An intelligent robot control system for a deburring workstation of a grinding wheel

Abstract

The present invention discloses an intelligent robot control system for a deburring workstation of a grinding wheel, belonging to the technical field of grinding control. The present invention first performs gradient operations in the x and y directions on the surface image of the grinding area, calculates the texture roughness, and extracts the surface glossiness. By analyzing the difference in texture progress in the x and y directions and the change in glossiness, the present invention extracts the progress proportionality coefficient and adjusts the grinding speed in real time based on this. The present invention significantly improves the accuracy and adaptability of the grinding process through a multi-dimensional intelligent control method, and solves the problem in traditional grinding technology that parameters cannot be dynamically adjusted according to the processing progress.

Description

Technical Field

[0001] The present invention relates to the technical field of grinding control, and particularly relates to an intelligent robot control system for a grinding wheel deburring workstation. Background Art

[0002] In the field of industrial manufacturing, grinding wheel deburring is a crucial process, and its quality directly affects the final performance and appearance of products. Traditional grinding operations often rely on manual labor, which is not only inefficient but also difficult to ensure the consistency and accuracy of grinding effects. With the continuous expansion of industrial production scale and the increasingly stringent requirements for product quality, this labor-intensive grinding method gradually exposes many drawbacks. For example, the high labor intensity causes worker fatigue, which in turn leads to fluctuations in grinding quality. Moreover, when dealing with workpieces with complex shapes, it is difficult for manual labor to accurately control the grinding force and direction. In addition, the traditional grinding process lacks real-time, accurate monitoring and quantitative evaluation means for the surface state of the grinding area, and cannot dynamically adjust grinding parameters according to the grinding progress. Summary of the Invention

[0003] Aiming at the above deficiencies in the prior art, the intelligent robot control system for a grinding wheel deburring workstation provided by the present invention solves the problem that the prior art cannot dynamically adjust grinding parameters according to the grinding progress.

[0004] To achieve the above invention purpose, the technical solution adopted by the present invention is: an intelligent robot control system for a grinding wheel deburring workstation, including: a texture roughness calculation subsystem, a surface gloss extraction subsystem, a progress difference extraction subsystem, a progress ratio coefficient extraction subsystem, and a multi-unit speed adjustment subsystem;

[0005] The texture roughness calculation subsystem is used to perform gradient operations on the surface image of the grinding area in the x and y directions respectively to obtain an x-direction gradient image and a y-direction gradient image, and calculate the x-direction texture roughness and the y-direction texture roughness;

[0006] The surface gloss extraction subsystem is used to extract the surface gloss of the surface image of the grinding area;

[0007] The progress difference extraction subsystem is used to extract the x-direction texture progress difference, the y-direction texture progress difference, and the gloss progress difference according to the x-direction texture roughness, the y-direction texture roughness, and the surface gloss;

[0008] The progress ratio coefficient extraction subsystem is used to extract the x-direction texture progress ratio coefficient, the y-direction texture progress ratio coefficient, and the gloss progress ratio coefficient according to the x-direction texture progress difference, the y-direction texture progress difference, and the gloss progress difference;

[0009] The multi-unit speed adjustment subsystem is used to adjust the grinding speed according to the texture progress proportional coefficients in the x-direction, y-direction, and gloss progress proportional coefficients at multiple moments.

[0010] Furthermore, the texture roughness calculation subsystem includes: an x-direction gradient image construction unit, a y-direction gradient image construction unit, an x-direction texture roughness calculation unit, and a y-direction texture roughness calculation unit;

[0011] The x-direction gradient image construction unit is used to perform a gradient operation on the surface image of the grinding area in the x-direction using the Sobel operator to obtain the x-direction gradient amplitude, and replace the original pixel value of each pixel point with the x-direction gradient amplitude to obtain the x-direction gradient image;

[0012] The y-direction gradient image construction unit is used to perform a gradient operation on the surface image of the grinding area in the y-direction using the Sobel operator to obtain the y-direction gradient amplitude, and replace the original pixel value of each pixel point with the y-direction gradient amplitude to obtain the y-direction gradient image;

[0013] The x-direction texture roughness calculation unit is used to calculate the x-direction texture roughness according to the number of pixel points in the x-direction gradient image where the x-direction gradient amplitude is equal to 0, and the mean value of the x-direction gradient amplitudes;

[0014] The y-direction texture roughness calculation unit is used to calculate the y-direction texture roughness according to the number of pixel points in the y-direction gradient image where the y-direction gradient amplitude is equal to 0, and the mean value of the y-direction gradient amplitudes.

[0015] Furthermore, the formula for calculating the x-direction texture roughness is:

[0016] , where C x is the x-direction texture roughness, R is the number of pixel points on the surface image of the grinding area, N x is the number of pixel points in the x-direction gradient image where the x-direction gradient amplitude is equal to 0, and G x,avg is the mean value of each x-direction gradient amplitude in the x-direction gradient image;

[0017] The formula for calculating the y-direction texture roughness is:

[0018] , where C y is the y-direction texture roughness, N y is the number of pixel points in the y-direction gradient image where the y-direction gradient amplitude is equal to 0, and G y,avg is the mean value of each y-direction gradient amplitude in the y-direction gradient image.

[0019] Further, the surface glossiness extraction subsystem includes: a color space mapping unit and a surface glossiness calculation unit;

[0020] The color space mapping unit is used to convert the surface image of the polished area into the HSV color space and extract the brightness values in the HSV color space;

[0021] The surface glossiness calculation unit is used to calculate the surface glossiness according to each brightness value.

[0022] Further, the calculation formula for surface glossiness is:

[0023] , where g is the surface glossiness, and L avg is the average value of each brightness value of the surface image of the polished area in the HSV color space, and σ L is the standard deviation of each brightness value.

[0024] Further, the progress difference extraction subsystem includes: an x-direction texture progress difference extraction unit, a y-direction texture progress difference extraction unit, and a glossiness progress difference extraction unit;

[0025] The x-direction texture progress difference extraction unit is used to subtract the x-direction texture coarseness at adjacent times, take the absolute value of the subtraction result as the x-direction texture progress value, and subtract the x-direction texture progress value from the x-direction texture progress target value to obtain the x-direction texture progress difference;

[0026] The y-direction texture progress difference extraction unit is used to subtract the y-direction texture coarseness at adjacent times, take the absolute value of the subtraction result as the y-direction texture progress value, and subtract the y-direction texture progress value from the y-direction texture progress target value to obtain the y-direction texture progress difference;

[0027] The glossiness progress difference extraction unit is used to subtract the surface glossiness at adjacent times, take the absolute value of the subtraction result as the glossiness progress value, and subtract the glossiness progress value from the glossiness progress target value to obtain the glossiness progress difference.

[0028] Further, the progress ratio coefficient extraction subsystem includes: an x-direction progress ratio coefficient extraction unit, a y-direction progress ratio coefficient extraction unit, and a glossiness progress ratio coefficient extraction unit;

[0029] The x-direction progress ratio coefficient extraction unit is used to assign a value of 1 to the x-direction progress ratio coefficient when the x-direction texture progress difference is greater than or equal to 0, and when the x-direction texture progress difference is less than 0, the x-direction progress ratio coefficient is equal to the ratio of the x-direction texture progress difference to the x-direction texture progress target value;

[0030] The y-direction progress ratio coefficient extraction unit is used to assign the y-direction texture progress ratio coefficient as 1 when the y-direction texture progress difference is greater than or equal to 0, and when the y-direction texture progress difference is less than 0, the y-direction texture progress ratio coefficient is equal to the ratio of the y-direction texture progress difference to the y-direction texture progress target value;

[0031] The gloss progress ratio coefficient extraction unit is used to assign the gloss progress ratio coefficient as 1 when the gloss progress difference is greater than or equal to 0, and when the y-direction texture progress difference is less than 0, the gloss progress ratio coefficient is equal to the ratio of the gloss progress difference to the gloss progress target value.

[0032] Furthermore, the multi-unit speed adjustment subsystem includes: a first speed adjustment subunit, a second speed adjustment subunit, a third speed adjustment subunit, an addition unit, an increment suppression unit, and a speed output unit;

[0033] The first speed adjustment subunit is used to calculate the first speed increment according to the x-direction texture progress ratio coefficients at multiple moments;

[0034] The second speed adjustment subunit is used to calculate the second speed increment according to the y-direction texture progress ratio coefficients at multiple moments;

[0035] The third speed adjustment subunit is used to calculate the third speed increment according to the gloss progress ratio coefficients at multiple moments;

[0036] The addition unit is used to add the first speed increment, the second speed increment, and the third speed increment to obtain the total increment;

[0037] The increment suppression unit is used to suppress the total increment according to the gap between the total increment and the target increment to obtain the suppressed increment;

[0038] The speed output unit is used to add the suppressed increment and the current grinding speed to obtain the grinding speed at the next moment.

[0039] Furthermore, the expression of the first speed adjustment subunit is:

[0040] , where V 1,z,t+1 is the first speed increment at the (t + 1)-th moment, V t is the grinding speed at the t-th moment, γ x,t is the x-direction texture progress ratio coefficient at the t-th moment, γ x,t-τ is the x-direction texture progress ratio coefficient at the (t - τ)-th moment, T is the length of the historical moment, t is the number of the current moment, τ is the number of the historical moment, and β1 is the first adjustment factor;

[0041] The expression of the second speed adjustment subunit is:

[0042] , where V 2,z,t+1 is the second velocity increment at the (t + 1)-th moment, γ y,t is the y-direction texture progress ratio coefficient at the t-th moment, γ y,t-τ is the y-direction texture progress ratio coefficient at the (t - τ)-th moment, and β2 is the second adjustment factor;

[0043] The expression of the third velocity adjustment subunit is:

[0044] , where V 3,z,t+1 is the third velocity increment at the (t + 1)-th moment, γ g,t is the glossiness progress ratio coefficient at the t-th moment, γ g,t-τ is the glossiness progress ratio coefficient at the (t - τ)-th moment, and β3 is the third adjustment factor.

[0045] Furthermore, the expression of the increment suppression unit is:

[0046] , where is the suppression increment at the (t + 1)-th moment, V z,t+1 is the total increment at the (t + 1)-th moment, V z,tar is the target increment, is the suppression increment at the t-th moment, E t+1 is V z,t+1 minus V z,tar , and t is the number of the current moment.

[0047] The beneficial effects of the present invention are as follows:

[0048] 1. By performing gradient operations on the surface image of the grinding area in the x and y directions, the present invention obtains the texture roughness in the x and y directions, enabling the system to sensitively capture the subtle changes in the texture of the grinding area in different directions.

[0049] 2. The present invention directly extracts the glossiness from the surface image of the grinding area, allowing the system to have an intuitive and quantitative evaluation of the grinding effect. Based on this, the progress difference extraction subsystem further combines the texture roughness and glossiness data, calculates the texture progress differences and glossiness progress differences in the x and y directions, and then converts the texture progress differences and glossiness progress differences into texture progress ratio coefficients and glossiness progress ratio coefficients, reflecting the real-time progress during the grinding process.

[0050] 3. Based on the texture progress proportionality coefficients in the x-direction, y-direction, and glossiness progress proportionality coefficient at multiple moments, as well as the texture progress and glossiness changes in different directions, the present invention can reflect the grinding state of the workpiece surface from different angles, adjust the grinding speed based on multi-dimensional data, improve the grinding accuracy, and achieve dynamic adjustment of grinding parameters according to the progress. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a system block diagram of an intelligent robot control system for a grinding wheel deburring workstation;

[0052] Figure 2 is a schematic structural diagram of a multi-unit speed adjustment subsystem. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0053] The following describes the specific embodiments of the present invention to facilitate those skilled in the art of the present technology to understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art of the present technology, as long as various changes are within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions made using the concept of the present invention are within the scope of protection.

[0054] As Figure 1 shown, an intelligent robot control system for a grinding wheel deburring workstation includes: a texture roughness calculation subsystem, a surface glossiness extraction subsystem, a progress difference extraction subsystem, a progress proportionality coefficient extraction subsystem, and a multi-unit speed adjustment subsystem;

[0055] The texture roughness calculation subsystem is used to perform gradient operations on the surface image of the grinding area in the x and y directions respectively to obtain the x-direction gradient image and the y-direction gradient image, and calculate the x-direction texture roughness and the y-direction texture roughness;

[0056] The surface glossiness extraction subsystem is used to extract the surface glossiness from the surface image of the grinding area;

[0057] The progress difference extraction subsystem is used to extract the x-direction texture progress difference, the y-direction texture progress difference, and the glossiness progress difference according to the x-direction texture roughness, the y-direction texture roughness, and the surface glossiness;

[0058] The progress proportionality coefficient extraction subsystem is used to extract the x-direction texture progress proportionality coefficient, the y-direction texture progress proportionality coefficient, and the glossiness progress proportionality coefficient according to the x-direction texture progress difference, the y-direction texture progress difference, and the glossiness progress difference;

[0059] The multi-unit speed adjustment subsystem is used to adjust the polishing speed according to the x-direction texture progress proportional coefficient, y-direction texture progress proportional coefficient, and glossiness progress proportional coefficient at multiple moments.

[0060] In this embodiment, the texture roughness calculation subsystem includes: an x-direction gradient image construction unit, a y-direction gradient image construction unit, an x-direction texture roughness calculation unit, and a y-direction texture roughness calculation unit;

[0061] The x-direction gradient image construction unit is used to perform a gradient operation in the x-direction on the surface image of the polishing area using the Sobel operator to obtain the x-direction gradient amplitude, and replace the original pixel value of each pixel point with the x-direction gradient amplitude to obtain the x-direction gradient image;

[0062] The y-direction gradient image construction unit is used to perform a gradient operation in the y-direction on the surface image of the polishing area using the Sobel operator to obtain the y-direction gradient amplitude, and replace the original pixel value of each pixel point with the y-direction gradient amplitude to obtain the y-direction gradient image;

[0063] The x-direction texture roughness calculation unit is used to calculate the x-direction texture roughness according to the number of pixel points in the x-direction gradient image where the x-direction gradient amplitude is equal to 0 and the mean value of the x-direction gradient amplitude;

[0064] The y-direction texture roughness calculation unit is used to calculate the y-direction texture roughness according to the number of pixel points in the y-direction gradient image where the y-direction gradient amplitude is equal to 0 and the mean value of the y-direction gradient amplitude.

[0065] In this embodiment, the Sobel operator in the x-direction: , and the Sobel operator in the y-direction: .

[0066] During the polishing process, the change of the workpiece surface texture reflects the effect and degree of polishing. The x-direction gradient image construction unit and the y-direction gradient image construction unit respectively use the Sobel operator to perform gradient operations in the x and y directions on the surface image of the polishing area. The Sobel operator can highlight the change of pixel values in the image, that is, the edge information of the texture. By obtaining the x-direction and y-direction gradient images, the details and change situations of the texture in different directions can be clearly captured.

[0067] In this embodiment, the formula for calculating the x-direction texture roughness is:

[0068] , where C x is the x-direction texture roughness, R is the number of pixel points on the surface image of the polishing area, N x is the number of pixel points in the x-direction gradient image where the x-direction gradient amplitude is equal to 0, Gx,avg is the mean value of the x-direction gradient magnitudes in the x-direction gradient image;

[0069] The formula for calculating the y-direction texture roughness is:

[0070] , where C y is the y-direction texture roughness, N y is the number of pixels with a y-direction gradient magnitude equal to 0 in the y-direction gradient image, G y,avg is the mean value of the y-direction gradient magnitudes in the y-direction gradient image.

[0071] The present invention measures the degree of texture change in a direction by calculating the ratio of the number of pixels with a non-zero gradient magnitude to the total number of pixels. A non-zero gradient magnitude means that there is a change in pixel values between pixels, that is, there are texture undulations. The larger this ratio, the richer the texture change and the rougher the surface. Then multiply by the mean gradient magnitude G x,avg (x direction) or G y,avg (y direction), further combining the overall gradient magnitude change degree in this direction, so that the calculated texture roughness can more comprehensively and accurately quantify and reflect the true state of the surface texture.

[0072] In this embodiment, the surface gloss extraction subsystem includes: a color space mapping unit and a surface gloss calculation unit;

[0073] The color space mapping unit is used to convert the surface image of the polished area into the HSV color space and extract the brightness values in the HSV color space;

[0074] The surface gloss calculation unit is used to calculate the surface gloss according to each brightness value.

[0075] In this embodiment, the formula for calculating the surface gloss is:

[0076] , where g is the surface gloss, L avg is the mean value of the brightness values of the surface image of the polished area in the HSV color space, σ L is the standard deviation of each brightness value.

[0077] The color space mapping unit converts the image into the HSV color space. Compared with the common RGB color space, the brightness value (V channel) in the HSV space can more intuitively and accurately reflect the gloss information of the surface, excluding the interference of the color itself. The brightness mean represents the overall brightness of the polished area, and it can give a basic value about the average gloss situation of the surface. However, only relying on the mean cannot judge the uniformity of the gloss, and the brightness dispersion degree reflected by the standard deviation just makes up for this point.

[0078] In this embodiment, the progress difference extraction subsystem includes: an x-direction texture progress difference extraction unit, a y-direction texture progress difference extraction unit, and a glossiness progress difference extraction unit;

[0079] The x-direction texture progress difference extraction unit is used to subtract the x-direction texture coarseness at adjacent times, take the absolute value of the subtraction result as the x-direction texture progress value, subtract the x-direction texture progress value from the x-direction texture progress target value, and obtain the x-direction texture progress difference;

[0080] The y-direction texture progress difference extraction unit is used to subtract the y-direction texture coarseness at adjacent times, take the absolute value of the subtraction result as the y-direction texture progress value, subtract the y-direction texture progress value from the y-direction texture progress target value, and obtain the y-direction texture progress difference;

[0081] The glossiness progress difference extraction unit is used to subtract the surface glossiness at adjacent times, take the absolute value of the subtraction result as the glossiness progress value, subtract the glossiness progress value from the glossiness progress target value, and obtain the glossiness progress difference.

[0082] Specifically: The x-direction texture progress difference extraction unit is used to subtract the x-direction texture coarseness at time t - 1 from the x-direction texture coarseness at time t, take the absolute value of the subtraction result as the x-direction texture progress value, subtract the x-direction texture progress value from the x-direction texture progress target value, and obtain the x-direction texture progress difference;

[0083] The y-direction texture progress difference extraction unit is used to subtract the y-direction texture coarseness at time t - 1 from the y-direction texture coarseness at time t, take the absolute value of the subtraction result as the y-direction texture progress value, subtract the y-direction texture progress value from the y-direction texture progress target value, and obtain the y-direction texture progress difference;

[0084] The glossiness progress difference extraction unit is used to subtract the surface glossiness at time t - 1 from the surface glossiness at time t, take the absolute value of the subtraction result as the glossiness progress value, subtract the glossiness progress value from the glossiness progress target value, and obtain the glossiness progress difference.

[0085] The present invention subtracts the x-direction texture coarseness, y-direction texture coarseness, and surface glossiness at adjacent times to obtain the x-direction texture progress difference, y-direction texture progress difference, and glossiness progress difference, reflecting the changes in texture and glossiness.

[0086] In this embodiment, the progress ratio coefficient extraction subsystem includes: an x-direction progress ratio coefficient extraction unit, a y-direction progress ratio coefficient extraction unit, and a glossiness progress ratio coefficient extraction unit;

[0087] The x-direction progress ratio coefficient extraction unit is used to assign the x-direction texture progress ratio coefficient as 1 when the x-direction texture progress difference is greater than or equal to 0, and when the x-direction texture progress difference is less than 0, the x-direction texture progress ratio coefficient is equal to the ratio of the x-direction texture progress difference to the x-direction texture progress target value;

[0088] The y-direction progress ratio coefficient extraction unit is used to assign the y-direction texture progress ratio coefficient as 1 when the y-direction texture progress difference is greater than or equal to 0, and when the y-direction texture progress difference is less than 0, the y-direction texture progress ratio coefficient is equal to the ratio of the y-direction texture progress difference to the y-direction texture progress target value;

[0089] The gloss progress ratio coefficient extraction unit is used to assign the gloss progress ratio coefficient as 1 when the gloss progress difference is greater than or equal to 0, and when the y-direction texture progress difference is less than 0, the gloss progress ratio coefficient is equal to the ratio of the gloss progress difference to the gloss progress target value.

[0090] The present invention provides a quantitative evaluation standard for the polishing effect by comparing the x-direction and y-direction texture progress differences and the gloss progress difference with the target values. When the progress difference is greater than or equal to 0, it is assigned as 1, indicating that the polishing in this dimension reaches or exceeds the expectation; when the difference is less than 0, the ratio of the difference to the target value is used as the coefficient, which can intuitively reflect the degree to which the polishing in this dimension lags behind the target. For example, if the coefficient is 0.5, it means that only half of the target is completed.

[0091] In this embodiment, the x-direction texture progress target value, the y-direction texture progress target value, and the gloss progress target value are the pre-stored x-direction texture progress value, y-direction texture progress value, and gloss progress value.

[0092] As Figure 2 shown, the multi-unit speed adjustment subsystem includes: a first speed adjustment subunit, a second speed adjustment subunit, a third speed adjustment subunit, an addition unit, an increment suppression unit, and a speed output unit;

[0093] The first speed adjustment subunit is used to calculate the first speed increment according to the x-direction texture progress ratio coefficients at multiple moments;

[0094] The second speed adjustment subunit is used to calculate the second speed increment according to the y-direction texture progress ratio coefficients at multiple moments;

[0095] The third speed adjustment subunit is used to calculate the third speed increment according to the gloss progress ratio coefficients at multiple moments;

[0096] The addition unit is used to add the first speed increment, the second speed increment, and the third speed increment to obtain the total increment;

[0097] The increment suppression unit is used to suppress the total increment according to the gap between the total increment and the target increment, and obtain the suppressed increment;

[0098] The speed output unit is used to add the suppressed increment and the current grinding speed to obtain the grinding speed at the next moment.

[0099] The present invention calculates the speed increment according to the progress ratio coefficients at multiple moments from three dimensions of the x-direction texture, y-direction texture, and glossiness. The addition unit integrates the speed increments in the three dimensions to obtain the total increment, and the increment suppression unit then suppresses it according to the gap between the total increment and the target increment. Finally, the speed output unit determines the grinding speed at the next moment. The increment suppression unit can effectively avoid the sudden change of the grinding speed caused by the excessive fluctuation of the total increment. In actual grinding, external factors or changes in the grinding state may cause large fluctuations in the increment, and the suppression unit can control it within a reasonable range to ensure the smooth change of the grinding speed.

[0100] In this embodiment, the expression of the first speed adjustment subunit is:

[0101] , where V 1,z,t+1 is the first speed increment at the (t + 1)-th moment, V t is the grinding speed at the t-th moment, γ x,t is the progress ratio coefficient of the x-direction texture at the t-th moment, γ x,t-τ is the progress ratio coefficient of the x-direction texture at the (t - τ)-th moment, T is the length of the historical moment, t is the number of the current moment, τ is the number of the historical moment, and β1 is the first adjustment factor.

[0102] The expression of the second speed adjustment subunit is:

[0103] , where V 2,z,t+1 is the second speed increment at the (t + 1)-th moment, γ y,t is the progress ratio coefficient of the y-direction texture at the t-th moment, γ y,t-τ is the progress ratio coefficient of the y-direction texture at the (t - τ)-th moment, and β2 is the second adjustment factor.

[0104] The expression of the third speed adjustment subunit is:

[0105] , where V 3,z,t+1 is the third speed increment at the (t + 1)-th moment, γ g,t is the progress ratio coefficient of the glossiness at the t-th moment, γ g,t-τ is the progress ratio coefficient of the glossiness at the (t - τ)-th moment, and β3 is the third adjustment factor.

[0106] The present invention comprehensively considers the progress ratio coefficients at historical moments and the current moment. Taking the first speed adjustment subunit as an example, The sum of the x-direction texture progress ratio coefficients at the historical T moments is calculated, reflecting the historical trend of x-direction texture grinding; represents the progress ratio coefficient at the current moment. This way neither ignores the information accumulated during the past grinding process nor fails to respond promptly to the current grinding state.

[0107] In this embodiment, the expression of the increment suppression unit is:

[0108] , where is the suppression increment at the (t + 1)-th moment, V z,t+1 is the total increment at the (t + 1)-th moment, V z,tar is the target increment, is the suppression increment at the t-th moment, E t+1 is V z,t+1 minus V z,tar , and t is the number of the current moment.

[0109] In this embodiment, the target increment is a set speed increment.

[0110] When the total increment V z,t+1 is greater than or equal to the target increment V z,tar , take the suppression increment at the t-th moment, calculate the speed adjustment ratio according to the difference between V z,t+1 and V z,tar . When the total increment V z,t+1 is less than the target increment V z,tar , directly output the total increment V z,t+1 to prevent excessive speed fluctuations from causing uneven grinding.

[0111] In this embodiment, the first adjustment factor β1, the second adjustment factor β2, and the third adjustment factor β3 can be specifically set through experiments or experience, and can also be calibrated through a genetic algorithm. Taking β1, β2, and β3 as the population individuals of the GA genetic model, the specific values of β1, β2, and β3 are screened out through crossover and mutation.

[0112] In this embodiment, a set of values of β1, β2, and β3 can be initially set, such as all set to 0.3, and then a certain number of workpieces are selected for grinding tests. According to the test results, such as whether the grinding quality meets the standard and the grinding efficiency, the adjustment factors are adjusted.

[0113] The present invention performs gradient operations on the surface image of the grinding area in the x and y directions to obtain the x and y direction texture roughness, enabling the system to sensitively capture the subtle changes in the texture of the grinding area in different directions.

[0114] The present invention directly extracts the glossiness from the surface image of the grinding area, enabling the system to have an intuitive and quantitative evaluation of the grinding effect. Based on this, the progress difference extraction subsystem further combines the texture coarseness and glossiness data, calculates the texture progress differences in the x and y directions and the glossiness progress difference, and then converts the texture progress difference and the glossiness progress difference into a texture progress proportionality coefficient and a glossiness progress proportionality coefficient, reflecting the real-time progress during the grinding process.

[0115] According to the texture progress proportionality coefficients in the x direction, the texture progress proportionality coefficients in the y direction, and the glossiness progress proportionality coefficients at multiple moments, as well as the texture progress and glossiness changes in different directions, the present invention can reflect the grinding state of the workpiece surface from different angles. By adjusting the grinding speed based on multi-dimensional data, the grinding accuracy is improved, and the dynamic adjustment of grinding parameters according to the progress is realized.

[0116] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent robot control system for a deburring workstation of a grinding wheel, characterized in that, Including: Texture roughness calculation subsystem, surface gloss extraction subsystem, progress difference extraction subsystem, progress ratio coefficient extraction subsystem, and multi-unit speed regulation subsystem; The texture roughness calculation subsystem is used to perform gradient operations on the surface image of the grinding area in the x and y directions respectively to obtain the x-direction gradient image and the y-direction gradient image, and calculate the x-direction texture roughness and the y-direction texture roughness; The surface gloss extraction subsystem is used to extract the surface gloss of the surface image of the grinding area; The progress difference extraction subsystem is used to extract the x-direction texture progress difference, the y-direction texture progress difference, and the gloss progress difference according to the x-direction texture roughness, the y-direction texture roughness, and the surface gloss; The progress ratio coefficient extraction subsystem is used to extract the x-direction texture progress ratio coefficient, the y-direction texture progress ratio coefficient, and the gloss progress ratio coefficient according to the x-direction texture progress difference, the y-direction texture progress difference, and the gloss progress difference; The multi-unit speed regulation subsystem is used to adjust the grinding speed according to the x-direction texture progress ratio coefficient, the y-direction texture progress ratio coefficient, and the gloss progress ratio coefficient at multiple moments; The texture roughness calculation subsystem includes: an x-direction gradient image construction unit, a y-direction gradient image construction unit, an x-direction texture roughness calculation unit, and a y-direction texture roughness calculation unit; The x-direction gradient image construction unit is used to perform a gradient operation on the surface image of the grinding area in the x direction using the Sobel operator to obtain the x-direction gradient amplitude, and replace the original pixel value of the same pixel point with each x-direction gradient amplitude to obtain the x-direction gradient image; The y-direction gradient image construction unit is used to perform a gradient operation on the surface image of the grinding area in the y direction using the Sobel operator to obtain the y-direction gradient amplitude, and replace the original pixel value of the same pixel point with each y-direction gradient amplitude to obtain the y-direction gradient image; The x-direction texture roughness calculation unit is used to calculate the x-direction texture roughness according to the number of pixel points in the x-direction gradient image where the x-direction gradient amplitude is equal to 0 and the mean value of the x-direction gradient amplitude; The y-direction texture roughness calculation unit is used to calculate the y-direction texture roughness according to the number of pixel points in the y-direction gradient image where the y-direction gradient amplitude is equal to 0 and the mean value of the y-direction gradient amplitude; The formula for calculating the texture roughness in the x - direction is as follows: , where C x is the texture roughness in the x - direction, R is the number of pixel points on the surface image of the grinding area, N x is the number of pixel points whose x - direction gradient amplitude is equal to 0 in the x - direction gradient image, and G x,avg is the mean value of each x - direction gradient amplitude in the x - direction gradient image; The formula for calculating the texture roughness in the y - direction is as follows: , where C y is the texture roughness in the y - direction, N y is the number of pixels with the y - direction gradient magnitude equal to 0 in the y - direction gradient image, and G y,avg is the mean value of the y - direction gradient magnitudes in the y - direction gradient image.

2. The intelligent robot control system of the deburring workstation for the grinding wheel, as claimed in claim 1, wherein, The surface gloss extraction subsystem includes: a color space mapping unit and a surface gloss calculation unit; The color space mapping unit is used to convert the surface image of the grinding area to the HSV color space and extract the brightness value in the HSV color space; The surface gloss calculation unit is used to calculate the surface gloss according to each brightness value.

3. The intelligent robot control system of the deburring workstation for a grinding wheel, as claimed in claim 1, wherein The calculation formula for surface glossiness is as follows: , where g is the surface glossiness, and L avg is the mean value of each brightness value of the surface image of the grinding area in the HSV color space, and σ L is the standard deviation of each brightness value.

4. The intelligent robot control system of the deburring workstation for a grinding wheel, as claimed in claim 1, wherein The progress difference extraction subsystem includes: an x-direction texture progress difference extraction unit, a y-direction texture progress difference extraction unit, and a gloss progress difference extraction unit; The x-direction texture progress difference extraction unit is used to subtract the x-direction texture roughness at adjacent moments, take the absolute value of the subtraction result as the x-direction texture progress value, and subtract the x-direction texture progress value from the x-direction texture progress target value to obtain the x-direction texture progress difference; The y-direction texture progress difference extraction unit is used to subtract the y-direction texture roughness at adjacent times, take the absolute value of the subtraction result as the y-direction texture progress value, and subtract the y-direction texture progress value from the y-direction texture progress target value to obtain the y-direction texture progress difference; The gloss progress difference extraction unit is used to subtract the surface gloss at adjacent times, take the absolute value of the subtraction result as the gloss progress value, and subtract the gloss progress value from the gloss progress target value to obtain the gloss progress difference.

5. The intelligent robot control system of the deburring workstation for grinding wheels according to claim 1, wherein The progress ratio coefficient extraction subsystem includes: an x-direction progress ratio coefficient extraction unit, a y-direction progress ratio coefficient extraction unit, and a gloss progress ratio coefficient extraction unit; The x-direction progress ratio coefficient extraction unit is used to assign a value of 1 to the x-direction texture progress ratio coefficient when the x-direction texture progress difference is greater than or equal to 0, and when the x-direction texture progress difference is less than 0, the x-direction texture progress ratio coefficient is equal to the ratio of the x-direction texture progress difference to the x-direction texture progress target value; The y-direction progress ratio coefficient extraction unit is used to assign a value of 1 to the y-direction texture progress ratio coefficient when the y-direction texture progress difference is greater than or equal to 0, and when the y-direction texture progress difference is less than 0, the y-direction texture progress ratio coefficient is equal to the ratio of the y-direction texture progress difference to the y-direction texture progress target value; The gloss progress ratio coefficient extraction unit is used to assign a value of 1 to the gloss progress ratio coefficient when the gloss progress difference is greater than or equal to 0, and when the y-direction texture progress difference is less than 0, the gloss progress ratio coefficient is equal to the ratio of the gloss progress difference to the gloss progress target value.

6. The intelligent robot control system of the deburring workstation for a grinding wheel, as claimed in claim 1, wherein The multi-unit speed adjustment subsystem includes: a first speed adjustment subunit, a second speed adjustment subunit, a third speed adjustment subunit, an addition unit, an increment suppression unit, and a speed output unit; The first speed adjustment subunit is used to calculate the first speed increment according to the x-direction texture progress ratio coefficients at multiple times; The second speed adjustment subunit is used to calculate the second speed increment according to the y-direction texture progress ratio coefficients at multiple times; The third speed adjustment subunit is used to calculate the third speed increment according to the gloss progress ratio coefficients at multiple times; The addition unit is used to add the first speed increment, the second speed increment, and the third speed increment to obtain the total increment; The increment suppression unit is used to suppress the total increment according to the gap between the total increment and the target increment to obtain the suppressed increment; The speed output unit is used to add the suppressed increment and the current grinding speed to obtain the grinding speed at the next moment.

7. The intelligent robot control system of the deburring workstation for the grinding wheel, as claimed in claim 6, wherein The expression of the first speed adjustment subunit is: , where V 1,z,t+1 is the first velocity increment at the (t + 1)-th moment, and V t is the grinding speed at the t-th moment, and γ x,t is the x-direction texture progress proportion coefficient at the t-th moment, and γ x,t-τ is the x-direction texture progress proportion coefficient at the (t - τ)-th moment, T is the length of the historical moment, t is the current moment number, τ is the historical moment number, and β1 is the first adjustment factor; The expression of the second speed adjustment subunit is: , where V 2,z,t+1 is the second velocity increment at the (t + 1)-th moment, γ y,t is the y-direction texture progress proportionality coefficient at the t-th moment, γ y,t-τ is the y-direction texture progress proportionality coefficient at the (t - τ)-th moment, and β2 is the second adjustment factor; The expression of the third speed adjustment subunit is: , where V 3,z,t+1 is the third velocity increment at the (t + 1)-th moment, γ g,t is the glossiness progress ratio coefficient at the t-th moment, γ g,t-τ is the glossiness progress ratio coefficient at the (t - τ)-th moment, and β3 is the third adjustment factor.

8. The intelligent robot control system of the deburring workstation for grinding wheels according to claim 6, characterized in that, The expression of the increment suppression unit is: , where is the suppression increment at the (t + 1)-th moment, and V z,t+1 is the total increment at the (t + 1)-th moment, and V z,tar is the target increment, is the suppression increment at the t-th moment, and E t+1 is the difference between V z,t+1 and V z,tar , and t is the number of the current moment.

Images