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CN110936026A - Cutting method, cutting device, cutting equipment and storage medium for plate excess material - Google Patents

Cutting method, cutting device, cutting equipment and storage medium for plate excess material Download PDF

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Publication number
CN110936026A
CN110936026A CN201811110098.0A CN201811110098A CN110936026A CN 110936026 A CN110936026 A CN 110936026A CN 201811110098 A CN201811110098 A CN 201811110098A CN 110936026 A CN110936026 A CN 110936026A
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Prior art keywords
cutting
image
plate
coordinates
transformation matrix
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CN110936026B (en
Inventor
林德育
余锦望
封雨鑫
陈焱
高云峰
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Shenzhen Dazu Intelligent Control Technology Co Ltd
Han s Laser Technology Industry Group Co Ltd
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Shenzhen Dazu Intelligent Control Technology Co Ltd
Han s Laser Technology Industry Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/38—Removing material by boring or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention belongs to the technical field of laser cutting, and relates to a cutting method, a cutting device, cutting equipment and a storage medium for plate excess materials. The cutting method of the plate residual material comprises the following steps: collecting images in a camera field of view; identifying a panel biscuit area within the image; typesetting the cut parts on the plate excess material area; planning a cutting path on the plate excess material area according to the shape of the cutting part; acquiring the image coordinates of each cutting point on the cutting path in an image coordinate system; calculating the corresponding position coordinate of the image coordinate in a position coordinate system by applying a perspective transformation matrix; and cutting the cutting part on the plate residual material according to the position coordinates of the cutting points. The cutting method of the plate excess material in the embodiment of the invention improves the conversion precision of the position coordinates.

Description

Cutting method, cutting device, cutting equipment and storage medium for plate excess material
Technical Field
The invention belongs to the technical field of laser cutting, and relates to a cutting method, a cutting device, cutting equipment and a storage medium for plate excess materials.
Background
At present, certain excess material of the plate can be generated in the cutting process of the plate, and the excess material of the plate can not be applied to cutting of cutting parts under the common condition. Therefore, the excess material of the plate material produced in the cutting process of the plate material causes the waste of the plate material. In order to enhance management and utilization of the excess plate material and reduce production cost of cutting parts, it is necessary to detect the excess plate material and acquire and utilize position information of an excess plate material area.
In the prior art, a monitoring camera is usually arranged in the plate cutting equipment, and the monitoring camera is generally arranged at the corner of a machine tool and is used for monitoring the cutting condition of the plate. The monitoring camera monitors the situation of the excess material of the plate, and the key point is how to accurately acquire the position coordinates of the excess material area. The surveillance cameras are usually mounted at the corners of the machine tool, i.e. the cameras are not front-lighting the cut sheet, but are instead lighting diagonally. This is mainly due to the structural considerations of the device. The image coordinates of the camera are converted into the machine tool coordinates of the cutting equipment, the process is a perspective projection process of the camera, and the performance of the projection model directly determines the conversion precision of the position coordinates.
The inventor finds that the plate residual material cutting method in the prior art has the technical problem that the conversion accuracy of the position coordinates is low in the process of researching the invention.
Disclosure of Invention
The embodiment of the invention discloses a cutting method, a cutting device, cutting equipment, a storage medium and an electronic device for excess plate materials, and aims to improve the conversion accuracy of position coordinates to be low.
One or more embodiments of the present invention disclose a method of cutting a remainder of a sheet material. The cutting method of the plate residual material comprises the following steps: collecting images in a camera field of view; identifying a panel biscuit area within the image; typesetting the cut parts on the plate excess material area; planning a cutting path on the plate excess material area according to the shape of the cutting part; acquiring the image coordinates of each cutting point on the cutting path in an image coordinate system; calculating the corresponding position coordinate of the image coordinate in a position coordinate system by applying a perspective transformation matrix; the image coordinates are (X, Y), the position coordinates are (X, Y);
the perspective transformation matrix is
Figure BDA0001808866400000021
Figure BDA0001808866400000022
And cutting the cutting part on the plate residual material according to the position coordinates of the cutting points.
In one or more embodiments of the invention, image coordinates (C) of four points C1, C2, C3, C4 are acquired within the image coordinate systemx1，Cy1)、(Cx2，Cy2)、(Cx3，Cy3)、(Cx4，Cy4) (ii) a Acquiring four points P1, P2, P3 and P4 corresponding to the four points C1, C2, C3 and C4 in a position coordinate system; the coordinates of any point in a quadrangle formed by four points P1, P2, P3 and P4 are (Px, Py); the coordinates of any point in a quadrangle formed by the corresponding four points C1, C2, C3 and C4 are (Cx, Cy);
Figure BDA0001808866400000023
(1) formula (II):
Figure BDA0001808866400000024
(2) formula (II):
Figure BDA0001808866400000025
performing matrix operation on the formula (2) to obtain the productPerspective transformation matrix
Figure BDA0001808866400000026
In one or more embodiments of the invention, a projection model is established to cover the image in the camera field of view when the distortion of the image is less than a distortion threshold value in the camera field of view, and a perspective transformation matrix of the projection model is calculated.
In one or more embodiments of the invention, when the distortion of the image is greater than or equal to a distortion threshold, four projection models are established to cover the image in the field of view of the camera, and a perspective transformation matrix of each projection model is calculated.
One or more embodiments of the present invention disclose a cutting apparatus for a sheet remnant. Cutting device of panel clout includes:
the acquisition module is used for acquiring images in a field of view of the camera;
the identification module is used for identifying the plate excess material area in the image;
the typesetting module is used for typesetting the cut parts on the plate excess material area;
the path planning module is used for planning a cutting path on the plate excess material area according to the shape of the cutting part;
the cutting point acquisition module is used for acquiring the image coordinates of each cutting point on the cutting path in an image coordinate system;
the position coordinate calculation module is used for calculating the corresponding position coordinate of the image coordinate in a position coordinate system by applying a perspective transformation matrix; the image coordinates are (X, Y), the position coordinates are (X, Y);
the perspective transformation matrix is
Figure BDA0001808866400000031
Figure BDA0001808866400000032
And the cutting module is used for cutting the cutting part on the plate residual material according to the position coordinates of each cutting point.
In one or more embodiments of the present invention, the apparatus for cutting the sheet remainder further includes a perspective transformation matrix calculation module for acquiring image coordinates (C1, C2, C3, C4) of four points C1, C2, C3, C4 in the image coordinate systemx1，Cy1)、(Cx2，Cy2)、(Cx3，Cy3)、(Cx4，Cy4) (ii) a Acquiring four points P1, P2, P3 and P4 corresponding to the four points C1, C2, C3 and C4 in a position coordinate system; the coordinates of any point in a quadrangle formed by four points P1, P2, P3 and P4 are (Px, Py); the coordinates of any point in a quadrangle formed by the corresponding four points C1, C2, C3 and C4 are (Cx, Cy);
Figure BDA0001808866400000033
(1) formula (II):
Figure BDA0001808866400000041
(2) formula (II):
Figure BDA0001808866400000042
performing matrix operation on the formula (2) to obtain a perspective transformation matrix
Figure BDA0001808866400000043
In one or more embodiments of the invention, the perspective transformation matrix calculation module is further configured to: and when the distortion of the image in the camera field of view is smaller than a distortion threshold value, establishing a projection model to cover the image in the camera field of view, and calculating a perspective transformation matrix of the projection model.
In one or more embodiments of the invention, the perspective transformation matrix calculation module is further configured to: and when the distortion of the image is larger than or equal to a distortion threshold value, establishing four projection models to cover the image in the camera field of view, and calculating a perspective transformation matrix of each projection model.
One or more embodiments of the present invention disclose a cutting apparatus of a sheet remnants, including: the device comprises a laser cutting part, a driving part, a plate conveying part, an image acquisition part and a control part; the laser cutting part is used for outputting laser to cut the plate; the driving part is used for driving the laser cutting part to move along a cutting path; the plate conveying part is used for conveying plates; the image acquisition part is used for acquiring images; the control part is used for controlling the laser cutting part, the driving part, the plate conveying part and the image acquisition part; the cutting equipment for the plate excess material is applied to any one of the cutting methods for the plate excess material.
One or more embodiments of the invention disclose a non-transitory computer-readable storage medium. The non-transitory computer readable storage medium stores therein computer instructions adapted to be loaded by a processor to implement any one of the above-described methods for cutting a remainder of a sheet material.
One or more embodiments of the invention disclose an electronic device applied to a cutting apparatus of a sheet remainder. The electronic device applied to the cutting equipment for the excess material of the plate comprises: at least one processor, at least one memory, at least one input device, and at least one output device. The processor, the memory, the input device and the output device are connected through a bus. The electronic device applied to the cutting equipment of the plate residual material is used for realizing the cutting method of any one plate residual material.
Compared with the prior art, the technical scheme disclosed by the invention mainly has the following beneficial effects:
in an embodiment of the present invention, the method for cutting the excess sheet material includes: collecting images in a camera field of view; identifying a panel biscuit area within the image; typesetting the cut parts on the plate excess material area; planning a cutting path on the plate excess material area according to the shape of the cutting part; acquiring the image coordinates of each cutting point on the cutting path in an image coordinate system; calculating the corresponding position coordinate of the image coordinate in a position coordinate system by applying a perspective transformation matrix; and cutting the cutting part on the plate residual material according to the position coordinates of the cutting points. The cutting method of the plate excess material comprises the steps of collecting images in a camera field, identifying plate excess material areas in the images, and then typesetting the cut parts on the plate excess material areas, so that the plate excess material areas can be fully utilized to be continuously cut to obtain the cut parts. The cutting method of the plate excess material comprises the steps of planning a cutting path on a plate excess material area according to the shape of a cutting part, obtaining image coordinates of each cutting point on the cutting path in an image coordinate system, and calculating corresponding position coordinates of the image coordinates in a position coordinate system by using a perspective transformation matrix. And after the position coordinates of each cutting point are obtained, cutting the cutting part on the plate residual material according to the position coordinates of each cutting point. The corresponding position coordinates of the image coordinates in the position coordinate system are calculated by applying the perspective transformation matrix, so that the position coordinates of each cutting point can be accurately obtained under the condition of adopting one camera, and the conversion precision of the image coordinates to the position coordinates is obviously improved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic flow chart of a possible cutting method for excess sheet material according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a projection model constructed to cover an image within a camera field of view S in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of an embodiment of the present invention in which four projection models are created to cover an image within a camera field of view S;
FIG. 4 is a schematic view of a cutting apparatus for the excess sheet material according to an embodiment of the present invention;
FIG. 5 is a schematic view of a cutting apparatus for the sheet remnants in accordance with an embodiment of the present invention;
fig. 6 is a schematic view of an electronic device applied to a cutting apparatus for excess sheet material according to an embodiment of the present invention.
Description of reference numerals:
Figure BDA0001808866400000061
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
In the prior art, a monitoring camera is usually arranged in the plate cutting equipment, and the monitoring camera is generally arranged at the corner of a machine tool and is used for monitoring the cutting condition of the plate. The monitoring camera monitors the excess material condition of the plate, and the key point is how to accurately acquire the position coordinates of the excess material area of the plate. The monitoring cameras are usually mounted on the corners of the machine tool, i.e. the cameras illuminate the sheet not frontally, but obliquely, mainly due to the structural considerations of the apparatus. The image coordinates of the camera are converted into the position coordinates of the cutting equipment, the process is a perspective projection process of the camera, and the performance of the projection model directly determines the conversion precision of the position coordinates. According to the embodiment of the invention, the monitoring camera is directly utilized to acquire the images of the plates in the camera field of view, then the plate excess material area in the images is identified, and the cut parts are typeset on the plate excess material area. And planning a cutting path on the plate excess material area according to the shape of the cutting part, acquiring image coordinates of each cutting point on the cutting path in an image coordinate system, calculating corresponding position coordinates of the image coordinates in a position coordinate system by using a perspective transformation matrix, and cutting the cutting part on the plate excess material according to the position coordinates of each cutting point, so that the effective utilization of the plate excess material is realized.
The embodiment of the invention discloses a method for cutting excess sheet materials.
Referring to fig. 1, a schematic flow chart of a method for cutting the plate remainder according to an embodiment of the present invention is shown. Those skilled in the art will appreciate that the order of the steps illustrated in fig. 1 is not absolute.
As illustrated in fig. 1, the cutting method of the plate remnants includes:
step 1: images are captured within the field of view of the camera.
Step 2: identifying a slab stock region within the image.
And step 3: and typesetting the cut parts on the plate excess material area.
And 4, step 4: and planning a cutting path on the plate excess material area according to the shape of the cutting part.
And 5: and acquiring the image coordinates of each cutting point on the cutting path in an image coordinate system.
Step 6: and calculating the corresponding position coordinates of the image coordinates in the position coordinate system by applying a perspective transformation matrix.
And 7: and cutting the cutting part on the plate residual material according to the position coordinates of the cutting points.
The image coordinates are (X, Y), the position coordinates are (X, Y);
Figure BDA0001808866400000071
the perspective transformation matrix is
Figure BDA0001808866400000072
In the above embodiment of the present invention, the method for cutting the excess material of the sheet material includes acquiring an image in a field of view of a camera, identifying an excess material area of the sheet material in the image, and then typesetting the cut part on the excess material area of the sheet material, so that the excess material area of the sheet material can be fully utilized to continue to be cut to obtain the cut part. The cutting method of the plate excess material comprises the steps of planning a cutting path on a plate excess material area according to the shape of a cutting part, obtaining image coordinates of each cutting point on the cutting path in an image coordinate system, and calculating corresponding position coordinates of the image coordinates in a position coordinate system by using a perspective transformation matrix. And after the position coordinates of each cutting point are obtained, cutting the cutting part on the plate residual material according to the position coordinates of each cutting point. The corresponding position coordinates of the image coordinates in the position coordinate system are calculated by applying the perspective transformation matrix, so that the position coordinates of each cutting point can be accurately obtained under the condition of adopting one camera, and the conversion precision of the image coordinates to the position coordinates is obviously improved.
In an embodiment of the invention, when the distortion of the image in the camera field of view is smaller than a distortion threshold value, a projection model is established to cover the image in the camera field of view, and a perspective transformation matrix of the projection model is calculated.
Referring to fig. 2, a schematic diagram of a projection model established to cover an image in a camera field of view S in an embodiment of the present invention is shown. The camera takes a picture from point O.
As illustrated in fig. 2, in the embodiment of the present invention, image coordinates (C1, C2, C3, C4) of four points C1, C2, C3, C4 are acquired within the image coordinate systemx1，Cy1)、(Cx2，Cy2)、(Cx3，Cy3)、(Cx4，Cy4) (ii) a Acquiring four points P1, P2, P3 and P4 corresponding to the four points C1, C2, C3 and C4 in a position coordinate system; the coordinates of any point in a quadrangle formed by four points P1, P2, P3 and P4 are (Px, Py); corresponding C1Coordinates of any point in a quadrangle formed by the four points C2, C3 and C4 are (Cx, Cy);
Figure BDA0001808866400000081
(1) formula (II):
Figure BDA0001808866400000082
(2) formula (II):
Figure BDA0001808866400000091
performing matrix operation on the formula (2) to obtain the perspective transformation matrix
Figure BDA0001808866400000092
In the embodiment of the invention, when the distortion of the image is larger than or equal to a distortion threshold value, four projection models are established to cover the image in the field of view of the camera, and a perspective transformation matrix of each projection model is calculated.
Referring to fig. 3, a schematic diagram of four projection models covering an image in the camera field of view S is shown in an embodiment of the present invention. The camera takes a picture from point O.
As illustrated in fig. 3, the camera field of view S is divided into four portions, respectively:
P1-P14-P5-P12；P14-P4-P34-P5；P12-P5-P23-P2；P5-P34-P3-P23。
correspondingly, the acquired image is also divided into four parts, which are:
C1-C14-C5-C12C；C14-C4-C34-C5；C12-C5-C23-C2C；C5-C34-C3-C23。
wherein C1-C14-C5-C12C and P1-P14-P5-P12 belong to the same projection model, C14-C4-C34-C5 and P14-P4-P34-P5 belong to the same projection model, C12-C5-C23-C2C and P12-P5-P23-P2 belong to the same projection model, and C5-C34-C3-C23 and P5-P34-P3-P23 belong to the same projection model.
According to the above embodiment of the present invention, the method of calculating the perspective transformation matrix at the time of one projection model calculates each of the projection models whose four projection models cover the field of view S of the camera, respectively.
In some embodiments of the present invention, after performing position exchange operation on the image coordinates and the position coordinates in the above embodiments, an inverse perspective transformation matrix can be obtained:
Figure BDA0001808866400000093
after the inverse perspective transformation matrix is obtained, if a position coordinate (X, Y) is known, the corresponding image coordinate (X, Y) can be obtained:
Figure BDA0001808866400000101
an embodiment of the invention discloses a cutting device for plate remainders.
Fig. 4 is a schematic view of a cutting device for cutting the plate remainder according to an embodiment of the present invention.
As illustrated in fig. 4, the apparatus for cutting the surplus material of the plate material includes:
the acquisition module 10 is used for acquiring images in a camera field of view;
an identification module 20, configured to identify a slab surplus area in the image;
the typesetting module 30 is used for typesetting the cut parts on the plate excess material area;
a path planning module 40, configured to plan a cutting path on the plate remainder region according to the shape of the cut part;
a cutting point obtaining module 50, configured to obtain image coordinates of each cutting point on the cutting path in an image coordinate system;
a position coordinate calculation module 60, configured to calculate, by applying a perspective transformation matrix, a corresponding position coordinate of the image coordinate in a position coordinate system; the image coordinates are (X, Y), the position coordinates are (X, Y);
and the cutting module 70 is used for cutting the cutting part on the plate residual material according to the position coordinates of each cutting point.
The perspective transformation matrix is
Figure BDA0001808866400000102
Figure BDA0001808866400000103
In the above embodiment of the present invention, the cutting device for the excess material of the plate acquires the image in the field of view of the camera through the acquisition module 10, identifies the excess material region of the plate in the image through the identification module 20, and then typesets the cut part on the excess material region of the plate through the typesetting module 30, so that the excess material region of the plate can be fully utilized to continuously cut the cut part. The cutting device of the plate excess material is used for planning a cutting path on the plate excess material area through the path planning module 40 according to the shape of the cutting part, acquiring the image coordinate of each cutting point on the cutting path in an image coordinate system through the cutting point acquisition module 50, and calculating the corresponding position coordinate of the image coordinate in a position coordinate system through the position coordinate calculation module 60 by applying a perspective transformation matrix. And after the cutting device of the plate excess material obtains the position coordinates of each cutting point, cutting the cutting part on the plate excess material according to the position coordinates of each cutting point. The cutting device for the plate excess material calculates the corresponding position coordinates of the image coordinates in the position coordinate system by applying the perspective transformation matrix, can accurately obtain the position coordinates of each cutting point under the condition of adopting one camera, and obviously improves the conversion precision of the image coordinates to the position coordinates.
The cutting device for the plate remainders further comprises a perspective transformation matrix calculation module 80 for acquiring image coordinates (C) of four points C1, C2, C3 and C4 in the image coordinate systemx1，Cy1)、(Cx2，Cy2)、(Cx3，Cy3)、(Cx4，Cy4) (ii) a Acquiring four points P1, P2, P3 and P4 corresponding to the four points C1, C2, C3 and C4 in a position coordinate system; p1, P2,The coordinates of any point in a quadrangle formed by four points P3 and P4 are (Px, Py); the coordinates of any point in a quadrangle formed by the corresponding four points C1, C2, C3 and C4 are (Cx, Cy);
Figure BDA0001808866400000111
(1) formula (II):
Figure BDA0001808866400000112
(2) formula (II):
Figure BDA0001808866400000113
performing matrix operation on the formula (2) to obtain a perspective transformation matrix
Figure BDA0001808866400000114
In some embodiments of the present invention, the perspective transformation matrix calculation module 80 is further configured to: and when the distortion of the image in the camera field of view is smaller than a distortion threshold value, establishing a projection model to cover the image in the camera field of view, and calculating a perspective transformation matrix of the projection model.
In some embodiments of the present invention, the perspective transformation matrix calculation module 80 is further configured to: and when the distortion of the image is larger than or equal to a distortion threshold value, establishing four projection models to cover the image in the camera field of view, and calculating a perspective transformation matrix of each projection model.
An embodiment of the invention discloses a cutting device for excess sheet materials.
Fig. 5 is a schematic diagram of a cutting apparatus for cutting the plate remainder according to an embodiment of the present invention.
As illustrated in fig. 5, the apparatus for cutting the slab remnant comprises: a laser cutting part 100, a driving part 200, a plate material conveying part 300, an image acquisition part 400 and a control part 500; the laser cutting part 100 is used for outputting laser to cut the plate; the driving part 200 is used for driving the laser cutting part 100 to move along a cutting path; the plate material conveying part 300 is used for conveying a plate material; the image acquisition part 400 is used for acquiring images; the control unit 500 is configured to control the laser cutting unit 100, the driving unit 200, the plate material conveying unit 300, and the image capturing unit 400.
The cutting equipment of panel clout is used for:
collecting images in a camera field of view;
identifying a panel biscuit area within the image;
typesetting the cut parts on the plate excess material area;
planning a cutting path on the plate excess material area according to the shape of the cutting part;
acquiring the image coordinates of each cutting point on the cutting path in an image coordinate system;
calculating the corresponding position coordinate of the image coordinate in a position coordinate system by applying a perspective transformation matrix; the image coordinates are (X, Y), the position coordinates are (X, Y);
and cutting the cutting part on the plate residual material according to the position coordinates of the cutting points.
The perspective transformation matrix is
Figure BDA0001808866400000121
Figure BDA0001808866400000122
Further, the cutting equipment of panel clout still is used for:
acquiring image coordinates (C) of four points C1, C2, C3 and C4 in the image coordinate systemx1，Cy1)、(Cx2，Cy2)、(Cx3，Cy3)、(Cx4，Cy4) (ii) a Acquiring four points P1, P2, P3 and P4 corresponding to the four points C1, C2, C3 and C4 in a position coordinate system; the coordinates of any point in a quadrangle formed by four points P1, P2, P3 and P4 are (Px, Py); corresponding four points of C1, C2, C3 and C4The coordinates of any point in the formed quadrangle are (Cx, Cy);
Figure BDA0001808866400000131
(1) formula (II):
Figure BDA0001808866400000132
(2) formula (II):
Figure BDA0001808866400000133
performing matrix operation on the formula (2) to obtain the perspective transformation matrix
Figure BDA0001808866400000134
Further, the cutting equipment of panel clout still is used for: and when the distortion of the image in the camera field of view is smaller than a distortion threshold value, establishing a projection model to cover the image in the camera field of view, and calculating a perspective transformation matrix of the projection model.
Further, the cutting equipment of panel clout still is used for: and when the distortion of the image is larger than or equal to a distortion threshold value, establishing four projection models to cover the image in the camera field of view, and calculating a perspective transformation matrix of each projection model.
In the above embodiment of the present invention, the cutting apparatus of the surplus material of the sheet material collects the image in the field of view of the camera through the image collecting part 400, identifies the surplus material region of the sheet material in the image through the control part 500, and then arranges the cut parts on the surplus material region of the sheet material, so that the surplus material region of the sheet material can be fully utilized to continue cutting to obtain the cut parts. The cutting equipment of the plate excess material is used for planning a cutting path on the plate excess material area through the control part 500 according to the shape of the cutting part, acquiring the image coordinates of each cutting point on the cutting path in an image coordinate system through the control part 500, and calculating the corresponding position coordinates of the image coordinates in a position coordinate system through the control part 500 by applying a perspective transformation matrix. And after the cutting equipment of the plate excess material obtains the position coordinates of each cutting point, cutting the cutting part on the plate excess material according to the position coordinates of each cutting point. The cutting equipment for the plate excess material calculates the corresponding position coordinates of the image coordinates in the position coordinate system by applying the perspective transformation matrix, can accurately obtain the position coordinates of each cutting point under the condition of adopting one camera, and obviously improves the conversion precision of the image coordinates to the position coordinates.
An embodiment of the invention discloses an electronic device applied to cutting equipment of plate excess materials.
Fig. 6 is a schematic view of an electronic device applied to a cutting apparatus for excess sheet material according to an embodiment of the present invention. As illustrated in fig. 6, the electronic device of the cutting apparatus applied to the slab remnant comprises: at least one processor 201, at least one memory 202, at least one input device 203, and at least one output device 204. The processor 201, memory 202, input device 203, and output device 204 are connected by a bus 205. The electronic device is used for realizing the cutting method of any one of the plate remainders.
The electronic device applied to the cutting equipment for the excess plate materials is used for collecting images in a camera field of view, identifying the excess plate material area in the images and then typesetting the cutting parts on the excess plate material area, so that the excess plate material area can be fully utilized to continue cutting to obtain the cutting parts. The electronic device of the cutting equipment applied to the plate excess material is used for planning a cutting path on the plate excess material area according to the shape of the cutting part, acquiring the image coordinates of each cutting point on the cutting path in an image coordinate system through the electronic device of the cutting equipment applied to the plate excess material, and calculating the corresponding position coordinates of the image coordinates in a position coordinate system through the electronic device of the cutting equipment applied to the plate excess material by applying a perspective transformation matrix. And after the electronic device of the cutting equipment applied to the plate excess material obtains the position coordinates of each cutting point, cutting the cutting part on the plate excess material according to the position coordinates of each cutting point. The electronic device of the cutting equipment applied to the plate excess material calculates the corresponding position coordinates of the image coordinates in the position coordinate system by applying the perspective transformation matrix, can accurately obtain the position coordinates of each cutting point under the condition of adopting one camera, and obviously improves the conversion precision of the image coordinates to the position coordinates.
An embodiment of the present invention discloses a non-transitory computer-readable storage medium. The non-transitory computer readable storage medium stores therein computer instructions adapted to be loaded by a processor to implement any one of the above-described methods for cutting a remainder of a sheet material.
When the techniques in the various embodiments described above are implemented using software, the computer instructions and/or data to implement the various embodiments described above may be stored on a computer-readable medium or transmitted as one or more instructions or code on a readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that a computer can store. Taking this as an example but not limiting: computer-readable media can include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Further, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (10)

1. A method of cutting a remainder of sheet material, comprising:
collecting images in a camera field of view;
identifying a panel biscuit area within the image;
typesetting the cut parts on the plate excess material area;
planning a cutting path on the plate excess material area according to the shape of the cutting part;
acquiring the image coordinates of each cutting point on the cutting path in an image coordinate system;
calculating the corresponding position coordinate of the image coordinate in a position coordinate system by applying a perspective transformation matrix; the image coordinates are (X, Y), the position coordinates are (X, Y);
the perspective transformation matrix is
Figure FDA0001808866390000011
Figure FDA0001808866390000012
And cutting the cutting part on the plate residual material according to the position coordinates of the cutting points.
2. The cutting method of sheet remnants, as claimed in claim 1, wherein image coordinates (C1, C2, C3, C4) of four points C1, C2, C3 are obtained in said image coordinate systemx1，Cy1)、(Cx2，Cy2)、(Cx3，Cy3)、(Cx4，Cy4) (ii) a Acquiring four points P1, P2, P3 and P4 corresponding to the four points C1, C2, C3 and C4 in a position coordinate system; the coordinates of any point in a quadrangle formed by four points P1, P2, P3 and P4 are (Px, Py); the coordinates of any point in a quadrangle formed by the corresponding four points C1, C2, C3 and C4 are (Cx, Cy);
Figure FDA0001808866390000013
Figure FDA0001808866390000014
Figure FDA0001808866390000021
performing matrix operation on the formula (2) to obtain the perspective transformation matrix
Figure FDA0001808866390000022
3. The method for cutting the sheet remainder according to claim 2, wherein a projection model is established to cover the image in the camera field of view when the distortion of the image is less than a distortion threshold value in the camera field of view, and a perspective transformation matrix of the projection model is calculated.
4. The method for cutting the sheet remainder according to claim 2, wherein when the distortion of the image is greater than or equal to a distortion threshold value, four projection models are established to cover the image in the field of view of the camera, and a perspective transformation matrix of each projection model is calculated.
5. A cutting device of panel clout, its characterized in that includes:
an acquisition module (10) for acquiring images within the field of view of the camera;
an identification module (20) for identifying a slab surplus region within the image;
the typesetting module (30) is used for typesetting the cut parts on the plate excess material area;
a path planning module (40) for planning a cutting path on the plate remainder region according to the shape of the cutting part;
a cutting point obtaining module (50) for obtaining the image coordinate of each cutting point on the cutting path in the image coordinate system;
a position coordinate calculation module (60) for calculating the corresponding position coordinate of the image coordinate in the position coordinate system by applying a perspective transformation matrix; the image coordinates are (X, Y), the position coordinates are (X, Y);
the perspective transformation matrix is
Figure FDA0001808866390000023
Figure FDA0001808866390000024
And the cutting module (70) is used for cutting the cutting parts on the plate residual material according to the position coordinates of the cutting points.
6. The apparatus for cutting sheet remnants, as set forth in claim 5, further comprising a perspective transformation matrix calculation module (80) for obtaining image coordinates (C1, C2, C3, C4) of four points C8932, C2, C4 in said image coordinate systemx1，Cy1)、(Cx2，Cy2)、(Cx3，Cy3)、(Cx4，Cy4) (ii) a Acquiring four points P1, P2, P3 and P4 corresponding to the four points C1, C2, C3 and C4 in a position coordinate system; the coordinates of any point in a quadrangle formed by four points P1, P2, P3 and P4 are (Px, Py); the coordinates of any point in a quadrangle formed by the corresponding four points C1, C2, C3 and C4 are (Cx, Cy);
Figure FDA0001808866390000031
Figure FDA0001808866390000032
Figure FDA0001808866390000033
performing matrix operation on the formula (2) to obtain a perspective transformation matrix
Figure FDA0001808866390000034
7. The apparatus for cutting sheet remnants as claimed in claim 6, wherein said perspective transformation matrix calculation module (80) is further configured to: and when the distortion of the image in the camera field of view is smaller than a distortion threshold value, establishing a projection model to cover the image in the camera field of view, and calculating a perspective transformation matrix of the projection model.
8. The apparatus for cutting sheet remnants as claimed in claim 6, wherein said perspective transformation matrix calculation module (80) is further configured to: and when the distortion of the image is larger than or equal to a distortion threshold value, establishing four projection models to cover the image in the camera field of view, and calculating a perspective transformation matrix of each projection model.
9. A cutting apparatus for a remainder of sheet material, comprising: a laser cutting part (100), a driving part (200), a plate conveying part (300), an image acquisition part (400) and a control part (500); the laser cutting part (100) is used for outputting laser to cut the plate; the driving part (200) is used for driving the laser cutting part (100) to move along a cutting path; the plate conveying part (300) is used for conveying a plate; the image acquisition part (400) is used for acquiring images; the control part (500) is used for controlling the laser cutting part (100), the driving part (200), the plate conveying part (300) and the image acquisition part (400); characterized in that the cutting device of the plate remnants is applied to the cutting method of the plate remnants according to any one of claims 1 to 4.
10. A non-transitory computer readable storage medium having stored therein computer instructions adapted to be loaded by a processor to implement the method of cutting a sheet remainder of any one of claims 1 to 4.
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