CN109300158A - A method of PVC board is cut based on Mark point location function - Google Patents

A method of PVC board is cut based on Mark point location function Download PDF

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CN109300158A
CN109300158A CN201810860575.9A CN201810860575A CN109300158A CN 109300158 A CN109300158 A CN 109300158A CN 201810860575 A CN201810860575 A CN 201810860575A CN 109300158 A CN109300158 A CN 109300158A
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coordinate system
pattern
cutting process
file
cutting
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CN109300158B (en
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董辉
张斌豪
毛小海
俞立
张文安
滕游
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Zhejiang University of Technology ZJUT
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C3/00—Milling particular work; Special milling operations; Machines therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Forests & Forestry (AREA)
  • Robotics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Numerical Control (AREA)

Abstract

A method of PVC board is cut based on Mark point location function, industrial camera is installed to the position near carving and milling machine main shaft, goes out the opposite offset of camera and main shaft to the function calculating of knife by camera biasing；Carving and milling machine finds the strategy of Mark point according to cutting process paper formulation；By finding Mark point strategy, 4 pairs of Mark dot center coordinates are respectively obtained by industrial camera and when control panel finds Mark point feeds back when forward spindle coordinate, the coordinate of Current camera coordinate system is transformed into the coordinate system of cutting process file according to Buddhist Rolling Stone；4 Mark point coordinates of the conversion after good are compared with the Mark dot center coordinate in cutting process file coordinate system, if there is no offsets to illustrate that PVC material position is normal, if there is offset, then carry out the correction of position to PVC material.The operational efficiency of machine has can be improved in the method for the present invention.

Description

A method of PVC board is cut based on Mark point location function
Technical field
The invention belongs to high-precision numerical control equipment fields of automation technology, are related to one kind and combine machine vision in carving and milling machine With the method for Mark point auxiliary positioning, so that when carrying out PVC board cutting, method that cutting accuracy can be effectively improved.
Background technique
Carving and milling machine is one kind of widely applied numerically-controlled machine tool in current domestic major factory and enterprise, it have small cutter, High-power, main shaft high speed and the advantage that can process larger hardened material, compensate for the shortcoming of cutting and engraving machine.It Appearance so that the production cost of processing high-hardness material substantially reduces, improve the level of carving milling industry automation, reduce The link of manual working.User can also be adjusted by parameter, adapt to different production requirements, improve the quality of finished product.
The carving and milling machine of current domestic each model is all to cut PVC material by fixing position in advance to obtain finished product.Often PVC material is directed at the cutting origin being previously set and carries out road by the personnel that work on the spot is required when secondary correction position The planning of diameter.However since different and PVC material the thickness of level of staff is different, lead to same cutting process file Also the good and the bad is not good for the finished product being cut into, and finally influences the practicability and yields of carving and milling machine.
Summary of the invention
In order to overcome the low efficiency of existing carving and milling machine positioning method, time-consuming, error is big and excessive manual intervention Deficiency, the present invention propose a kind of method based on Mark point location function cutting PVC board.
To achieve the above object, this invention takes technical solutions below:
A method of PVC board is cut based on Mark point location function, comprising the following steps:
1) firstly, industrial camera is installed to the position near carving and milling machine main shaft, by camera biasing to the function meter of knife Calculate the opposite offset X of camera and main shaftsAnd Ys；In the coordinate of known cutting file routine and the ratio of real work coordinate system P1: 1, calculate camera coordinates system by the Mark point imaging of present level camera is with the conversion proportion cut in file routine P2: 1, wherein the maximum magnitude of camera coordinates system is (Xc,Yc)；
2) secondly, carving and milling machine finds the strategy of Mark point according to cutting process paper formulation；
3) according to the strategy of the searching Mark point inside step 2), 4 pairs of Mark dot center are respectively obtained by industrial camera Coordinate (Xi,Yi) and control panel find fed back when Mark point when forward spindle coordinate be (XCi,YCi), wherein i=1,2,3,4； According to the parameter in step 1), the coordinate of Current camera coordinate system is transformed into the coordinate system of cutting process file, step It is as follows:
Xi2f=XCi×P1-(Xi-0.5×Xc)×P2+Xs, wherein i=1,2,3,4；
Yi2f=YCi×P1-(Yi-0.5×Yc)×P2+Ys, wherein i=1,2,3,4；
4) the Mark dot center in 4 Mark point coordinates and cutting process file coordinate system after finishing changing step 3) transfer Coordinate is compared, if there is no offsets to illustrate that PVC material position is normal, if there is offset, is then carried out to PVC material The correction of position, correcting algorithm are as follows: setting
①Xi': the x-axis coordinate of i-th of Mark dot center in cutting process file coordinate system, wherein i=1,2,3,4；
Yi': the y-axis coordinate of i-th of Mark dot center in cutting process file coordinate system, wherein i=1,2,3,4；
2. the angle θ: the pattern in cutting process file is transformed into pattern rotation in cutting file coordinate system with from work coordinate system The angle rotated between turning；
θiAngle: pattern in i-th group of cutting process file is schemed with being transformed into cutting file coordinate system from work coordinate system The angle that rotates between case rotation, wherein i=1,2,3,4；
③Xoffset: the pattern in cutting process file is transformed into pattern in cutting file coordinate system with from work coordinate system The offset of x-axis between rotation；
Yoffset: the pattern in cutting process file is transformed into pattern rotation in cutting file coordinate system with from work coordinate system The offset of y-axis between turning；
Pattern in i-th group of cutting process file is schemed with being transformed into cutting file coordinate system from work coordinate system The offset of x-axis between case rotation, wherein i=1,2,3,4；
Pattern in i-th group of cutting process file is schemed with being transformed into cutting file coordinate system from work coordinate system The offset of y-axis between case rotation, wherein i=1,2,3,4；
④Xpi: the x-axis coordinate of pattern in cutting process file coordinate system, wherein i=1 ..., n；Ypi: cutting process text The y-axis coordinate of pattern in part coordinate system, wherein i=1 ..., n；
Xcorrecti: the pattern x-axis coordinate of work coordinate system is converted back after correction, wherein i=1 ..., n；Ycorrecti: school The pattern y-axis coordinate of work coordinate system is just being converted back afterwards, wherein i=1 ..., n；
A: pattern in cutting process file be transformed into pattern in cutting file coordinate system from work coordinate system and rotate it Between spin matrix；
B: pattern in cutting process file be transformed into pattern in cutting file coordinate system from work coordinate system and rotate it Between translation matrix；
1. establishing the model of spin matrix:
2. establishing the model of translation matrix:
3. establishing the relationship between the Mark point being transformed into program in program with work coordinate system:
Wherein i=1,2,3,4；
4. establishing equation group using the corresponding relationship (be up to 4 groups of solutions) of wherein any three groups 3 groups of Mark points:
Wherein α, β, γ are respectively some different value in i=1,2,3,4；
The rotation angular to PVC board calculated using above-mentioned equation group:
Wherein i= 1,2,3,4；
5. using step 4. obtained in the angle θ, the position x-axis of PVC board and the offset distance of y-axis can be calculated:
Wherein i=1,2,3,4；
Wherein i=1,2,3,4；
6. taking to enhance the robustness of algorithm and reduce the loss of significance of accidental error bring in multipair corresponding pass The mode that mean value is taken in system's group solution value calculates to obtain rotation angle θ angle and offset distance Xoffset, Yoffset:
7. 6. resulting based on step as a result, the PVC board patterns coordinate that calibration shift returns work coordinate system is calculated:
(Xcorrecti,Ycorrexti) it is to cut pattern position on workbench after correcting, wherein i=1 ..., n.
Technical concept of the invention are as follows: industrial camera is installed to the position near carving and milling machine main shaft, passes through phase by the first step Machine biasing goes out the opposite offset of camera and main shaft to the function calculating of knife.Coordinate and real work in known cutting file routine The ratio of coordinate system calculates camera coordinates system by the Mark point imaging of present level camera and cuts turn in file routine Change ratio；Second step, carving and milling machine find the strategy of Mark point according to cutting process paper formulation；Third step, by second step Searching Mark point strategy, 4 pairs of Mark dot center coordinates are respectively obtained by industrial camera and when control panel finds Mark point Feedback works as forward spindle coordinate, and the coordinate of Current camera coordinate system is transformed into the coordinate system of cutting process file according to Buddhist Rolling Stone In the middle；4th step, will conversion it is good after 4 Mark point coordinates and cutting process file coordinate system in Mark dot center coordinate into Row compares, if there is no offsets to illustrate that PVC material position is normal, if there is offset, then carries out position to PVC material Correction.
The case where beneficial effects of the present invention show themselves in that the operational efficiency for improving machine, reduce human intervention.2, no The precision and quality of cutting can be influenced by factors such as the size of PVC board, thickness and offsets.3, fixed compared to traditional Mark point The solution of position, above scheme strong robustness, encountering can drop to loss of significance caused by error most under contingent situation It is small.
Detailed description of the invention
Fig. 1 is that industrial camera is illustrated in the installation of carving and milling machine main shaft side.
Fig. 2 is the internal anatomy of carving and milling machine work top.
Fig. 3 is the diagram of industrial camera coordinate system.
Fig. 4 is that the searching strategy of Mark point illustrates.
Fig. 5 is that the biasing PVC board pattern of work coordinate system is transformed into the ratio after cutting process file coordinate system with original Compared with diagram.
Fig. 6 is algorithm flow chart of the invention.
Wherein 101- industrial camera component；102- carving and milling machine main shaft；
201- stage coordinates system；202- industrial camera coordinate system；The biasing of 203- industrial camera x-axis；204- industrial camera y Axis biasing；
301-Mark point central coordinate of circle；302- industrial camera coordinate system centre coordinate；303- industrial camera coordinate system.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawing.
Referring to Fig.1~Fig. 6, a method of PVC board is cut based on Mark point location function, comprising the following steps:
1) firstly, industrial camera is installed to the position near carving and milling machine main shaft as shown in Figure 1, pass through phase as shown in Figure 2 Machine biasing goes out the opposite offset X of camera and main shaft to the function calculating of knifesAnd Ys.In the coordinate and reality of known cutting file routine The ratio P of border work coordinate system1: 1, camera coordinates system and cutting file are calculated by the Mark point imaging of present level camera Conversion proportion in program is P2: 1, wherein the maximum magnitude of camera coordinates system as shown in Figure 3 is (Xc,Yc)。
2) secondly, carving and milling machine finds the strategy of Mark point as shown in Figure 4 according to cutting process paper formulation.
3) according to the strategy of the searching Mark point inside step 2), 4 pairs of Mark dot center are respectively obtained by industrial camera Coordinate (Xi,Yi) and control panel find fed back when Mark point when forward spindle coordinate be (XCi,YCi), wherein i=1,2,3,4. According to the parameter in step 1), the coordinate of Current camera coordinate system is transformed into the coordinate system of cutting process file as shown in Figure 5 In the middle, steps are as follows:
Xi2f=XCi×P1-(Xi-0.5×Xc)×P2+Xs, wherein i=1,2,3,4；
Yi2f=YCi×P1-(Yi-0.5×Yc)×P2+Ys, wherein i=1,2,3,4；
4) Mark in 4 Mark point coordinates and cutting process file coordinate system after conversion is got well will be obtained in step 3) Dot center's coordinate is compared, if there is no offsets to illustrate that PVC material position is normal, if there is offset, then to PVC material Material carries out the correction of position, and correcting algorithm is as follows: setting
Xi': the x-axis coordinate of i-th of Mark dot center in cutting process file coordinate system, wherein i=1,2,3,4；
Yi': the y-axis coordinate of i-th of Mark dot center in cutting process file coordinate system, wherein i=1,2,3,4；
The angle θ: the pattern in cutting process file is transformed into pattern rotation in cutting file coordinate system with from work coordinate system Between the angle that rotates；
θiAngle: pattern in i-th group of cutting process file is schemed with being transformed into cutting file coordinate system from work coordinate system The angle that rotates between case rotation, wherein i=1,2,3,4；
Xoffset: the pattern in cutting process file is transformed into pattern rotation in cutting file coordinate system with from work coordinate system The offset of x-axis between turning；
Yoffset: the pattern in cutting process file is transformed into pattern rotation in cutting file coordinate system with from work coordinate system The offset of y-axis between turning；
Pattern in i-th group of cutting process file is schemed with being transformed into cutting file coordinate system from work coordinate system The offset of x-axis between case rotation, wherein i=1,2,3,4；
Pattern in i-th group of cutting process file is schemed with being transformed into cutting file coordinate system from work coordinate system The offset of y-axis between case rotation, wherein i=1,2,3,4；
Xpi: the x-axis coordinate of pattern in cutting process file coordinate system, wherein i=1 ..., n；Ypi: cutting process file The y-axis coordinate of pattern in coordinate system, wherein i=1 ..., n；
Xcorrecti: the pattern x-axis coordinate of work coordinate system is converted back after correction, wherein i=1 ..., n；Ycorrecti: school The pattern y-axis coordinate of work coordinate system is just being converted back afterwards, wherein i=1 ..., n；
A: pattern in cutting process file be transformed into pattern in cutting file coordinate system from work coordinate system and rotate it Between spin matrix；
B: pattern in cutting process file be transformed into pattern in cutting file coordinate system from work coordinate system and rotate it Between translation matrix；
1. establishing the model of spin matrix:
2. establishing the model of translation matrix:
3. establishing the relationship between the Mark point being transformed into program in program with work coordinate system:
Wherein i=1,2,3,4；
4. establishing equation group using the corresponding relationship (be up to 4 groups of solutions) of wherein any three groups 3 groups of Mark points:
Wherein α, β, γ are respectively some different value in i=1,2,3,4；
The rotation angular to PVC board calculated using above-mentioned equation group:
Wherein i= 1,2,3,4；
5. using step 4. obtained in the angle θ, the position x-axis of PVC board and the offset distance of y-axis can be calculated:
Wherein i=1,2,3,4；
Wherein i=1,2,3,4；
6. taking to enhance the robustness of algorithm and reduce the loss of significance of accidental error bring in multipair corresponding pass The mode that mean value is taken in system's group solution value calculates to obtain rotation angle θ angle and offset distance Xoffset, Yoffset:
7. 6. resulting based on step as a result, the PVC board patterns coordinate that calibration shift returns work coordinate system is calculated:
(Xcorrecti,Ycorrexti) it is to cut pattern position on workbench after correcting, wherein i=1 ..., n.

Claims (1)

1. a kind of method based on Mark point location function cutting PVC board, which comprises the following steps:
1) firstly, industrial camera is installed to the position near carving and milling machine main shaft, the function calculating of knife is gone out by camera biasing The opposite offset X of camera and main shaftsAnd Ys；In the coordinate of known cutting file routine and the ratio P of real work coordinate system1: 1, The conversion proportion for calculating camera coordinates system by the Mark point imaging of present level camera and cutting in file routine is P2: 1, Wherein the maximum magnitude of camera coordinates system is (Xc,Yc)；
2) secondly, carving and milling machine finds the strategy of Mark point according to cutting process paper formulation；
3) according to the strategy of the searching Mark point inside step 2), 4 pairs of Mark dot center coordinates are respectively obtained by industrial camera (Xi,Yi) and control panel find fed back when Mark point when forward spindle coordinate be (XCi,YCi), wherein i=1,2,3,4；According to The coordinate of Current camera coordinate system is transformed into the coordinate system of cutting process file by the parameter in step 1), and steps are as follows:
Xi2f=XCi×P1-(Xi-0.5×Xc)×P2+Xs, wherein i=1,2,3,4；
Yi2f=YCi×P1-(Yi-0.5×Yc)×P2+Ys, wherein i=1,2,3,4；
4) it will be obtained in the Mark point in 4 Mark point coordinates and cutting process file coordinate system after conversion is got well in step 3) Heart coordinate is compared, if there is no offset illustrate that PVC material position is normal, if there is offset, then to PVC material into The correction that line position is set, correcting algorithm are as follows: setting
①Xi': the x-axis coordinate of i-th of Mark dot center in cutting process file coordinate system, wherein i=1,2,3,4；
Yi': the y-axis coordinate of i-th of Mark dot center in cutting process file coordinate system, wherein i=1,2,3,4；
2. the angle θ: pattern in cutting process file be transformed into pattern in cutting file coordinate system from work coordinate system and rotate it Between the angle that rotates；
θiAngle: the pattern in i-th group of cutting process file is transformed into pattern rotation in cutting file coordinate system with from work coordinate system Between the angle that rotates, wherein i=1,2,3,4；
③Xoffset: the pattern in cutting process file is transformed into pattern rotation in cutting file coordinate system with from work coordinate system Between x-axis offset；
Yoffset: pattern in cutting process file be transformed into pattern in cutting file coordinate system from work coordinate system and rotate it Between y-axis offset；
Pattern in i-th group of cutting process file is transformed into pattern rotation in cutting file coordinate system with from work coordinate system The offset of x-axis between turning, wherein i=1,2,3,4；
Pattern in i-th group of cutting process file is transformed into pattern rotation in cutting file coordinate system with from work coordinate system The offset of y-axis between turning, wherein i=1,2,3,4；
④Xpi: the x-axis coordinate of pattern in cutting process file coordinate system, wherein i=1 ..., n；Ypi: cutting process file coordinate The y-axis coordinate of pattern in system, wherein i=1 ..., n；
Xcorrecti: the pattern x-axis coordinate of work coordinate system is converted back after correction, wherein i=1 ..., n；
Ycorrecti: the pattern y-axis coordinate of work coordinate system is converted back after correction, wherein i=1 ..., n；
A: it pattern in cutting process file and is transformed into cutting file coordinate system between pattern rotation from work coordinate system Spin matrix；
B: it pattern in cutting process file and is transformed into cutting file coordinate system between pattern rotation from work coordinate system Translation matrix；
1. establishing the model of spin matrix:
2. establishing the model of translation matrix:
3. establishing the relationship between the Mark point being transformed into program in program with work coordinate system:
Wherein i=1,2,3,4；
4. establishing equation group using the corresponding relationship (be up to 4 groups of solutions) of wherein any three groups 3 groups of Mark points:
Wherein α, β, γ are respectively some different value in i=1,2,3,4；
The rotation angular to PVC board calculated using above-mentioned equation group:
Wherein i=1,2, 3,4；
5. using step 4. obtained in the angle θ, the position x-axis of PVC board and the offset distance of y-axis can be calculated:
Wherein i=1,2,3,4；
Wherein i=1,2,3,4；
6. taking to enhance the robustness of algorithm and reduce the loss of significance of accidental error bring in multipair corresponding relationship group The mode that mean value is taken in solution value calculates to obtain rotation angle θ angle and offset distance Xoffset, Yoffset:
7. 6. resulting based on step as a result, the PVC board patterns coordinate that calibration shift returns work coordinate system is calculated:
(Xcorrecti,Ycorrexti) it is to cut pattern position on workbench after correcting, wherein i=1 ..., n.
CN201810860575.9A 2018-08-01 2018-08-01 Method for cutting PVC (polyvinyl chloride) plate based on Mark point positioning function Active CN109300158B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113093650A (en) * 2021-04-14 2021-07-09 曹智军 Data communication method for workpiece visual positioning of numerical control machine tool
CN117470158A (en) * 2023-12-27 2024-01-30 湖南肆玖科技有限公司 Edge inspection method and system for carving machine

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Publication number Priority date Publication date Assignee Title
CN102231066A (en) * 2011-03-01 2011-11-02 上海维宏电子科技有限公司 Method for realizing processed coordinate transition in numerical control system
CN105236725A (en) * 2015-08-24 2016-01-13 广州市锲致智能技术有限公司 Dual-CCD-locating linkage machining method and device
CN107505918A (en) * 2017-08-15 2017-12-22 浙江工业大学 A kind of speed planning method of cutting machine

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
CN102231066A (en) * 2011-03-01 2011-11-02 上海维宏电子科技有限公司 Method for realizing processed coordinate transition in numerical control system
CN105236725A (en) * 2015-08-24 2016-01-13 广州市锲致智能技术有限公司 Dual-CCD-locating linkage machining method and device
CN107505918A (en) * 2017-08-15 2017-12-22 浙江工业大学 A kind of speed planning method of cutting machine

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Publication number Priority date Publication date Assignee Title
CN113093650A (en) * 2021-04-14 2021-07-09 曹智军 Data communication method for workpiece visual positioning of numerical control machine tool
CN113093650B (en) * 2021-04-14 2023-08-11 曹智军 Data communication method for visual positioning of workpiece of numerical control machine tool
CN117470158A (en) * 2023-12-27 2024-01-30 湖南肆玖科技有限公司 Edge inspection method and system for carving machine
CN117470158B (en) * 2023-12-27 2024-04-23 湖南肆玖科技有限公司 Edge inspection method and system for carving machine

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