A method and system for visually automated determination of the viscosity of energetic materials

Abstract

The present invention discloses a method and system for visually and automatically measuring the viscosity of energetic materials. The measuring system includes a main frame body, a heat preservation component, and a measuring component. The heat preservation component is erected and installed on the main frame body, and the measuring component is arranged inside the heat preservation component. The main frame body fixedly mounts an industrial camera directly above the heat preservation component. The heat preservation component includes a heat preservation cylinder, a circulation control component, an annular rail matching component, and a winding and moving driving component. The annular rail matching component and the winding and moving driving component are installed on the outer peripheral surface of the heat preservation cylinder. The circulation control component is used to keep the heat exchange liquid in the heat preservation cylinder at a predetermined detection temperature. The measuring component includes a conical cylinder, a circular ring cylinder, and a docking part. The circular ring 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 discharging part leading to the lower part is installed at the center of the bottom of the heat preservation cylinder. After the sealing head is docked with the discharging part, the sample in the measuring component can be lowered.

Description

Technical Field

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

[0002] When detecting the viscosity of energetic materials, the existing technology generally uses the most economical, practical and convenient flow cup viscometer. The flow cup viscometer uses the gravity of the sample itself to generate flow, and usually represents it by the time for a certain amount of sample to flow out of the viscometer cup at a certain temperature, in seconds. When measuring, temperature is an important factor affecting the viscosity of the sample, so the viscosity measurement must be carried out in a constant temperature chamber.

[0003] The patent with the publication number CN109357970A discloses a flow cup viscometer, which includes a funnel support with adjustable height, a base, a temperature controller, a pipette and an inner tube. The vertical rod of the funnel support 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 support, the inner tube is fixed inside the pipette. The inner tube includes a tube part and a leakage cone part arranged below the tube part. An anti-slip groove is arranged on the outer wall of the contact position between the leakage cone part and the tube part, and an anti-slip ring is arranged between the inner tube and the pipette. The cross-section of the anti-slip ring is in a special shape, 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. Since the invention is provided with a heater and a temperature measuring device, it can ensure that the temperature of the tested sample is consistent during measurement, reduce the influence of temperature on viscosity during measurement, and the support can ensure the stability of the measuring cup and avoid measurement errors caused by shaking.

[0004] However, when detecting the sample, this device requires a series of cumbersome operations manually. For example, the liquid outlet of the pipette gun is sealed by hand and the sample is injected from the upper end of the pipette, and then the hand is released to let the sample flow out automatically. Before and after the sample flows out, the user also needs to observe the scale set on the outer wall of the pipette to obtain data, and the degree of automation is relatively low. At the same time, the temperature controller of this device only heats the sample through the heating wire that wraps the pipette in a net shape, and cannot ensure that the sample is heated evenly and effectively insulated, and it is very likely that the outside of the sample is hot and the inside is cold. For this reason, we propose a method and system for visually and automatically measuring the viscosity of energetic materials. Summary of the Invention

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

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

[0007] A visual automation system for measuring the viscosity of energetic materials, comprising a main frame body, a heat preservation component and a measurement component. The heat preservation component is erected and installed on the main frame body, and the measurement component is arranged inside the heat preservation component. The main frame body fixedly mounts an industrial camera directly above the heat preservation component. The heat preservation component includes a heat preservation cylinder, a circulation control component, an annular rail matching component and a winding drive component. The annular rail matching component and the winding drive component are installed on the outer peripheral surface of the heat preservation cylinder. The circulation control component is used to keep the heat exchange liquid in the heat preservation cylinder at a predetermined detection temperature;

[0008] The measurement component includes a conical cylinder, a circular ring cylinder and a docking part. The circular ring 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 discharging part leading to the lower part is installed at the center of the bottom of the heat preservation cylinder. After the sealing head is docked with the discharging part, the sample in the measurement component can be lowered.

[0009] Preferably, the circulation control component includes a central controller, a circulation pump, and a liquid delivery pipe and a return pipe installed at both ends of the circulation pump. The liquid delivery pipe and the return pipe are connected to the heat preservation cylinder at the other ends. A heat exchange part controlled by the central controller for temperature is arranged inside the circulation pump.

[0010] Preferably, the annular rail matching component includes a fixed annular rail, a driving part and a docking part. The outer peripheral wall of the fixed annular rail has an inner annular groove. The driving part and the docking part are arranged on the inner peripheral wall of the inner annular groove. The winding drive component includes a matching rotating ring, a hydraulic base and a hydraulic arm. One side of the matching rotating ring facing the fixed annular rail has a matching clamping groove, and the fixed annular rail is allowed to be arranged therein.

[0011] Preferably, an inner convex ring plate is arranged in the matching clamping groove. The inner convex ring plate extends towards the fixed annular rail into the inner annular groove. A toothed ring strip capable of meshing with the teeth of the driving part is arranged on the upper surface or the lower surface of the inner convex ring plate. An electric connection plate is arranged on the peripheral surface of the inner convex ring plate facing the inner annular groove at a specified position. The hydraulic base is fixedly installed on the matching rotating ring and is electrically connected to the electric connection plate. The electric connection plate can be electrically connected to the docking part moving towards the inner convex ring plate.

[0012] Preferably, one end of the hydraulic arm can be controlled by the hydraulic base to perform vertical telescopic movement in terms of length. The other end extends upwards and bypasses the top peripheral wall of the heat preservation cylinder and is connected to a telescopic connecting piece arranged on the outer peripheral wall of the measurement component. The telescopic connecting piece can move the conical cylinder to a coaxial position with the heat preservation cylinder and can also move the conical cylinder to an eccentric position.

[0013] Preferably, a permanent heat exchange cavity in the inner layer and a switching heat exchange cavity in the outer layer are arranged on the circumferential wall of the conical cylinder. Both the permanent heat exchange cavity and the switching heat exchange cavity are filled with heat-conducting liquid. A transfer cavity with internal vacuum is arranged inside the circular ring cylinder. The switching heat exchange cavity is connected to the transfer cavity through a transfer pump. A temperature controller is arranged at 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 bilateral filtering algorithm for page images and the adaptive contrast enhancement (ACE) algorithm to perform enhancement and filtering preprocessing on real-time video images, overcoming the influence of noise and light;

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

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

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] 1. The present invention can quickly, efficiently and accurately detect the viscosity data of energetic materials based on the shooting of an industrial camera and the processing of a graphics processing workstation, in cooperation with the automated operation of the viscosity measurement system, without manual operation, timing and reading, 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 conical cylinder, enabling the sample in the conical cylinder to change faster and more evenly, and accurately and permanently maintaining the sample with the help of the constant-temperature heat exchange liquid in the heat preservation cylinder surrounding the conical cylinder. The temperature distribution of the energetic material sample is more uniform and constant during the measurement, and the detection data error is smaller. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings without creative efforts based on these drawings.

[0031] Figure 1 It is a schematic structural diagram of a vision automation system for measuring the viscosity of energetic materials according to the present invention;

[0032] Figure 2 It is a cross-sectional view of the cooperation structure of the ring rail cooperation component and the winding drive component according to the present invention;

[0033] Figure 3 It is Figure 2 The enlarged schematic diagram at A in

[0034] Figure 4 It is a schematic structural diagram of the measurement component according to the present invention;

[0035] Figure 5 For Figure 4 The enlarged schematic diagram at position B in

[0036] Figure 6 It is a cross-sectional view of the cooperation structure between the sealing head and the discharging part of the present invention.

[0037] In the figure: 1, main frame body; 11, vertical straight frame; 12, placement plate; 13, receiving cup; 2, heat preservation component; 201, inner ring groove; 202, mating clamping groove; 203, mating groove; 204, recessed groove; 205, outflow channel; 206, recovery groove; 21, heat preservation cylinder; 22, circulation control component; 221, central controller; 222, circulation pump; 223, infusion pipe; 224, return pipe; 23, ring rail cooperation component; 231, fixed ring rail; 232, driving part; 2321, driven gear; 2322, fixed motor; 233, docking part; 2331, moving head; 2332, adjusting sleeve; 2333, docking piece; 2334, threaded rod; 24, winding drive component; 241, mating rotating ring; 242, hydraulic base; 243, hydraulic arm; 244, limit ball; 245, inner convex ring plate; 246, toothed ring strip; 247, power connection plate; 25, discharging part; 251, discharging through ring; 252, sealing plate; 253, pulling part; 254, upper poking rod; 3, measuring component; 301, permanent heat exchange cavity; 302, switching heat exchange cavity; 303, transfer cavity; 304, discharging channel; 305, horizontal limit rail; 306, limit socket; 307, vertical channel; 31, conical cylinder; 32, circular ring cylinder; 33, docking part; 331, heat insulation cylinder; 332, covering ring; 333, temperature sensor; 34, sealing head; 341, throttling plate; 342, return spring; 343, locking block; 35, transfer pump; 36, temperature controller; 37, upper pointer; 38, lower pointer; 4, industrial camera; 5, telescopic connecting piece. Specific embodiments

[0038] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0039] Embodiment 1

[0040] Refer to Figures 1-6, A visual automation system for measuring the viscosity of energetic materials, comprising a main frame body 1, a heat preservation component 2 and a measuring component 3. The heat preservation component 2 is installed on the main frame body 1, and the measuring component 3 is arranged inside the heat preservation component 2. When the sample flows out from the measuring component 3 for viscosity measurement, it can be insulated by the liquid in the heat preservation component 2.

[0041] The main frame body 1 includes a vertical frame 11 and a placement plate 12 supported by the vertical frame 11. An industrial camera 4 is fixedly installed on the upper surface of the placement plate 12. The heat preservation component 2 is installed directly below the industrial camera 4. The industrial camera 4 is electrically connected to a graphics processing workstation configured externally, so as to identify and automatically process the images captured by the industrial camera 4 to automatically obtain detection data.

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

[0043] The heat preservation component 2 includes a heat preservation cylinder 21, a circulation control component 22, a ring rail matching component 23 and a winding drive component 24. The heat preservation cylinder 21 is a hollow cylinder open at the top and closed at the bottom. The heat preservation cylinder 21 is filled with a heat exchange liquid. The circulation control component 22 includes a central controller 221, a circulation pump 222, and a liquid delivery pipe 223 and a return pipe 224 installed at both ends of the circulation pump 222. The liquid delivery pipe 223 communicates with the lower part of the heat preservation cylinder 21, and the return pipe 224 communicates with the lower part of the heat preservation cylinder 21. The circulation pump 222 can pump the heat exchange liquid in the heat preservation cylinder 21 out from the return pipe 224 and pump it back into the heat preservation cylinder 21 through the liquid delivery pipe 223 for reflux. A heat exchange element controlled by the central controller 221 for temperature is arranged inside the circulation pump 222. When the heat exchange liquid flows through the heat exchange element in the circulation pump 222, it can exchange heat with the heat exchange element and undergo a temperature change. After the central controller 221 obtains the measurement temperature required for the energetic material sample from the outside, it can control the heat exchange element to change to this temperature and start the circulation pump 222, so that the heat exchange liquid in the heat preservation cylinder 21 reaches 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 cylinder 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 circumferential movement driving assembly 24 includes a mating rotating ring 241, a hydraulic base 242 and a hydraulic arm 243. One side of the mating rotating ring 241 facing the fixed ring rail 231 has a mating card slot 202 which allows the fixed ring rail 231 to be arranged therein. Limiting balls 244 are arranged on the upper and lower surfaces of the mating card slot 202. Mating grooves 203 which can allow the limiting balls 244 to be placed therein are arranged on the upper and lower surfaces of the fixed ring rail 231. After the limiting balls 244 are placed in the mating grooves 203, they can smoothly roll in the mating grooves 203. The upper and lower surfaces of the mating card slot 202 and the upper and lower surfaces of the fixed ring rail 231 are closely close but do not generate sliding friction, so that the mating rotating ring 241 can move along the circumference of the fixed ring rail 231 by relying on the rolling of the limiting balls 244 in the mating grooves 203.

[0045] An inner convex ring plate 245 is arranged in the mating card slot 202. The inner convex ring plate 245 extends towards the fixed ring rail 231 and into the inner ring groove 201, but does not contact the inner peripheral wall of the inner ring groove 201. The driving member 232 is arranged on the inner peripheral wall of the inner ring groove 201. The driving member 232 includes a driven gear 2321 and a fixed motor 2322 for driving the axial rotation of the driven gear 2321. Tooth ring strips 246 which can be matched with the tooth teeth of the driven gear 2321 are arranged on the upper surface or the lower surface of the inner convex ring plate 245. The driven gear 2321 is arranged at a position where it can be meshed with the tooth ring strips 246. When the fixed motor 2322 is controlled by the central controller 221 to drive the driven gear 2321 to rotate, it can drive the axial rotation of the mating rotating ring 241 by means of the cooperation between the driven gear 2321 and the tooth ring strips 246.

[0046] The hydraulic base 242 is fixedly installed on the mating rotating ring 241. An electricity connection plate 247 is arranged at a specified position on the circumferential surface of the inner convex ring plate 245 facing the inner ring groove 201. The hydraulic base 242 is electrically connected to the electricity connection plate 247, so that the electricity connection plate 247 can transmit the received electric energy and electric control signals to the hydraulic base 242. The docking member 233 is installed at a specified position on the inner peripheral wall of the inner ring groove 201. The vertical position where the docking member 233 is arranged is the same as that of the inner convex ring plate 245.

[0047] The docking member 233 includes a moving head 2331 and an adjusting sleeve 2332. One side of the moving head 2331 facing the inner convex ring plate 245 has a docking piece 2333. 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 recessed groove 204 provided in the docking member 233. The adjusting sleeve 2332 is threadedly sleeved on the threaded rod 2334. The threaded rod 2334 extends horizontally towards the inner convex ring plate 245. The moving head 2331 can move horizontally closer to and away from the inner convex ring plate 245 by driving the adjusting sleeve 2332 to rotate axially. When the mating rotating ring 241 rotates axially, the docking piece 2333 is separated from the power connection plate 247. The driving member 232 can rotate the mating rotating ring 241 and stop it at a specified position under the control of the central controller 221, so that the docking piece 2333 corresponds to the power connection plate 247. After the power connection plate 247 moves to a position corresponding to the docking piece 2333, the moving head 2331 can move horizontally closer to the inner convex ring plate 245 until the docking piece 2333 is in close contact with the power connection plate 247 for electrical connection, so that the hydraulic base 242 can receive the electric energy and electric control signals supplied by the central controller 221.

[0048] One end of the hydraulic arm 243 is controlled by the hydraulic base 242 and can perform vertical telescopic movement. The other end extends upward and bypasses the top peripheral wall of the heat preservation cylinder 21 and is connected to the telescopic connecting member 5 provided on the outer peripheral wall of the measuring assembly 3. The telescopic connecting member 5 is electrically connected to the hydraulic base 242 and can receive the electric energy and electric control signals supplied by the central controller 221. After the measuring assembly 3 is filled with the energetic material sample, the telescopic connecting member 5 can extend, so that the central axis of the measuring assembly 3 is no longer the same as that of the heat preservation cylinder 21. When the mating rotating ring 241 rotates axially, it will drive the fixedly installed hydraulic base 242 to rotate circumferentially around the central axis of the heat preservation cylinder 21 on the outer periphery of the heat preservation cylinder 21, and then drive the telescopic connecting member 5 to rotate circumferentially around the central axis of the heat preservation cylinder 21 inside the heat preservation cylinder 21. Since the measuring assembly 3 connected by the telescopic connecting member 5 is in an eccentric state inside the heat preservation cylinder 21 at this time, the circumferentially rotating telescopic connecting member 5 will drive the measuring assembly 3 to rotate eccentrically inside the heat preservation cylinder 21, so that the energetic material sample loaded in the measuring assembly 3 undergoes centrifugal flow, making the contact heat exchange surface between the energetic material sample and the inner peripheral wall of the measuring assembly 3 larger, and the heat exchange faster and more sufficient. At the same time, the energetic material sample can perform flow heat exchange by itself after exchanging heat with the inner peripheral wall of the measuring assembly 3, and the temperature distribution of the energetic material sample is more uniform during measurement, and the detection data error is smaller.

[0049] Example 2

[0050] Reference Figures 1-6 In this embodiment, the difference from Embodiment 1 is that the measurement assembly 3 includes a conical cylinder 31, a circular ring cylinder 32 and a docking part 33. The circular ring cylinder 32 and the docking part 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 part 33. A discharging part 25 that leads to the lower part is installed at the center of the bottom of the heat preservation cylinder 21. When the measurement assembly 3 is centrifugally shaken in the heat preservation cylinder 21, the hydraulic arm 243 extends to lift the docking part 33 upward, so that the sealing head 34 moves upward to separate from the discharging part 25. After the rotation of the measurement assembly 3 ends, the telescopic connecting piece 5 shortens to move the sealing head 34 directly above the discharging part 25. At the same time, the hydraulic arm 243 shortens to lower the measurement assembly 3, so that the sealing head 34 moves downward to dock with the discharging part 25 to prepare for the outflow detection.

[0051] The conical cylinder 31 is made of a heat-conducting material, while the circular ring cylinder 32 and the docking part 33 are both made of a heat-insulating material. Thus, the energetic material sample placed in the conical cylinder 31 can only exchange heat with the outside through the barrel wall of the circular ring cylinder 32. The heat exchange liquid in the heat preservation cylinder 21 submerges the top of the conical cylinder 31 and surrounds the circular ring cylinder 32, so that the energetic material sample in the conical cylinder 31 can only exchange heat with the heat exchange liquid in the heat preservation cylinder 21 through the side wall of the conical cylinder 31.

[0052] It can be understood that although the upper liquid level of the energetic material sample in the conical cylinder 31 can still contact the outside air and exchange heat with the outside air, resulting in a temperature change, the heat exchange area of the upper liquid level 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 performing the discharging outflow test, the sample that flows out first is the sample at the bottom of the conical cylinder 31, and the sample at the upper part of the conical cylinder 31 that exchanges heat with the outside air and undergoes a temperature change will not all flow out. The temperature of the sample that flows down and participates in the measurement timing is mostly maintained at the predetermined test temperature due to heat exchange with the heat exchange liquid in the heat preservation cylinder 21. The viscosity data measured by the system can ensure good accuracy.

[0053] The circumferential 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. Both the permanent heat exchange cavity 301 and the switching heat exchange cavity 302 are filled with heat-conducting liquid. An evacuated transfer cavity 303 is arranged inside the circular cylinder 32. The switching heat exchange cavity 302 is communicated with the transfer cavity 303 through a transfer pump 35. When the transfer pump 35 transports the heat-conducting liquid to the switching heat exchange cavity 302, the heat exchange liquid in the heat preservation cylinder 21 can exchange heat with the specimen inside the conical cylinder 31 through the heat-conducting material on the circumferential 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, so that the specimen and the heat-conducting liquid in the permanent heat exchange cavity 301 cannot exchange heat with the heat exchange liquid in the heat preservation cylinder 21.

[0054] A temperature controller 36 is arranged at the top of the permanent heat exchange cavity 301. The temperature controller 36 is controlled by the central controller 221 to supply or absorb heat to the heat-conducting liquid in the permanent heat exchange cavity 301. When the measuring assembly 3 performs centrifugal shaking, the inside of the switching heat exchange cavity 302 is in a vacuum state, so that the heat-conducting liquid in the permanent heat exchange cavity 301 only exchanges heat with the specimen in the conical cylinder 31, quickly and efficiently changing the temperature of the specimen without affecting the temperature of the heat exchange liquid in the heat preservation cylinder 21. After the specimen reaches the predetermined detection temperature, the permanent heat exchange cavity 301 is refilled with heat-conducting liquid, so that the specimen can exchange heat and be insulated with the heat exchange liquid in the heat preservation cylinder 21.

[0055] The docking part 33 includes a heat-insulating cylinder 331 communicating with the bottom of the conical cylinder 31 and a covering ring 332 arranged on the outer peripheral wall of the bottom end of the heat-insulating cylinder 331. Two temperature sensors 333 are arranged inside 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 as to be able to sensitively detect the real-time temperatures of the specimen inside the heat-insulating cylinder 331 and the heat exchange liquid in the heat preservation cylinder 21. The temperature sensors 333 are 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 assembly 3 to stop centrifugal shaking and dock with the discharging part 25 for the pending detection work.

[0056] Embodiment 3

[0057] Refer to Figures 1-6, The difference between this embodiment and Embodiment 2 is that the feeding part 25 includes a feeding through-ring 251, an opposing sealing plate 252, and a pulling member 253. The feeding through-ring 251 has an outflow channel 205 that penetrates up and down, and the sealing head 34 can just be inserted into the outflow channel 205. The sealing head 34 has a feeding channel 304 that penetrates up and down inside. The sample in the heat insulation cylinder 331 can flow downward through the feeding channel 304 and enter the outflow channel 205.

[0058] The bottom of the sealing head 34 has a horizontal limiting rail 305. Two flow intercepting plates 341 are arranged in the horizontal limiting rail 305. The flow intercepting plates 341 are installed on the horizontal limiting rail 305 by sliding rails. The upper surface of the flow intercepting plate 341 is in close contact with the upper surface of the horizontal limiting rail 305. The upper surface of the flow intercepting plate 341 is provided with a limiting socket 306. A vertical channel 307 is arranged on each side of the feeding channel 304. A return spring 342 and a locking block 343 arranged at the lower end of the return spring 342 are arranged in the vertical channel 307. Under normal circumstances, the return spring 342 pushes the lower half of the locking block 343 out of the vertical channel 307. When the two flow intercepting plates 341 move towards each other and just close the lower outlet of the feeding channel 304, the limiting socket 306 is just directly below the vertical channel 307, so that the lower half of the locking block 343 pushed out by the return spring 342 just inserts into the limiting socket 306 to lock the horizontal position of the flow intercepting plate 341, and further keep the flow intercepting plate 341 sealing the lower outlet of the feeding channel 304.

[0059] The opposing sealing plate 252 is arranged in the recovery grooves 206 on both sides of the outflow channel 205. The pulling member 253 arranged in the recovery grooves 206 can push the opposing sealing plate 252 towards each other for docking to close the upper part of the outflow channel 205, so as to prevent the heat exchange liquid in the heat insulation cylinder 21 from flowing out. The upper surface of the opposing sealing plate 252 is provided with an upper poking rod 254. When the flow intercepting plates 341 are in the docking state and move down to above the opposing sealing plate 252, the upper poking rod 254 is just directly below the limiting socket 306. When the sealing head 34 continues to move down and is inserted into the outflow channel 205, the heat exchange liquid originally in the upper part of the opposing sealing plate 252 will be squeezed into the heat insulation cylinder 21. At the same time, the upper poking rod 254 will insert into the limiting socket 306 until the lower surface of the sealing head 34 is in close contact with the upper surface of the opposing sealing plate 252. At this time, the upper poking rod 254 pushes the locking block 343 back into the vertical channel 307 and does not penetrate into the vertical channel 307 itself, thus releasing the lateral lock of the flow intercepting plate 341.

[0060] Embodiment 4

[0061] Refer to Figures 1-6 , A method for visually and automatically measuring the viscosity of energetic materials, comprising the following steps:

[0062] S1: Inject the energetic material sample to be measured into the conical cylinder 31, and input the required detection temperature into the central controller 221.

[0063] S2: The central controller 221 changes the temperature of the heat exchange liquid in the heat preservation cylinder 21 to the detection temperature by controlling the temperature of the heat exchange element in the circulating pump 222. At the same time, the circumferential movement drive assembly 24 drives the measurement assembly 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 drive assembly 24 stops rotating and moves the measurement assembly 3 directly above the discharging part 25. Then, the measurement assembly 3 is moved downward so that the sealing head 34 is docked with the discharging part 25.

[0065] S4: Start the industrial camera 4 and adjust the focal length to accurately reach the state of the sample liquid level. 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 records the entire process of the sample flowing downward and transmits it to the graphic processing workstation. Through the graphic processing workstation, the liquid level video image obtained is processed. It is judged whether the upper pointer 37 or the lower pointer 38 appears in the liquid level video image, and the reverse determination of the detection accuracy of the liquid level pointer is carried out. By respectively recording the moments when the two pointers appear in the liquid level, the time for the liquid level to pass between the two pointers is calculated, so as to calculate and obtain the viscosity data of the sample and output it.

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

[0068] S5.1: Use the bilateral filtering algorithm and the adaptive contrast enhancement (ACE) algorithm for the real-time video image to perform enhancement and filtering preprocessing to overcome the influence of noise and light.

[0069] S5.2: Use the Laplacian of Gaussian (LOG) blob detection method in the difference method to detect the liquid level pointer in real time.

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

[0071] When the area of the circular region received by the computer of the graphics processing workstation, which is visually measured by the industrial camera 4, is infinitely close to the actual circular area of the calculated pointer, the pointer that appears at the current liquid level with the highest probability is the real pointer, and the recorded moment is the most accurate at this time. Thus, the reverse determination process of the pointer detection result is realized by using the geometric parameter measurement technology based on computer vision.

[0072] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0073] In the present invention, unless otherwise clearly specified and defined, the terms "set", "install", "connect", "couple", "fix", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] The control mode of the present invention is automatically controlled by a controller. The control circuit of the controller can be realized by simple programming by those skilled in the art. The provision of power also belongs to the common knowledge in the art. And the present invention mainly aims to protect mechanical devices, so the control mode and circuit connection of the present invention will not be explained in detail.

[0075] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and 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), characterized in that: The main frame (1) fixes the industrial camera (4) above the insulation component (2). The insulation component (2) includes an insulation cylinder (21), a circulation control component (22), a ring rail matching component (23) and a rotation drive component (24). The ring rail matching component (23) and the rotation drive component (24) are installed on the outer peripheral surface of the insulation cylinder (21). The circulation control component (22) is used to keep the heat exchange fluid in the insulation cylinder (21) at a predetermined detection temperature. The ring rail matching component (23) includes a fixed ring rail (231), a drive component (24) and a rotating drive component (24). (232) and a docking piece (233), the outer peripheral wall of the fixed ring rail (231) having an inner ring groove (201), the driving piece (232) and the docking piece (233) being arranged on the inner peripheral wall of the inner ring groove (201), the orbiting driving assembly (24) comprising a matching rotating circle (241), a hydraulic base (242) and a hydraulic arm (243), the matching rotating circle (241) having a matching slot (202) on a side facing the fixed ring rail (231), the matching slot (202) allowing the fixed ring rail (231) to be arranged therein; 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), and 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), and 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), and the hydraulic base (242) is fixedly mounted on the matching rotating ring (241) and electrically connected to the electric connection plate (247), and the electric connection plate (247) can be electrically connected to the docking member (233) moved toward the inner convex ring plate (245); One end of the hydraulic arm (243) is controlled by the hydraulic base (242) 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) to be connected to a telescopic connection member (5) provided 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. The measuring assembly (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 portion 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 assembly (3) can be lowered.

2. A visual automated system for measuring the viscosity of energetic materials according to claim 1, characterized in that: 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 measuring the viscosity of energetic materials according to claim 1, characterized in that: 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).

4. A visual automated system for measuring the viscosity of energetic materials according to claim 2, characterized in that: The discharge portion (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 passes through from top to bottom; the sealing head (34) can be inserted into the outflow channel (205); the sealing head (34) has an discharge channel (304) which passes through from top to bottom; 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); two sides of the discharge channel (304) are respectively provided with a vertical channel (307); 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).

5. A visual automated system for measuring the viscosity of energetic materials according to claim 4, characterized in that: The sealing plates (252) are arranged in the recovery grooves (206) on both sides of the outflow channel (205), and an upper poking rod (254) is arranged on the upper surface of the sealing plates (252). When the intercepting plate (341) is moved to the top of the sealing plates (252) in a docked 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 into the vertical channel (307) without probing into the vertical channel (307).

6. A method for visually automating the determination of the viscosity of energetic materials, using the visually automating the determination of the viscosity of energetic materials system according to claim 5, 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 centrifugally rotate in the heat preservation cylinder (21) so that the sample in the conical cylinder (31) quickly reaches the detection temperature; S3: the rotation of the rotation driving assembly (24) stops and the measuring assembly (3) is moved to the top of the discharge portion (25), and then the measuring assembly (3) is moved 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 state, 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.

7. A method for visually automating the determination of the viscosity of energetic materials according to claim 6, characterized in that: 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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