A mold clamping adjustment control method and system

Abstract

The present application is in the field of industrial automation control technology, and specifically relates to a mold adjustment control method and system. By scanning the marking points set on the cast plane and the target preset position, a first marking point cloud data set and a second marking point cloud data set are generated, and a fitting plane of the cast outer surface is fitted, and then the template is adjusted and controlled to align with the cast outer surface according to the second marking point cloud data set and the fitting plane. The above-mentioned scheme of the present application can accurately obtain the relative position between the template and the cast surface, provide data support for precise adjustment, and automatically adjust the length of the template diagonal brace according to the measurement data of the sensor through the automatic control system and algorithm control, thereby reducing manual intervention and improving construction efficiency and adjustment accuracy.

Description

Technical Field

[0001] The present application relates to the field of industrial automation control technology, and in particular to a mold clamping adjustment control method and system. Background Art

[0002] In the climbing formwork system, when the formwork is closed, the precise positioning of the formwork is crucial to ensure construction quality and structural safety. Traditional mold closing and alignment methods may rely on manual measurement and adjustment, which is not only inefficient but also prone to errors. With the development of technology, automation and intelligent construction have become a trend. Among them, laser scanning sensors are widely used in automated measurement and positioning systems due to their high precision and fast measurement capabilities. With the development and application of laser scanning sensor technology, it is possible to achieve precise positioning and alignment of the formwork. Summary of the invention

[0003] Based on this, the present application proposes a mold adjustment control method and system to address the above-mentioned problems, aiming to achieve precise positioning and adjustment control of the template mold, solve the problems of inefficiency and insufficient precision in traditional construction methods, and provide technical support and solutions for high-quality and efficient bridge construction.

[0004] On one hand, the present application provides a mold clamping adjustment control method, the method comprising:

[0005] Controlling the template to move to a target position in a first direction;

[0006] Controlling the sensor to scan the marking points on the poured outer surface and the preset positions of the template to generate a first marking point cloud data set and a second marking point cloud data set;

[0007] Obtaining a fitting plane of the cast outer surface based on the first labeled point cloud data set;

[0008] According to the second marked point cloud data set and the fitting plane, the template is adjusted and controlled to be aligned with the cast outer surface.

[0009] Preferably, the control sensor scans the marking points of the cast outer surface and the preset position of the template to generate a first marking point cloud data set and a second marking point cloud data set, including:

[0010] Controlling the sensor to scan the cast outer surface and the preset position of the template to generate a point cloud data set;

[0011] Preprocessing the point cloud data set;

[0012] The preprocessed point cloud data is subjected to marker point recognition and classification to obtain a first marker point cloud data set and a second marker point cloud data set.

[0013] Preferably, obtaining a fitting plane of the cast outer surface based on the first marked point cloud data set includes:

[0014] According to the coordinates of each first marked point cloud (x i ,y i ,z i )Construct the matrix X and constant vector p:

[0015]

[0016] According to the matrix equation Xβ=p, solve the plane direction coefficient β=[A,B,C,D] to be fitted T , the fitting plane equation of the cast outer surface is obtained: Ax+By+Cz+D=0, where A, B, C, and D are the fitting plane equation coefficients, and n is the number of the first marking points after preprocessing.

[0017] Further, according to the second marked point cloud data set and the fitting plane, adjusting and controlling the template to align with the cast outer surface includes:

[0018] a. Get each second marking point P i '(x i ',y i ',z i ') to the distance of the fitting plane:

[0019]

[0020] b. Obtain the distance deviation of each second marking point and obtain the maximum distance deviation Δd max ;

[0021] c. Determine whether the maximum distance deviation is less than a preset threshold;

[0022] d. If yes, stop adjusting the template;

[0023] e. If not, adjusting the extension and retraction of the template diagonal brace according to the maximum distance deviation;

[0024] f. Control the sensor to rescan the marker points at the preset positions of the template to generate a new point cloud data set;

[0025] g. Update the second labeled point cloud dataset according to the new point cloud dataset, and return to execute step a.

[0026] Specifically, adjusting the extension and retraction of the template diagonal brace according to the maximum distance deviation data includes:

[0027] Get the coordinate position Q of the current connection point between each diagonal brace and the template j ;

[0028] Get the maximum distance deviation Δd max The corresponding marking point P max ;

[0029] Based on the maximum distance deviation, the adjustment of the diagonal brace is calculated:

[0030]

[0031] Among them, △L j is the adjustment amount of the jth diagonal support rod of the current template, θ j is the vertical angle of the j-th diagonal brace, Q is the connection point j With the marked point P max The distance between them, k is the adjustment scale coefficient;

[0032] The extension and contraction amount of the corresponding diagonal support rod is controlled according to the adjustment amount.

[0033] Furthermore, the method further comprises:

[0034] Calculate the ratio of the maximum deviation distance change after the current adjustment to the maximum deviation distance before the adjustment;

[0035] If the specific gravity is greater than a preset first specific gravity threshold, reducing the adjustment proportional coefficient k;

[0036] If the proportion is less than the preset second proportion threshold, the adjustment proportion coefficient k is increased.

[0037] Preferably, obtaining the distance deviation of each second marking point includes: Δd i =d i -H, where H is the thickness of the template.

[0038] The second aspect of the present application also provides a mold clamping adjustment control system, the system comprising a scanning sensor subsystem, an adjustment subsystem, and an intelligent control subsystem:

[0039] The scanning sensor subsystem includes a scanning sensor, which receives instructions from the intelligent control subsystem to scan data and sends the scanned data to the intelligent control subsystem;

[0040] The regulating subsystem includes a regulating device, which receives instructions from the intelligent control subsystem to perform regulating control;

[0041] The intelligent control subsystem includes a controller, and the controller executes the steps of the above method.

[0042] The third aspect of the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to perform the steps of any one of the above methods.

[0043] A fourth aspect of the present application provides a computer terminal device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of any one of the above methods.

[0044] The above-mentioned mold closing adjustment control scheme provided in the present application generates a first marked point cloud data set and a second marked point cloud data set by scanning the marked points set on the cast plane and the target preset position, and fits to obtain the fitting plane of the cast outer surface, and then adjusts and controls the alignment of the template with the cast outer surface according to the second marked point cloud data set and the fitting plane. The above-mentioned scheme of the present application can accurately obtain the relative position between the template and the cast surface, provide data support for precise adjustment, and automatically adjust the length of the diagonal brace according to the measurement data of the sensor through the automatic control system and algorithm control, reduce manual intervention, and improve construction efficiency and adjustment accuracy.

[0045] Furthermore, the present application scheme also adopts an iterative approximation method, combined with a dynamic adjustment strategy, to gradually reduce the deviation between the formwork and the bridge pier, and ultimately achieve precise alignment of the formwork with the cast outer surface. During the adjustment process, a real-time monitoring and feedback mechanism is used to ensure structural stability and safety during construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] in:

[0048] Figure 1 A flowchart of a mold clamping adjustment control method in one embodiment;

[0049] Figure 2 A schematic diagram of the local structure of a climbing formwork system in one embodiment

[0050] Figure 3 A structural block diagram of a mold clamping adjustment control system in one embodiment;

[0051] Figure 4 FIG. 4 is a structural block diagram of a computer device in one embodiment. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] It should be noted that the terms "include", "comprises" and "have" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices. In the claims, specification and drawings of the present application, relational terms such as "first" and "second" are merely used to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects.

[0054] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The occurrence of the phrase at various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0055] In one embodiment, if Figure 1 The flowchart of a mold clamping adjustment control method of the present application is shown, and the method includes:

[0056] S10, controlling the template to move to a target position in a first direction.

[0057] In engineering construction, the formwork system is composed of panels, vertical ribs, transverse ribs, etc. The bottom of the formwork is connected to the drive device through multiple transverse rods in the transverse direction to control the transverse movement of the formwork, and the back of the formwork is connected to the drive device through multiple diagonal braces. In general, after the formwork system is installed, the direction of movement of the transverse rods of the formwork will be perpendicular to the cast plane. For vertical casting construction (such as vertical bridge piers and vertical building support bodies), the direction of movement of the transverse rods of the formwork is horizontal. In other inclined castings (such as bridge piers with inclined angles), the direction of movement of the transverse rods of the formwork may not be horizontal. Therefore, in the present application, the direction of the transverse rods toward the cast plane is defined as the first direction.

[0058] like Figure 2 Shown is a schematic diagram of the local structure of a climbing formwork system 10 used in one embodiment of the present application. Figure 2 In the embodiment, a plurality of first marking points 110 are preset on the cast plane 100, and the plurality of first marking points 110 are not all collinear. A plurality of second marking points 210 are preset on the back of the template 200, and the bottom of the template 200 is connected to the driving device through one or more movable transverse rods 220, and the driving device can drive the transverse rods 220 to move in the first direction a, so that the bottom of the template 200 moves to the target position in contact with the cast plane 100. The back of the template 200 is connected to the driving device through one or more diagonal braces 230, and the angle of the template 200 can be adjusted by controlling the extension and retraction of the diagonal braces 230 by controlling the driving device. The sensor 300 is arranged at a preset position of the template support body, so that the sensor 300 can scan the first marking point 110 and the second marking point 210. Preferably, the driving device is a hydraulic device, and in other embodiments, the driving device can also be a motor driving device.

[0059] In one embodiment of the present application, when the template is closed, the template is first controlled to move in a first direction by controlling the movement of the transverse rod, so that the bottom of the template moves to a target position in contact with the cast plane, and then the angle of the template is adjusted by controlling the extension and retraction of the diagonal support rod to align the template with the cast outer surface.

[0060] S11. Control the sensor to scan the marking points on the cast outer surface and the preset positions of the template to generate a first marking point cloud data set and a second marking point cloud data set.

[0061] In one embodiment of the present application, obvious marking points are set in advance at predetermined positions on the cast outer surface and the back of the template. These marking points can be made of highly reflective materials and can be QR codes, reflective marks, or any features that can be recognized by sensors. The marking points on the cast outer surface and the preset positions of the template are not all collinear.

[0062] Preferably, the present application adopts a LiDAR laser sensor (Light Detection and Ranging) as a scanning sensor. The LiDAR sensor is a remote sensing technology that uses lasers to measure distances. In the climbing formwork system, the present application adopts a LiDAR sensor to obtain the precise three-dimensional coordinates of the cast surface and the template marking points. During the implementation process, the LiDAR sensor is positioned and fixedly installed in a suitable position, such as fixedly installed on the bracket body behind the formwork system. Each formwork system can be equipped with one or more LiDAR laser sensors to ensure that the cast outer surface and the template marking points are within the scanning range of the sensor.

[0063] Furthermore, the scanning sensor of the present application is connected to the control system in a wired or wireless manner, and the sensor can receive the control system command to scan data and send the scanned data to the control system. In the present application, the control system can send a scanning command to control the sensor to scan the marked points of the cast outer surface and the preset position of the template to generate a first marked point cloud data set and a second marked point cloud data set. The specific steps include:

[0064] S110, controlling the sensor to scan the cast outer surface and the preset position of the template to generate a point cloud data set.

[0065] Specifically, first, the LiDAR sensor is controlled to emit laser pulses for scanning. These laser pulses will scatter in all directions. The LiDAR sensor is usually equipped with a rotating component, and the internal rotating mirror or other scanning mechanism enables the laser to scan the entire measurement area in a fan-shaped or circular mode. The laser pulse is irradiated on the surface of the object and then reflected back and received by the LiDAR sensor. After the laser pulse is irradiated on the mark point on the template, part of the laser will be reflected back.

[0066] The LiDAR sensor then measures the time difference between the emission and reception of the laser pulse to calculate the distance. Since laser light travels at the speed of light, this time difference can be used to calculate the distance the laser pulse traveled:

[0067] r=c·t / 2

[0068] Where r is the distance between the sensor and each reflection point, c is the speed of light, and t is the round-trip time of the laser pulse.

[0069] Finally, the LiDAR sensor can calculate the coordinates (x, y, z) of each reflection point in three-dimensional space based on the angle information of laser pulse emission and / or reception, and then combine the distance r and angle information to obtain a point cloud coordinate data set of each reflection point.

[0070] S111, preprocessing the point cloud data set.

[0071] Specifically, the collected raw data is preprocessed, including noise removal, filtering, registration, etc., to improve the quality and accuracy of the data.

[0072] S112, performing marker point recognition and classification on the preprocessed point cloud data to obtain a first marked point cloud data set and a second marked point cloud data set.

[0073] In the pre-processed point cloud data, a preset image processing or point cloud processing algorithm is used to identify specific marker points. This can be done by, but not limited to, detecting geometric features, color information or other features in the point cloud data. Furthermore, according to the characteristics of the marker points, corresponding thresholds or parameters can be set to filter out point cloud data that meets the requirements.

[0074] For each identified marker point, the marker point is classified and its coordinate position in the point cloud data is calculated. This usually involves steps such as coordinate transformation and calibration of the point cloud data. For example, based on the measurement principle and scanning parameters of the laser sensor, the coordinate position of each point cloud data point in the global coordinate system can be calculated, thereby obtaining the first marked point cloud data set of the cast plane and the second marked point cloud data set on the template.

[0075] S12. Obtain a fitting plane of the cast outer surface based on the first marked point cloud data set.

[0076] Specifically, after obtaining the first marked point cloud data and the second marked point cloud data, the present application first removes abnormal points and outliers in the first marked point cloud data set, and then obtains a fitting plane of the cast outer surface by fitting the first marked point cloud data set, specifically including:

[0077] To fit the cast plane with the first marking points, it is necessary to make these first marking points as close as possible to or located on the plane to be fitted, that is, it is necessary to find the coefficients (A, B, C, D) so that the sum of the squares of the distances from these first marking points to the plane is minimized. Preferably, the least squares method is used for fitting in this application. The least squares method is a mathematical optimization technique that finds the best function match for the data by minimizing the sum of the squares of the errors. In fitting the equation of the cast outer surface plane, we hope to find the best plane equation Ax+By+Cz+D=0, so that the square of the sum of the vertical distances from all points to this plane is minimized.

[0078] For each point P in the first labeled point cloud dataset i (x i ,y i ,z i ), solve the coefficients A, B, C and D by optimizing and adjusting, so that the sum of square errors of all points satisfying this equation is minimized. In order to obtain the minimum value of the sum of square errors, construct the objective function E: Therefore, the above solution is converted into solving the coefficients A, B, C and D to minimize the objective function E: That is, the above process can be transformed into the partial derivatives of the objective function E with respect to A, B, C and D, and set them to zero:

[0079]

[0080] The above equations can be simplified by shifting and combining similar terms to obtain a matrix form: Xβ = p. Therefore, the matrix X and constant vector y can be constructed according to the coordinates of each first marked point cloud (xi, yi, zi), where the matrix X and vector y are:

[0081]

[0082] Solve the coefficient of the plane equation to be fitted β=[A,B,C,D] T , specifically including:

[0083] Preferably, it can be solved by a variety of numerical methods, such as Gaussian elimination, matrix inversion, etc. If the matrix X is invertible, it can be directly obtained by the matrix inversion method: β = X -1 p, if the matrix X is not invertible, it can be solved by using the pseudo-inverse: β = (X T X) -1 X T p, and obtain the fitting plane equation of the cast outer surface: Ax+By+Cz+D=0, where n is the number of the first marking points after preprocessing.

[0084] In practical applications, computer software is usually used to solve such systems of equations. These software usually provide efficient and stable algorithms to solve linear equations, making the least squares fitting simple and fast. For example, in practical applications, various mathematical software packages can be used to solve this linear equation system:

[0085] MATLAB: Use A\B syntax or functions such as linsolve;

[0086] NumPy (Python): Use functions such as numpy.linalg.solve;

[0087] R: Use solve and other functions;

[0088] Mathematica: Use functions such as LinearSolve.

[0089] S13. According to the second marked point cloud data set and the fitting plane, adjust and control the template to be aligned with the cast outer surface.

[0090] Further, according to the second marked point cloud data set and the fitting plane, adjusting and controlling the template to align with the cast outer surface includes:

[0091] Step a: Get each second marking point P i '(x i ',y i',z i ') to the distance of the fitting plane:

[0092]

[0093] Step b: Obtain the distance deviation of each second marking point and obtain the maximum distance deviation Δd max .

[0094] Specifically, when closing the mold, it is necessary to align the inner side of the template with the cast plane in a plane or within an acceptable engineering deviation range. When the inner side of the template is aligned with the cast plane in a plane, the target distance of each second mark point from the fitting plane should be the thickness H of the template. The present application adjusts the template by the maximum distance deviation between the distance from each second mark point to the fitting plane and the target distance, so that the inner side of the template and the cast plane are aligned in a plane. Specifically obtaining the maximum distance deviation of each second mark point includes:

[0095] Get the distance deviation of each second marking point: Δd i =d i -H, where H is the thickness of the template;

[0096] According to each distance deviation, find the maximum distance deviation: Δdmax=max{Δdi}.

[0097] Step c: determine whether the maximum distance deviation is less than a preset threshold.

[0098] Specifically, the preset threshold value can be set according to specific engineering technology and construction requirements.

[0099] Step d: If yes, stop adjusting the template.

[0100] If the maximum deviation distance is less than a preset threshold, it can be considered that the current template adjustment has met the alignment requirement, and the template adjustment can be stopped, and subsequent engineering processes can be carried out.

[0101] Step e: if not, adjusting the extension and retraction of the template diagonal support rod according to the maximum distance deviation.

[0102] If the maximum deviation distance is not less than the preset threshold, it can be considered that the current template adjustment has not yet met the alignment requirement. At this time, the application calculates the adjustment amount of the corresponding template diagonal brace rod according to the maximum distance deviation to control the movement of the diagonal brace rod to align the template. Specifically, adjusting the extension and retraction of the template diagonal brace rod according to the maximum distance deviation data includes the following steps:

[0103] Step e1, obtain the coordinate position Q of the current connection point between each diagonal brace and the template j ;

[0104] Step e2: Obtain the maximum distance deviation Δd max The corresponding marking point P max ;

[0105] Step e3: Calculate the adjustment amount of the diagonal brace based on the maximum distance deviation:

[0106]

[0107] Among them, △L j is the adjustment amount of the jth diagonal support rod of the current template, θ j is the vertical angle of the j-th diagonal brace, Q is the connection point j With the marked point P max The distance between them, k is the adjustment scale coefficient.

[0108] Preferably, the coordinate position Q of the connection point j , which can be obtained through sensors. In the above calculation of the adjustment amount of the diagonal brace, the Q of each connection point is used based on the mechanical moment relationship. j The maximum deviation from point P max The distance between them is used as the influence of the diagonal brace on the maximum deviation mark point and the angle in the vertical direction of the current diagonal brace to jointly determine the expansion and contraction of each diagonal brace as the compensation deviation of the diagonal brace to the maximum deviation mark point, which can improve the calculation efficiency and adjustment accuracy.

[0109] Step e4, controlling the extension and retraction amount of the corresponding diagonal support rod according to the adjustment amount.

[0110] Step f: Control the sensor to rescan the marking points at the preset positions of the template to generate a new point cloud data set.

[0111] Step g: update the second marked point cloud dataset according to the new point cloud dataset, and return to execute step a.

[0112] In the above-mentioned adjustment and control implementation scheme of the present application, the relative position between the formwork and the cast surface can be accurately obtained to provide data support for precise adjustment. Through the automated control system and algorithm control, the length of the diagonal support rod of the formwork is automatically adjusted according to the measurement data of the sensor, thereby reducing manual intervention and improving construction efficiency and adjustment accuracy.

[0113] Furthermore, in the process of adjusting the telescopic amount of the diagonal brace, in order to optimize the adjustment effect, after each iterative adjustment, an effect analysis is performed to avoid over-adjustment caused by excessive adjustment, and the proportional coefficient k is dynamically adjusted accordingly. In one embodiment of the present application, in "step e3, calculating the adjustment amount of the diagonal brace based on the maximum distance deviation", optimization is also performed by dynamically adjusting the proportion, specifically including:

[0114] Calculate the ratio of the maximum deviation distance change after the current adjustment to the maximum deviation distance before the adjustment;

[0115] If the specific gravity is greater than a preset first specific gravity threshold, reducing the adjustment proportional coefficient k;

[0116] If the proportion is less than the preset second proportion threshold, the adjustment proportion coefficient k is increased.

[0117] This application plan also adopts an iterative approximation method, combined with a dynamic adjustment strategy, to gradually reduce the deviation between the formwork and the pier, and ultimately achieve precise alignment of the formwork with the cast outer surface. During the adjustment process, a real-time monitoring and feedback mechanism is used to ensure structural stability and safety during construction.

[0118] In one embodiment, Figure 3 As shown, the second aspect of the present application provides a system, the system comprising a scanning sensor subsystem, a regulating subsystem, and an intelligent control subsystem:

[0119] Wherein, the scanning sensor subsystem includes a scanning sensor, and the sensor receives the instruction of the intelligent control subsystem to scan data, and sends the scanned data to the intelligent control subsystem;

[0120] The regulating subsystem includes a regulating device, which receives instructions from the intelligent control subsystem to perform regulating control;

[0121] The intelligent control subsystem includes a controller, which performs the following steps:

[0122] Controlling the template to move to a target position in a first direction;

[0123] Controlling the sensor to scan the marking points on the poured outer surface and the preset positions of the template to generate a first marking point cloud data set and a second marking point cloud data set;

[0124] Obtaining a fitting plane of the cast outer surface based on the first labeled point cloud data set;

[0125] According to the second marked point cloud data set and the fitting plane, the template is adjusted and controlled to be aligned with the cast outer surface.

[0126] In one embodiment, the present application further provides a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor performs the following steps:

[0127] Controlling the template to move to a target position in a first direction;

[0128] Controlling the sensor to scan the marking points on the poured outer surface and the preset positions of the template to generate a first marking point cloud data set and a second marking point cloud data set;

[0129] Obtaining a fitting plane of the cast outer surface based on the first labeled point cloud data set;

[0130] According to the second marked point cloud data set and the fitting plane, the template is adjusted and controlled to be aligned with the cast outer surface.

[0131] In one embodiment, Figure 4 The present application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps:

[0132] Controlling the template to move to a target position in a first direction;

[0133] Controlling the sensor to scan the marking points on the poured outer surface and the preset positions of the template to generate a first marking point cloud data set and a second marking point cloud data set;

[0134] Obtaining a fitting plane of the cast outer surface based on the first labeled point cloud data set;

[0135] According to the second marked point cloud data set and the fitting plane, the template is adjusted and controlled to be aligned with the cast outer surface.

[0136] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0137] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0138] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A mold clamping adjustment control method, characterized in that: The method comprises: Controlling the template to move to a target position in a first direction; Controlling the sensor to scan the marking points on the poured outer surface and the preset positions of the template to generate a first marking point cloud data set and a second marking point cloud data set; Obtaining a fitting plane of the cast outer surface based on the first labeled point cloud data set; According to the second marked point cloud data set and the fitting plane, adjusting and controlling the template to align with the cast outer surface includes: a. Get each second marking point Distance to the fitted plane: ， Among them, A, B, C, and D are the fitting plane equations of the cast outer surface. The coefficient of b. Obtain the distance deviation of each second marking point and obtain the maximum distance deviation Δd max ; c. Determine whether the maximum distance deviation is less than a preset threshold; d. If yes, stop adjusting the template; e. If not, adjusting the extension and retraction of the template diagonal brace according to the maximum distance deviation; f. Control the sensor to rescan the marker points at the preset positions of the template to generate a new point cloud data set; g. Update the second labeled point cloud dataset according to the new point cloud dataset, and return to step a.

2. The method according to claim 1, characterized in that The control sensor scans the marking points of the cast outer surface and the preset position of the template to generate a first marking point cloud data set and a second marking point cloud data set, including: Controlling the sensor to scan the cast outer surface and the preset position of the template to generate a point cloud data set; Preprocessing the point cloud data set; The preprocessed point cloud data is subjected to marker point recognition and classification to obtain a first marker point cloud data set and a second marker point cloud data set.

3. The method according to claim 1, characterized in that The step of obtaining a fitting plane of the cast outer surface based on the first marked point cloud data set includes: According to the coordinates of each first marked point cloud (x i ,y i ,z i )Construct the matrix X and constant vector p: ， According to the matrix equation Xβ=p, solve the coefficients of the plane equation to be fitted on the cast outer surface , and obtain the fitting plane equation of the poured outer surface, where n is the number of the first marking points after preprocessing.

4. The method according to claim 3, characterized in that The method further comprises: The point cloud data is transformed and calibrated, and the coordinate position of each point cloud data point in the global coordinate system is calculated.

5. The method according to claim 1, characterized in that The step of adjusting the extension and retraction of the template diagonal brace rod according to the maximum distance deviation data comprises: Get the coordinate position Q of the current connection point between each diagonal brace and the template j ; Get the maximum distance deviation Δd max The corresponding marking point P max ; Based on the maximum distance deviation, the adjustment of the diagonal brace is calculated: Among them, △L j is the adjustment amount of the jth diagonal support rod of the current template, θ j is the vertical angle of the j-th diagonal brace, Q is the connection point j With the marked point P max The distance between them, k is the adjustment scale coefficient; The extension and contraction amount of the corresponding diagonal support rod is controlled according to the adjustment amount.

6. The method according to claim 5, characterized in that The method further comprises: Calculate the ratio of the maximum deviation distance change after the current adjustment to the maximum deviation distance before the adjustment; If the specific gravity is greater than a preset first specific gravity threshold, reducing the adjustment proportional coefficient k; If the proportion is less than the preset second proportion threshold, the adjustment proportion coefficient k is increased.

7. The method according to any one of claims 1 to 6, characterized in that: Get the distance deviation of each second mark point, including: ； Where H is the thickness of the template.

8. A mold clamping adjustment control system, the system comprising a scanning sensor subsystem, an adjustment subsystem, and an intelligent control subsystem, characterized in that: The scanning sensor subsystem includes a scanning sensor, which receives instructions from the intelligent control subsystem to scan data and sends the scanned data to the intelligent control subsystem; The regulating subsystem includes a regulating device, which receives instructions from the intelligent control subsystem to perform regulating control; The intelligent control subsystem comprises a controller, and the controller executes the steps of the method according to any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor is caused to perform the steps of the method according to any one of claims 1 to 7.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method according to any one of claims 1 to 7.

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