Intelligent sandblasting room and its control method

Abstract

The present invention provides an intelligent sandblasting chamber and a control method thereof. A crane is arranged inside the sandblasting chamber, and the crane slides longitudinally in the sandblasting chamber. A telescopic arm is arranged on the crane, the lower end of the telescopic arm is connected to a multi-degree-of-freedom manipulator, and a plurality of nozzles are arranged at the end of the manipulator. A plurality of sand storage tanks are arranged inside the sand storage chamber on one side of the sandblasting chamber, and the sand storage tanks are communicated with the nozzles at the end of the manipulator through sandblasting pipes. The position and size of the workpiece are determined by the camera for automatic sandblasting to achieve flexible processing. Thus, the equipment operation of the six-degree-of-freedom manipulator numerical control sandblasting machine is simple and reliable, and the production efficiency of the enterprise and the qualification rate of the products are significantly improved as a whole.

Description

Technical Field

[0001] The present invention relates to the field of sandblasting, and in particular to an intelligent sandblasting room and a control method thereof. Background Art

[0002] Sandblasting is a surface treatment method in which compressed air is used as the power to make abrasive materials shoot at the surface of a workpiece at high speed, so that the surface of the workpiece obtains a certain degree of cleanliness and different roughness, in order to roughen the metal surface or remove rust, oxide scale and other dirt on the metal surface to achieve decorative purposes and improve the fatigue resistance of the workpiece.

[0003] A sandblasting machine is a machine that can perform sandblasting on workpieces. At present, most sandblasting machines mainly use a single-station or multi-station, fixed or movable sandblasting head sandblasting method to process workpieces. This method often can only achieve the sandblasting passivation effect in a certain direction or certain directions on the surface of the workpiece. When it is necessary to perform all-round and dead-angle-free sandblasting on the entire surface of the workpiece, it is necessary to continuously adjust the placement position or direction of the workpiece during the processing. Obviously, using the existing equipment to perform sandblasting passivation on workpieces not only has a cumbersome processing process, poor production continuity, but also low processing efficiency.

[0004] Chinese Patent CN114211403A discloses a six-degree-of-freedom robotic numerically controlled sandblasting machine, including a chassis, inside which an installation space is formed; an operating table, including a disc tooling and a mounting member, and the disc tooling is rotatably mounted on the mounting member; a six-degree-of-freedom robot is installed in the installation space, and the six-degree-of-freedom robot can move omnidirectionally within the sandblasting area; a sandblasting gun head includes a sandblasting pipe, a sand guiding component and an adjusting component; a sand collecting component is installed in the installation space to collect the abrasive grains leaking through the leakage holes, and convey the collected abrasive grains back to the sandblasting pipe for sandblasting; a liquid crystal control system is installed on the chassis and controls the working states of the six-degree-of-freedom robot, the sand guiding component and the adjusting component respectively.

[0005] The above patent can perform continuous all-round automated sandblasting processing, realizing a flexible processing path while also being able to change sandblasting parameters.

[0006] However, the processing position of the above patent is narrow, the movement range of the six-degree-of-freedom robot is small, and the sandblasting effect also needs to be observed and compared manually. When sandblasting non-standard workpieces, programming processing is also required for the six-degree-of-freedom robot, and the technical problem of poor production continuity is not solved. Summary of the Invention

[0007] The main object of the present invention is to provide an intelligent sandblasting room and a control method thereof, so as to solve the problems that when using existing equipment to perform sandblasting passivation on workpieces, not only the processing process is cumbersome, the production continuity is poor, but also the processing efficiency is low.

[0008] To solve the above technical problems, the technical solution adopted by the present invention is: an intelligent sandblasting room, in which a crane is provided inside the sandblasting room. The crane slides longitudinally in the sandblasting room. A telescopic arm is provided on the crane. The lower end of the telescopic arm is connected to a multi-degree-of-freedom manipulator. A plurality of nozzles are provided at the end of the manipulator. Inside the sand storage room on one side of the sandblasting room, a plurality of sand storage tanks are provided. The sand storage tanks are connected to the nozzles at the end of the manipulator through sandblasting pipes.

[0009] In a preferred embodiment, a horizontally sliding carrier is provided on the crane. The carrier is driven by a motor to slide horizontally on the crane. A plurality of guide wheels are provided on the top of the carrier. The sandblasting pipe bypasses the guide wheels and is connected to the nozzle.

[0010] In a preferred embodiment, the end of the manipulator is connected to a sandblasting mounting frame. A protruding support column is provided on one side of the sandblasting mounting frame. An installation plate is provided at the end of the support column. A plurality of clamping ears are provided on the installation plate. The nozzle is fixed on the installation plate through the clamping ears;

[0011] The sandblasting pipe passes through the plate body of the mounting frame and is connected to the nozzle.

[0012] In a preferred embodiment, a calibration motor is further provided on one side of the crane. A gear is provided at the output end of the calibration motor. A rack is provided on the crane rail. The rack meshes with the gear.

[0013] In a preferred embodiment, a plurality of cameras are provided on both sides inside the sandblasting room. The cameras are electrically connected to a control computer. An image recognition system is provided inside the control computer;

[0014] The image recognition system is used to recognize the position of the tool being sandblasted and the completion status of sandblasting.

[0015] In a preferred embodiment, a sandblasting adjustment seat is provided inside the sandblasting room. The sandblasting adjustment seat is provided on the bottom plate of the sandblasting room. The sandblasting adjustment seat is slidably connected to the ground rail.

[0016] In a preferred embodiment, the sandblasting adjustment seat includes a bottom plate. Support seats are provided on both sides of the bottom plate. A rotating plate is rotatably connected between the two support seats. The rotating shaft at the end of the rotating plate is connected to a first motor. An installation base is provided on the surface of the rotating plate body. The installation base is rotatably connected to the rotating plate. A second motor is provided below the rotating plate. The second motor is connected to the installation base.

[0017] In a preferred embodiment, a first worm is provided at the output end of the first motor. A first worm gear is provided on the rotating shaft at the end of the rotating plate. The first worm gear meshes with the first worm;

[0018] A second worm is provided at the output end of the second motor. A second worm gear is provided on the rotating shaft of the installation base. The second worm gear meshes with the second worm.

[0019] In a preferred embodiment, the first motor, the first worm gear and the first worm are covered with a first protective cover;

[0020] The second motor, the second worm gear, and the outer cover of the second worm shaft are provided with a second protective cover.

[0021] The method includes:

[0022] S1. The object to be sandblasted is installed on the mounting base of the sandblasting adjustment seat, and the sandblasting adjustment seat is pushed into the sandblasting room through the ground rail.

[0023] S2. Multiple cameras take pictures of the object to be sandblasted. The captured images of the multiple cameras are used to convert the two-dimensional images into three-dimensional point cloud data using stereo reconstruction technology to calculate the three-dimensional coordinates of the object. For the target object of the sandblasted object, target detection and tracking technology are used for real-time identification and tracking among the multiple cameras.

[0024] Based on the three-dimensional coordinates and target detection results captured by the multiple cameras, the accurate position of the object in the three-dimensional space is calculated.

[0025] The algorithm formula for the multi-camera joint vision detection of the object position can be expressed as: P = (A^-1) × b;

[0026] where P is the object position coordinate to be solved, A is the feature point coordinate matrix under the perspectives of each camera, and b is the camera center coordinate vector under the perspectives of each camera.

[0027] This formula is based on the principle of triangulation and calculates the coordinates of the object in the three-dimensional space by solving a system of linear equations.

[0028] S3. The algorithm for the multi-camera joint vision detection of the object position includes multi-object tracking algorithms based on Kalman filtering and particle filtering, and object detection based on deep learning;

[0029] S4. After detecting the position of the object to be sandblasted, the control computer controls the manipulator to start sandblasting the object to be sandblasted, sandblasting and covering the position of the visual target detection result, and the camera detects the sandblasting effect in multiple directions.

[0030] S5. When there are dead corners, barbs, or concave surface structures in the direction, the sandblasting adjustment seat adjusts the rotation angle of the mounting base, and the sandblasting adjustment seat cooperates with the multi-degree-of-freedom manipulator to sandblast the object to be sandblasted.

[0031] S6. After sandblasting, the camera takes pictures of the sandblasted object multiple times to detect whether the surface of the sandblasted object reaches the preset value of qualified sandblasting.

[0032] S7. The control computer performs image enhancement processing on the multiple pictures taken by the camera of the sandblasted object, processes the photos using the histogram equalization algorithm, transports the grayscale level image of the pixels with data, and compares the grayscale level image with the threshold value in the database to determine whether the sandblasted object meets the requirements.

[0033] Among them, the histogram equalization algorithm is;

[0034]

[0035] Among them, s is the gray level of the output pixel, r is the gray level of the input pixel, T(r) is the transformation function, L is the number of pixel gray levels, M and N are the number of rows and columns of the image respectively, and nj is the number of pixels with gray level j in the image;

[0036] When performing histogram equalization, map the gray level value of the current pixel to a new gray value, and the formula is as follows:

[0037]

[0038] Among them, h(i) represents the number of pixels with gray value i in the original image, N is the total number of pixels in the image, and L is the number of gray levels;

[0039] The algorithm formula for comparing the gray level of a pixel with the data in the database is:

[0040] Δ = |p1 - p2|

[0041] Among them, p1 and p2 represent the gray values of two pixels respectively;

[0042] Δ is the gray difference between them. If Δ is very small, then their gray levels are very similar;

[0043] If Δ is very large, then the difference between their gray levels is very large.

[0044] The present invention provides an intelligent sandblasting room and its control method. Through the combined control of the manipulator and the numerical control system of the sandblasting adjustment seat, the running trajectory of the manipulator and the deflection direction of the sandblasting adjustment seat can realize continuous all-round automatic sandblasting processing of the workpiece on the installation base;

[0045] The position of the object is detected by a camera inside the sandblasting room, and the position and size of the camera workpiece are used for automatic sandblasting to achieve flexible processing. Thus, through this six-degree-of-freedom manipulator numerical control sandblasting machine, the equipment operation is simple and reliable, and the production efficiency of the enterprise and the qualification rate of the products are significantly improved as a whole. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The present invention will be further described below with reference to the drawings and embodiments:

[0047] Figure 1 is the layout structure diagram of the sandblasting room of the present invention;

[0048] Figure 2 is the three-dimensional side view structure diagram of the sandblasting room of the present invention;

[0049] Figure 3 It is the layout and installation structure diagram of the overhead crane, manipulator and sandblasting adjustment seat of the present invention;

[0050] Figure 4 It is the installation structure diagram of the overhead crane and the manipulator of the present invention;

[0051] Figure 5 It is the front view structure diagram of the telescopic arm of the present invention;

[0052] Figure 6 It is the internal structure schematic diagram of the telescopic arm of the present invention;

[0053] Figure 7 It is the structure diagram of the nozzle installed on the manipulator of the present invention;

[0054] Figure 8 It is the structure diagram of the sandblasting adjustment seat of the present invention;

[0055] Figure 9 It is the side view structure diagram below the sandblasting adjustment seat of the present invention.

[0056] In the figure: sandblasting room 1; camera 101; control computer 102; sand storage room 2; sand storage tank 3; manipulator 4; overhead crane 5; calibration motor 501; rack 502; bearing frame 503; guide wheel 6; door panel 7; sandblasting adjustment seat 8; support seat 801; rotating plate 802; mounting base 803; first worm gear 804; first worm 805; first motor 806; first protective cover 807; second motor 808; second worm 809; second worm gear 810; second protective cover 811; ground rail 9; telescopic arm 10; drive motor 1001; bellows 1002; sandblasting mounting frame 11; support column 1101; mounting plate 1102; nozzle 12; sandblasting pipe 13; ear 14. Specific implementation mode

[0057] Example 1

[0058] As Figures 1 to 9 shown, an intelligent sandblasting room, the sandblasting room 1 is internally provided with an overhead crane 5, the overhead crane 5 slides longitudinally with the sandblasting room 1, the overhead crane 5 is provided with a telescopic arm 10, the lower end of the telescopic arm 10 is connected to a multi-degree-of-freedom manipulator 4, the end of the manipulator 4 is provided with a plurality of nozzles 12, the sand storage room 2 on one side of the sandblasting room 1 is internally provided with a plurality of sand storage tanks 3, and the sand storage tanks 3 are communicated with the nozzles 12 at the end of the manipulator 4 through sandblasting pipes 13. Through the combined control of the numerical control systems of the manipulator 4 and the sandblasting adjustment seat 8, the running track of the manipulator 4 and the deflection direction of the sandblasting adjustment seat 8 can realize continuous all-round automatic sandblasting processing of the workpiece on the mounting base 803;

[0059] The internal part of the sandblasting room 1 uses a camera 101 to detect the position of an object, and the position and size of the workpiece of the camera 101 are used for automatic sandblasting to achieve flexible processing.

[0060] The telescopic boom 10 adopts a multi-wire harness to drive the telescopic boom. The telescopic boom 10 is driven to lift by a drive motor 1001. The telescopic boom 10 adopts a four-section telescopic boom, and the structure of the telescopic boom 10 is the same as the principle of the telescopic boom of a crane.

[0061] In a preferred embodiment, a carrier frame 503 that slides horizontally is provided on the overhead crane 5. The carrier frame 503 is driven by a motor to slide horizontally on the overhead crane 5. A plurality of guide wheels 6 are provided on the top of the carrier frame 503, and the sandblasting pipe 13 bypasses the guide wheels 6 and is connected to the nozzle 12. The guide wheels 6 play a role in fixing or guiding the sandblasting pipe 13, and the sandblasting pipe 13 can supply sandblasting to the nozzle 12 in a timely manner.

[0062] In a preferred embodiment, the end of the manipulator 4 is connected to the sandblasting mounting frame 11. A protruding support column 1101 is provided on one side of the sandblasting mounting frame 11. An installation plate 1102 is provided at the end of the support column 1101. A plurality of lugs 14 are provided on the installation plate 1102, and the nozzle 12 is fixed on the installation plate 1102 through the lugs 14; the sandblasting pipe 13 passes through the plate body of the mounting frame 11 and is connected to the nozzle 12. The sandblasting mounting frame 11 is used to fix the sandblasting pipe 13 and a plurality of nozzles 12.

[0063] In a preferred embodiment, a calibration motor 501 is further provided on one side of the overhead crane 5. A gear is provided at the output end of the calibration motor 501, and a rack 502 is provided on the guide rail of the overhead crane 5. The rack 502 meshes with the gear. The calibration motor 501 is mainly used to calibrate the position of the overhead crane 5 on the guide rail, and when the overhead crane 5 slides inertially, it can be detected in a timely manner.

[0064] In a preferred embodiment, a plurality of cameras 101 are provided on both sides inside the sandblasting room 1. The cameras 101 are electrically connected to a control computer 102, and a visual recognition system is provided inside the control computer 102; the visual recognition system is used to identify the position of the tool to be sandblasted and the completion of sandblasting.

[0065] In a preferred embodiment, a sandblasting adjustment seat 8 is provided inside the sandblasting room 1. A ground rail 9 is provided on the bottom plate of the sandblasting room 1. The sandblasting adjustment seat 8 is slidably connected to the ground rail 9. The sandblasting adjustment seat 8 is controlled by a numerical control system. Through the combined control of the manipulator 4 and the numerical control system of the sandblasting adjustment seat 8, the running trajectory of the manipulator 4 and the deflection direction of the sandblasting adjustment seat 8 can be used to perform continuous all-round automatic sandblasting processing on the workpiece on the mounting base 803.

[0066] In position control, the position information of the machine tool workpiece is obtained through an encoder, compared with the target position, and the PID control algorithm is used to adjust the motor speed and direction to achieve precise position control.

[0067] In speed control, according to the required cutting speed and load conditions, the actual load is calculated by measuring the motor speed and current, and the control signal is adjusted to keep the motor at a constant speed.

[0068] These control algorithms can be implemented by a digital signal processor or a dedicated controller to achieve high-precision, high-speed, and high-reliability machining operations.

[0069] In a preferred embodiment, the sandblasting adjustment seat 8 includes a bottom plate. Support seats 801 are provided on both sides of the bottom plate. A rotating plate 802 is rotatably connected between the two support seats 801. The rotating shaft at the end of the rotating plate 802 is connected to the first motor 806. An installation base 803 is provided on the surface of the rotating plate 802. The installation base 803 is rotatably connected to the rotating plate 802. A second motor 808 is provided below the rotating plate 802. The second motor 808 is connected to the installation base 803. The first motor 806 drives the rotating plate 802 to rotate, and the second motor 808 drives the installation base 803 to rotate. The sandblasting adjustment seat 8 is controlled by a numerical control system. Through the combined control of the manipulator 4 and the numerical control system of the sandblasting adjustment seat 8, the running trajectory of the manipulator 4 and the deflection direction of the sandblasting adjustment seat 8 can be used to continuously and comprehensively automate the sandblasting process of the workpiece on the installation base 803.

[0070] In a preferred embodiment, a first worm 805 is provided at the output end of the first motor 806. A first worm gear 804 is provided on the rotating shaft at the end of the rotating plate 802. The first worm gear 804 meshes with the first worm 805;

[0071] A second worm 809 is provided at the output end of the second motor 808. A second worm gear 810 is provided on the rotating shaft of the installation base 803. The second worm gear 810 meshes with the second worm 809. The worm gear transmission is relatively stable and can maintain high precision under high loads; the worm and worm gear transmission has a strong torque transmission capacity and can withstand large loads and impact loads; due to the action of frictional resistance, the worm gear has good self-locking properties and is not prone to sliding backwards;

[0072] In a preferred embodiment, a first protective cover 807 is provided outside the first motor 806, the first worm gear 804, and the first worm 805; a second protective cover 811 is provided outside the second motor 808, the second worm gear 810, and the second worm 809. The first protective cover 807 and the second protective cover 811 protect the gears at the driving positions.

[0073] Embodiment 2

[0074] Combined with Embodiment 1 for further illustration, as Figures 1 - 9 shown in the structure, the object to be sandblasted is installed on the installation base 803 of the sandblasting adjustment seat 8. The sandblasting adjustment seat 8 is pushed into the sandblasting room 1 through the ground rail 9;

[0075] Multiple cameras 101 take pictures of the object to be sandblasted. The captured images of the multiple cameras are converted into three-dimensional point cloud data using stereo reconstruction technology to calculate the three-dimensional coordinates of the object. For the target object of the sandblasted object, target detection and tracking technology is used for real-time identification and tracking in multiple cameras;

[0076] Based on the three-dimensional coordinates and target detection results captured by the multiple cameras, the accurate position of the object in three-dimensional space is calculated;

[0077] The algorithm formula for the multi-camera joint vision to detect the object position can be expressed as: P = (A^-1) × b;

[0078] Where P is the object position coordinate to be solved, A is the feature point coordinate matrix under the perspectives of each camera, and b is the camera center coordinate vector under the perspectives of each camera;

[0079] This formula is based on the principle of triangulation and calculates the coordinates of the object in three-dimensional space by solving a system of linear equations;

[0080] The algorithm for the multi-camera joint vision to detect the object position includes multi-object tracking algorithms based on Kalman filtering and particle filtering, and object detection based on deep learning;

[0081] After detecting the position of the object to be sandblasted, the control computer 102 controls the manipulator 4 to start sandblasting the object to be sandblasted, covering the position of the visual target detection result with sandblasting, and the camera 101 detects the sandblasting effect from multiple directions;

[0082] When there are dead corners, barbs or concave surface structures in the direction, the sandblasting adjustment seat 8 adjusts the rotation angle of the mounting base 803, and the sandblasting adjustment seat 8 cooperates with the multi-degree-of-freedom manipulator 4 to sandblast the object to be sandblasted;

[0083] After sandblasting, the camera 101 takes pictures of the sandblasted object multiple times to detect whether the surface of the sandblasted object reaches the preset value of qualified sandblasting;

[0084] The control computer 102 performs image enhancement processing on the multiple pictures taken by the camera 101 of the sandblasted object, processes the photos using the histogram equalization algorithm, transports the grayscale level image of the pixels with data, and compares the grayscale level image with the threshold in the database to determine whether the sandblasted object meets the requirements;

[0085] Among them, the histogram equalization algorithm is;

[0086]

[0087] Where s is the gray level of the output pixel, r is the gray level of the input pixel, T(r) is the transformation function, L is the number of pixel gray levels, M and N are the number of rows and columns of the image respectively, and nj is the number of pixels with gray level j in the image;

[0088] When performing histogram equalization, the gray level value of the current pixel is mapped to a new gray value, and the formula is as follows:

[0089]

[0090] Where h(i) represents the number of pixels with pixel gray value i in the original image, N is the total number of pixels in the image, and L is the number of gray levels;

[0091] The comparison algorithm formula for the gray level of a pixel with the data in the database is:

[0092] Δ = |p1 - p2|

[0093] Where p1 and p2 represent the gray values of two pixels respectively;

[0094] Δ is the gray difference between them. If Δ is very small, then their gray levels are very similar;

[0095] If Δ is very large, then the difference between their gray levels is very large.

[0096] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations on the present invention. The protection scope of the present invention should be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A control method for an intelligent sandblasting room, characterized in that: Inside the sandblasting chamber (1), there is an overhead crane (5). The overhead crane (5) slides longitudinally with the sandblasting chamber (1). An extensible arm (10) is provided on the overhead crane (5). The lower end of the extensible arm (10) is connected to a multi-degree-of-freedom manipulator (4). Multiple nozzles (12) are provided at the end of the multi-degree-of-freedom manipulator (4). Inside the sand storage chamber (2) on one side of the sandblasting chamber (1), there are multiple sand storage tanks (3). The sand storage tanks (3) are connected to the nozzles (12) at the end of the multi-degree-of-freedom manipulator (4) through sandblasting pipes (13). On both sides inside the sandblasting chamber (1), there are multiple cameras (101). The cameras (101) are electrically connected to a control computer (102). An image recognition system is provided inside the control computer (102). The visual recognition system is used to identify the position of the tool to be sandblasted and to identify the completion of sandblasting. Inside the sandblasting chamber (1), there is a sandblasting adjustment base (8). On the bottom plate of the sandblasting chamber (1), there is a ground rail (9). The sandblasting adjustment base (8) is slidably connected to the ground rail (9). The sandblasting adjustment base (8) includes a bottom plate. Support seats (801) are provided on both sides of the bottom plate. A rotating plate (802) is rotatably connected between the two support seats (801). The rotating shaft at the end of the rotating plate (802) is connected to a first motor (806). An installation base (803) is provided on the surface of the rotating plate (802). The installation base (803) is rotatably connected to the rotating plate (802). A second motor (808) is provided below the rotating plate (802). The second motor (808) is connected to the installation base (803). The method includes: S1. The object to be sandblasted is installed on the installation base (803) of the sandblasting adjustment base (8). The sandblasting adjustment base (8) is pushed into the sandblasting chamber (1) through the ground rail (9). S2. Multiple cameras (101) take pictures of the object to be sandblasted. For the captured images of the multiple cameras, stereoscopic reconstruction technology is used to convert the two-dimensional images into three-dimensional point cloud data to calculate the three-dimensional coordinates of the object. For the target object of the sandblasted object, target detection and tracking technology is used to perform real-time identification and tracking among the multiple cameras. Based on the three-dimensional coordinates and target detection results captured by the multiple cameras, the accurate position of the object in the three-dimensional space is calculated. The algorithm formula for multi-camera joint visual detection of object position can be expressed as: P = (A^-1)× b; Among them, P is the object position coordinate to be solved, A is the feature point coordinate matrix under the perspectives of each camera, and b is the camera center coordinate vector under the perspectives of each camera. This formula is based on the principle of triangulation and calculates the coordinates of the object in the three-dimensional space by solving a system of linear equations. S3. The algorithm for multi-camera joint visual detection of object position includes multi-object tracking algorithms based on Kalman filtering and particle filtering, and object detection based on deep learning. S4. After detecting the position of the object to be sandblasted, the control computer (102) controls the multi-degree-of-freedom manipulator (4) to start sandblasting the object to be sandblasted, covering the position of the visual target detection result with sandblasting, and the camera (101) detects the sandblasting effect in multiple directions. S5. When there are dead corners, reverse hooks or concave surface structures in a certain direction, the sandblasting adjustment seat (8) adjusts the rotation angle of the mounting base (803), and the sandblasting adjustment seat (8) cooperates with the multi-degree-of-freedom manipulator (4) to perform sandblasting on the object to be sandblasted; S6. After the sandblasting is completed, the camera (101) takes multiple photos of the sandblasted object to detect whether the surface of the sandblasted object reaches the preset value of qualified sandblasting; S7. The control computer (102) performs image enhancement processing on the multiple photos taken by the camera (101) of the sandblasted object, uses the histogram equalization algorithm to process the photos, transmits the grayscale level image of the pixels with data, and compares the grayscale level image with the threshold value in the database to determine whether the sandblasted object meets the requirements; Among them, the histogram equalization algorithm is; ； Wherein, is the gray level of the output pixel, is the gray level of the input pixel, is the transformation function, is the number of gray levels of the pixel, and are the number of rows and columns of the image respectively, is the number of pixels in the image with the gray level ; When performing histogram equalization, map the grayscale level value of the current pixel to a new grayscale value, and the formula is as follows: ； Among them, represents the number of pixels with pixel gray value of in the original image, N is the total number of pixels in the image, L is the number of gray levels; The algorithm formula for comparing the grayscale level of the pixel with the data in the database is: ； Among them, and respectively represent the gray values of two pixels; it is the gray-scale difference between them. If it is very small, then their gray-scale levels are very similar; If are large, the difference between their gray levels is large.

2. The control method of an intelligent sandblasting room according to claim 1, characterized in that: There is a horizontally sliding carrier (503) on the overhead crane (5). The carrier (503) is driven by a motor to slide horizontally on the overhead crane (5). There are multiple guide wheels (6) on the top of the carrier (503), and the sandblasting pipe (13) bypasses the guide wheels (6) and is connected to the nozzle (12).

3. The control method of an intelligent sandblasting room according to claim 1, characterized in that: The end of the multi-degree-of-freedom manipulator (4) is connected to the sandblasting mounting frame (11). There is a protruding support column (1101) on one side of the sandblasting mounting frame (11). There is a mounting plate (1102) at the end of the support column (1101). There are multiple lugs (14) on the mounting plate (1102), and the nozzle (12) is fixed on the mounting plate (1102) through the lugs (14); The sandblasting pipe (13) passes through the plate body of the mounting frame (11) and is connected to the nozzle (12).

4. The control method of an intelligent sandblasting room according to claim 1, characterized in that: There is also a calibration motor (501) on one side of the overhead crane (5). The output end of the calibration motor (501) is provided with a gear, and there is a rack (502) on the guide rail of the overhead crane (5). The rack (502) meshes with the gear.

5. The control method of an intelligent sandblasting room according to claim 1, characterized in that: The output end of the first motor (806) is provided with a first worm (805). There is a first worm gear (804) on the rotating shaft at the end of the rotating plate (802). The first worm gear (804) meshes with the first worm (805); The output end of the second motor (808) is provided with a second worm (809). There is a second worm gear (810) on the rotating shaft of the mounting base (803). The second worm gear (810) meshes with the second worm (809).

6. The control method of an intelligent sandblasting room according to claim 5, characterized in that: The first motor (806), the first worm gear (804) and the first worm (805) are externally covered with a first protective cover (807); The second motor (808), the second worm gear (810) and the second worm (809) are externally covered with a second protective cover (811).

Images