A method, system, storage medium and intelligent terminal for handling overproduction line blockages

Abstract

The present application relates to a method, system, storage medium and intelligent terminal for dealing with overproduction line blockage, belonging to the field of bearing processing technology, which includes obtaining detected magnetic force information and forward distance information; obtaining detected image information; obtaining characteristic image information; judging whether it is consistent with the inner ring upright image information; if it is consistent, continue to obtain detected magnetic force information; if it is inconsistent, define abnormal image information and abnormal distance information; if the track restarts after knocking on the track at the abnormal distance information, stop obtaining; if the track does not start, re-obtain detected image information and judge whether the characteristic image information is consistent with the inner ring upright image information; if it is consistent, continue to move forward and continue to obtain detected magnetic force information; if it is inconsistent, output alarm information and manual assistance information. The present application has the effects of determining the stuck situation through magnetic force, straightening the inner ring through vibration, saving labor costs and improving the efficiency of production line automation.

Description

Technical Field

[0001] The present application relates to the field of bearing processing technology, and in particular to a method, a system, a storage medium and an intelligent terminal for dealing with the blockage of a super production line. Background Art

[0002] Currently, the processing of the inner ring of a bearing is mainly completed by three devices: a bearing inner ring groove grinding machine, a bearing inner ring inner diameter grinding machine, and a bearing inner ring groove superfinishing machine. However, in some existing bearing manufacturing enterprises, usually each device is independent, and each device needs to be equipped with a worker for loading, unloading and inspection operations, resulting in a high labor cost and a low degree of automation of the enterprise.

[0003] In the related art, a Chinese patent with the publication number CN109702612A discloses a ring groove grinding machine, a bearing inner diameter grinding machine, a superfinishing machine, a sorting device, a first loading and conveying device, a second loading and conveying device, and a third loading and conveying device. The first loading and conveying device is arranged between the sorting device and the inner ring groove grinding machine, the second loading and conveying device is arranged between the inner ring groove grinding machine and the bearing inner diameter grinding machine, the third loading and conveying device is arranged between the bearing inner diameter grinding machine and the superfinishing machine, the sorting device is provided with a discharge port, and the first loading and conveying device, the second loading and conveying device, and the third loading and conveying device all include a feeding channel, a conveying mechanism and a loading channel connected in sequence. The feeding channel of the first loading and conveying device receives the discharge port of the sorting device, and the loading parts of the inner ring groove grinding machine, the bearing inner diameter grinding machine and the superfinishing machine respectively correspond to the discharge ports of the said loading channels.

[0004] In view of the above related art, the inventor believes that multiple transmission tracks form a production line with a long production line. When the inner ring gets stuck during the conveying process, the user needs to observe and solve the problem by himself, which increases the labor cost and there is still room for improvement. Summary of the Invention

[0005] In order to improve the problem that when the inner ring gets stuck during the conveying process, the user needs to observe and solve the problem by himself, which increases the labor cost, the present application provides a method, a system, a storage medium and an intelligent terminal for dealing with the blockage of a super production line.

[0006] In a first aspect, the present application provides a method for dealing with the blockage of a super production line, adopting the following technical solution:

[0007] A method for dealing with the blockage of a super production line includes:

[0008] When the track is stationary, the manipulator attaches a magnet to the cover plate along a preset conveying track and obtains detected magnetic force information and forward distance information;

[0009] Detected image information is obtained at a position where the detected magnetic force information is greater than a preset standard empty information;

[0010] Analyze the detected image information based on the preset inner ring features to obtain the feature image information;

[0011] Determine whether the feature image information is consistent with the preset inner ring upright image information;

[0012] If they are consistent, continue to move forward and continue to obtain the detected magnetic force information;

[0013] If they are not consistent, define the feature image information as abnormal image information, and define the forward distance information corresponding to the feature image information as abnormal distance information;

[0014] After knocking on the track at the abnormal distance information for the preset knocking time, if the track restarts, stop obtaining;

[0015] If the track still does not start, re-obtain the detected image information and determine whether the feature image information after knocking is consistent with the inner ring upright image information;

[0016] If they are consistent, continue to move forward and continue to obtain the detected magnetic force information;

[0017] If they are not consistent, output the alarm information and the manual assistance information.

[0018] By adopting the above technical solution, by detecting the magnetic force on the track, and then when the magnetic force changes, it indicates that this is the position where the inner ring is located, and then analyzing the image of the inner ring to determine whether the inner ring is stuck. Finally, try to straighten the inner ring by vibrating, reducing the situation of personnel's personal participation, saving labor costs, and improving the efficiency of the production line automation.

[0019] Optionally, if the feature image information before or after knocking is consistent with the inner ring upright image information, the method of continuing to move forward and continuing to obtain the detected magnetic force information includes:

[0020] Determine whether the forward distance information is the preset drop port distance information;

[0021] If not, continue to move forward and continue to obtain the detected magnetic force information;

[0022] If so, calculate the magnet movement coordinate information according to the abnormal distance information, the preset attraction and detachment angle information, and the appropriate attraction distance information;

[0023] Determine the knocking and ejecting position information based on the abnormal distance information;

[0024] After moving the magnet to the magnet movement coordinate information on the cover plate, knock at the knocking and ejecting position information;

[0025] If the track restarts, stop obtaining.

[0026] By adopting the above technical solution, it is determined whether it is at the falling port position, so as to determine whether it cannot fall due to the too large inner ring diameter. When it cannot fall due to the too large inner ring diameter, it can be guided to the other side and removed, improving the ability of the production line to exclude defective products.

[0027] Optionally, the method of knocking on the track based on the abnormal distance information includes:

[0028] Analyze the boundary ellipse information based on the abnormal image information;

[0029] Analyze the placement direction information, the upper half circle area information and the lower half circle area information according to the boundary ellipse information;

[0030] Determine the inner ring height information and the inner ring width information based on the placement direction information;

[0031] Determine the contact point information according to the inner ring height information, the inner ring width information and the placement direction information;

[0032] Judge whether the contact point information falls into the upper half circle area information;

[0033] If it falls, determine the side knocking point information based on the contact point information;

[0034] Determine the guiding angle information based on the contact point information and the placement direction information;

[0035] Determine the guiding top coordinate information based on the guiding angle information, the abnormal distance information and the preset track profile information;

[0036] Knock on the track at the side knocking point information and place the magnet at the guiding top coordinate information;

[0037] If it does not fall, determine the bottom knocking position information and the standard top coordinate information based on the abnormal distance information;

[0038] Knock on the track at the bottom knocking point information and place the magnet at the standard top coordinate information.

[0039] By adopting the above technical solution, due to the characteristics of the inner ring, the inclination situation can be determined according to the corresponding ellipse, and then the overall placement direction can be determined according to the distance value in the corresponding direction. Finally, by knocking on the contact point with the cover plate, the amplitude of the vibration received by the inner ring is maximized, and by attracting the magnet above, the flipping direction of the inner ring is further improved, improving the alignment efficiency of the inner ring.

[0040] Optionally, it further includes a method for confirming whether to knock on the track based on the abnormal distance information, and this method includes:

[0041] Perform reverse drive on the track to judge whether the track is stuck;

[0042] If so, tap the track at the abnormal distance information;

[0043] If not, obtain the moving detection image information and the current reverse time while moving along with the inner ring;

[0044] When the current reverse time is equal to the preset test reverse rotation time, then drive forward and observe whether the moving detection image information is consistent with the abnormal image information at the abnormal distance information;

[0045] If it is consistent with the abnormal image information, tap the track at the abnormal distance information;

[0046] If it is not consistent with the abnormal image information, accumulate the counting information and continue to drive in reverse, and continue to judge whether the moving detection image information is consistent with the abnormal image information at the abnormal distance information;

[0047] Before the counting information is less than the preset reasonable number threshold information, when the moving detection image information at the abnormal distance information is consistent with the inner ring upright image information, the correction is completed and the normal forward driving is carried out;

[0048] When the counting information is equal to the reasonable number threshold information and the moving detection image information at the abnormal distance information is still not consistent with the abnormal image information, tap the track at the abnormal distance information.

[0049] By adopting the above technical solution, it is determined whether the position of the inner ring can be adjusted and corrected through the track by moving in reverse, and it is also avoided that the correction cannot be carried out due to a certain node being stuck, improving the upright efficiency of the inner ring.

[0050] Optionally, the method for obtaining the moving detection image information while moving along with the inner ring includes:

[0051] Analyze the moving detection image information based on the inner ring features to obtain the moving feature image information;

[0052] Analyze the right boundary horizontal coordinate information of the moving feature image information in the moving detection image information;

[0053] Determine the maximum left boundary horizontal coordinate information according to the preset inner ring diameter information and the right boundary horizontal coordinate information;

[0054] Determine the center position information according to the right boundary horizontal coordinate information and the maximum left boundary horizontal coordinate information;

[0055] Judge whether the center position information is the preset image center position information;

[0056] If so, do not move and continue to obtain the moving detection image information after the preset shooting interval information;

[0057] If not, determine the moving distance information according to the central position information and the image center position information;

[0058] Move the manipulator according to the moving distance information, and obtain the moving detection image information after a preset shooting interval information.

[0059] By adopting the above technical solution, the position of the camera is adjusted by simulating the maximum span of the inner circle with the right boundary point, so as to determine that the inner circle is guaranteed to fall into the image, improving the effectiveness of the detected image information.

[0060] Optionally, the method for knocking on the track at the abnormal distance information further includes:

[0061] Define the forward distance information as special distance information at the detected magnetic force information greater than the preset standard vacant information;

[0062] Calculate the difference between two adjacent special distance information, and define this difference as the interval distance information;

[0063] Analyze the standard interval distance information based on the interval distance information and the preset support block spacing information;

[0064] Calculate the difference between the abnormal distance information and the adjacent special distance information, and define this difference as the abnormal interval information;

[0065] Calculate the difference between the abnormal interval information and the standard interval distance information, and define the absolute value of this difference as the deviation information;

[0066] Judge whether the deviation information is greater than the inner circle diameter information;

[0067] If it is greater, knock on the track at the abnormal distance information;

[0068] If it is less, analyze whether there is a preset support block feature information in the detected image information with abnormal image information;

[0069] If it exists, knock on the track at the abnormal distance information;

[0070] If it does not exist, calculate the backward knocking bottom position information based on the abnormal distance information and the preset backward distance information;

[0071] Calculate the forward guiding top position information based on the abnormal distance information and the preset forward distance information;

[0072] Knock at the backward knocking position information and move the magnet to the forward guiding top position information.

[0073] By adopting the above technical solution, it is determined whether the stuck position is exactly on the support block, so as to determine the direction in which the inner ring needs to move and guide and tap in this direction, avoiding the situation where there are two inner rings between the two support blocks and improving the smoothness of the production line operation.

[0074] Optionally, when the deviation information is greater than the inner ring diameter information and is consistent with the characteristic image information and the inner ring upright image information after tapping, the track traveling method includes:

[0075] Determine the support block distance information based on the special distance information corresponding to the standard interval distance information and the support block spacing information;

[0076] Number the support blocks to obtain the support block number information, and form a mapping relationship between the support block number information and the support block distance information;

[0077] Determine the block interval information based on the support block number information and the support block distance information;

[0078] Based on the block interval information and the special distance information, determine the number of special distance information falling within the same block interval information, and define this number as the interval number information;

[0079] Judge whether the interval number information is all less than or equal to 1;

[0080] If so, drive at the preset uniform forward speed information;

[0081] If not, define the block interval information with the interval number information greater than 1 as the multi-block interval information, and define the interval number information corresponding to the multi-block interval information as the multi-block number information;

[0082] Determine the multi-block interval information closest to the falling port distance information, define this multi-block interval information as the current multi-block interval information, and define the multi-block number information corresponding to the current multi-block interval information as the current multi-block number information;

[0083] Calculate the distance from the port length information according to the current multi-block number information and the inner ring diameter information;

[0084] Calculate the pause distance information according to the distance from the port length information and the falling port distance information;

[0085] Calculate the waiting distance information according to the inner ring diameter information and the falling port distance information;

[0086] Calculate the interval movement distance information according to the current multi-block interval information and the pause position information;

[0087] Calculate the residence time information according to the uniform forward speed information and the standard interval distance information;

[0088] After placing the magnet at the waiting distance information, move the distance information at intervals during the track advancement. After the residence time information, continue to advance the inner diameter information until the position corresponding to the current multi-block interval information is greater than the drop port distance information, and re-determine the current multi-block interval information.

[0089] By adopting the above technical solution, if there are at least two inner rings between two support blocks, then by slowly moving to the drop point and then dropping the corresponding inner rings in sequence, the time interval between the drops of the two inner rings is exactly equal to the time for the support block to advance the distance of two support block spacings. The direction change simulates the normal state of a support block pushing an inner ring forward, improving the smoothness of the production line operation.

[0090] In a second aspect, the present application provides a super production line blockage handling system, adopting the following technical solution:

[0091] A super production line blockage handling system, comprising:

[0092] An acquisition module for acquiring detection magnetic force information, advancement distance information, detection image information, and moving detection image information;

[0093] A memory for storing the program of the control method of any of the above super production line blockage handling methods;

[0094] A processor, and the program in the memory can be loaded and executed by the processor and implement the control method of any of the above super production line blockage handling methods.

[0095] By adopting the above technical solution, detect the magnetic force on the track, and then when the magnetic force changes, it indicates the position where the inner ring is located at this time. Then analyze the image of the inner ring to determine whether the inner ring is stuck. Finally, try to straighten the inner ring by vibrating, reducing the situation of personnel's personal participation, saving labor costs, and improving the efficiency of production line automation.

[0096] In a third aspect, the present application provides an intelligent terminal, adopting the following technical solution:

[0097] An intelligent terminal, comprising a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory for any of the above super production line blockage handling methods.

[0098] By adopting the above technical solution, detect the magnetic force on the track, and then when the magnetic force changes, it indicates the position where the inner ring is located at this time. Then analyze the image of the inner ring to determine whether the inner ring is stuck. Finally, try to straighten the inner ring by vibrating, reducing the situation of personnel's personal participation, saving labor costs, and improving the efficiency of production line automation.

[0099] Fourthly, the present application provides a computer storage medium that can store corresponding programs and is characterized by fast image reception and analysis and accurate moving position.

[0100] The computer-readable storage medium adopts the following technical solution:

[0101] The computer-readable storage medium stores a computer program that can be loaded and executed by a processor to perform any of the above ultra-production line blockage processing methods.

[0102] By adopting the above technical solution, the magnetic force is detected on the track, and when the magnetic force changes, it indicates the position of the inner ring at this time. Then, the image of the inner ring is analyzed to determine whether the inner ring is stuck. Finally, the inner ring is tried to be straightened by vibration, reducing the personal participation of personnel, saving labor costs, and improving the automation efficiency of the production line.

[0103] In summary, the present application includes at least the following beneficial technical effects:

[0104] 1. By detecting the magnetic force on the track to determine whether the inner ring is stuck, and finally trying to straighten the inner ring by vibration, reducing the personal participation of personnel, saving labor costs, and improving the automation efficiency of the production line;

[0105] 2. Determine the inclination situation according to the corresponding ellipse, so that the amplitude of the vibration received by the inner ring is the largest, and by attracting the magnet above, further improve the flipping direction of the inner ring and improve the straightening efficiency of the inner ring;

[0106] 3. By slowly dropping the corresponding inner rings in sequence, changing the direction to simulate a normal state where a support block pushes an inner ring forward, improving the smoothness of the production line operation. Description of the Drawings

[0107] Figure 1 is a flowchart of an ultra-production line blockage processing method in an embodiment of the present application.

[0108] Figure 2 is a schematic structural diagram of the track part in the production line in an embodiment of the present application.

[0109] Figure 3 is a flowchart of the method of continuing to move forward and continue to obtain the detected magnetic force information if the characteristic image information before or after knocking is consistent with the inner ring upright image information in an embodiment of the present application.

[0110] Figure 4 is a flowchart of the method of presetting the knocking time for knocking on the track according to the abnormal distance information in an embodiment of the present application.

[0111] Figure 5It is a flowchart of a method for confirming the tapping time of the track tapping based on abnormal distance information in an embodiment of the present application.

[0112] Figure 6 It is a flowchart of a method for obtaining moving detection image information as the inner ring moves in an embodiment of the present application.

[0113] Figure 7 It is a flowchart of a further method for presetting the tapping time of the track tapping based on abnormal distance information in an embodiment of the present application.

[0114] Figure 8 It is a flowchart of a track traveling method when the deviation information is greater than the inner ring diameter information and the characteristic image information after tapping is consistent with the inner ring upright image information in an embodiment of the present application.

[0115] Figure 9 It is a system module diagram of a method for handling blockages in an ultra-production line in an embodiment of the present application. Detailed implementation manners

[0116] In order to make the objectives, technical solutions and advantages of the present application clearer, the following further elaborates on the present application in conjunction with the appended Figures 1-9 drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0117] An embodiment of the present application discloses a method for handling blockages in an ultra-production line. Referring to Figure 1 , a method for handling blockages in an ultra-production line includes:

[0118] Step 100: When the track is stationary, the manipulator attaches the magnet to the cover plate along the preset conveying track and obtains the detected magnetic force information and the forward distance information.

[0119] As Figure 2 shown, it is a conveying track. The track is arranged in a keel chain and is made of a non-magnetic material. The cover plate is located on the side of the inner ring away from the conveying track (not shown) to prevent the inner ring from jumping out of the track. It should be noted that it is mainly a processing solution for blockages on the conveying track, and the content entering the grinding machine does not belong to the present application. There is a track above the track for the manipulator to move forward, so that the manipulator can move forward along the track below. The detected magnetic force information is the information of the attraction force received by the magnet. The acquisition method is determined by a tensile sensor. The forward distance information is the information of the distance that the manipulator moves forward along the track. Here, it is the distance value of the track along the inner ring, which is path data, not the horizontal distance or the vertical distance.

[0120] Step 101: Obtain the detected image information at the position where the detected magnetic force information is greater than the preset standard empty information.

[0121] The standard empty information is the information of the magnetic force when the inner ring is not attracted by the magnet, which is generally zero. The detected image information is taken from one side of the cover plate. Since the cover plate itself is made of a transparent material, the interior can be photographed.

[0122] Step 102: Analyze the detected image information based on the preset inner ring features to obtain the feature image information.

[0123] The inner ring features include the inner ring diameter, inner ring pixels, etc. The feature image information is the information of the image containing features such as color. The analysis method can be the pixel reading method. Here, in order to improve the recognition rate, the pixels of parts such as the track can be set to values that are quite different from the inner ring pixels.

[0124] Step 103: Determine whether the feature image information is consistent with the preset inner ring correctly placed image information.

[0125] The inner ring correctly placed image information is the information of the image with the inner ring placed correctly. The determination method is the coordinate comparison method of the image pixels.

[0126] Step 1031: If they are consistent, continue to move forward and continue to obtain the detected magnetic force information.

[0127] If they are consistent, it is defaulted that the position of the inner ring is correct and there is no abnormal situation in the position of the inner ring. If the inner ring is placed correctly but stuck on the support block on the track, then the area of the inner ring in the image is enlarged, and it is also inconsistent with the inner ring correctly placed image information.

[0128] Step 1032: If they are inconsistent, define the feature image information as abnormal image information, and define the forward distance information corresponding to the feature image information as abnormal distance information.

[0129] Step 104: After knocking on the track at the abnormal distance information for a preset knocking time, if the track restarts, stop obtaining.

[0130] The knocking time is a value set manually, aiming to reduce unnecessary knocking. During the knocking process, the entire track will vibrate, so that the stuck position of the inner ring becomes loose and returns to its original state. Here, it should be noted that there can only be the height of one inner ring between the cover plate and the track surface. Therefore, when the stuck position becomes loose, the inner ring will gradually return to the correctly placed situation under the extrusion of the track and the cover plate, thus solving the stuck problem.

[0131] Step 105: If the track still does not start, re-obtain the detected image information and determine whether the feature image information after knocking is consistent with the inner ring correctly placed image information.

[0132] If it still fails to start, it may indicate that it has not been properly positioned yet, and it is necessary to determine the image of the inner ring.

[0133] Step 1051: If they are consistent, proceed and continue to obtain the detected magnetic force information.

[0134] If the current inner ring has been properly positioned, it means that the jamming problem here has been solved. Then, it is only possible that there is still a jammed inner ring ahead, so proceed to check further.

[0135] Of course, when reaching the end, if all inner rings are properly positioned and still jammed, it means that there is a problem with the track itself at this time, and an alarm message and manual assistance information can be output.

[0136] Step 1052: If they are inconsistent, output an alarm message and manual assistance information.

[0137] The alarm message is the information for alarming the staff. The manual assistance information is the information that requires manual assistance to solve the problem. The output method of both can be in the form of text output. If they are inconsistent, it means that the problem cannot be solved by knocking, and manual assistance is required.

[0138] Refer to Figure 3 , if the characteristic image information before or after knocking is consistent with the inner ring upright image information, the method of proceeding and continuing to obtain the detected magnetic force information includes:

[0139] Step 200: Determine whether the forward distance information is the preset drop port distance information.

[0140] The drop port distance information is the information of the distance of the drop port position.

[0141] Step 2001: If not, proceed and continue to obtain the detected magnetic force information.

[0142] If not, exclude the situation of being jammed at the drop port position, and then proceed and continue to obtain the detected magnetic force information.

[0143] Step 2002: If so, calculate the magnet movement coordinate information based on the abnormal distance information, the preset attraction and detachment angle information, and the appropriate attraction distance information.

[0144] The information of the attraction and disengagement angle is the information of the angle at which the inner circle is attracted forward, which is a preset relative angle. Attracting at this angle can guide the inner circle to pass through the drop port to the right side of the drop port to a certain extent. The information of the appropriate attraction distance is the information of the gravitational force of the magnet. If the distance between the magnet and the inner circle is too close, the inner circle will be attracted and unable to move. If the distance is too far, the magnet cannot be guided to pass through the drop port at a certain forward speed. Therefore, it is a distance value set by humans after a large number of tests. If so, it means that although it is aligned correctly, it may be stuck in the drop port due to size problems. It should be noted that the diameter of the drop port is exactly the same as the diameter of the inner circle or slightly larger than the diameter of the inner circle.

[0145] Step 201: Determine knocking and ejection position information based on abnormal distance information.

[0146] The knock-out position information is the information of the position where the inner ring is knocked out from the drop opening to the right side of the track. It is actually the lower left corner where the drop opening and the track intersect.

[0147] Step 202: Move the magnet to the magnet movement coordinate information on the cover plate and then tap at the tapping ejection position information.

[0148] After such knocking, the inner circle of the drop opening is shaken out of the drop opening and deflected to the right side and rolled out under the attraction of the magnet.

[0149] Step 203: If the track is restarted, stop acquiring.

[0150] Reference Figure 4 The method of tapping the track at a preset tapping time based on abnormal distance information includes:

[0151] Step 300: Analyze boundary ellipse information based on abnormal image information.

[0152] The boundary ellipse information is the information of the ellipse formed by the boundary line on the inner circle. Since the inner circle is tilted, the two faces of the ring are not placed in the right direction and appear circular, but elliptical. Since the boundary line has a certain degree of pixel difference, the boundary ellipse information can be determined by analyzing the pixel difference.

[0153] Step 301: Analyze the placement direction information, the upper half circle area information and the lower half circle area information according to the boundary ellipse information.

[0154] The placement direction information is the information of the placement direction. Since each angular image is different, it can be queried through a database or obtained through mathematical calculations. The upper semi-circle region information is the information of the region located in the upper semi-circle part of the ellipse in the image. The lower semi-circle region information is the information of the region located in the lower semi-circle part of the elliptical image. Here, taking the lower semi-circle abutting against the lower side wall of the track as an example, the distinguishing method here is to use the long side of the ellipse as the dividing diameter, and then the region of the pixels in contact with the lower side of the track is the lower semi-circle region.

[0155] Step 302: Determine the inner circle height information and the inner circle width information based on the placement direction information.

[0156] The inner circle height information is the information of the height of the inner circle in the placement direction, which is the height in the straight line direction of the short side of the ellipse. The inner circle width information is the information of the width of the inner circle in the placement direction, which is the width in the straight line direction of the long side of the ellipse.

[0157] Step 303: Determine the contact point information according to the inner circle height information, the inner circle width information, and the placement direction information.

[0158] The contact point information is the information of the point in contact with the cover plate, generally a point on the short side or the long side, and according to the placement direction, it can be determined which side the contact point is on.

[0159] Step 304: Determine whether the contact point information falls into the upper semi-circle region information.

[0160] The purpose of the judgment is to determine whether the inner circle can be straightened by rotating around the axis formed by the bottom surface of the track.

[0161] Step 3041: If it falls in, determine the side tapping point information based on the contact point information.

[0162] The side tapping point information is the information of the tapping position. If it falls in, it means that at this time the inner circle can rotate around the axis formed by the bottom surface of the track, and the point corresponding to the contact point information is the force application point.

[0163] Step 3042: If it does not fall in, determine the bottom tapping position information and the standard top coordinate information based on the abnormal distance information.

[0164] The bottom tapping position information is the information of the bottom tapping position corresponding to the abnormal distance information. The standard top coordinate information is the information of the coordinate above the top corresponding to the abnormal distance information. If it does not fall in, it means that when rotating around the axis formed by the bottom surface of the track, the force application point is on the track surface.

[0165] Step 305: Determine the guiding angle information based on the contact point information and the placement direction information.

[0166] The guiding angle information is the information of the angle for guiding it to be properly positioned.

[0167] Step 306: Determine the guiding top coordinate information based on the guiding angle information, the abnormal distance information, and the preset track profile information.

[0168] The track profile information is the information of the profile coordinates of the outer surface of the track. The guiding top coordinate information is the information of the coordinates where the magnet for guiding the inner ring to be properly positioned is placed at the top of the track profile.

[0169] Step 307: Strike the track at the side knocking point information and place the magnet at the guiding top coordinate information.

[0170] Strike the track at the side knocking point information, so that the inner ring rotates. Place the magnet at the guiding top coordinate information to guide the magnet to rotate, and stop in the correct direction after rotation and is not easy to continue rotating, improving the efficiency of proper positioning.

[0171] Step 308: Strike the track at the bottom knocking point information and place the magnet at the standard top coordinate information.

[0172] Since it is at the bottom, even if it strikes at the contact point, it cannot make it rotate, so directly rotate at the bottom and attract at the top to be properly positioned.

[0173] Refer to Figure 5 , and it also includes a method for confirming whether to strike the track and the knocking time based on the abnormal distance information. This method includes:

[0174] Step 400: Perform reverse driving on the track to determine whether the track is stuck.

[0175] The purpose of reverse driving is to observe whether the inner ring and the track are completely stuck.

[0176] Step 4001: If so, strike the track at the abnormal distance information.

[0177] If it is, just strike directly.

[0178] Step 4002: If not, obtain the moving detection image information and the current reverse time as the inner ring moves.

[0179] The moving detection image information is the information of the captured image during the movement of the inner ring. The acquisition method here is that the camera moves with the inner ring and takes pictures. The current reverse time is the time of reverse driving.

[0180] Step 401: When the current reverse time is equal to the preset test reverse rotation time, then perform forward driving and observe whether the moving detection image information is consistent with the abnormal image information at the abnormal distance information.

[0181] The information of the test reverse rotation time is the information of the artificially set reverse rotation time, which is generally less than the information of the time obtained by dividing the distance between two support blocks by the speed of uniform reverse rotation. The purpose of reverse rotation and forward rotation is to determine whether the inner ring can be corrected after the track returns.

[0182] Step 4011: If it is consistent with the abnormal image information, strike the track at the abnormal distance information.

[0183] If they are consistent, it means that the reverse rotation does not play any role, and then the striking can be started directly.

[0184] Step 4012: If it is inconsistent with the abnormal image information, accumulate the counting information and continue the reverse drive, and continue to judge whether the moving detection image information at the abnormal distance information is consistent with the abnormal image information.

[0185] The counting information is the information of the number of times of forward rotation after reverse rotation. When a single action is completed, the system automatically accumulates 1 value. If they are inconsistent, it means that the reverse rotation has an effect, and then the reverse rotation can be performed multiple times to determine the final state.

[0186] Step 402: Before the counting information is less than the preset reasonable number threshold information, when the moving detection image information at the abnormal distance information is consistent with the inner ring upright image information, the correction is completed and the normal forward drive is performed.

[0187] The reasonable number threshold information is the information of the threshold of the reasonable number, which is an artificially set value, that is, it is artificially defaulted that if it has not been straightened after reaching this number of times, it means that it cannot be straightened.

[0188] Step 403: When the counting information is equal to the reasonable number threshold information and the moving detection image information at the abnormal distance information is still inconsistent with the abnormal image information, strike the track at the abnormal distance information.

[0189] Refer to Figure 6 , the method for obtaining the moving detection image information as the inner ring moves includes:

[0190] Step 500: Analyze the moving detection image information based on the inner ring features to obtain the moving feature image information.

[0191] The moving feature image information is the information of the image of the inner ring features in the moving detection image information. The analysis method is the same as that in step 102 and will not be elaborated here.

[0192] Step 501: Analyze the horizontal coordinate information of the right boundary of the moving feature image information in the moving detection image information.

[0193] The horizontal coordinate information of the right boundary is the information of the point of the rightmost feature pixel.

[0194] Step 502: Determine the maximum left boundary horizontal coordinate information according to the preset inner circle diameter information and the right boundary horizontal coordinate information.

[0195] The maximum left boundary horizontal coordinate information is the coordinate value of the point that is one inner circle diameter information away from the right boundary horizontal coordinate information. Here, the maximum value is determined in a proper alignment manner to ensure that the entire inner circle is definitely within this range.

[0196] Step 503: Determine the center position information according to the right boundary horizontal coordinate information and the maximum left boundary horizontal coordinate information.

[0197] The center position information is the information of the point in the middle of the right boundary horizontal coordinate information and the maximum left boundary horizontal coordinate information.

[0198] Step 504: Determine whether the center position information is the preset image center position information.

[0199] The image center position information is the information of the center of the captured image. The purpose of the determination is to ensure that the inner circle is definitely within the image.

[0200] Step 5041: If so, do not move and continue to obtain the moving detection image information after the preset shooting interval information.

[0201] The shooting interval information is the information of the interval for obtaining the detection image information.

[0202] Step 5042: If not, determine the moving distance information according to the center position information and the image center position information.

[0203] If not, it means that the inner circle is not guaranteed to be within the image, and then movement is required.

[0204] Step 505: Move the manipulator according to the moving distance information and obtain the moving detection image information after the preset shooting interval information.

[0205] Refer to Figure 7 , the method of knocking on the track for a preset knocking time at the abnormal distance information further includes:

[0206] Step 600: Define the forward distance information as special distance information at the place where the detected magnetic force information is greater than the preset standard empty information.

[0207] Step 601: Calculate the difference between two adjacent special distance information, and define this difference as the interval distance information.

[0208] Step 602: Analyze the standard interval distance information based on the interval distance information and the preset support block spacing information.

[0209] The support block spacing information is the information about the spacing between two support blocks. The standard spacing distance information is the information about the standard spacing distance. As Figure 2 shown, during the movement, generally the inner ring abuts against the front side of the support block. Then the standard spacing distance information is the information about the distance between two support blocks abutting against the front of the support block.

[0210] Step 603: Calculate the difference between the abnormal distance information and the adjacent special distance information, and define this difference as the abnormal spacing information.

[0211] The abnormal spacing information is the information about the difference in the distance between the inner ring at the abnormal distance information and the nearest inner ring. Here, the measurement point of the abnormal distance information is used as the pause point, and the adjacent special distance information is the previous special distance information input into the system.

[0212] Step 604: Calculate the difference between the abnormal spacing information and the standard spacing distance information, and define the absolute value of this difference as the deviation information.

[0213] The purpose of the calculation is to determine the distance between the abnormal inner ring and the support block, and also the position between the two support blocks.

[0214] Step 605: Determine whether the deviation information is greater than the inner ring diameter information.

[0215] The purpose of the determination is to determine whether the inner ring is just on the support block. Due to the particularity of the track, only one inner ring can exist between two support blocks. Therefore, it can be used to determine whether there will be two inner rings between two support blocks after knocking.

[0216] Step 6051: If it is greater, then knock on the track at the abnormal distance information.

[0217] If it is greater, it means that at this time the inner ring is on the track and does not contact the support block, which means it is between two support blocks. Then it can directly knock on the track at the abnormal distance information.

[0218] Step 6052: If it is less, then analyze whether there is preset support block feature information in the detected image information with abnormal image information.

[0219] The support block feature information is the information about the features of the support block. It should be noted that here the support block feature information must include the entire support block, that is, including its shape. The purpose of the analysis is to determine whether the inner ring is just on the boundary line of the interval formed by two support blocks. When the inner ring is within the support block, if the knocking is not appropriate, it is very likely to vibrate the inner ring originally in one interval to another interval, resulting in an uneven situation of the inner ring. Here, because it is only for generating vibration and will not affect the track, generally no matter how many times the inner ring in one area is knocked, it will not squeeze through the support block to reach another interval.

[0220] Step 6061: If it exists, strike the track at the abnormal distance information pair.

[0221] If it exists, it means that it is located within the interval and not on the boundary line at this time, so it can be directly struck.

[0222] Step 6062: If it does not exist, calculate the backward strike bottom position information based on the abnormal distance information and the preset backward distance information.

[0223] The backward distance information is the information of the relative distance by which the strike position deviates from the inner ring. The backward strike bottom position information is the actual strike position, that is, when struck at this position, the inner ring will roll forward. If it does not exist, it means that it is stuck on the support block at this time. Since the track moves forward, the situation where the inner ring is stuck must be in front of the support block for the inner ring. Then, when the inner ring does not move, the support block moves forward into the back of the inner ring, so it needs to be struck forward.

[0224] Step 607: Calculate the forward guide top position information based on the abnormal distance information and the preset forward distance information.

[0225] The forward distance information is the information of the relative distance by which the guiding magnet deviates from the inner ring. The forward guide top position information is the actual position of the magnet, that is, when guiding at this position, the inner ring will be attracted forward.

[0226] Step 608: Strike at the backward strike position information and move the magnet to the forward guide top position information.

[0227] Refer to Figure 8 , when the deviation information is greater than the inner ring diameter information and the track traveling method when the characteristic image information after striking is consistent with the inner ring upright image information includes:

[0228] Step 700: Determine the support block distance information based on the special distance information corresponding to the standard interval distance information and the support block spacing information.

[0229] The support block distance information is the information of the position of the support block on the track in the current stuck situation. The special distance information is determined to be the support block distance information by finding the distance difference between the special distance information and the previously determined support block distance information.

[0230] Step 701: Number the support blocks to obtain the support block number information, and form a mapping relationship between the support block number information and the support block distance information.

[0231] The support block number information is the information of the numbers of the support blocks. The numbering method can be any method, for example, numbering along the traveling direction of the track.

[0232] Step 702: Determine the inter-block interval information based on the support block number information and the support block distance information.

[0233] The inter-block interval information is the information of the area range between two adjacent support blocks. The determination method is to find two numbers, and then determine the interval between the two distance values according to the distance values of the two support blocks.

[0234] Step 703: Determine the number of special distance information falling within the same inter-block interval information based on the inter-block interval information and the special distance information, and define this number as the interval number information.

[0235] The determination method is that the total number of special distance information whose difference from the support block distance information is less than the standard interval distance information is the interval number information.

[0236] Step 704: Determine whether the interval number information is all less than or equal to 1.

[0237] When the interval number information is less than 0, no operation is performed either.

[0238] Step 7041: If so, drive at the preset uniform forward speed information.

[0239] The uniform forward speed information is the information of the speed at which the track advances when the driving motor of the normal track works at the normal power. If so, it means that there is at least one interval, so it is at least working normally.

[0240] Step 7042: If not, define the inter-block interval information with the interval number information greater than 1 as the multi-block interval information, and define the interval number information corresponding to the multi-block interval information as the multi-block number information.

[0241] If not, it means that there are multiple in at least one interval. If advancing at the normal working speed, it will cause at least two inner rings in this interval to enter the falling port one after another, resulting in congestion.

[0242] Step 705: Determine the multi-block interval information closest to the falling port distance information, and define this multi-block interval information as the current multi-block interval information, and define the multi-block number information corresponding to the current multi-block interval information as the current multi-block number information.

[0243] Step 706: Calculate the length information from the port according to the current multi-block number information and the inner ring diameter information.

[0244] The length information from the port is the information of the distance from the support block on the right side. Here, when the track is driven, the support blocks will successively hold up the inner rings in an interval, so as to be evenly arranged at the end of this interval.

[0245] Step 707: Calculate the pause distance information according to the distance information from the opening and the drop opening distance information.

[0246] The pause distance information is the information of the position where the vehicle pauses in front of the drop-off opening. The calculation method is to subtract the drop-off opening length information from the drop-off opening distance information.

[0247] Step 708: Calculate the waiting distance information based on the inner ring diameter information and the drop port distance information.

[0248] The waiting distance information is the distance from the drop-off distance information to the position of an inner circle. The calculation method is to subtract the inner circle diameter information from the drop-off distance information.

[0249] Step 709: Calculate the interval moving distance information according to the current multi-block interval information and the pause position information.

[0250] The interval moving distance information is information about the distance moved from the current multi-block interval information to the pause position information.

[0251] Step 710: Calculate the stay time information according to the uniform forward speed information and the standard interval distance information.

[0252] The stay time information is the information of the stay time for a standard interval distance information. If there is a stay time even during normal working hours, then the built-in stay time needs to be added.

[0253] Step 711: After placing the magnet at the waiting distance information, move the distance information along the track forward interval, and continue to move the inner circle diameter information after the stay time information until the position corresponding to the current multi-block interval information is greater than the drop port distance information, and redetermine the current multi-block interval information.

[0254] Place the magnet at the waiting distance information. At this time, the magnet is located at the position of one inner circle diameter away from the drop port. Move the distance information at the track forward interval. At this time, the first inner circle in the interval corresponding to the current multi-block interval information is just located at the drop port and falls, while the second inner circle is adsorbed by the magnet and stops moving. Continue to move forward the inner circle diameter information after the dwell time information. At this time, the second one falls and the third one is adsorbed, and the frequency is exactly the same as that of normal operation. Then repeat the process until all the inner circles in the current multi-block interval information fall.

[0255] Based on the same inventive concept, an embodiment of the present invention provides a super production line blockage processing system.

[0256] Reference Figure 9 , a super production line blockage processing system, comprising:

[0257] An acquisition module, configured to acquire detected magnetic force information, forward distance information, detected image information, and moving detection image information;

[0258] A memory, configured to store a program of a control method for a method of handling ultra-production line blockages;

[0259] A processor, the program in the memory can be loaded and executed by the processor and implement a control method for a method of handling ultra-production line blockages.

[0260] Those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional module is used as an example. In practical applications, the above functions can be allocated to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0261] An embodiment of the present invention provides a computer-readable storage medium, storing a computer program that can be loaded and executed by a processor to implement a method of handling ultra-production line blockages.

[0262] Computer storage media include, for example: USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs, etc., various media that can store program codes.

[0263] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, and a computer program that can be loaded and executed by the processor is stored on the memory to implement a method of handling ultra-production line blockages.

[0264] The above are all preferred embodiments of the present application. Without limiting the protection scope of the present application accordingly, any feature disclosed in this specification (including the abstract and drawings), unless specifically described, can be replaced by other equivalent or similar-purpose alternative features. That is, unless specifically described, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for dealing with clogging in an ultra-production line, characterized in that, Including: When the track is stationary, the manipulator attaches the magnet to the cover plate along the preset conveying track and obtains the detected magnetic force information and the forward distance information; Obtain the detected image information at the position where the detected magnetic force information is greater than the preset standard vacant information; Analyze the detected image information based on the preset inner ring features to obtain the feature image information; Judge whether the feature image information is consistent with the preset inner ring upright image information; If they are consistent, continue to move forward and continue to obtain the detected magnetic force information; If they are inconsistent, define the feature image information as abnormal image information, and define the forward distance information corresponding to the feature image information as abnormal distance information; After knocking on the track at the abnormal distance information for the preset knocking time, if the track restarts, stop obtaining; If the track still does not start, re-obtain the detected image information and judge whether the feature image information after knocking is consistent with the inner ring upright image information; If they are consistent, continue to move forward and continue to obtain the detected magnetic force information; If they are inconsistent, output the alarm information and the manual assistance information; The method of knocking on the track at the abnormal distance information includes: Analyze the boundary ellipse information based on the abnormal image information; Analyze the placement direction information, the upper half circle area information and the lower half circle area information according to the boundary ellipse information; Determine the inner ring height information and the inner ring width information based on the placement direction information; Determine the contact point information according to the inner ring height information, the inner ring width information and the placement direction information; Judge whether the contact point information falls into the upper half circle area information; If it falls, determine the side knocking point information based on the contact point information; Determine the guiding angle information based on the contact point information and the placement direction information; Determine the guiding top coordinate information based on the guiding angle information, the abnormal distance information and the preset track profile information; Knock on the track at the side knocking point information and place the magnet at the guiding top coordinate information; If it does not fall, determine the bottom knocking position information and the standard top coordinate information based on the abnormal distance information; Knock on the track at the bottom knocking point information and place the magnet at the standard top coordinate information.

2. The super production line clogging treatment method according to claim 1, characterized in that If the feature image information before or after knocking is consistent with the inner ring upright image information, the method of continuing to move forward and continuing to obtain the detected magnetic force information includes: Judge whether the forward distance information is the preset falling port distance information; If not, continue to move forward and continue to obtain the detected magnetic force information; If so, calculate the magnet movement coordinate information according to the abnormal distance information, the preset attracting and detaching angle information and the appropriate attracting distance information; Determine the knocking and ejecting position information based on the abnormal distance information; After moving the magnet to the magnet movement coordinate information on the cover plate, knock at the knocking and ejecting position information; If the track restarts, stop obtaining.

3. The method for processing the clogging of an ultra-production line according to claim 2, characterized in that, It also includes the confirmation method of whether to knock on the track at the abnormal distance information, and this method includes: Drive the track in reverse to judge whether the track is stuck; If so, knock on the track at the abnormal distance information; If not, obtain the moving detection image information and the current reverse time as the inner ring moves; When the current reverse time is equal to the preset test reverse rotation time, then drive forward and observe whether the moving detection image information is consistent with the abnormal image information at the abnormal distance information; If it is consistent with the abnormal image information, then strike the track at the abnormal distance information; If it is not consistent with the abnormal image information, then accumulate the count information and continue to drive in reverse, and continue to judge whether the moving detection image information is consistent with the abnormal image information at the abnormal distance information; Before the count information is less than the preset reasonable number threshold information, when the moving detection image information at the abnormal distance information is consistent with the inner ring upright image information, the correction is completed and the normal forward drive is performed; When the count information is equal to the reasonable number threshold information and the moving detection image information at the abnormal distance information is still not consistent with the abnormal image information, strike the track at the abnormal distance information.

4. A method for dealing with blockage in an ultra-production line according to claim 1, characterized in that, The method for obtaining the moving detection image information as the inner ring moves includes: Analyze the moving detection image information based on the inner ring features to obtain the moving feature image information; Analyze the right boundary horizontal coordinate information of the moving feature image information in the moving detection image information; Determine the maximum left boundary horizontal coordinate information according to the preset inner ring diameter information and the right boundary horizontal coordinate information; Determine the center position information according to the right boundary horizontal coordinate information and the maximum left boundary horizontal coordinate information; Judge whether the center position information is the preset image center position information; If so, do not move and continue to obtain the moving detection image information after the preset shooting interval information; If not, determine the moving distance information according to the center position information and the image center position information; Move the manipulator according to the moving distance information and obtain the moving detection image information after the preset shooting interval information.

5. A method for handling clogging in an ultra-production line according to claim 4, characterized in that, The method for the knocking time of striking the track at the abnormal distance information further includes: Define the forward distance information as special distance information at the place where the detected magnetic force information is greater than the preset standard vacancy information; Calculate the difference between two adjacent special distance information, and define this difference as the interval distance information; Analyze the standard interval distance information based on the interval distance information and the preset support block spacing information; Calculate the difference between the abnormal distance information and the adjacent special distance information, and define this difference as the abnormal interval information; Calculate the difference between the abnormal interval information and the standard interval distance information, and define the absolute value of this difference as the deviation information; Judge whether the deviation information is greater than the inner ring diameter information; If it is greater, then strike the track at the abnormal distance information; If it is less, then analyze whether the preset support block feature information exists in the detection image information with abnormal image information; If it exists, then strike the track at the abnormal distance information; If it does not exist, calculate the rear strike bottom position information based on the abnormal distance information and the preset rear distance information; Calculate the front guiding top position information based on the abnormal distance information and the preset front distance information; Strike at the rear strike position information and move the magnet to the front guiding top position information.

6. A method for dealing with the blockage of a super production line according to claim 5, characterized in that, If the deviation information is greater than the inner ring diameter information and the track traveling method when the feature image information after knocking is consistent with the inner ring upright image information includes: Determine the support block distance information based on the special distance information corresponding to the standard interval distance information and the support block spacing information; Number the support blocks to obtain the support block number information, and form a mapping relationship between the support block number information and the support block distance information; Determine the inter-block interval information based on the support block number information and the support block distance information; Determine the number of special distance information falling within the same inter-block interval information based on the inter-block interval information and the special distance information, and define this number as the interval number information; Judge whether the interval number information is all less than or equal to 1; If so, drive at the preset uniform forward speed information; If not, define the inter-block interval information with the interval number information greater than 1 as the multi-block interval information, and define the interval number information corresponding to the multi-block interval information as the multi-block number information; Determine the multi-block interval information closest to the distance information of the falling port, and define this multi-block interval information as the current multi-block interval information, and define the multi-block number information corresponding to the current multi-block interval information as the current multi-block number information; Calculate the length information from the port according to the current multi-block number information and the inner diameter information; Calculate the pause distance information according to the length information from the port and the distance information of the falling port; Calculate the waiting distance information according to the inner diameter information and the distance information of the falling port; Calculate the interval movement distance information according to the current multi-block interval information and the pause position information; Calculate the residence time information according to the uniform forward speed information and the standard interval distance information; Place the magnet at the waiting distance information, then move forward the interval movement distance information on the track, and continue to move forward the inner diameter information after the residence time information until the position corresponding to the current multi-block interval information is greater than the distance information of the falling port, and re-determine the current multi-block interval information.

7. A super production line blockage handling system, characterized in that, Include: An acquisition module for acquiring the detected magnetic force information, forward distance information, detected image information, and moving detection image information; A memory for storing the program of a control method of a super production line blockage handling method as described in any one of claims 1 to 6; A processor, and the program in the memory can be loaded and executed by the processor and implement a control method of a super production line blockage handling method as described in any one of claims 1 to 6.

8. The smart terminal is characterized in that, Include a memory and a processor, and a computer program capable of being loaded and executed by the processor as described in any one of claims 1 to 6 for a super production line blockage handling method is stored on the memory.

9. A computer-readable storage medium, characterized in that, Store a computer program capable of being loaded and executed by the processor as described in any one of claims 1 to 6 for a super production line blockage handling method.

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