A grinding control method and system for a ceramic bottle curved neck

Abstract

The present invention relates to the field of intelligent control technology, and in particular to a grinding control method and system for a curved neck of a ceramic bottle. The method comprises: obtaining M frames of laser stripe images collected within one rotation period of the ceramic bottle when laser scanning is performed on the ceramic bottle, determining the curved neck area in each frame of the laser stripe image, and obtaining M frames of curved neck images; obtaining a standard stripe image of the curved neck of the ceramic bottle, comparing the standard stripe image with the curved neck image, and determining the difference scatter points of each row of laser scatter point sequence in the curved neck image; determining a grinding area based on the difference scatter points of each row of laser scatter point sequence, and then determining the grinding order and grinding depth of the grinding area; controlling a grinding robot to grind the grinding area of ​​the curved neck of the ceramic bottle according to the grinding order and grinding depth; the present invention can realize automation and precise control of the grinding process, and improve the grinding efficiency and quality.

Description

Technical Field

[0001] The invention relates to the field of intelligent control technology, and in particular to a grinding control method and system for a curved neck of a ceramic bottle. Background Art

[0002] In the traditional ceramic bottle production process, the curved neck is usually polished by hand-held grinding wheels. This manual operation is not only inefficient, but also difficult to ensure the consistency and quality of the product. With the development of automation technology, it is necessary to develop an automated polishing control system to achieve precise polishing of the curved neck of ceramic bottles. Summary of the invention

[0003] The present invention aims to provide a grinding control method and system for a ceramic bottle curved neck, which can realize automatic and precise control of the grinding process and improve the grinding efficiency and quality.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling the grinding of a curved neck of a ceramic bottle, the method comprising the following steps:

[0006] S100, acquiring M frames of laser stripe images collected within one rotation period of the ceramic bottle when performing laser scanning on the ceramic bottle, determining the curved neck region in each frame of the laser stripe image, and obtaining M frames of curved neck images; wherein each frame of the curved neck image includes N rows of laser scattered point sequences, and M and N are positive integers;

[0007] S200, obtaining a standard fringe image of a curved neck of a ceramic bottle, comparing the standard fringe image with the curved neck image, and determining the difference scatter points of each row of the laser scatter point sequence in the curved neck image; wherein the standard fringe image includes N rows of standard scatter point sequences, and the N rows of the standard scatter point sequences correspond one to one with the N rows of laser scatter point sequences in the curved neck image;

[0008] S300, determining a polishing area based on the difference scatter points of each row of the laser scatter point sequence, and then determining a polishing order and a polishing depth of the polishing area;

[0009] S400, controlling the polishing robot to polish the polishing area of ​​the curved neck of the ceramic bottle according to the polishing order and polishing depth.

[0010] Optionally, in S200, horizontally comparing the standard fringe image with the curved neck image to determine the difference scatter points of each row of the laser scatter point sequence includes:

[0011] S210, dividing the laser scatter point sequences in the same row in each frame of the curved neck image into a group to obtain N groups of laser scatter point sets, each group of laser scatter point sets including M laser scatter point sequences;

[0012] S220, numbering the M frames of laser stripe images in a scanning order, wherein each frame of the laser stripe image and the N rows of laser scattered point sequences in the laser stripe image have the same scanning sequence number;

[0013] S230, for each group of laser scattered point sets, sorting the M laser scattered point sequences in the laser scattered point set according to the scanning sequence number, and determining a standard scattered point sequence corresponding to each laser scattered point sequence;

[0014] S240, for each laser scatter point sequence, aligning the endpoints of the laser scatter point sequence with those of a corresponding standard scatter point sequence to obtain differential scatter points of the laser scatter point sequence;

[0015] S250, determining the row number corresponding to the laser scatter point set, and taking the difference scatter points of each laser scatter point sequence in the laser scatter point set as the difference scatter points of the laser scatter point sequence in the row.

[0016] Optionally, in S300, determining the polishing area based on the difference scatter points of each row of the laser scatter point sequence, and then determining the polishing order and polishing depth of the polishing area, includes:

[0017] S310, constructing a square sliding window, and traversing the difference scatter points of the N rows of laser scatter point sequences in the M frames of the curved neck image row by row according to the sliding window; wherein the vertical width of the grinding contact surface in the grinding tool is obtained;

[0018] S320, for each sliding window, determining a difference degree of the sliding window based on difference scatter points of a laser scatter point sequence in the sliding window, and determining a grinding area of ​​the curved neck based on the difference degree;

[0019] S330, for each row of difference windows in the polishing area, determine the vertical smoothness of the row of difference windows based on the difference scatter points of each laser scatter point sequence in the row of difference windows, and determine the corresponding vertical polishing order based on the vertical smoothness of each row of difference windows;

[0020] S340, for the difference windows in the same row, determining the horizontal flatness of each difference window, dividing the difference windows in the same row into a plurality of horizontal window groups according to the horizontal flatness, and determining a corresponding horizontal grinding order and grinding depth based on the horizontal flatness of each of the horizontal window groups;

[0021] S350: Use the vertical polishing order corresponding to each row of the difference windows and the horizontal polishing order corresponding to each of the horizontal window groups in each row of the difference windows as the polishing order of the polishing area.

[0022] Optionally, in S320, determining the difference degree of the sliding window based on the difference scatter points of the laser scatter point sequence in the sliding window, and determining the grinding area of ​​the curved neck based on the difference degree includes:

[0023] S321, obtaining difference scatter points of a laser scatter point sequence in a sliding window, and taking a laser scatter point sequence whose number of difference scatter points in the sliding window reaches a quantity threshold as a difference sequence;

[0024] S322, determining the number of difference scatter points of each difference sequence in the sliding window, and determining the difference degree of the sliding window based on the number of difference scatter points of each difference sequence in the sliding window;

[0025] S323, taking the sliding window whose difference exceeds the difference threshold as the difference window, and determining the grinding area of ​​the curved neck based on the scanning sequence number corresponding to the laser scattered point sequence in the difference window.

[0026] Optionally, in S330, for each row of difference windows in the polishing area, determining the vertical smoothness of the row of difference windows based on the difference scatter points of each laser scatter point sequence in the row of difference windows, and determining the corresponding vertical polishing order based on the vertical smoothness of each row of difference windows includes:

[0027] S331, obtaining the difference scatter points of each laser scatter point sequence in each row of the difference window, and determining the vertical gradient of the difference window based on the difference scatter points of each laser scatter point sequence in the sliding window;

[0028] S332, determining a standard scattered point sequence corresponding to the difference window in the standard fringe image, and calculating a vertical gradient of the standard scattered point sequence corresponding to the standard fringe image as a standard gradient of the difference window;

[0029] S333, determining the vertical smoothness of each row of difference windows based on the vertical gradient of each row of difference windows and the standard gradient;

[0030] S334, sorting the difference windows in each row in descending order of vertical smoothness to obtain a vertical polishing order corresponding to each row of difference windows.

[0031] Optionally, in S340, determining the horizontal flatness of each difference window, dividing the difference windows in the same row into multiple horizontal window groups according to the horizontal flatness, and determining the corresponding horizontal grinding order and grinding depth based on the horizontal flatness of each horizontal window group includes:

[0032] S341, obtaining the number of difference scatter points of each difference sequence in the difference window, and calculating the average number of difference scatter points of each row difference sequence and the average number of difference scatter points of each column difference sequence based on the number of difference scatter points of each difference sequence in the difference window;

[0033] S342, determining the horizontal flatness of the difference window based on the number of difference scatter points of each difference sequence in the difference window, the average number of difference scatter points of each row of the difference sequence, and the average number of difference scatter points of each column of the difference sequence;

[0034] S343, after normalizing the horizontal flatness of each difference window, a normalized value corresponding to each difference window is obtained:

[0035] S344, dividing the normalized values ​​corresponding to each difference window into multiple value intervals to obtain multiple horizontal window groups;

[0036] S345, sorting the plurality of horizontal window groups in descending order of value intervals to obtain a horizontal polishing order corresponding to each horizontal window group;

[0037] S346, sequentially selecting a horizontal window group and a horizontal window group adjacent to the horizontal window group, determining the maximum number of difference scatter points of each difference sequence in two adjacent horizontal window groups, and obtaining two maximum number of difference scatter points;

[0038] S347: Taking the difference between the two maximum difference scatter point numbers as the polishing depth of the horizontal window group.

[0039] Optionally, in S400, the controlling the polishing robot to polish the polishing area of ​​the curved neck of the ceramic bottle according to the polishing order and polishing depth includes:

[0040] S410, selecting a row of difference windows in sequence from the polishing area according to the vertical polishing order;

[0041] S420, for a selected row of difference windows, select each horizontal window group in turn according to the horizontal polishing order, and control the polishing tool to polish the difference windows in the horizontal window group in turn according to the corresponding polishing depth until the difference scatter points of the difference sequence in the difference windows in the polishing area are polished to be lower than the set difference scatter point threshold.

[0042] In a second aspect, an embodiment of the present invention provides a grinding control system for a curved neck of a ceramic bottle, the system comprising:

[0043] at least one processor;

[0044] at least one memory for storing at least one program;

[0045] When the at least one program is executed by the at least one processor, the at least one processor implements any one of the methods described above.

[0046] The beneficial effects of the present invention are as follows: the present invention discloses a grinding control method and system for the curved neck of a ceramic bottle. The present invention obtains M frames of laser stripe images collected within one rotation cycle of the ceramic bottle when laser scanning is performed, determines the curved neck area in each frame of the laser stripe image, and obtains M frames of curved neck images; after obtaining the standard stripe image of the curved neck of the ceramic bottle, the standard stripe image is compared with the curved neck image to determine the difference scatter points of the laser scatter point sequence in each row of the curved neck image; obtains the difference scatter points of the laser scatter point sequence in N rows in the M frames of the curved neck image, thereby obtaining a matrix of M columns and N rows reflecting the concave and convex surface of the curved neck; then, the grinding area is determined based on the difference scatter points of the laser scatter point sequence in each row, and then the grinding order and grinding depth of the grinding area are determined; finally, the grinding robot is controlled to grind the grinding area of ​​the curved neck of the ceramic bottle according to the grinding order and grinding depth. The present invention can realize automatic and precise control of the grinding process, and improve the grinding efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] 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 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 labor.

[0048] Figure 1 It is a schematic flow chart of a method for controlling the grinding of a curved neck of a ceramic bottle according to an embodiment of the present invention;

[0049] Figure 2 A schematic diagram of collecting a laser stripe image in an embodiment of the present invention;

[0050] Figure 3 Schematic diagram of a standard fringe image and a curved neck image in an embodiment of the present invention;

[0051] Figure 4 The present invention is a structural block diagram of a grinding control system for a ceramic bottle curved neck in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0053] See also Figure 1 , Figure 2 and Figure 3 The present invention provides a method for controlling the grinding of a curved neck of a ceramic bottle, the method comprising the following steps:

[0054] S100, acquiring M frames of laser stripe images collected within one rotation period of the ceramic bottle when performing laser scanning on the ceramic bottle, determining the curved neck region in each frame of the laser stripe image, and obtaining M frames of curved neck images; wherein each frame of the curved neck image includes N rows of laser scattered point sequences, and M and N are positive integers;

[0055] In some embodiments, the ceramic bottle is controlled to rotate horizontally and laser scanned, and the camera is directed toward the body of the ceramic bottle to collect laser stripe images of the ceramic bottle at a set frame rate to obtain M frames of laser stripe images; specifically, the ceramic bottle is installed on a rotatable workstation, and the laser emitter and the camera are directed toward the body of the ceramic bottle. In the process of the ceramic bottle being driven by the workstation to rotate, a single line of laser stripes is projected onto the ceramic bottle, and the ceramic bottle is laser scanned. During the laser scanning process, the laser stripe image of the laser hitting the ceramic bottle is collected by the camera. After the ceramic bottle is completely scanned, the laser stripe image of the entire ceramic bottle can be obtained through image preprocessing, and the three-dimensional coordinates of each point on the laser stripe image are recorded and the three-dimensional coordinates of each point on the laser stripe image are formed into an array, thereby obtaining three-dimensional point cloud data of the entire ceramic to be inspected.

[0056] Next, an image of the curved neck area is intercepted from the laser stripe image according to the same ordinate by manual calibration, and the obtained M frames of curved neck images have the same ordinate interval; therefore, they also have the same number of rows of laser scatter point sequences; then, each row of laser scatter point sequences in the curved neck image is obtained, and the laser scatter point sequences in the same row are divided into a group to obtain N groups of laser scatter point sets.

[0057] S200, obtaining a standard fringe image of a curved neck of a ceramic bottle, comparing the standard fringe image with the curved neck image, and determining the difference scatter points of each row of the laser scatter point sequence in the curved neck image; wherein the standard fringe image includes N rows of standard scatter point sequences, and the N rows of the standard scatter point sequences correspond one to one with the N rows of laser scatter point sequences in the curved neck image;

[0058] This step compares the standard fringe image with the curved neck image to evaluate the initial shape of the curved neck of the ceramic bottle. Specifically, in the horizontal direction, the standard scatter point sequence of each row in the standard fringe image is compared with the laser scatter point sequence of each row in the curved neck image; if the standard scatter point sequence exceeds the laser scatter point sequence, it means that the laser scatter point sequence of this row in the curved neck image may have cracks, damage, etc.; if the laser scatter point sequence exceeds the standard scatter point sequence, it means that the laser scatter point sequence of this row in the curved neck image needs to be polished, and the difference scatter points in the laser scatter point sequence are polished off so that it is flush with the corresponding standard scatter point sequence.

[0059] S300, determining a polishing area based on the difference scatter points of each row of the laser scatter point sequence, and then determining a polishing order and a polishing depth of the polishing area;

[0060] This step utilizes the difference scatter points of the laser scatter point sequence to identify the area that needs to be polished, and removes excess material, smoothes edges, or adjusts curvature based on the determined polishing order.

[0061] S400, controlling the polishing robot to polish the polishing area of ​​the curved neck of the ceramic bottle according to the polishing order and polishing depth.

[0062] In some embodiments, in S200, the horizontal comparison of the standard fringe image with the curved neck image to determine the difference scatter points of each row of the laser scatter point sequence includes:

[0063] S210, dividing the laser scatter point sequences in the same row in each frame of the curved neck image into a group to obtain N groups of laser scatter point sets, each group of laser scatter point sets including M laser scatter point sequences;

[0064] Specifically, the N lines of laser scatter point sequences in the M frames of curved neck images are divided according to the number of rows. For each row, there are M laser scatter point sequences, which can reflect the horizontal length of the curved neck of the ceramic bottle in this row. Each group of laser scatter point sets corresponds to a row of laser scatter point sequences, and each group of laser scatter point sets can reflect the surface characteristics of this row.

[0065] S220, numbering the M frames of laser stripe images in a scanning order, wherein each frame of the laser stripe image and the N rows of laser scattered point sequences in the laser stripe image have the same scanning sequence number;

[0066] S230, for each group of laser scattered point sets, sorting the M laser scattered point sequences in the laser scattered point set according to the scanning sequence number, and determining a standard scattered point sequence corresponding to each laser scattered point sequence;

[0067] S240, for each laser scatter point sequence, aligning the endpoints of the laser scatter point sequence with those of a corresponding standard scatter point sequence to obtain differential scatter points of the laser scatter point sequence;

[0068] Specifically, the laser scatter point sequence can be compared with one of the endpoints of the corresponding standard scatter point sequence to obtain the difference scatter points of the laser scatter point sequence; through a full circle of the curved neck image of the ceramic bottle, the difference scatter points of the M laser scatter point sequences can be completely obtained. The laser scatter point sequence can also be compared with the left and right endpoints of the corresponding standard scatter point sequence to obtain two difference scatter points of the laser scatter point sequence; through a half circle of the curved neck image of the ceramic bottle, the difference scatter points of the M laser scatter point sequences can be completely obtained.

[0069] S250, determining the row number corresponding to the laser scatter point set, and taking the difference scatter points of each laser scatter point sequence in the laser scatter point set as the difference scatter points of the laser scatter point sequence in the row.

[0070] In some embodiments, in S300, determining the polishing area based on the difference scatter points of each row of the laser scatter point sequence, and then determining the polishing order and polishing depth of the polishing area, includes:

[0071] S310, constructing a square sliding window, and traversing the difference scatter points of the N rows of laser scatter point sequences in the M frames of the curved neck image row by row according to the sliding window; wherein the vertical width of the grinding contact surface in the grinding tool is obtained;

[0072] It should be noted that since the laser stripes in the laser stripe image have width, the grinding tool can process multiple rows of laser scatter point sequences at the same time when grinding in the horizontal direction. In this embodiment, the side length of the sliding window, that is, the number of grinding rows of the grinding tool, is determined according to the vertical width of the grinding contact surface of the grinding tool used (such as a grinding wheel, a grinding head, etc.), so that reasonable planning can be performed during subsequent grinding control to adapt to the characteristics of the grinding tool.

[0073] Specifically, the vertical width is used as the side length of the sliding window to form a square sliding window; from the perspective of the real world, the difference scatter points of the N rows of laser scatter point sequences in the M frames of curved neck images appear as the surface bumps of the curved neck of the ceramic bottle; from the perspective of the computer, the difference scatter points of the N rows of laser scatter point sequences in the M frames of curved neck images appear as a matrix of M columns and N rows. Next, the width of each row of the laser scatter point sequence is obtained, and the number of scanning rows of the sliding window is determined based on the vertical width of the grinding tool and the width of each row of the laser scatter point sequence, and each row of the sliding window has an equal number of scanning rows; the matrix of M columns and N rows is traversed row by row according to the number of scanning rows.

[0074] S320, for each sliding window, determining a difference degree of the sliding window based on difference scatter points of a laser scatter point sequence in the sliding window, and determining a grinding area of ​​the curved neck based on the difference degree;

[0075] Specifically, this embodiment preliminarily selects sliding windows whose difference exceeds a difference threshold as difference windows based on difference scatter points, excludes unnecessary polishing areas, and locates the polishing areas efficiently and accurately.

[0076] S330, for each row of difference windows in the polishing area, determine the vertical smoothness of the row of difference windows based on the difference scatter points of each laser scatter point sequence in the row of difference windows, and determine the corresponding vertical polishing order based on the vertical smoothness of each row of difference windows;

[0077] S340, for the difference windows in the same row, determining the horizontal flatness of each difference window, dividing the difference windows in the same row into a plurality of horizontal window groups according to the horizontal flatness, and determining a corresponding horizontal grinding order and grinding depth based on the horizontal flatness of each of the horizontal window groups;

[0078] Specifically, each of the horizontal window groups has a corresponding horizontal flatness interval. The greater the horizontal flatness, the earlier the horizontal polishing order. The horizontal flatness is divided into multiple levels, and the horizontal polishing is performed step by step. This can avoid as much as possible the situation where the horizontal flatness difference is too large, resulting in uneven polishing force or too long polishing time, causing damage to the ceramic bottle.

[0079] S350: Use the vertical polishing order corresponding to each row of the difference windows and the horizontal polishing order corresponding to each of the horizontal window groups in each row of the difference windows as the polishing order of the polishing area.

[0080] In some embodiments, in S320, determining the difference of the sliding window based on the difference scatter points of the laser scatter point sequence in the sliding window, and determining the grinding area of ​​the curved neck based on the difference includes:

[0081] S321, obtaining difference scatter points of a laser scatter point sequence in a sliding window, and taking a laser scatter point sequence whose number of difference scatter points in the sliding window reaches a quantity threshold as a difference sequence;

[0082] S322, determining the number of difference scatter points of each difference sequence in the sliding window, and determining the difference degree of the sliding window based on the number of difference scatter points of each difference sequence in the sliding window;

[0083] S323, taking the sliding window whose difference exceeds the difference threshold as the difference window, and determining the grinding area of ​​the curved neck based on the scanning sequence number corresponding to the laser scattered point sequence in the difference window.

[0084] In some embodiments, the difference of the sliding window is calculated by the following formula:

[0085]

[0086] Wherein, Nc represents the difference degree of the c-th sliding window, i represents the row number of the difference sequence in the sliding window, j represents the column number of the difference sequence in the sliding window, m represents the total number of rows of the difference sequence in the sliding window, and n represents the total number of columns of the difference sequence in the sliding window; i=1, 2, ..., m, j=1, 2, ..., n; λ 1 and λ 2 All are adjustable weight coefficients, 0≤λ 1 ≤1,0≤λ 2 ≤1 and λ 1 +λ 2 =1;Q avg is the mean of the difference scatter points in the sliding window, Q th is the quantity threshold, Q i represents the average number of difference scatter points of the difference sequence in the i-th row in the sliding window, Q ij Represents the number of difference scatter points of the difference sequence in the i-th row and j-th column of the sliding window.

[0087] Specifically, this embodiment evaluates the difference degree of the sliding window from two dimensions. One dimension is to divide each difference sequence in the sliding window by row, calculate the ratio of the difference between the difference scatter points of the difference sequence and the quantity threshold to the average number of difference scatter points in the row where the difference sequence is located, and accumulate the ratio of each difference sequence to comprehensively reflect the average deviation degree of the sliding window; the weight λ assigned to this dimension is 1 The larger the value, the higher the proportion of the overall difference of the sliding window, and the more important it is to the overall polishing; another dimension is to calculate the ratio of the maximum value of the difference scatter points and the quantity threshold in the sliding window to the mean value of the difference scatter points in the sliding window, reflecting the maximum deviation of the sliding window; the weight λ assigned to this dimension 2 The larger the value, the higher the proportion of the maximum difference in the sliding window, and the more important it is to polish burrs and severe raised areas; 1 and λ 2 As an adjustable weight coefficient, the difference of the sliding window in different situations can be adjusted according to the actual polishing needs. In some embodiments, the quantity threshold Q th The difference threshold is set according to the actual situation. For example, the quantity threshold Q th is 3 and the difference threshold is set between 0.6 and 1.

[0088] In some embodiments, in S330, for each row of difference windows in the polishing area, determining the vertical smoothness of the row of difference windows based on the difference scatter points of each laser scatter point sequence in the row of difference windows, and determining the corresponding vertical polishing order based on the vertical smoothness of each row of difference windows includes:

[0089] S331, obtaining the difference scatter points of each laser scatter point sequence in each row of the difference window, and determining the vertical gradient of the difference window based on the difference scatter points of each laser scatter point sequence in the sliding window;

[0090] S332, determining a standard scattered point sequence corresponding to the difference window in the standard fringe image, and calculating a vertical gradient of the standard scattered point sequence corresponding to the standard fringe image as a standard gradient of the difference window;

[0091] S333, determining the vertical smoothness of each row of difference windows based on the vertical gradient of each row of difference windows and the standard gradient;

[0092] S334, sorting the difference windows in each row in descending order of vertical smoothness to obtain a vertical polishing order corresponding to each row of difference windows.

[0093] In some embodiments, the vertical smoothness of each row of the difference window is calculated by the following formula:

[0094]

[0095] Where Cys represents the vertical smoothness of the s-th row difference window, S is the total number of rows of the difference window, s is the row number where the difference window is located, K is the total number of columns of the difference window, k is the column number where the difference window is located; g sk is the standard gradient of the difference window in row s and column k, y sk is the vertical gradient of the difference window at the s-th row and k-th column, s=1,2,3,…,S, k=1,2,3,…,K, s'=1,2,3,…,S, k'=1,2,3,…,K,; s is quantitative, s' is variable;

[0096] The vertical gradient of the difference window at row s and column k is calculated by the following formula:

[0097]

[0098] Among them, max(d sk ) represents the maximum value of each difference scatter point in the difference window of row s and column k, mean(d sk ) represents the average value of each difference scatter point in the difference window in the sth row and the kth column, and △S represents the total number of rows of the laser scatter point sequence in the difference window;

[0099] The standard gradient of the difference window in row s and column k is calculated by the following formula:

[0100]

[0101] Among them, △d skrepresents the maximum number difference of each laser scatter sequence in the difference window of row s and column k, g sk Represents the difference window of row s and column k.

[0102] Specifically, in this embodiment, the row where the important difference window is located in the polishing area is determined by the standard gradient. The larger the standard gradient, the more prominent the shape change is. For example, the difference windows at the bottleneck, bottle mouth, bottle shoulder and other positions require special polishing treatment.

[0103] In some embodiments, in S340, determining the horizontal flatness of each difference window, dividing the difference windows in the same row into multiple horizontal window groups according to the horizontal flatness, and determining the corresponding horizontal grinding order and grinding depth based on the horizontal flatness of each of the horizontal window groups includes:

[0104] S341, obtaining the number of difference scatter points of each difference sequence in the difference window, and calculating the average number of difference scatter points of each row difference sequence and the average number of difference scatter points of each column difference sequence based on the number of difference scatter points of each difference sequence in the difference window;

[0105] S342, determining the horizontal flatness of the difference window based on the number of difference scatter points of each difference sequence in the difference window, the average number of difference scatter points of each row of the difference sequence, and the average number of difference scatter points of each column of the difference sequence;

[0106] S343, after normalizing the horizontal flatness of each difference window, a normalized value corresponding to each difference window is obtained:

[0107] S344, dividing the normalized values ​​corresponding to each difference window into multiple value intervals to obtain multiple horizontal window groups;

[0108] S345, sorting the plurality of horizontal window groups in descending order of value intervals to obtain a horizontal polishing order corresponding to each horizontal window group;

[0109] S346, sequentially selecting a horizontal window group and a horizontal window group adjacent to the horizontal window group, determining the maximum number of difference scatter points of each difference sequence in two adjacent horizontal window groups, and obtaining two maximum number of difference scatter points;

[0110] S347: Taking the difference between the two maximum difference scatter point numbers as the polishing depth of the horizontal window group.

[0111] In some embodiments, the horizontal flatness of the difference window is calculated by the following formula:

[0112]

[0113] Where Cx represents the horizontal flatness of the difference window, x ij is the number of difference scatter points of the difference sequence in the i-th row and j-th column in the difference window, x avg is the average number of difference scatter points of the difference sequence in the i-th row in the difference window, y avg is the average number of difference scatter points of the j-th column difference sequence in the difference window, α and β are weight coefficients: 0≤β≤1, 0≤α≤1, and α+β=1.

[0114] In some embodiments, in S400, the controlling the polishing robot to polish the polishing area of ​​the curved neck of the ceramic bottle according to the polishing order and polishing depth includes:

[0115] Selecting one row of difference windows from the polishing area in sequence according to the vertical polishing order;

[0116] For a selected row of difference windows, each horizontal window group is selected in turn according to the horizontal polishing order, and the polishing tool is controlled to polish the difference windows in the horizontal window group in turn according to the corresponding polishing depth until the difference scatter points of the difference sequence in the difference windows in the polishing area are polished to be lower than the set difference scatter point threshold.

[0117] Specifically, the grinding robot is started to grind in a vertical grinding order and a horizontal grinding order. When the difference scatter points of the difference sequence are lower than the set difference scatter point threshold, it means that the shape of the curved neck of the ceramic bottle is close to the curved neck of the standard ceramic bottle. After the grinding of the grinding area is completed, burrs, protrusions and other irregular shapes can be removed to obtain a shape that is more in line with the curved neck of the standard ceramic bottle, providing good bisque for subsequent fine processing procedures.

[0118] and Figure 1 Corresponding to the method, refer to Figure 4 The embodiment of the present invention provides a grinding control system for a curved neck of a ceramic bottle, comprising:

[0119] at least one processor;

[0120] at least one memory for storing at least one program;

[0121] When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0122] It can be seen that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0123] In addition, an embodiment of the present invention further discloses a computer program product or a computer program, which is stored in a computer-readable storage medium. A processor of a computer device can read the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the above method. Similarly, the contents of the above method embodiment are all applicable to the storage medium embodiment, and the functions specifically implemented by the storage medium embodiment are the same as those of the above method embodiment, and the beneficial effects achieved are also the same as those achieved by the above method embodiment.

[0124] It will be appreciated by those skilled in the art that all or some of the methods disclosed above, the system can be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0125] The above is a specific description of the preferred implementation of the present disclosure, but the present disclosure is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the present disclosure. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present disclosure.

Claims

1. A method for controlling the grinding of a curved neck of a ceramic bottle, characterized in that: The method comprises the following steps: S100, acquiring M frames of laser stripe images collected within one rotation period of the ceramic bottle when performing laser scanning on the ceramic bottle, determining the curved neck region in each frame of the laser stripe image, and obtaining M frames of curved neck images; wherein each frame of the curved neck image includes N rows of laser scattered point sequences, and M and N are positive integers; S200, obtaining a standard fringe image of a curved neck of a ceramic bottle, comparing the standard fringe image with the curved neck image, and determining the difference scatter points of each row of the laser scatter point sequence in the curved neck image; wherein the standard fringe image includes N rows of standard scatter point sequences, and the N rows of the standard scatter point sequences correspond one to one with the N rows of laser scatter point sequences in the curved neck image; S300, determining a polishing area based on the difference scatter points of each row of the laser scatter point sequence, and then determining a polishing order and a polishing depth of the polishing area; S400, controlling the polishing robot to polish the polishing area of ​​the curved neck of the ceramic bottle according to the polishing order and polishing depth; In S200, the horizontal comparison of the standard fringe image and the curved neck image to determine the difference scatter points of each row of the laser scatter point sequence includes: S210, dividing the laser scatter point sequences in the same row in each frame of the curved neck image into a group to obtain N groups of laser scatter point sets, each group of laser scatter point sets including M laser scatter point sequences; S220, numbering the M frames of laser stripe images in a scanning order, wherein each frame of the laser stripe image and the N rows of laser scattered point sequences in the laser stripe image have the same scanning sequence number; S230, for each group of laser scattered point sets, sorting the M laser scattered point sequences in the laser scattered point set according to the scanning sequence number, and determining a standard scattered point sequence corresponding to each laser scattered point sequence; S240, for each laser scatter point sequence, aligning the endpoints of the laser scatter point sequence with those of a corresponding standard scatter point sequence to obtain differential scatter points of the laser scatter point sequence; S250, determining the row number corresponding to the laser scatter point set, and taking the difference scatter points of each laser scatter point sequence in the laser scatter point set as the difference scatter points of the laser scatter point sequence in the row; In S300, determining the polishing area based on the difference scatter points of each row of the laser scatter point sequence, and then determining the polishing order and polishing depth of the polishing area, includes: S310, constructing a square sliding window, and traversing the difference scatter points of N rows of laser scatter point sequences in the M frames of the curved neck image row by row according to the sliding window; S320, for each sliding window, determining a difference degree of the sliding window based on difference scatter points of a laser scatter point sequence in the sliding window, and determining a grinding area of ​​the curved neck based on the difference degree; S330, for each row of difference windows in the polishing area, determine the vertical smoothness of the row of difference windows based on the difference scatter points of each laser scatter point sequence in the row of difference windows, and determine the corresponding vertical polishing order based on the vertical smoothness of each row of difference windows; S340, for the difference windows in the same row, determining the horizontal flatness of each difference window, dividing the difference windows in the same row into a plurality of horizontal window groups according to the horizontal flatness, and determining a corresponding horizontal grinding order and grinding depth based on the horizontal flatness of each of the horizontal window groups; S350: Use the vertical polishing order corresponding to each row of the difference windows and the horizontal polishing order corresponding to each of the horizontal window groups in each row of the difference windows as the polishing order of the polishing area.

2. The method according to claim 1, characterized in that In S320, determining the difference of the sliding window based on the difference scatter points of the laser scatter point sequence in the sliding window, and determining the grinding area of ​​the curved neck based on the difference, includes: S321, obtaining difference scatter points of a laser scatter point sequence in a sliding window, and taking a laser scatter point sequence whose number of difference scatter points in the sliding window reaches a quantity threshold as a difference sequence; S322, determining the number of difference scatter points of each difference sequence in the sliding window, and determining the difference degree of the sliding window based on the number of difference scatter points of each difference sequence in the sliding window; S323, taking the sliding window whose difference exceeds the difference threshold as the difference window, and determining the grinding area of ​​the curved neck based on the scanning sequence number corresponding to the laser scattered point sequence in the difference window.

3. The method according to claim 2, characterized in that In S330, for each row of difference windows in the polishing area, determining the vertical smoothness of the row of difference windows based on the difference scatter points of each laser scatter point sequence in the row of difference windows, and determining the corresponding vertical polishing order based on the vertical smoothness of each row of difference windows includes: S331, obtaining the difference scatter points of each laser scatter point sequence in each row of the difference window, and determining the vertical gradient of the difference window based on the difference scatter points of each laser scatter point sequence in the sliding window; S332, determining a standard scattered point sequence corresponding to the difference window in the standard fringe image, and calculating a vertical gradient of the standard scattered point sequence corresponding to the standard fringe image as a standard gradient of the difference window; S333, determining the vertical smoothness of each row of difference windows based on the vertical gradient of each row of difference windows and the standard gradient; S334, sorting the difference windows in each row in descending order of vertical smoothness to obtain a vertical polishing order corresponding to each row of difference windows.

4. The method according to claim 3, characterized in that In S340, determining the horizontal flatness of each difference window, dividing the difference windows in the same row into a plurality of horizontal window groups according to the horizontal flatness, and determining the corresponding horizontal grinding order and grinding depth based on the horizontal flatness of each of the horizontal window groups includes: S341, obtaining the number of difference scatter points of each difference sequence in the difference window, and calculating the average number of difference scatter points of each row difference sequence and the average number of difference scatter points of each column difference sequence based on the number of difference scatter points of each difference sequence in the difference window; S342, determining the horizontal flatness of the difference window based on the number of difference scatter points of each difference sequence in the difference window, the average number of difference scatter points of each row of the difference sequence, and the average number of difference scatter points of each column of the difference sequence; S343, after normalizing the horizontal flatness of each difference window, obtain the normalized value corresponding to each difference window: S344, dividing the normalized values ​​corresponding to each difference window into multiple value intervals to obtain multiple horizontal window groups; S345, sorting the plurality of horizontal window groups in descending order of value intervals to obtain a horizontal polishing order corresponding to each horizontal window group; S346, sequentially selecting a horizontal window group and a horizontal window group adjacent to the horizontal window group, determining the maximum number of difference scatter points of each difference sequence in two adjacent horizontal window groups, and obtaining two maximum number of difference scatter points; S347: Taking the difference between the two maximum difference scatter point numbers as the polishing depth of the horizontal window group.

5. The method according to claim 4, characterized in that In S400, the controlling the polishing robot to polish the polishing area of ​​the curved neck of the ceramic bottle according to the polishing order and polishing depth includes: S410, selecting a row of difference windows in sequence from the polishing area according to the vertical polishing order; S420, for a selected row of difference windows, select each horizontal window group in turn according to the horizontal polishing order, and control the polishing tool to polish the difference windows in the horizontal window group in turn according to the corresponding polishing depth until the difference scatter points of the difference sequence in the difference windows in the polishing area are polished to be lower than the set difference scatter point threshold.

6. A grinding control system for a ceramic bottle curved neck, characterized in that: The system comprises: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 5.

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