Research On Path Planning Algorithm For Large Slate Sawing Based On Vision Application

The cutting of large slabs of stone is one of the main tasks in the production of stone products.Among them,saw blade cutting is widely used in the cutting of large slabs as a cost-effective cutting method.Compared with foreign automated cutting equipment,most domestic manufacturers use CNC cutting equipment with a lower degree of automation,and there is still a lot of room for improvement in processing efficiency and material utilization.In order to improve the processing efficiency and material utilization rate of domestic stone saw blade cutting equipment,this paper studies the visual measurement technology and layout algorithm,and applies them to the automation of saw blade cutting.The main research content can be divided into the following aspects:An edge extraction algorithm based on OSTU threshold method and mathematical morphology is proposed.First,the image is preprocessed and binarized,then the target is extracted by the maximum connected domain method,and finally the edge of the target object is obtained by mathematical morphology.The method can obtain continuous and single-pixel edge images;in order to improve the measurement accuracy,the imaging principle of the camera is analyzed and the camera calibration is performed;by improving the traditional eight-neighbor tracking method,the edge tracking accuracy and algorithm stability are improved,and the The extracted edge points are fitted;the format composition of the DXF file is analyzed,and the process of reading and analyzing the DXF file and the automatic generation method are designed.The method of reading the polygons of the parts to be discharged is designed,and the calculation methods of the features such as the concave and convexity,center of gravity,area,etc.of the part polygons are studied,and the judgment method of the position relationship between the polygons is analyzed.The collection is classified.An optimal solution method for the nesting problem based on genetic algorithm is proposed.First,the mathematical model of the nesting problem is constructed,and the sorting algorithm is studied in depth.Based on the traditional sorting algorithm,a bump-separation sorting algorithm suitable for irregular polygons is proposed.The result of the class analysis divides the big board into several sub-sections,and separates each sub-section.This method can reduce the impact of the “one size fits all” constraint to a certain extent;after that,the advantages of various operating strategies of genetic algorithms are analyzed.Disadvantages,improve the selection and mutation strategies of traditional genetic algorithms,and control the group diversity in the early stage and the protection of excellent individuals in the later stage.Based on the greedy algorithm,a path planning method is proposed.The method uses the distance between the point of the knife and the center of gravity of each polygon to determine the next cutting polygon,and then determines the starting point of the cutting according to the distance between the vertices of the polygon and the point of the knife;in path planning In the design of the algorithm,a structure model of the suction cup was constructed and a shift strategy based on the amount of overcut was designed.Finally,the format of the NC file was analyzed,and an automatic generation method of the NC file was designed.Finally,based on the research of related algorithms,a visual measurement experiment platform for the contour extraction algorithm is built,and the related algorithms are implemented in software using VC++,Open CV and other tools.Under laboratory conditions,the measurement experiment and typesetting experiment are carried out;the experimental results show that the measurement method proposed in this paper has high measurement accuracy and efficiency,and the typesetting scheme designed can better meet the actual requirements of large-slab cutting work.