for machining depth of 0-50mm.

[0036] In this embodiment, the visual recognition mechanism includes a visual sensor 14 and an image processor. The visual sensor 14 is disposed close to the tool assembly 2, and the image processor is electrically connected to the visual sensor 14.

[0037] The vision sensor 14 is an industrial CCD camera with a resolution of 1280×720 (30fps) and a lens focal length of 8mm. The vision sensor 14 is fixed next to the tool assembly 2, and the lens of the industrial CCD camera is facing the workpiece plane to scan the processing pattern pasted on the workpiece plane. The image processor is electrically connected to the vision sensor 14. The image processor has built-in image edge extraction and contour recognition algorithms to convert the pattern image scanned by the vision sensor 14 into digital graphic contour data (such as a sequence of coordinate points).

[0038] The image processor uses the NVIDIA Jetson Nano development board and has built-in Canny edge detection algorithm and OpenCV graphics processing library.

[0039] The tool assembly 2 includes a tool drive motor 16 and a tool body 17. The tool drive motor 16 is mounted on the crossbeam 8, and the tool body 17 is connected to the tool drive motor 16. That is, the tool drive motor 16 drives the tool body 17 to rotate to process the workpiece.

[0040] The tool body 17 is a high-speed steel end mill with a diameter of 10mm, and the tool drive motor 16 is a servo motor with a power of 500W and an adjustable speed range of 1000-10000r / min. In this embodiment, the frame 1 includes a power end support beam 18 and a non-power end support beam 19, which are symmetrically arranged on the adjustable support column 5.

[0041] The power end support beam 18 carries each drive servo motor, while the non-power end support beam 19 does not; the power end support beam 18 and the non-power end support beam 19 are supported by adjustable support columns 5.

[0042] The control mechanism includes a computer terminal and a motion controller. The computer terminal is electrically connected to the image processor and the machining actuator. The computer terminal has built-in instruction conversion software. When it receives graphic contour data transmitted by the image processor, it automatically converts it into motion instructions that the machining actuator can recognize (including horizontal movement path instructions in the X-axis direction and Y-axis direction, and machining depth instructions in the Z-axis direction). The computer terminal uses a general industrial computer (CPU i5, memory 8G), the instruction conversion software is developed based on Python, and it has a built-in algorithm for converting graphic coordinates and motor pulses; the motion controller uses an Advantech PCI-1240 motion control card.

[0043] Provides a human-machine interface for operators to input and confirm machining depth parameters; The motion controller is connected between the computer terminal and the machining actuator. It receives motion commands from the computer terminal and controls the horizontal drive unit 3, the vertical drive unit 4 and the tool drive motor 16 to work together.

[0044] The present invention also provides a method for operating the aforementioned vision-based adaptive portable graphics processing device, comprising: Pattern pasting: The operator flatly pastes the physical pattern of the graphic to be processed (such as a paper / plastic sticker with the graphic outline printed on it) onto the flat processing area of ​​the workpiece. Device placement: Place the device on the plane of the workpiece to be processed, so that the adjustable support column 5 of the leveling mechanism is in contact with the plane of the workpiece to be processed, and the vision sensor 14 and the tool body 17 correspond to the area where the pattern is located. Automatic leveling: Distance sensor 6 is activated to detect the distance between the top of each adjustable support 5 and the plane of the workpiece to be processed, and transmits the data to the leveling controller; The leveling controller calculates the difference between each distance and controls the extension and retraction of the electric push rod of the adjustable support 5 to make the frame 1 level. After leveling, the adjustable support 5 remains fixed. Pattern scanning and instruction generation: The vision sensor 14 is activated to scan the pattern on the plane of the workpiece to be processed and transmit the image data to the image processor; The image processor processes the image, extracts the graphic outline and converts it into digital graphic data, which is then transmitted to the computer terminal. The computer terminal receives graphic data and automatically converts it into processing instructions. After the operator confirms the processing depth parameters through the human-machine interface, the operator sends the instructions to the motion controller. Processing execution: The motion controller receives the instruction and controls the tool drive motor 16 to start, which drives the tool body 17 to rotate. Simultaneously, the horizontal drive unit 3 drives the tool body 17 to move along the graphic contour path, and the vertical drive unit 4 controls the vertical feed of the tool body 17 according to the set machining depth to complete the graphic milling machining.

[0045] The specific implementation process of this vision-based adaptive portable graphics processing device: The workpiece to be processed is an aluminum alloy flat plate with dimensions of 2000mm × 1500mm, and a circular shape with a diameter of 500mm needs to be processed. Operators print out circular outline stickers with a diameter of 500mm and paste them flat onto the center area of ​​the aluminum alloy plate. The device is placed on an aluminum alloy plate, with four adjustable pillars 5 located at the four corners of the central area of ​​the plate, and the vision sensor 14 and the milling cutter aligned with the circular sticker. When the leveling function is activated, the four distance sensors 6 detect the distances between the top of the adjustable support column 5 and the flat plate, respectively, and the data are 85.2mm, 85.5mm, 84.9mm and 85.3mm. After the leveling controller calculates the difference, it controls the extension and retraction of each electric push rod, so that the four distances are all stabilized at 85.2mm and the frame 1 is level. Initiate visual scanning, and the CCD camera captures an image of the circular sticker, which is then transmitted to the Jetson Nano. The image processor extracts the circular outline using the Canny algorithm and converts it into a sequence of coordinate points (such as (0,250), (50,245), ... etc., 1000 coordinate points) with the initial position of the milling cutter as the origin, which is then transmitted to the industrial computer. The operator inputs a machining depth of 3mm into the industrial computer interface. After confirmation, the software automatically converts the coordinate point sequence into pulse commands for the X-axis servo motor 13, the Y-axis servo motor 11 (corresponding to the slide movement path), and the Z-axis servo motor 10 depth command. The motion control card receives the command and controls the tool servo motor to start (speed 5000r / min). At the same time, it controls the X-axis guide rail 9 and the Y-axis guide rail to move the tool body 17 along the circular coordinate path. The Z-axis moving guide rail 12 controls the tool body 17 to descend 3mm and maintain the depth, thus completing the milling of the circular shape. Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A visually-based adaptive portable graphics processing device, characterized in that, include: Rack (1); The machining execution mechanism includes a tool assembly (2), a horizontal drive unit (3), and a vertical drive unit (4). The horizontal drive unit (3) and the vertical drive unit (4) are mounted on the frame (1). The tool assembly (2) is connected to the horizontal drive unit (3). The leveling mechanism includes an adjustable support column (5), a distance sensor (6), and a leveling controller. The adjustable support column (5) is located at the bottom of the frame (1), and the distance sensor (6) is located on the adjustable support column (5). The distance sensor (6) is used to detect the vertical distance between the top of the adjustable support column (5) and the plane of the workpiece to be processed. The leveling controller is electrically connected to the distance sensor (6) and the adjustable support column (5). A visual recognition mechanism is provided on the cutting tool assembly (2); The control mechanism is connected to the processing execution mechanism, the vision recognition mechanism, and the support and leveling mechanism.

2. The adaptive portable graphics processing device based on visual positioning according to claim 1, characterized in that, The adjustable support (5) has multiple components, which are symmetrically arranged at the bottom of the frame (1).

3. The adaptive portable graphics processing device based on vision positioning according to claim 1, characterized in that, The adjustable support (5) is provided with an electromagnetic device (7) at its bottom, which is used to adsorb the workpiece to be processed.

4. The adaptive portable graphics processing device based on vision positioning according to claim 1, characterized in that, The adjustable support (5) is an electric actuator structure.

5. The adaptive portable graphics processing device based on visual positioning according to any one of claims 1-3, characterized in that, The horizontal drive unit (3) includes a crossbeam (8), an X-axis guide rail (9), an X-axis drive servo motor (13), and a Y-axis drive servo motor (11). The X-axis guide rail (9) is mounted on the frame (1). The crossbeam (8) is mounted on the X-axis guide rail (9). The X-axis drive servo motor (13) is connected to the X-axis guide rail (9) and the crossbeam (8). The Y-axis drive servo motor (11) is connected to the crossbeam (8). The tool assembly (2) is mounted on the crossbeam (8).

6. The adaptive portable graphics processing device based on visual positioning according to claim 5, characterized in that, The vertical drive unit (4) includes a Z-axis moving guide rail (12) and a Z-axis driving servo motor (10), both of which are mounted on the crossbeam (8).

7. The adaptive portable graphics processing device based on visual positioning according to claim 5, characterized in that, The visual recognition mechanism includes a visual sensor (14) and an image processor. The visual sensor (14) is located close to the tool assembly (2), and the image processor is electrically connected to the visual sensor (14).

8. The adaptive portable graphics processing device based on visual positioning according to claim 5, characterized in that, The tool assembly (2) includes a tool drive motor (16) and a tool body (17). The tool drive motor (16) is mounted on the crossbeam (8), and the tool body (17) is connected to the tool drive motor (16).

9. The adaptive portable graphics processing device based on vision positioning according to claim 1, characterized in that, The frame (1) includes a power end support beam (18) and a non-power end support beam (19), which are symmetrically arranged on the adjustable support column (5).

10. The method of operating the adaptive portable graphics processing device based on visual positioning according to any one of claims 1-9, characterized in that, include: The operator flatly pastes the solid pattern of the graphic to be processed onto the flat processing area of ​​the workpiece, places the frame (1) on the plane of the workpiece, and makes the adjustable support (5) contact the plane of the workpiece, with the vision sensor (14) and the tool body (17) corresponding to the area where the pattern is located; the distance sensor (6) is activated to detect the distance between the top of each adjustable support (5) and the plane of the workpiece, and transmits the data to the leveling controller. The leveling controller calculates the difference between each distance and controls the extension and retraction of the electric push rod of the adjustable support (5) to make the frame (1) level. After leveling, the adjustable support (5) remains fixed; the vision sensor (14) is activated to scan the workpiece. The image data of the pattern on the workpiece plane is transmitted to the image processor; the image processor processes the image, extracts the graphic contour and converts it into digital graphic data, which is then transmitted to the computer terminal; the computer terminal receives the graphic data and automatically converts it into processing instructions. After the operator confirms the processing depth parameters through the human-machine interface, the operator issues instructions to the motion controller; the motion controller receives the instructions and controls the tool drive motor (16) to start, which drives the tool body (17) to rotate; at the same time, the horizontal drive unit (3) controls the tool body (17) to move along the graphic contour path, and the vertical drive unit (4) controls the tool body (17) to feed vertically according to the set processing depth, thus completing the graphic milling process.

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