Method and system for automatically measuring viscosity of energetic material through vision

Abstract

The invention discloses a visual automation energetic material viscosity determination method and system.The determination system comprises a main frame body, a heat preservation assembly and a determination assembly, the heat preservation assembly is erected and installed on the main frame body, the determination assembly is arranged in the heat preservation assembly, and an industrial camera is fixedly erected over the heat preservation assembly through the main frame body; the heat preservation assembly comprises a heat preservation barrel, a circulation control assembly, a circular track matching assembly and a winding driving assembly, the circular track matching assembly and the winding driving assembly are installed on the peripheral face of the heat preservation barrel, the circulation control assembly is used for keeping heat exchange liquid in the heat preservation barrel at a preset detection temperature, and the measuring assembly comprises a conical barrel, a circular ring barrel and a butt joint part; the annular cylinder and the butt joint part are arranged at the upper and lower ends of the conical cylinder respectively, a sealing head is arranged at the lower end of the butt joint part, a discharging part extending to the lower part is mounted in the center of the bottom of the heat preservation cylinder, and a sample in the measuring assembly can be discharged after the sealing head is in butt joint with the discharging part.

Description

Technical Field

[0001] The present invention relates to the technical field of viscosity measurement, and in particular to a method and system for visually automating the measurement of the viscosity of energetic materials. Background Art

[0002] When testing the viscosity of energetic materials, the most economical, practical and easy-to-operate outflow cup viscometer is generally used in the prior art. The outflow cup viscometer uses the gravity of the sample itself to generate flow. It is usually expressed in seconds as the time it takes for a certain amount of sample to flow out of the viscosity cup at a certain temperature. During the measurement, temperature is an important factor affecting the viscosity of the sample. Therefore, the viscosity measurement must be carried out in a constant temperature room.

[0003] The patent with publication number CN109357970A discloses an outflow cup viscometer, including a height-adjustable funnel bracket, a base, a temperature controller, a pipette and an inner tube, a vertical rod of the funnel bracket is arranged on the base, a placement groove is arranged on the base, a temperature control device is arranged on the horizontal rod of the funnel bracket, the inner tube is fixed inside the pipette, the inner tube includes a tube part and a funnel cone part arranged below the tube part, an anti-slip groove is arranged on the outer wall of the funnel cone part and the contact position of the tube part, an anti-slip ring is arranged between the inner tube and the pipette, the cross-section of the anti-slip ring is special-shaped, including an anti-slip part and an inlay part, the inlay part is hidden and arranged on the inner wall of the pipette, and the inlay part is stuck in the anti-slip groove. Due to the arrangement of a heater and a temperature measuring device, the invention can ensure that the temperature of the test sample is consistent during measurement, reduce the influence of temperature on viscosity during measurement, and the bracket can ensure the stability of the measuring cup and avoid measurement errors caused by shaking.

[0004] However, the device has the problem that a series of tedious manual operations are required when testing the sample, such as sealing the liquid outlet of the pipette with the hand and injecting the sample from the upper end of the pipette, and then letting go to let the sample flow out automatically. Before and after the sample flows out, the user is also required to observe the scale set on the outer wall of the pipette to obtain data, and the degree of automation is low. At the same time, the temperature controller of the device only heats the sample through the heating wire wrapped in the mesh of the pipette, and cannot ensure that the sample is heated evenly and effectively insulated. It is very likely that the sample will be hot on the outside and cold on the inside. For this reason, we propose a visual automated method and system for determining the viscosity of energetic materials. Summary of the invention

[0005] In order to solve the problems mentioned in the above background technology, the present invention provides a method and system for visually automating the determination of the viscosity of energetic materials.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A visual automated system for measuring the viscosity of energetic materials, comprising a main frame, a heat preservation component and a measuring component, wherein the heat preservation component is mounted on the main frame, the measuring component is arranged in the heat preservation component, the main frame fixes an industrial camera directly above the heat preservation component, the heat preservation component comprises a heat preservation cylinder, a circulation control component, a ring track matching component and a rotational movement driving component, the ring track matching component and the rotational movement driving component are mounted on the outer peripheral surface of the heat preservation cylinder, and the circulation control component is used to keep the heat exchange fluid in the heat preservation cylinder at a predetermined detection temperature;

[0008] The measuring component includes a conical cylinder, an annular cylinder and a docking part. The annular cylinder and the docking part are respectively arranged at the upper and lower ends of the conical cylinder. A sealing head is arranged at the lower end of the docking part. A discharge part that leads to the lower part is installed at the center of the bottom of the insulation cylinder. After the sealing head is docked with the discharge part, the sample in the measuring component can be lowered.

[0009] Preferably, the circulation control component includes a central controller, a circulation pump, and an infusion pipe and a return pipe installed at both ends of the circulation pump. The other ends of the infusion pipe and the return pipe are connected to the insulation cylinder. A heat exchange component whose temperature is controlled by the central controller is provided in the circulation pump.

[0010] Preferably, the ring rail mating assembly includes a fixed ring rail, a driving member and a docking member, the outer peripheral wall of the fixed ring rail has an inner ring groove, the driving member and the docking member are arranged on the inner peripheral wall of the inner ring groove, and the orbital driving assembly includes a mating rotating ring, a hydraulic base and a hydraulic arm, and the mating rotating ring has a mating slot on the side facing the fixed ring rail, and the mating slot allows the fixed ring rail to be arranged therein.

[0011] Preferably, an inner convex ring plate is provided in the mating groove, and the inner convex ring plate extends toward the fixed ring rail into the inner ring groove. The upper surface or the lower surface of the inner convex ring plate is provided with a tooth ring strip that can engage with the teeth of the driving member. An electric connection plate is provided at a designated position on the circumferential surface of the inner convex ring plate facing the inner ring groove. The hydraulic base is fixedly installed on the mating rotating ring and is electrically connected to the electric connection plate, and the electric connection plate can be electrically connected to the docking member moved toward the inner convex ring plate.

[0012] Preferably, one end of the hydraulic arm is controlled by a hydraulic base so as to be able to extend or retract in the vertical direction, and the other end extends upward and bypasses the top circumferential wall of the insulation cylinder and is connected to a telescopic connector arranged on the outer circumferential wall of the measuring component. The telescopic connector can move the conical cylinder to a coaxial position with the insulation cylinder, and can also move the conical cylinder to an eccentric position.

[0013] Preferably, the conical cylinder ring wall is provided with a permanent heat exchange cavity in the inner layer and a switching heat exchange cavity in the outer layer. Both the permanent heat exchange cavity and the switching heat exchange cavity are filled with heat transfer fluid. A transfer cavity with an internal vacuum is provided in the annular cylinder. The switching heat exchange cavity and the transfer cavity are connected through a transfer pump. A temperature controller is provided on the top of the permanent heat exchange cavity.

[0014] Preferably, the docking part has a temperature sensor, the discharge part includes a discharge ring, a sealing plate and a pulling piece, the discharge ring has an outflow channel that runs through from top to bottom, the sealing head can be inserted into the outflow channel, and the sealing head has a discharge channel that runs through from top to bottom.

[0015] Preferably, the bottom of the sealing head has a horizontal limit rail, two cut-off plates are arranged in the horizontal limit rail, and limit sockets are arranged on the upper surface of the cut-off plate. A vertical channel is arranged on each side of the discharge channel, and a push-back spring and a locking block arranged at the lower end of the push-back spring are arranged in the vertical channel.

[0016] Preferably, the sealing plates are arranged in the recovery grooves on both sides of the outflow channel, and an upper poke rod is provided on the upper surface of the sealing plates. When the intercepting plates are in the docking state and move to above the sealing plates, the upper poke rod is just below the limit socket and can be inserted into the limit socket to push the locking block back to the vertical channel without probing into the vertical channel itself.

[0017] The present invention also provides a method for visually automating the determination of the viscosity of energetic materials, comprising the following steps:

[0018] S1: Inject the energetic material sample to be tested into the cone cylinder and input the required test temperature into the central controller;

[0019] S2: The central controller changes the temperature of the heat exchange fluid in the insulation cylinder to the detection temperature by controlling the temperature of the heat exchange component in the circulation pump. At the same time, the rotation drive assembly drives the measuring assembly to rotate centrifugally in the insulation cylinder so that the sample in the conical cylinder quickly reaches the detection temperature.

[0020] S3: The driving assembly stops rotating and moves the measuring assembly to the top of the discharge part, and then moves the measuring assembly downward to make the sealing head dock with the discharge part;

[0021] S4: Start the industrial camera and adjust the focus to accurately see the liquid surface of the sample. Then the pulling member will quickly pull the sealing plate back into the recovery tank and release the sample downward;

[0022] S5: The industrial camera completes the filming of the entire sample downstream process and transmits it to the graphics processing workstation. The graphics processing workstation processes the acquired liquid surface video image, determines whether an upper pointer or a lower pointer appears in the liquid surface video image, and performs a reverse judgment on the accuracy of the liquid surface pointer detection. By respectively recording the time when the two pointers appear on the liquid surface, the time when the liquid surface passes between the two pointers is calculated, thereby calculating and outputting the viscosity data of the sample.

[0023] The reverse determination of the accuracy of the liquid level pointer detection in S5 specifically includes the following steps:

[0024] S5.1: Use the page image bilateral filtering algorithm and adaptive enhancement algorithm (ACE) to enhance and filter the real-time video image to overcome the influence of noise and light;

[0025] S5.2: Use the LOG spot detection method in the differential method to detect the liquid level pointer in real time;

[0026] S5.3: Inverse determination of liquid level pointer detection based on computer vision geometric parameter measurement, specifically: the first step is coarse positioning of image edge detection based on the Canny operator, the second step is mathematical morphological filtering, the third step is fine positioning of image edge detection based on the sub-pixel subdivision algorithm, the fourth step is measurement of geometric parameters of the circular area of ​​the liquid surface, and the fifth step is reverse determination of surface pointer detection.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The present invention can detect the viscosity data of energetic materials quickly, efficiently and accurately based on the shooting of industrial cameras and the processing of graphic processing workstations, in conjunction with the automated work of the viscosity measurement system, without the need for manual operation, timing and reading, thereby reducing the labor cost of the detection work while being accurate and fast.

[0029] 2. The present invention drives the internal sample to rotate and flow through the centrifugal rotation of the cone cylinder, which can make the sample in the cone cylinder change faster and more evenly, and use the constant temperature heat exchange fluid inside the insulation cylinder surrounding the cone cylinder to accurately and permanently maintain the sample. The temperature distribution of the energetic material sample is more uniform and constant during measurement, and the error of the detection data is smaller. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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.

[0031] Figure 1 This is a schematic diagram of the structure of a system for visually automating the determination of the viscosity of energetic materials according to the present invention;

[0032] Figure 2 It is a cross-sectional view of the matching structure of the ring track matching assembly and the orbiting driving assembly of the present invention;

[0033] Figure 3 for Figure 2 The enlarged schematic diagram at A in the middle;

[0034] Figure 4 It is a schematic diagram of the structure of the measuring component of the present invention;

[0035] Figure 5 for Figure 4 The enlarged schematic diagram of point B in the middle;

[0036] Figure 6 This is a cross-sectional view of the matching structure of the sealing head and the discharge part of the present invention.

[0037] In the figure: 1, main frame; 11, upright frame; 12, placement plate; 13, receiving cup; 2, insulation assembly; 201, inner ring groove; 202, matching slot; 203, matching slot; 204, inner sunken groove; 205, outflow channel; 206, recovery slot; 21, insulation cylinder; 22, circulation control assembly; 221, central controller; 222, circulation pump; 223, infusion tube; 224, return pipe; 23, ring rail matching assembly; 231, fixed ring rail; 232, driving member; 2321, driven gear; 2322, fixed motor; 233, docking member; 2331, moving head; 2332, adjusting screw sleeve; 2333, docking piece; 2334, threaded rod; 24, orbital drive assembly; 241, matching rotating circle; 242, hydraulic base; 243, hydraulic arm; 2 44, limit ball; 245, inner convex ring plate; 246, tooth ring strip; 247, power board; 25, discharge part; 251, discharge ring; 252, sealing plate; 253, pulling piece; 254, upper poke rod; 3, measuring component; 301, permanent heat exchange cavity; 302, switching heat exchange cavity; 303, transfer cavity; 304, discharge channel; 305, horizontal limit rail; 306, limit Socket; 307, vertical channel; 31, conical cylinder; 32, annular cylinder; 33, docking part; 331, insulation cylinder; 332, covering ring; 333, temperature sensor; 34, sealing head; 341, shutoff plate; 342, push-back spring; 343, locking block; 35, transfer pump; 36, temperature controller; 37, upper pointer; 38, lower pointer; 4, industrial camera; 5, telescopic connector. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0039] Example 1

[0040] Reference Figure 1-6A visual automated system for measuring the viscosity of energetic materials comprises a main frame 1, a heat preservation component 2 and a measuring component 3. The heat preservation component 2 is mounted on the main frame 1, and the measuring component 3 is arranged in the heat preservation component 2. When the sample flows out of the measuring component 3 and the viscosity is measured, it can be kept warm by the liquid in the heat preservation component 2.

[0041] The main frame 1 includes an upright frame 11 and a placement plate 12 supported by the upright frame 11, an industrial camera 4 is fixedly installed on the upper surface of the placement plate 12, the insulation component 2 is installed directly below the industrial camera 4, and the industrial camera 4 is electrically connected to an externally equipped graphics processing workstation, so that the image captured by the industrial camera 4 is recognized and automatically processed to automatically obtain detection data.

[0042] A receiving cup 13 is arranged directly below the heat preservation component 2 to receive the energetic material sample flowing down from the measuring component 3 .

[0043] The insulation component 2 includes an insulation cylinder 21, a circulation control component 22, a ring track matching component 23 and a rotation driving component 24. The insulation cylinder 21 is a hollow cylinder with an open top and a closed bottom. The insulation cylinder 21 is filled with heat exchange fluid. The circulation control component 22 includes a central controller 221, a circulation pump 222, and an infusion pipe 223 and a return pipe 224 installed at both ends of the circulation pump 222. The infusion pipe 223 is connected to the lower part of the insulation cylinder 21, and the return pipe 224 is connected to the lower part of the insulation cylinder 21. The circulation pump 222 can transfer The heat exchange fluid in the insulation cylinder 21 is drawn out from the reflux pipe 224 and pumped back to the insulation cylinder 21 through the infusion pipe 223 and refluxes. A heat exchange component whose temperature is controlled by the central controller 221 is arranged in the circulation pump 222. When the heat exchange fluid flows through the heat exchange component in the circulation pump 222, it can exchange heat with the heat exchange component and cause temperature change. After the central controller 221 obtains the measured temperature that the energetic material sample needs to maintain from the outside, it can control the heat exchange component to change the temperature and start the circulation pump 222 to make the heat exchange fluid in the insulation cylinder 21 reach the required temperature.

[0044] The ring rail matching assembly 23 includes a fixed ring rail 231, a driving member 232 and a docking member 233. The fixed ring rail 231 is fixedly arranged around the outer peripheral wall of the heat preservation tube 21. The outer peripheral wall of the fixed ring rail 231 has an inner ring groove 201. The driving member 232 and the docking member 233 are arranged on the inner peripheral wall of the inner ring groove 201. The orbiting driving assembly 24 includes a matching rotating circle 241, a hydraulic base 242 and a hydraulic arm 243. The matching rotating circle 241 has a matching card slot 202 on the side facing the fixed ring rail 231. The matching card slot 202 allows the fixed ring The rail 231 is arranged therein, and the upper and lower surfaces of the matching slot 202 are provided with limiting balls 244. The upper and lower surfaces of the fixed ring rail 231 are provided with matching grooves 203 that can allow the limiting balls 244 to be placed. After the limiting balls 244 are placed in the matching grooves 203, they can roll smoothly in the matching grooves 203. The upper and lower surfaces of the matching slots 202 are closely adjacent to the upper and lower surfaces of the fixed ring rail 231 but do not generate sliding friction, so that the matching rotating circle 241 can move along the circumference of the fixed ring rail 231 by relying on the rolling of the limiting balls 244 in the matching grooves 203.

[0045] An inner convex ring plate 245 is provided in the mating slot 202. The inner convex ring plate 245 extends into the inner ring groove 201 toward the fixed ring rail 231, but does not contact the inner circumferential wall of the inner ring groove 201. The driving member 232 is provided on the inner circumferential wall of the inner ring groove 201. The driving member 232 includes a driven gear 2321 and a fixed motor 2322 for driving the driven gear 2321 to rotate axially. A tooth ring strip 246 capable of mating with the teeth of the driven gear 2321 is provided on the upper surface or the lower surface of the inner convex ring plate 245. The driven gear 2321 is arranged at a position capable of mating and meshing with the tooth ring strip 246. When the fixed motor 2322 is controlled by the central controller 221 to drive the driven gear 2321 to rotate, the mating rotating circle 241 can be driven to rotate axially by means of the mating of the driven gear 2321 and the tooth ring strip 246.

[0046] The hydraulic base 242 is fixedly installed on the matching rotating ring 241, and the inner convex ring plate 245 is provided with a power connection plate 247 at a specified position on the circumferential surface facing the inner ring groove 201. The hydraulic base 242 is electrically connected to the power connection plate 247 so that the power connection plate 247 can transmit the received electrical energy and electrical control signals to the hydraulic base 242. The docking piece 233 is installed at a specified position on the inner circumferential wall of the inner ring groove 201, and the vertical position of the docking piece 233 is the same as that of the inner convex ring plate 245.

[0047] The docking piece 233 includes a moving head 2331 and an adjusting screw sleeve 2332. The moving head 2331 has a docking piece 2333 on the side facing the inner convex ring plate 245. The moving head 2331 is electrically connected to the central controller 221 and can receive the electric energy and electric control signals supplied by the central controller 221, and transmit them to the docking piece 2333. A threaded rod 2334 is fixedly installed in the inner recessed groove 204 provided in the docking piece 233. The adjusting screw sleeve 2332 is threadedly sleeved on the threaded rod 2334. The threaded rod 2334 extends horizontally toward the inner convex ring plate 245. The moving head 2331 can move forward by driving the adjusting screw sleeve 2332 to rotate axially. The mating piece 2333 is separated from the power board 247 when the mating rotating circle 241 is axially rotated. The driving member 232 can rotate the mating rotating circle 241 and stop it at a specified position under the control of the central controller 221, so that the mating piece 2333 corresponds to the power board 247. After the power board 247 moves to the position corresponding to the mating piece 2333, the moving head 2331 can move horizontally close to the inner convex ring plate 245 until the mating piece 2333 is tightly attached to the power board 247 and electrically connected, so that the hydraulic base 242 can receive the electric energy and electric control signal supplied by the central controller 221.

[0048] One end of the hydraulic arm 243 is controlled by the hydraulic base 242 and can be telescopically extended or retracted in the vertical direction, and the other end extends upward and bypasses the top peripheral wall of the insulation tube 21 and is connected to the telescopic connector 5 arranged on the outer peripheral wall of the measuring component 3. The telescopic connector 5 is electrically connected to the hydraulic base 242 and can receive the electric energy and electric control signal supplied by the central controller 221. After the energetic material sample is filled in the measuring component 3, the telescopic connector 5 can be extended so that the central axis of the measuring component 3 is no longer the same as the insulation tube 21. When the matching rotating ring 241 is axially rotated, it will drive the fixedly installed hydraulic base 242 to rotate on the outer periphery of the insulation tube 21 with the insulation tube 21. The central axis rotates in a circle, thereby driving the telescopic connector 5 to rotate in a circle around the central axis of the heat-insulating cylinder 21 inside the heat-insulating cylinder 21. Since the measuring component 3 connected to the telescopic connector 5 is in an eccentric state in the heat-insulating cylinder 21 at this time, the circularly rotating telescopic connector 5 will drive the measuring component 3 to rotate eccentrically in the heat-insulating cylinder 21, thereby causing the energetic material sample loaded in the measuring component 3 to undergo centrifugal flow, so that the contact heat exchange surface between the energetic material sample and the inner circumferential wall of the measuring component 3 is larger, the heat exchange is faster and more complete, and at the same time, the energetic material sample can flow and exchange heat after exchanging heat with the inner circumferential wall of the measuring component 3. The temperature distribution of the energetic material sample is more uniform during measurement, and the error of the detection data is smaller.

[0049] Example 2

[0050] Reference Figure 1-6 The difference between this embodiment and embodiment 1 is that the measuring component 3 includes a conical cylinder 31, an annular cylinder 32 and a docking portion 33, and the annular cylinder 32 and the docking portion 33 are respectively arranged at the upper and lower ends of the conical cylinder 31, and a sealing head 34 is arranged at the lower end of the docking portion 33. A discharge portion 25 that passes to the lower part is installed at the bottom center of the insulation cylinder 21. When the measuring component 3 is centrifugally shaken in the insulation cylinder 21, the hydraulic arm 243 extends and lifts the docking portion 33 upward, so that the sealing head 34 moves up and separates from the discharge portion 25. After the rotation of the measuring component 3 is completed, the telescopic connecting member 5 shortens and moves the sealing head 34 to the top of the discharge portion 25. At the same time, the hydraulic arm 243 shortens and lowers the measuring component 3, so that the sealing head 34 moves down and docks with the discharge portion 25 to prepare for outflow detection.

[0051] The conical cylinder 31 is made of heat-conductive material, while the annular cylinder 32 and the docking portion 33 are both made of heat-insulating material, so that the energetic material sample contained in the conical cylinder 31 can only exchange heat with the outside through the barrel wall of the annular cylinder 32, and the heat exchange liquid in the thermal insulation cylinder 21 covers the top of the conical cylinder 31 and surrounds the annular cylinder 32, so that the energetic material sample in the conical cylinder 31 can only exchange heat with the heat exchange liquid in the thermal insulation cylinder 21 through the side wall of the conical cylinder 31.

[0052] It can be understood that, although the liquid surface of the energetic material sample in the conical cylinder 31 can still contact with the outside air and exchange heat with the outside air to cause temperature changes, the heat exchange area of ​​the liquid surface of the energetic material sample is much smaller than the heat exchange area provided by the side ring wall of the conical cylinder 31. The temperature of the energetic material sample in the conical cylinder 31 can still be well maintained at the predetermined test temperature. Moreover, when the discharge outflow test is carried out, the sample at the bottom of the conical cylinder 31 flows out first, while the sample at the upper part of the conical cylinder 31 that changes in temperature due to heat exchange with the outside air will not all flow out. The temperature of the samples discharged downstream and participating in the measurement timing is mostly maintained at the predetermined test temperature due to heat exchange with the heat exchange liquid in the insulation cylinder 21. The viscosity data measured by the system can ensure good accuracy.

[0053] The annular wall of the conical cylinder 31 is provided with a permanent heat exchange cavity 301 in the inner layer and a switching heat exchange cavity 302 in the outer layer. The permanent heat exchange cavity 301 and the switching heat exchange cavity 302 are filled with heat transfer fluid. The annular cylinder 32 is provided with a transfer cavity 303 with an internal vacuum. The switching heat exchange cavity 302 and the transfer cavity 303 are connected through a transfer pump 35. When the transfer pump 35 transports the heat transfer fluid to the switching heat exchange cavity 302, the heat exchange fluid in the insulation cylinder 21 Heat exchange can be performed with the sample inside the conical cylinder 31 through the heat-conducting material of the annular wall of the conical cylinder 31 and the heat-conducting liquid filled in the permanent heat exchange cavity 301 and the switching heat exchange cavity 302. When the transfer pump 35 transports the heat-conducting liquid from the switching heat exchange cavity 302 to the transfer cavity 303, the switching heat exchange cavity 302 will be in a vacuum state and unable to transfer heat, thereby making it impossible for the sample and the heat-conducting liquid in the permanent heat exchange cavity 301 to exchange heat with the heat exchange liquid in the insulation cylinder 21.

[0054] A temperature controller 36 is provided on the top of the permanent heat exchange chamber 301. The temperature controller 36 is controlled by the central controller 221 to transfer or absorb heat to the heat transfer fluid in the permanent heat exchange chamber 301. When the measuring component 3 is centrifugally shaken, the interior of the switching heat exchange chamber 302 is in a vacuum state, so that the heat transfer fluid in the permanent heat exchange chamber 301 only exchanges heat with the sample in the conical cylinder 31, and the sample temperature is changed quickly and efficiently without affecting the temperature of the heat transfer fluid in the insulation cylinder 21. After the sample reaches the predetermined detection temperature, the permanent heat exchange chamber 301 is re-injected with heat transfer fluid, so that the sample can exchange heat and keep warm with the heat transfer fluid in the insulation cylinder 21.

[0055] The docking portion 33 includes an insulating cylinder 331 connected to the bottom of the conical cylinder 31 and a covering ring 332 arranged on the outer peripheral wall of the bottom end of the insulating cylinder 331. Two temperature sensors 333 are arranged in the covering ring 332. The two temperature sensors 333 are respectively arranged close to the inner peripheral wall and the outer peripheral wall of the covering ring 332, so that they can sensitively detect the real-time temperature of the sample inside the insulating cylinder 331 and the heat exchange liquid in the insulation cylinder 21. The temperature sensor 333 is electrically connected to the central controller 221. When the temperatures detected by the two temperature sensors 333 are the same, the central controller 221 will control the measuring component 3 to stop centrifugal shaking and dock with the discharge portion 25 to wait for the detection work to be carried out.

[0056] Example 3

[0057] Reference Figure 1-6The difference between this embodiment and embodiment 2 is that the discharge part 25 includes a discharge ring 251, a sealing plate 252 and a pulling member 253, the discharge ring 251 has an outflow channel 205 that passes through from top to bottom, the sealing head 34 can be inserted into the outflow channel 205, and the sealing head 34 has a discharge channel 304 that passes through from top to bottom. The sample in the insulation tube 331 can flow downward through the discharge channel 304 and enter the outflow channel 205.

[0058] The bottom of the sealing head 34 has a horizontal limit rail 305, and two intercepting plates 341 are arranged in the horizontal limit rail 305. The intercepting plate 341 slide rail is installed in the horizontal limit rail 305. The upper surface of the intercepting plate 341 is in close contact with the upper surface of the horizontal limit rail 305. The upper surface of the intercepting plate 341 is provided with a limit socket 306. A vertical channel 307 is arranged on each side of the discharge channel 304. A push-back spring 342 and a locking block 34 arranged at the lower end of the push-back spring 342 are arranged in the vertical channel 307. 3. Under normal circumstances, the push-back spring 342 pushes the lower half of the locking block 343 out of the vertical channel 307. When the two shut-off plates 341 move toward each other and just close the lower outlet of the discharge channel 304, the limiting socket 306 is just below the vertical channel 307, so that the lower half of the locking block 343 pushed out by the push-back spring 342 is just inserted into the limiting socket 306 to lock the horizontal position of the shut-off plate 341, thereby keeping the shut-off plate 341 sealed to the lower outlet of the discharge channel 304.

[0059] The sealing plates 252 are arranged in the recovery grooves 206 on both sides of the outflow channel 205. The pulling members 253 arranged in the recovery grooves 206 can push the sealing plates 252 toward each other to close the upper part of the outflow channel 205 to prevent the heat exchange liquid in the insulation cylinder 21 from flowing out. The upper surface of the sealing plate 252 is provided with an upper poke rod 254. When the intercepting plate 341 moves to the upper part of the sealing plate 252 in the docking state, the upper poke rod 254 is just in the limit position. Directly below the socket 306, when the sealing head 34 continues to move downward and is inserted into the outflow channel 205, the heat exchange liquid originally existing on the upper part of the sealing plate 252 will be squeezed into the insulation tube 21, and at the same time, the upper poke rod 254 will be inserted into the limiting socket 306 until the lower surface of the sealing head 34 is in close contact with the upper surface of the sealing plate 252. At this time, the upper poke rod 254 pushes the locking block 343 back to the vertical channel 307 without probing into the vertical channel 307, thereby releasing the lateral locking of the shut-off plate 341.

[0060] Example 4

[0061] Reference Figure 1-6 , a method for visually automating the determination of the viscosity of an energetic material, comprising the following steps:

[0062] S1: injecting the energetic material sample to be tested into the conical cylinder 31, and inputting the required detection temperature into the central controller 221;

[0063] S2: The central controller 221 changes the temperature of the heat exchange fluid in the heat preservation cylinder 21 to the detection temperature by controlling the temperature of the heat exchange component in the circulation pump 222. At the same time, the rotation drive component 24 drives the measuring component 3 to rotate centrifugally in the heat preservation cylinder 21 so that the sample in the conical cylinder 31 quickly reaches the detection temperature.

[0064] S3: the driving assembly 24 stops rotating and moves the measuring assembly 3 to the position just above the discharge portion 25, and then moves the measuring assembly 3 downward to allow the sealing head 34 to dock with the discharge portion 25;

[0065] S4: Start the industrial camera 4 and adjust the focal length to accurately see the sample liquid surface state, then the pulling member 253 quickly pulls the sealing plate 252 back into the recovery tank 206 to release the sample downward;

[0066] S5: The industrial camera 4 completes the filming of the entire sample downstream process and transmits it to the graphics processing workstation. The graphics processing workstation processes the acquired liquid surface video image, determines whether the upper pointer 37 or the lower pointer 38 appears in the liquid surface video image, and performs a reverse judgment on the accuracy of the liquid surface pointer detection. By respectively recording the time when the two pointers appear on the liquid surface, the time when the liquid surface passes between the two pointers is calculated, thereby calculating and outputting the viscosity data of the sample.

[0067] The reverse determination of the accuracy of the liquid level pointer detection in step S5 specifically includes the following steps:

[0068] S5.1: Use the page image bilateral filtering algorithm and adaptive enhancement algorithm (ACE) to enhance and filter the real-time video image to overcome the influence of noise and light;

[0069] S5.2: Use the LOG spot detection method in the differential method to detect the liquid level pointer in real time;

[0070] S5.3: Inverse determination of liquid level pointer detection based on computer vision geometric parameter measurement, specifically: the first step is coarse positioning of image edge detection based on the Canny operator, the second step is mathematical morphological filtering, the third step is fine positioning of image edge detection based on the sub-pixel subdivision algorithm, the fourth step is measurement of geometric parameters of the circular area of ​​the liquid surface, and the fifth step is reverse determination of surface pointer detection.

[0071] When the area of ​​the circular region obtained by visual measurement of the industrial camera 4 and received by the computer of the graphics processing workstation is infinitely close to the actual circular area of ​​the pointer obtained by calculation, the pointer appearing on the current liquid surface is most likely to be the real pointer, and the time recorded at this time is the most accurate, thereby realizing the reverse judgment process of the pointer detection result using the geometric parameter measurement technology based on computer vision.

[0072] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0073] In the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] The control method of the present invention is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by technicians in this field. The provision of power is also common knowledge in this field. The present invention is mainly used to protect mechanical devices, so the present invention will no longer explain the control method and circuit connection in detail.

[0075] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A visual automated system for measuring the viscosity of energetic materials, comprising a main frame (1), a heat preservation component (2) and a measuring component (3), wherein the heat preservation component (2) is mounted on the main frame (1), and the measuring component (3) is arranged in the heat preservation component (2). Features: The main frame (1) fixes the industrial camera (4) above the heat preservation component (2); the heat preservation component (2) comprises a heat preservation cylinder (21), a circulation control component (22), a ring track matching component (23) and a rotation driving component (24); the ring track matching component (23) and the rotation driving component (24) are installed on the outer peripheral surface of the heat preservation cylinder (21); the circulation control component (22) is used to keep the heat exchange fluid in the heat preservation cylinder (21) at a predetermined detection temperature; The measuring component (3) comprises a conical cylinder (31), an annular cylinder (32) and a docking portion (33); the annular cylinder (32) and the docking portion (33) are respectively arranged at the upper and lower ends of the conical cylinder (31); a sealing head (34) is arranged at the lower end of the docking portion (33); a discharge portion (25) extending to the lower part is installed at the center of the bottom of the heat-insulating cylinder (21); after the sealing head (34) is docked with the discharge portion (25), a sample in the measuring component (3) can be lowered.

2. A visual automated system for determining the viscosity of energetic materials according to claim 1, Features: The circulation control assembly (22) comprises a central controller (221), a circulation pump (222), and a liquid infusion pipe (223) and a return pipe (224) installed at both ends of the circulation pump (222); the other ends of the liquid infusion pipe (223) and the return pipe (224) are connected to the heat preservation cylinder (21); and a heat exchange component whose temperature is controlled by the central controller (221) is arranged in the circulation pump (222).

3. A visual automated system for determining the viscosity of energetic materials according to claim 1, Features: The ring rail matching component (23) includes a fixed ring rail (231), a driving member (232) and a docking member (233); the outer peripheral wall of the fixed ring rail (231) has an inner ring groove (201); the driving member (232) and the docking member (233) are arranged on the inner peripheral wall of the inner ring groove (201); the orbiting driving component (24) includes a matching rotating circle (241), a hydraulic base (242) and a hydraulic arm (243); the matching rotating circle (241) has a matching slot (202) on the side facing the fixed ring rail (231); the matching slot (202) allows the fixed ring rail (231) to be arranged therein.

4. A visual automated system for determining the viscosity of energetic materials according to claim 3, Features: An inner convex ring plate (245) is arranged in the matching groove (202), and the inner convex ring plate (245) extends into the inner ring groove (201) toward the fixed ring rail (231). A tooth ring strip (246) capable of meshing with the teeth of the driving member (232) is arranged on the upper surface or the lower surface of the inner convex ring plate (245). An electric connection plate (247) is arranged at a specified position on the circumference of the inner convex ring plate (245) facing the inner ring groove (201). The hydraulic base (242) is fixedly mounted on the matching rotating ring (241) and is electrically connected to the electric connection plate (247). The electric connection plate (247) can be electrically connected to the docking member (233) moved toward the inner convex ring plate (245).

5. A visual automated system for determining the viscosity of energetic materials according to claim 3, Features: One end of the hydraulic arm (243) is controlled by the hydraulic base (242) so as to be able to extend or retract in the vertical direction, and the other end extends upward and bypasses the top peripheral wall of the heat-insulating cylinder (21) and is connected to a telescopic connection member (5) arranged on the outer peripheral wall of the measuring component (3). The telescopic connection member (5) can move the conical cylinder (31) to a coaxial position with the heat-insulating cylinder (21), and can also move the conical cylinder (31) to an eccentric position.

6. A visual automated system for determining the viscosity of energetic materials according to claim 1, Features: The annular wall of the conical cylinder (31) is provided with a permanent heat exchange cavity (301) in an inner layer and a switching heat exchange cavity (302) in an outer layer. The permanent heat exchange cavity (301) and the switching heat exchange cavity (302) are both filled with heat transfer fluid. The annular cylinder (32) is provided with a transfer cavity (303) with an internal vacuum. The switching heat exchange cavity (302) and the transfer cavity (303) are connected via a transfer pump (35). A temperature controller (36) is provided at the top of the permanent heat exchange cavity (301).

7. A visual automated system for measuring the viscosity of energetic materials according to claim 1, Features: The discharge part (25) comprises a discharge ring (251), a sealing plate (252) and a pulling member (253); the discharge ring (251) has an outflow channel (205) which is connected vertically; the sealing head (34) can be inserted into the outflow channel (205); the sealing head (34) has an discharge channel (304) which is connected vertically; the bottom of the sealing head (34) has a horizontal limit rail (305); two intercepting plates (341) are arranged in the horizontal limit rail (305); the upper surface of the intercepting plate (341) is provided with a limit socket (306); a vertical channel (307) is arranged on each side of the discharge channel (304); a push-back spring (342) and a locking block (343) arranged at the lower end of the push-back spring (342) are arranged in the vertical channel (307).

8. A visual automated system for determining the viscosity of energetic materials according to claim 7, Features: The sealing plate (252) is arranged in the recovery groove (206) on both sides of the outflow channel (205), and an upper poking rod (254) is arranged on the upper surface of the sealing plate (252). When the intercepting plate (341) is moved to the top of the sealing plate (252) in a docking state, the upper poking rod (254) is just below the limiting socket (306) and can be inserted into the limiting socket (306) to push the locking block (343) back to the vertical channel (307) without probing into the vertical channel (307).

9. A method for visually automating the determination of the viscosity of an energetic material, using the system for visually automating the determination of the viscosity of an energetic material as claimed in any one of claims 1 to 8, It is characterized in that The following steps are involved: S1: injecting a sample of the energetic material to be tested into the conical cylinder (31), and inputting the required test temperature into the central controller (221); S2: the central controller (221) changes the temperature of the heat exchange fluid in the heat preservation cylinder (21) to the detection temperature by controlling the temperature of the heat exchange component in the circulation pump (222), and at the same time, the rotation drive component (24) drives the measuring component (3) to rotate centrifugally in the heat preservation cylinder (21) so that the sample in the conical cylinder (31) quickly reaches the detection temperature; S3: the driving component (24) stops rotating and moves the measuring component (3) to the position directly above the discharge portion (25), and then moves the measuring component (3) downward so that the sealing head (34) is docked with the discharge portion (25); S4: starting the industrial camera (4) and adjusting the focal length to accurately capture the sample liquid surface, after which the pulling member (253) quickly pulls the sealing plate (252) back into the recovery tank (206) to release the sample downward; S5: The industrial camera (4) completes the filming of the entire sample downstream process and transmits it to the graphics processing workstation. The graphics processing workstation processes the acquired liquid surface video image, determines whether an upper pointer (37) or a lower pointer (38) appears in the liquid surface video image, and performs a reverse judgment on the accuracy of the liquid surface pointer detection. By respectively recording the time when the two pointers appear on the liquid surface, the time when the liquid surface passes between the two pointers is calculated, thereby calculating and outputting the viscosity data of the sample.

10. A method for visually automating the determination of the viscosity of energetic materials according to claim 9, Features: The reverse determination of the accuracy of the liquid level pointer detection in step 5 specifically includes the following steps: S5.1: Use the page image bilateral filtering algorithm and adaptive enhancement algorithm (ACE) to enhance and filter the real-time video image to overcome the influence of noise and light; S5.2: Use the LOG spot detection method in the differential method to detect the liquid level pointer in real time; S5.3: Inverse determination of liquid level pointer detection based on computer vision geometric parameter measurement, specifically: the first step is coarse positioning of image edge detection based on the Canny operator, the second step is mathematical morphological filtering, the third step is fine positioning of image edge detection based on the sub-pixel subdivision algorithm, the fourth step is measurement of geometric parameters of the circular area of ​​the liquid surface, and the fifth step is reverse determination of surface pointer detection.

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