Aluminum bar processing detection method, device, system and equipment

Abstract

The present application relates to a method, device, system, and equipment for detecting aluminum bar processing, and relates to the field of aluminum bar processing detection. The method includes obtaining the air pressure value within each annular air duct, determining whether there is an abnormal discharge port with a leak based on the air pressure value, and if so, obtaining the aluminum liquid height at the feed port corresponding to each abnormal discharge port and the first distance from each abnormal feed port to the sealing plug stacking location, determining the blocking order of the abnormal feed ports based on the air pressure value, the aluminum liquid height, and the first distance, and controlling a gripping device to pick up the sealing plugs in the blocking order and place the sealing plugs into the abnormal feed ports. The present application has the effect of improving the efficiency of leak monitoring and timely blocking leaking feed ports.

Description

Technical Field

[0001] The present application relates to the field of aluminum bar processing detection, and in particular to an aluminum bar processing detection method, device, system and equipment. Background Art

[0002] Aluminum rods are obtained by cooling and crystallizing molten aluminum. Aluminum rods are widely used as raw materials in casting and other fields. Currently, in aluminum rod production, high-temperature molten aluminum is usually introduced into a crystallizer and flows out from the discharge port of the crystallizer. Cooling water can be sprayed at the discharge port to cool the molten aluminum, thereby obtaining a columnar aluminum rod. However, the molten aluminum may contain impurities, which accumulate at the discharge port or cause abnormalities in the discharge port due to other reasons, thereby causing leakage at the discharge port. The high-temperature molten aluminum splashes out of the discharge port and contacts the cooling water, which can easily cause an explosion or affect the forming quality of the aluminum rod. Currently, manual monitoring is usually performed to determine whether leakage occurs. After a leakage is detected, a sealing plug is placed at the corresponding feed port, thereby interrupting the cooling of the molten aluminum and preventing the aluminum from leaking. However, manual monitoring has the defects of low efficiency and untimely use. Therefore, how to improve the efficiency of leakage monitoring and timely seal the leaking feed port has become a problem. Summary of the Invention

[0003] In order to effectively improve the efficiency of leakage monitoring and timely seal the leaking feed port, the present application provides an aluminum rod processing detection method, device, system and equipment.

[0004] In the first aspect, the present application provides an aluminum bar processing detection method, which adopts the following technical solution:

[0005] A method for processing and detecting an aluminum bar, comprising:

[0006] Obtaining the air pressure value in each annular air guide pipe, wherein the annular air guide pipe is located below the discharge port;

[0007] Determine whether there is an abnormal discharge port with leakage based on the air pressure value;

[0008] If so, the aluminum liquid height at the feed port corresponding to each abnormal discharge port and the first distance from each abnormal feed port to the sealed plug stacking location are obtained;

[0009] Determining a blocking order of abnormal feed ports based on the air pressure value, the height of the molten aluminum, and the first distance;

[0010] The grabbing device is controlled to pick up the sealing plug according to the blocking sequence and place the sealing plug into the abnormal feed port.

[0011] By adopting the above technical solution, the air pressure value in the annular air guide tube below each discharge port is obtained. The air pressure value represents the sealing degree of the annular air guide tube. If the aluminum liquid at the discharge port leaks, it will splash outward and flow onto the annular air guide tube, melting the annular air guide tube, and the air pressure value of the annular air guide tube will change accordingly. Therefore, based on the air pressure value, it is judged whether there is an abnormal discharge port with leakage. If so, the aluminum liquid height at the feed port corresponding to each abnormal discharge port and the first distance from each abnormal feed port to the sealing plug stacking place are obtained. The air pressure value, the aluminum liquid height and the first distance are all important factors affecting the sealing order. Therefore, the sealing order of the abnormal feed ports is determined based on the air pressure value, the aluminum liquid height and the first distance. By controlling the grasping device to pick up the sealing plugs in the sealing order and placing the sealing plugs in the abnormal feed ports, the leakage monitoring efficiency can be effectively improved, and the leaking feed ports can be sealed in time, reducing the occurrence of explosions and the loss of aluminum bars.

[0012] In another possible implementation, determining the blocking order of the abnormal feed ports based on the air pressure value, the aluminum liquid height, and the first distance includes:

[0013] Calculating a first difference between the aluminum liquid height and a preset height threshold, and a second difference between the air pressure value and a preset air pressure threshold;

[0014] determining a first score based on the first difference, the second difference, the first distance, and respective first coefficients;

[0015] A blocking order of the abnormal liquid inlets is determined based on the first scores.

[0016] In another possible implementation, the controlling the grabbing device to pick up the sealing plug according to the blocking sequence and place the sealing plug into the abnormal feed port includes:

[0017] Marking the abnormal feed ports in a preset array, and performing a sliding scan on the marked preset array based on a preset window range to obtain a plurality of first window matrices including at least two abnormal feed ports, wherein the preset array is arranged according to the arrangement of the plurality of feed ports;

[0018] If there is a target abnormal feed port, and the first window matrix where the target abnormal feed port is located meets the preset conditions, then the second window matrix where the target abnormal feed port is located is determined based on the number of abnormal feed ports in at least two first window matrices where the target abnormal feed port is located and the blocking order. In the second window matrix, the target abnormal feed port does not appear in other first window matrices, and the target abnormal feed port is located in at least two first window matrices.

[0019] The preset conditions include any of the following:

[0020] The number of abnormal feed ports is different;

[0021] The number of abnormal feed ports is the same, but the abnormal feed ports are different;

[0022] Marking all abnormal feed ports in the second window matrix as normal feed ports in the marked preset array, and performing a sliding scan on the currently marked preset array based on the preset window range to obtain a plurality of third window matrices including at least two abnormal feed ports;

[0023] Determine a second distance from each target window matrix to the blockage stacking location, wherein the target window matrix includes a second window matrix and a third window matrix;

[0024] Determining the priority of each target window matrix based on the second distance, the number of abnormal feed ports in the target window matrix, and the blocking order of the abnormal feed ports;

[0025] Based on the priority and the position and number of abnormal feed openings in each target window matrix, the grabbing device is controlled to pick up the sealing plug according to the priority and place the sealing plug into the abnormal feed opening;

[0026] When it is detected that all target window matrices are blocked, the gripping device is controlled to pick up the blocking plugs and place the blocking plugs into the remaining abnormal feed openings based on the blocking order of the remaining abnormal feed openings.

[0027] In another possible implementation, the method further includes:

[0028] Acquire first image information of the abnormal discharge port;

[0029] determining the leakage range and leakage severity of the abnormal discharge port based on the first image information;

[0030] Determine the target water spray hole corresponding to the leakage range;

[0031] Determining the water flow pressure of the target water spray hole based on the leakage range and leakage severity;

[0032] The water pump is controlled to increase power until the water flow pressure is reached.

[0033] In another possible implementation, the first image information is a plurality of first image information obtained by continuous shooting, and determining the leakage range and leakage severity of the abnormal discharge port based on the first image information includes:

[0034] Performing a liquid leakage analysis based on the first image information to obtain a liquid leakage range of each abnormal discharge port;

[0035] Calculating the similarity between two adjacent pieces of the first image information of each abnormal discharge port;

[0036] The similarity variance of each abnormal discharge port is calculated, and the severity of the leakage is determined based on the similarity variance.

[0037] In another possible implementation, the method further includes:

[0038] Acquire second image information of each discharge port;

[0039] Performing feature recognition based on the second image information to determine whether there is leakage on the surface of the aluminum ingot;

[0040] If there is an aluminum ingot leakage outlet, determine a third distance from the feed port corresponding to the aluminum ingot leakage outlet to the sealed plug stacking location;

[0041] The grabbing device is controlled to pick up the sealing plug and place the sealing plug into the feed port corresponding to the aluminum ingot leakage outlet from near to far according to the third distance.

[0042] In another possible implementation, the method further includes:

[0043] If the number of abnormal discharge ports exceeds a preset threshold, a prompt message is output.

[0044] In a second aspect, the present application provides an aluminum bar processing detection device, which adopts the following technical solution:

[0045] An aluminum bar processing and detection device, comprising:

[0046] An air pressure acquisition module, used to acquire the air pressure value in each annular air guide pipe, wherein the annular air guide pipe is located below the discharge port;

[0047] A first judgment module is used to judge whether there is an abnormal discharge port with liquid leakage based on the air pressure value;

[0048] an acquisition module, configured to acquire, if any, the height of the molten aluminum at the feed port corresponding to each abnormal discharge port and a first distance from each abnormal feed port to a sealed plug stacking location;

[0049] a first determining module, configured to determine a blocking order of abnormal feed ports based on the air pressure value, the height of the molten aluminum, and the first distance;

[0050] The first control module is used to control the grabbing device to pick up the sealing plug according to the blocking sequence and place the sealing plug into the abnormal feed port.

[0051] By adopting the above technical solution, the air pressure acquisition module obtains the air pressure value in the annular air duct below each discharge port. The air pressure value represents the sealing degree of the annular air duct. If the aluminum liquid at the discharge port leaks, it will splash outward and flow onto the annular air duct, melting the annular air duct, and the air pressure value of the annular air duct will change accordingly. Therefore, the first judgment module determines whether there is an abnormal discharge port with leakage based on the air pressure value. If so, the acquisition module obtains the aluminum liquid height at the feed port corresponding to each abnormal discharge port and the first distance from each abnormal feed port to the sealing plug stacking location. The air pressure value, aluminum liquid height and first distance are all important factors affecting the blocking order. Therefore, the first determination module determines the blocking order of the abnormal feed port based on the air pressure value, aluminum liquid height and first distance. The first control module controls the grasping device to pick up the sealing plug in accordance with the blocking order and places the sealing plug in the abnormal feed port, which can effectively improve the leakage monitoring efficiency and can timely block the leaking feed port, reducing the occurrence of explosion and the loss of aluminum rods.

[0052] In another possible implementation, when determining the blocking order of the abnormal feed ports based on the air pressure value, the aluminum liquid height, and the first distance, the first determining module is specifically configured to:

[0053] Calculating a first difference between the aluminum liquid height and a preset height threshold, and a second difference between the air pressure value and a preset air pressure threshold;

[0054] determining a first score based on the first difference, the second difference, the first distance, and respective first coefficients;

[0055] A blocking order of the abnormal liquid inlets is determined based on the first scores.

[0056] In another possible implementation, when the first control module controls the grabbing device to pick up the sealing plug according to the blocking sequence and place the sealing plug into the abnormal feed port, it is specifically configured to:

[0057] Marking the abnormal feed ports in a preset array, and performing a sliding scan on the marked preset array based on a preset window range to obtain a plurality of first window matrices including at least two abnormal feed ports, wherein the preset array is arranged according to the arrangement of the plurality of feed ports;

[0058] If there is a target abnormal feed port, and the first window matrix where the target abnormal feed port is located meets the preset conditions, then the second window matrix where the target abnormal feed port is located is determined based on the number of abnormal feed ports in at least two first window matrices where the target abnormal feed port is located and the blocking order. In the second window matrix, the target abnormal feed port does not appear in other first window matrices, and the target abnormal feed port is located in at least two first window matrices.

[0059] The preset conditions include any of the following:

[0060] The number of abnormal feed ports is different;

[0061] The number of abnormal feed ports is the same, but the abnormal feed ports are different;

[0062] Marking all abnormal feed ports in the second window matrix as normal feed ports in the marked preset array, and performing a sliding scan on the currently marked preset array based on the preset window range to obtain a plurality of third window matrices including at least two abnormal feed ports;

[0063] Determine a second distance from each target window matrix to the blockage stacking location, wherein the target window matrix includes a second window matrix and a third window matrix;

[0064] Determining the priority of each target window matrix based on the second distance, the number of abnormal feed ports in the target window matrix, and the blocking order of the abnormal feed ports;

[0065] Based on the priority and the position and number of abnormal feed openings in each target window matrix, the grabbing device is controlled to pick up the sealing plug according to the priority and place the sealing plug into the abnormal feed opening;

[0066] When it is detected that all target window matrices are blocked, the gripping device is controlled to pick up the blocking plugs and place the blocking plugs into the remaining abnormal feed openings based on the blocking order of the remaining abnormal feed openings.

[0067] In another possible implementation, the apparatus further includes:

[0068] A first image acquisition module, used to acquire first image information of the abnormal discharge port;

[0069] a first image determination module, configured to determine a leakage range and leakage severity of the abnormal discharge port based on the first image information;

[0070] A target water spray hole determination module is used to determine the target water spray hole corresponding to the leakage range;

[0071] a water flow pressure determination module, configured to determine the water flow pressure of the target water spray hole based on the leakage range and leakage severity;

[0072] The water pump control module is used to control the water pump to increase power until the water flow pressure is reached.

[0073] In another possible implementation, when determining the leakage range and leakage severity of the abnormal discharge port based on the first image information, the first image determination module is specifically configured to:

[0074] Performing a liquid leakage analysis based on the first image information to obtain a liquid leakage range of each abnormal discharge port;

[0075] Calculating the similarity between two adjacent pieces of the first image information of each abnormal discharge port;

[0076] The similarity variance of each abnormal discharge port is calculated, and the severity of the leakage is determined based on the similarity variance.

[0077] In another possible implementation, the apparatus further includes:

[0078] A second image acquisition module, used to acquire second image information of each discharge port;

[0079] a second judgment module, configured to perform feature recognition based on the second image information to determine whether there is leakage on the surface of the aluminum ingot;

[0080] The second determining module is configured to determine, if there is an aluminum ingot leakage outlet, a third distance from the feed port corresponding to the aluminum ingot leakage outlet to the sealed plug stacking location;

[0081] The second control module is used to control the grasping device to pick up the sealing plug and place the sealing plug into the feed port corresponding to the aluminum ingot leakage outlet from near to far according to the third distance.

[0082] In another possible implementation, the apparatus further includes:

[0083] The output module is used to output a prompt message if the number of the abnormal discharge ports exceeds a preset number threshold.

[0084] In a third aspect, the present application provides an aluminum bar processing detection system, which adopts the following technical solutions:

[0085] An aluminum bar processing detection system, the system comprising:

[0086] An annular air guide pipe is provided below each discharge port and is coaxial with the discharge port;

[0087] An air pressure sensor is provided in each annular air duct to collect air pressure values;

[0088] A grabbing device, used to pick up the sealing plugs in the order of blocking and place them into the abnormal feed port;

[0089] An electronic device is used to obtain the air pressure value in each annular air duct; determine whether there is an abnormal discharge port with leakage based on the air pressure value; if so, obtain the aluminum liquid height at the feed port corresponding to each abnormal discharge port and the first distance from each abnormal feed port to the sealing plug stacking location; determine the sealing order of the abnormal feed ports based on the air pressure value, the aluminum liquid height and the first distance; and control the grasping device to pick up the sealing plugs in the sealing order and place the sealing plugs into the abnormal feed ports.

[0090] In a fourth aspect, the present application provides an electronic device, which adopts the following technical solution:

[0091] An electronic device, comprising:

[0092] at least one processor;

[0093] Memory;

[0094] At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and at least one is configured to: execute an aluminum bar processing detection method shown in any possible implementation manner of the first aspect.

[0095] In summary, this application includes at least one of the following beneficial technical effects:

[0096] The air pressure value in the annular air duct below each discharge port is obtained. The air pressure value represents the sealing degree of the annular air duct. If the aluminum liquid at the discharge port leaks, it will splash outward and flow onto the air duct, melting the annular air duct, and the air pressure value of the annular air duct will change accordingly. Therefore, based on the air pressure value, it is judged whether there is an abnormal discharge port with leakage. If so, the aluminum liquid height at the feed port corresponding to each abnormal discharge port and the first distance from each abnormal feed port to the sealing plug stacking position are obtained. The air pressure value, the aluminum liquid height and the first distance are all important factors affecting the sealing order. Therefore, the sealing order of the abnormal feed ports is determined based on the air pressure value, the aluminum liquid height and the first distance. By controlling the grasping device to pick up the sealing plugs in the sealing order and place the sealing plugs in the abnormal feed ports, the leakage monitoring efficiency can be effectively improved, and the leaking feed ports can be sealed in time, reducing the occurrence of explosions and the loss of aluminum bars. BRIEF DESCRIPTION OF THE DRAWINGS

[0097] Figure 1 It is a flow chart of an aluminum bar processing and detection method according to an embodiment of the present application.

[0098] Figure 2 It is a bottom view of the crystallizer discharge port in the embodiment of the present application.

[0099] Figure 3 It is a cross-sectional view of the discharge port in the embodiment of the present application.

[0100] Figure 4 This is a specific example diagram of an embodiment of the present application in which the number of abnormal feed ports is the same but the positions are different.

[0101] Figure 5 It is a structural diagram of an aluminum rod processing and detection device in an embodiment of the present application.

[0102] Figure 6 It is a structural diagram of an aluminum rod processing and detection system according to an embodiment of the present application.

[0103] Figure 7 It is a structural diagram of an electronic device according to an embodiment of the present application.

[0104] Figure numerals: 1. water spray hole; 2. first camera device; 20. aluminum rod processing and detection device; 201. air pressure acquisition module; 202. first judgment module; 203. acquisition module; 204. first determination module; 205. first control module; 30. aluminum rod processing and detection system; 301. annular air guide tube; 302. air pressure sensor; 303. grasping device; 304. electronic device; 305. water pump; 306. second camera device; 3041. processor; 3042. bus; 3043. memory; 3044. transceiver. DETAILED DESCRIPTION

[0105] The present application is further described in detail below with reference to the accompanying drawings.

[0106] After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application.

[0107] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0108] In this document, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document, unless otherwise specified, generally indicates an "or" relationship between the related objects.

[0109] The embodiments of the present application are described in further detail below with reference to the accompanying drawings.

[0110] The embodiment of the present application provides an aluminum rod processing detection method, which is executed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited to this. The terminal device and the server can be directly or indirectly connected through wired or wireless communication. The embodiment of the present application does not limit this. Figure 1 As shown, the method includes steps S101, S102, S103, S104 and S105, wherein:

[0111] S101, obtaining the air pressure value in each annular air guide pipe, where the air guide pipe is located below the discharge port.

[0112] In the embodiment of the present application, an annular air duct is installed under each discharge port, and an air pressure sensor is installed inside the annular air duct, which is wirelessly connected to the electronic device. The air pressure sensor collects the air pressure value inside the annular air duct, and the electronic device then obtains the air pressure value in each annular air duct. The air pressure value can reflect the sealing degree of the annular air duct, such as Figure 2 and Figure 3 As shown, Figure 2 This is a bottom view of the crystallizer discharge port. Figure 3 It is a cross-sectional view of the discharge port. High-temperature molten aluminum flows downward from the discharge port of the crystallizer. The water spray hole 1 sprays cooling water to cool the molten aluminum. Two corresponding first camera devices 2 collect images of the discharge port and the surface of the aluminum ingot. An annular air guide tube 301 is provided below the discharge port, and an air pressure sensor 302 is provided inside the annular air guide tube.

[0113] S102, judging whether there is an abnormal discharge port with leakage based on the air pressure value.

[0114] In the embodiment of the present application, if the molten aluminum at the discharge port leaks, it will flow onto the annular air duct, melting the annular air duct. The air pressure value in the annular air duct will decrease due to the melting of the annular air duct. The smaller the air pressure value, the worse the sealing degree of the annular air duct, and the more molten aluminum leaks. By setting a preset air pressure threshold in the electronic device, when the obtained air pressure value is compared with the preset air pressure threshold, it is determined whether there is a leakage.

[0115] S103, if it exists, obtain the aluminum liquid height at the feed port corresponding to each abnormal discharge port and the first distance from each abnormal feed port to the sealed plug stacking location.

[0116] For the embodiment of the present application, the molten aluminum is diverted into the drainage trough, and the molten aluminum flows along the drainage trough into the feed port. The feed port is funnel-shaped, and the height of the molten aluminum is the height of the molten aluminum in the funnel-shaped feed port. A second camera device is installed above the crystallizer tooling, and the second camera device is wirelessly connected to the electronic device. The second camera device collects target image information of the crystallizer feed port. If the electronic device determines that there is an abnormal discharge port with leakage, it obtains the target image information at the feed port corresponding to each abnormal discharge port, performs feature recognition based on the target image information, determines the radius of the circular surface of the molten aluminum in each feed port, and calculates the ratio of the radius of the circular surface at the top of the feed port to the radius of the circular surface of the molten aluminum. The height of the molten aluminum is determined based on the ratio and the vertical height of the feed port.

[0117] A first coordinate system is established based on the target image information. The electronic device performs feature recognition to determine the center point of each abnormal feed port, and then determines the coordinates of the center point of each abnormal feed port and the coordinates of the blocked plug stacking location. The Euclidean distance formula is used to calculate the first distance between the coordinates of the center point of each abnormal feed port and the coordinates of the blocked plug stacking location. For example, if the coordinates of the center point of an abnormal feed port are (3, 5) and the coordinates of the blocked plug stacking location are (0, 0), the calculated first distance between the two coordinates is 5. The height of the molten aluminum at the feed port reflects the leakage of the abnormal discharge port. The lower the molten aluminum at the feed port, the more serious the leakage of the abnormal discharge port. The first distance represents the distance between each abnormal feed port and the blocked plug stacking location.

[0118] S104: Determine the blocking order of the abnormal feed ports based on the air pressure value, the aluminum liquid height, and the first distance.

[0119] For the embodiments of the present application, the air pressure value, the height of the molten aluminum and the first distance are all important factors affecting the order of blocking abnormal feed ports. The smaller the air pressure value, the more serious the leakage of the molten aluminum, and it needs to be blocked first. Similarly, the lower the height of the molten aluminum, the more serious the leakage of the molten aluminum, and it also needs to be blocked first. When there are multiple abnormal feed ports, they can be blocked from near to far according to the distance of the first distance, but all three factors will affect the blocking order, so the electronic device will make a comprehensive judgment on the three factors to determine the blocking order of the abnormal feed ports.

[0120] S105, controlling the grabbing device to pick up the sealing plug in accordance with the blocking sequence and placing the sealing plug into the abnormal feed port.

[0121] In the embodiment of the present application, the electronic device is connected to the gripping device via wired or wireless communication. After determining the blocking sequence, the electronic device generates an instruction (signal) according to the blocking sequence and sends it to the gripping device via wired or wireless communication. After receiving the instruction (signal), the gripping device picks up the blocking plugs according to the blocking sequence and places them into the abnormal feed port. The electronic device determines the abnormal feed port based on the air pressure value of the annular air duct, determines the blocking sequence based on various factors of the abnormal feed port, and finally controls the gripping device to pick up the blocking plugs according to the blocking sequence and place them into the abnormal feed port. This method can effectively improve the efficiency of leakage monitoring and can timely block the leaking feed port.

[0122] In a possible implementation of the embodiment of the present application, in step S104, the blocking order of the abnormal feed port is determined based on the air pressure value, the aluminum liquid height, and the first distance, specifically including step S1041 (not shown in the figure), step S1042 (not shown in the figure), and step S1043 (not shown in the figure), wherein:

[0123] S1041, calculating a first difference between the height of the aluminum liquid and a preset height threshold, and a second difference between the air pressure value and a preset air pressure threshold.

[0124] For the embodiment of the present application, the smaller the air pressure value, the more serious the aluminum liquid leakage is, and it needs to be blocked first. Similarly, the lower the aluminum liquid height, the more serious the aluminum liquid leakage is, and it also needs to be blocked first. The electronic device calculates a first difference between a preset height threshold and the aluminum liquid height, and a second difference between the air pressure value and the preset air pressure threshold. The first difference and the second difference both represent the severity of the aluminum liquid leakage, and thus represent the degree of abnormality of the abnormal feed port.

[0125] S1042: Determine a first score based on the first difference, the second difference, the first distance, and the respective first coefficients.

[0126] For the embodiment of the present application, since the first difference, the second difference, and the first distance can all characterize the abnormal degree of the abnormal feed port, and the three have different degrees of influence on the blocking order, the electronic device sets different first coefficients for the above three. Assuming that the first coefficient of the first difference is 0.6, the first coefficient of the second difference is 0.4, and the first coefficient of the first distance is 0.08, assuming that the first difference, the second difference, and the first distance of a certain abnormal feed port are 3, 5, and 12 respectively, the electronic device determines the first score as 0.6×3+0.4×5+0.08×12=4.76 based on the first difference, the second difference, the first distance, and the respective first coefficients. Among them, the respective first coefficients can be adaptively modified according to actual conditions and needs.

[0127] S1043: Determine a blocking order for the abnormal liquid inlets based on the first score.

[0128] For the embodiment of the present application, the electronic devices are sorted from large to small according to the first score. The higher the first score, the more serious the leakage of aluminum liquid corresponding to the abnormal feed port is, and it needs to be blocked first. Therefore, the blocking order of the abnormal feed ports is determined based on the first score.

[0129] In one possible implementation of the embodiment of the present application, in step S105, the grasping device is controlled to pick up the sealing plug in the blocking order and place the sealing plug into the abnormal feed port, specifically including step S1051 (not shown in the figure), step S1052 (not shown in the figure), step S1053 (not shown in the figure), step S1054 (not shown in the figure), step S1055 (not shown in the figure), step S1056 (not shown in the figure) and step S1057 (not shown in the figure), wherein,

[0130] S1051: Mark abnormal feed ports in a preset array, and perform a sliding scan on the marked preset array based on a preset window range to obtain a plurality of first window matrices including at least two abnormal feed ports.

[0131] The preset array is set according to the arrangement of multiple feed ports.

[0132] For the embodiment of the present application, the staff sets a preset array in advance according to the arrangement of multiple feed ports, stores it in an electronic device, and the electronic device marks the abnormal feed ports in the preset array. The gripping device is installed on the gantry crane, and the gripping device includes multiple manipulators. The movement directions of each manipulator are parallel. The manipulators can move horizontally along a straight line within a preset range, thereby changing the position of the manipulators on the same straight line. The movement range of each manipulator constitutes a preset window range. The preset window range and the preset step size can be set in advance by the staff and stored in the electronic device. The preset window range can be a range including 4 feed ports or 9 feed ports, which can be adjusted according to actual conditions. The electronic device slides and scans the marked preset array based on the preset window range and the preset step size until all feed ports are covered, thereby obtaining multiple first window matrices including at least two abnormal feed ports.

[0133] S1052: If the target abnormal feed port exists and the first window matrix where the target abnormal feed port is located meets the preset conditions, then the second window matrix where the target abnormal feed port is located is determined based on the number of abnormal feed ports in at least two first window matrices where the target abnormal feed port is located and the blocking order. The target abnormal feed port in the second window matrix does not appear in other first window matrices.

[0134] Preconditions include any of the following:

[0135] The number of abnormal feed ports is different;

[0136] The number of abnormal feed ports is the same, but the abnormal feed ports are different.

[0137] Wherein, the target abnormal feed port is located in at least two first window matrices.

[0138] In the embodiment of the present application, the first window matrix obtained by the electronic device scanning inevitably results in the same abnormal feed port being present in at least two first window matrices. Such an abnormal feed port is determined as a target abnormal feed port. However, if such an abnormal feed port appears repeatedly in multiple first window matrices, subsequent blocking work cannot be carried out. Therefore, the staff defines preset conditions for the target abnormal feed port and stores the preset conditions in the electronic device. The preset conditions include any one of the following:

[0139] The number of abnormal feed ports is different. For example, the target abnormal feed port is located in two first window matrices, one of which contains three abnormal feed ports including the target abnormal feed port, and the other contains two abnormal feed ports including the target abnormal feed port.

[0140] The number of abnormal feed ports is the same, but the abnormal feed ports are different. Figure 4 As shown, each circle is a feed port, the dotted box on the left is the first window matrix A, and the dotted box on the right is the first window matrix B. The first window matrix A contains the target abnormal feed port and abnormal feed port 1, and the first window matrix B contains the target abnormal feed port and abnormal feed port 2. The target abnormal feed port is in the two first window matrices. The number of abnormal feed ports in the two first window matrices is the same, but the positions of the abnormal feed ports are different.

[0141] The electronic device judges the abnormal feed port and the first window matrix. If the target abnormal feed port exists and the first window matrix where the target abnormal feed port is located meets the preset conditions, the second window matrix where the target abnormal feed port is located is determined based on the number of abnormal feed ports in at least two first window matrices where the target abnormal feed port is located and the blocking order:

[0142] If the first preset condition is met, assuming that the numbers of abnormal feed ports in the two first window matrices are 3 and 2 respectively, where 3>2, the electronic device determines that the first window matrix with 3 abnormal feed ports is the second window matrix.

[0143] If the second prerequisite is met, assuming Figure 4The blocking order of the target abnormal feed port is 3, the blocking order of another abnormal feed port 1 in the first window matrix A is 4, and the blocking order of another abnormal feed port 2 in the first window matrix B is 6. The sum of the blocking orders of the two abnormal feed ports in the first window matrix A is 3+4=7, and the sum of the blocking orders of the two abnormal feed ports in the first window matrix B is 3+6=9, where 7<9. Therefore, the electronic device determines that the first window matrix A is the second window matrix. In order to avoid duplication and ensure that subsequent blocking work can proceed normally, the target abnormal feed port in the second window matrix will not appear in other first window matrices.

[0144] If other special circumstances arise, the electronic device will prioritize the first window matrix scanned as the second window matrix. For example, if two first window matrices simultaneously contain only two target abnormal feed ports, and comparison based on number and blocking order is not possible, the first window matrix scanned first will be determined as the required second window matrix.

[0145] S1053, marking all abnormal feed ports in the second window matrix as normal discharge ports in the marked preset array, and performing a sliding scan on the currently marked preset array based on the preset window range to obtain multiple third window matrices including at least two abnormal feed ports.

[0146] For the embodiment of the present application, the electronic device marks all abnormal feed ports in the second window matrix as normal feed ports in the marked preset array, and the remaining abnormal feed ports are in the currently marked preset array. The currently marked preset array is slid and scanned again based on the preset window range to obtain multiple third window matrices including at least two abnormal feed ports.

[0147] S1054: Determine a second distance from each target window matrix to the blocked block stacking location, where the target window matrix includes a second window matrix and a third window matrix.

[0148] For the embodiment of the present application, the electronic device determines the second window matrix and the third window matrix as the target window matrices, and determines the center position of each target window matrix. Based on the center position, the second distance from each target window matrix to the blocked plug stacking location is determined. The size of the second distance can represent the distance from each target window matrix to the blocked plug stacking location.

[0149] S1055 , determining the priority of each target window matrix based on the second distance, the number of abnormal feed ports in the target window matrix, and the blocking order of the abnormal feed ports.

[0150] For the embodiments of the present application, the second distance, the number of abnormal feed ports in the target window matrix, and the blocking order of the abnormal feed ports are all important factors affecting the blocking priority of the target window matrix. The electronic device determines the priority of each target window matrix based on the second distance, the number of abnormal feed ports in the target window matrix, and the blocking order of the abnormal feed ports. For the convenience of calculation, the blocking order of each abnormal feed port in the target window matrix is ​​summed. Assuming that there are 3 target window matrices, the sum of the second distance, the number of abnormal feed ports, and the blocking order of the abnormal feed ports of the target window matrix C are 11, 2, and 6 respectively; the sum of the second distance, the number of abnormal feed ports, and the blocking order of the abnormal feed ports of the target window matrix D are 8, 3, and 9 respectively; the sum of the second distance, the number of abnormal feed ports, and the blocking order of the abnormal feed ports of the target window matrix E are 10, 2, and 16 respectively. The smaller the second distance, the closer the blocking. The closer the stacking place is, the higher the priority of the target window matrix should be. The more abnormal feed ports there are in the target window matrix, the higher the priority of the target window matrix should be. The larger the sum of the blocking orders of the abnormal feed ports, the higher the priority of the target window matrix should be. Therefore, the electronic device sets different second coefficients for the three according to actual conditions, which are -0.08, 0.4, and 0.06 respectively. The second score of the target window matrix C is calculated to be 11×(-0.08)+2×0.4+6×0.06=0.28, the second score of the target window matrix D is 8×(-0.08)+3×0.4+9×0.06=1.1, and the second score of the target window matrix E is 10×(-0.08)+2×0.4+6×0.06=0.36. The electronic device compares the second scores, where 1.1>0.36>0.28, and finally determines that the priorities of the three target window matrices are D>E>C. The respective second coefficients can be adaptively modified according to actual conditions and needs.

[0151] S1056, based on the priority and the position and number of the abnormal feed openings in each target window matrix, the gripping device is controlled to pick up the sealing plug according to the priority and place the sealing plug into the abnormal feed opening.

[0152] For the embodiments of the present application, the electronic device generates different instructions (signals) based on the priority of the target window matrix and the distribution position and number of abnormal feed ports in each target window matrix, and sends the instructions (signals) to the grasping device. The grasping device takes a corresponding number of sealing plugs, moves them to the top of the target window matrix, adjusts them according to the distribution position of the abnormal feed ports, places the sealing plugs into the abnormal feed ports, and seals the abnormal feed ports of each target window matrix according to the priority.

[0153] S1057, when it is detected that all target window matrices are blocked, the gripping device is controlled to pick up the blocking plugs and place the blocking plugs into the remaining abnormal feed ports based on the blocking order of the remaining abnormal feed ports.

[0154] For the embodiment of the present application, since each abnormal feed port is scattered in a preset array, there may be some abnormal feed ports that do not exist within the preset window range during scanning, and the remaining abnormal feed ports still need to be blocked as soon as possible. Therefore, when the electronic device detects that all target window matrices have been blocked, the grabbing device is controlled to pick up the sealing plug and place the sealing plug into the remaining abnormal feed ports based on the blocking order of the remaining abnormal feed ports.

[0155] In a possible implementation of the embodiment of the present application, the method further includes step 1, step 2, step 3, step 4, and step 5, wherein step 1 may be performed after step S103, wherein:

[0156] Step 1: Obtain first image information of the abnormal discharge port.

[0157] For the embodiment of the present application, two corresponding first camera devices are arranged under each discharge port, which can ensure that the camera range covers the four sides of the aluminum rod. The first camera devices are wirelessly connected to the electronic device. The two camera devices collect the first image information of the discharge port, and the electronic device continuously obtains multiple first image information of the abnormal discharge port over time.

[0158] Step 2: Perform leakage analysis based on the first image information to obtain the leakage range of each abnormal discharge port.

[0159] For the embodiment of the present application, the electronic device performs leakage analysis on the first image information of the abnormal discharge port, and determines the leakage range of the abnormal discharge port based on the outline of the leakage in the first image information. The change of the leakage range over time can characterize the severity of the leakage.

[0160] Step 3: Determine the target water spray hole corresponding to the leakage range.

[0161] For the embodiment of the present application, the electronic device determines the target water spray hole as the corresponding crystallizer water spray hole based on the leakage range, with the center point of the discharge port as the center of the circle and the edge of the leakage range as the radius extending outward.

[0162] Step 4: Determine the water flow pressure of the target spray hole based on the leakage range and leakage severity.

[0163] For the embodiment of the present application, the larger the leakage range, the greater the water flow pressure of the target water spray hole is required, the more severe the leakage, the greater the water flow pressure of the target water spray hole. The severity of the leakage is represented by the similarity variance. Therefore, the electronic device determines the third score based on the leakage range, similarity variance, and respective coefficients of each abnormal discharge port, and determines the water flow pressure of the target water spray hole based on the adjustment value corresponding to the preset score range in which the third score is located. Assuming that the third score of an abnormal discharge port is 3, the preset score range is (2, 3], the corresponding adjustment value is 0.1, and the original water flow pressure of the target water spray hole is 0.3, then the water flow pressure of the target water spray hole is determined to be 0.3 + 0.1 = 0.4 based on the leakage range and the severity of the leakage.

[0164] Step 5: Control the water pump to increase power until the water flow pressure is reached.

[0165] In the embodiment of the present application, multiple water pumps can be provided, with different water pumps responsible for regulating water spray holes at different locations. After the electronic device determines the target water spray hole, it determines the water pump corresponding to the target water spray hole. The water pump is connected to the electronic device by wire or wirelessly. The electronic device generates a water flow pressure instruction (signal) for the target water spray hole and sends it to the water pump. After receiving the instruction (signal), the water pump increases the power and increases the water flow pressure until the water flow pressure of the target water spray hole is reached, thereby strengthening the cooling of the leaking area on the surface of the aluminum ingot, so that the aluminum ingot can be formed into aluminum rods of normal quality, reducing the loss of aluminum liquid and the occurrence of explosion.

[0166] A possible implementation of the embodiment of the present application is that the first image information in step 2 is a plurality of first image information obtained by continuous shooting, and the leakage range and leakage severity of the abnormal discharge port are determined based on the first image information, specifically including step 6, step 7 and step 8, wherein:

[0167] Step six: perform leakage analysis based on the first image information to obtain the leakage range of each abnormal discharge port.

[0168] In the embodiments of the present application, the electronic device inputs each first image into a trained network model for leakage analysis. The electronic device analyzes the edge detection results, uses continuous edge lines to outline the leakage area, and obtains the leakage range of each abnormal discharge port. The leakage range can reflect the cooling water pressure level of the cooling water spray hole. The network model can be a convolutional neural network model, a recurrent neural network model, or other network models.

[0169] Step seven: Calculate the similarity between two adjacent first image information of each abnormal discharge port.

[0170] In the embodiment of the present application, the electronic device may calculate the similarity between two adjacent first image information of each abnormal discharge port using a structural similarity metric (SSIM). It may also be calculated using cosine similarity, i.e., representing the first image information as a vector and characterizing the similarity of the two first image information by calculating the cosine distance between the vectors. It may also be calculated using a histogram, or other similarity methods, which are not limited here.

[0171] Step eight, calculating the similarity variance of each abnormal discharge port, and determining the severity of the leakage based on the similarity variance.

[0172] For the embodiment of the present application, the electronic device uses the variance formula to calculate the similarity variance of each abnormal discharge port. The variance is used to calculate the difference between each similarity and the overall similarity mean. The larger the similarity variance, the greater the leakage change of the abnormal discharge port. Conversely, the smaller the similarity variance, the smaller the leakage change of the abnormal discharge port.

[0173] In a possible implementation of the embodiment of the present application, the method further includes step nine, step ten, step eleven, and step twelve, wherein step nine may be performed after step S103, wherein:

[0174] Step nine: obtaining the second image information of each discharge port.

[0175] For the embodiment of the present application, the electronic device obtains second image information collected by two corresponding first camera devices arranged under each discharge port, and the second image information can clearly show the appearance of the aluminum ingot.

[0176] Step 10: Perform feature recognition based on the second image information to determine whether there is leakage on the surface of the aluminum ingot.

[0177] In this embodiment of the present application, the electronic device inputs the second image information into a trained network model for feature recognition, thereby obtaining the appearance of the aluminum ingot and determining whether there is leakage on the surface of the aluminum ingot. The network model can be a convolutional neural network model, a recurrent neural network model, or other network models.

[0178] Step eleven: if there is an aluminum ingot leakage outlet, determine a third distance from the feed port corresponding to the aluminum ingot leakage outlet to the sealed plug stacking location.

[0179] For the embodiment of the present application, if the electronic device determines that there is an aluminum ingot leakage outlet, it establishes a second coordinate system based on the second image information, and calculates the third distance according to the coordinates of the center position of the feed port corresponding to the aluminum ingot leakage outlet and the coordinates of the sealed stacking place.

[0180] Step 12: Control the grabbing device to pick up the sealing plug and place the sealing plug into the feed port corresponding to the aluminum ingot leakage outlet according to the third distance from near to far.

[0181] In the embodiment of the present application, leakage from the surface of the aluminum ingot may also cause explosions and affect the quality of aluminum bar forming. Although this situation is rare, it cannot be completely guaranteed to occur. Therefore, if leakage from the surface of the aluminum ingot occurs, it must be sealed in time. The electronic device controls the grasping device to pick up the sealing plug and place it in the feed port corresponding to the leakage outlet of the aluminum ingot from near to far according to the third distance.

[0182] In a possible implementation of the embodiment of the present application, the method further includes step thirteen, wherein step thirteen may be performed after step S103, wherein:

[0183] Step 13: If the number of abnormal discharge ports exceeds a preset threshold, a prompt message is output.

[0184] For the embodiment of the present application, the preset quantity threshold is set by the staff in the electronic device according to actual needs. The electronic device determines whether the number of abnormal discharge ports exceeds the preset quantity threshold. If it exceeds, a prompt message with the words "Too many abnormal discharge ports, please turn off the device as soon as possible" is output and sent to the staff's terminal device so that the staff can turn off the equipment in time to reduce the losses and explosions caused by aluminum liquid leakage.

[0185] The above embodiment introduces an aluminum bar processing detection method from the perspective of method flow, and the following embodiment introduces an aluminum bar processing detection device from the perspective of a virtual module or a virtual unit. Please refer to the following embodiment for details.

[0186] The embodiment of the present application provides an aluminum bar processing detection device 20, such as Figure 5 As shown, the aluminum bar processing detection device 20 may specifically include:

[0187] An air pressure acquisition module 201 is used to obtain the air pressure value in each annular air guide pipe, which is located below the discharge port;

[0188] The first judgment module 202 is used to judge whether there is an abnormal discharge port with leakage based on the air pressure value;

[0189] An acquisition module 203 is configured to acquire, if any, the height of the molten aluminum at the feed port corresponding to each abnormal discharge port and a first distance from each abnormal feed port to a sealed plug stacking location;

[0190] A first determining module 204 is configured to determine a blocking order of abnormal feed ports based on the air pressure value, the height of the molten aluminum, and the first distance;

[0191] The first control module 205 is used to control the grabbing device to pick up the sealing plug according to the blocking sequence and place the sealing plug into the abnormal feed port.

[0192] The embodiment of the present application discloses an aluminum rod processing detection device 20, wherein the air pressure acquisition module 201 acquires the air pressure value in the annular air duct below each discharge port. The air pressure value represents the sealing degree of the annular air duct. If the aluminum liquid at the discharge port leaks, it will splash outward and flow onto the air duct, melting the annular air duct. The air pressure value of the annular air duct will also change accordingly. Therefore, the first judgment module 202 judges whether there is an abnormal discharge port with leakage based on the air pressure value. If so, the acquisition module 203 acquires the aluminum liquid at the feed port corresponding to each abnormal discharge port. The height and the first distance from each abnormal feed port to the sealing plug stacking place, the air pressure value, the aluminum liquid height and the first distance are all important factors affecting the blocking order, so the first determination module 204 determines the blocking order of the abnormal feed ports based on the air pressure value, the aluminum liquid height and the first distance. The first control module 205 controls the grasping device to take the sealing plugs in accordance with the blocking order and places the sealing plugs into the abnormal feed ports, which can effectively improve the leakage monitoring efficiency and can timely block the leaking feed ports, thereby reducing the occurrence of explosions and the loss of aluminum bars.

[0193] In one possible implementation of the embodiment of the present application, the first determining module 204, when determining the blocking order of the abnormal feed port based on the air pressure value, the aluminum liquid height, and the first distance, is specifically configured to:

[0194] Calculating a first difference between the height of the aluminum liquid and a preset height threshold, and a second difference between the air pressure value and a preset air pressure threshold;

[0195] determining a first score based on the first difference, the second difference, the first distance, and the respective first coefficients;

[0196] A blocking order of the abnormal liquid inlets is determined based on the first score.

[0197] In one possible implementation of the embodiment of the present application, the first control module 205, when controlling the grabbing device to pick up the sealing plug in accordance with the blocking sequence and place the sealing plug into the abnormal feed port, is specifically configured to:

[0198] Marking the abnormal feed inlets in a preset array, and performing a sliding scan on the marked preset array based on a preset window range to obtain a plurality of first window matrices including at least two abnormal feed inlets, wherein the preset array is arranged according to the arrangement of the plurality of feed inlets;

[0199] If there is a target abnormal feed port, and the first window matrix where the target abnormal feed port is located meets the preset conditions, then the second window matrix where the target abnormal feed port is located is determined based on the number of abnormal feed ports in at least two first window matrices where the target abnormal feed port is located and the blocking order. The target abnormal feed port in the second window matrix does not appear in other first window matrices, and the target abnormal feed port is located in at least two first window matrices.

[0200] Preconditions include any of the following:

[0201] The number of abnormal feed ports is different;

[0202] The number of abnormal feed ports is the same, but the abnormal feed ports are different;

[0203] Marking all abnormal feed ports in the second window matrix as normal feed ports in the marked preset array, and performing a sliding scan on the currently marked preset array based on the preset window range to obtain a plurality of third window matrices including at least two abnormal feed ports;

[0204] Determine a second distance from each target window matrix to the blocked blockage stacking location, the target window matrix including the second window matrix and the third window matrix;

[0205] determining a priority of each target window matrix based on the second distance, the number of abnormal feed ports in the target window matrix, and a blocking order of the abnormal feed ports;

[0206] Based on the priority and the position and number of abnormal feed openings in each target window matrix, the grabbing device is controlled to pick up the sealing plug according to the priority and place the sealing plug into the abnormal feed opening;

[0207] When it is detected that all target window matrices are blocked, the gripping device is controlled to pick up the blocking plugs and place the blocking plugs into the remaining abnormal feed ports based on the blocking order of the remaining abnormal feed ports.

[0208] In a possible implementation of the embodiment of the present application, the apparatus 20 further includes:

[0209] A first image acquisition module, used to acquire first image information of the abnormal discharge port;

[0210] A first image determination module is used to determine the leakage range and leakage severity of the abnormal discharge port based on the first image information;

[0211] A target water spray hole determination module is used to determine the target water spray hole corresponding to the leakage range;

[0212] A water flow pressure determination module is used to determine the water flow pressure of the target water spray hole based on the leakage range and leakage severity;

[0213] The water pump control module is used to control the water pump to increase power until the water flow pressure is reached.

[0214] In one possible implementation of the embodiment of the present application, the first image determination module is specifically configured to:

[0215] Performing leakage analysis based on the first image information to obtain the leakage range of each abnormal discharge port;

[0216] Calculate the similarity between two adjacent first image information of each abnormal discharge port;

[0217] The similarity variance of each abnormal discharge port is calculated, and the severity of the leakage is determined based on the similarity variance.

[0218] In a possible implementation of the embodiment of the present application, the apparatus 20 further includes:

[0219] A second image acquisition module, used to acquire second image information of each discharge port;

[0220] A second judgment module is used to perform feature recognition based on the second image information to determine whether there is leakage on the surface of the aluminum ingot;

[0221] The second determining module is used to determine a third distance from the feed port corresponding to the aluminum ingot leakage outlet to the sealed plug stacking location if there is an aluminum ingot leakage outlet;

[0222] The second control module is used to control the grasping device to pick up the sealing plug and place the sealing plug into the feed port corresponding to the aluminum ingot leakage outlet according to the third distance from near to far.

[0223] In a possible implementation of the embodiment of the present application, the apparatus 20 further includes:

[0224] The output module is used to output a prompt message if the number of abnormal discharge ports exceeds a preset threshold.

[0225] The embodiment of the present application provides an aluminum bar processing detection system, such as Figure 6 As shown, Figure 6The aluminum bar processing and detection system shown specifically includes an annular air duct 301, an air pressure sensor 302, a gripping device 303, and an electronic device 304. The annular air duct 301 is located below and coaxial with each discharge port. The air pressure sensor 302 is located within each annular air duct 301 to collect air pressure values. The gripping device 303 is used to remove the sealing plug according to the blocking sequence and place it into the abnormal feed port. A motor is installed inside the gripping device 303, which can move horizontally or vertically within the range of the gantry crane. The motor is connected to the electronic device 304 via a wired or wireless connection, and the electronic device 304 can control the motor to remove the sealing plug according to the specified position and blocking sequence and place it into the abnormal feed port.

[0226] The electronic device 304 is used to execute the contents disclosed in the above method embodiment. During the aluminum rod processing, the high-temperature aluminum liquid crystallizer may leak from the discharge port. Therefore, the electronic device 304 obtains the air pressure value in each annular air duct 301 through the air pressure sensor 302 inside the annular air duct 301 below the discharge port, and determines whether there is an abnormal discharge port with leakage based on the air pressure value. If so, the aluminum liquid height at the feed port corresponding to each abnormal discharge port and the first distance from each abnormal feed port to the sealing plug stacking location are obtained. The blocking order of the abnormal feed ports is determined based on the air pressure value, the aluminum liquid height and the first distance, and the grasping device 303 is controlled to pick up the sealing plugs in the blocking order and place the sealing plugs in the abnormal feed ports.

[0227] An aluminum bar processing and detection system also includes a water pump 305, a first camera device 2, and a second camera device 306. The water pump 305 is used to adjust the water flow pressure of the target water spray hole. The first camera device 2 is located below the discharge port and is used to collect images of the discharge port and the surface of the aluminum ingot. The second camera device 306 is located above the crystallizer tooling and is used to collect images of the crystallizer feed port.

[0228] An electronic device is provided in an embodiment of the present application, such as Figure 7 As shown, Figure 7 The electronic device 304 shown includes a processor 3041 and a memory 3043. The processor 3041 and the memory 3043 are connected, for example, via a bus 3042. Optionally, the electronic device 304 may further include a transceiver 3044. It should be noted that in actual applications, there is not limited to one transceiver 3044, and the structure of the electronic device 304 does not constitute a limitation on the embodiments of the present application.

[0229] The processor 3041 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor 3041 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0230] The bus 3042 may include a path for transmitting information between the above components. The bus 3042 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 3042 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but it does not mean that there is only one bus or one type of bus.

[0231] The memory 3043 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0232] The memory 3043 is used to store application code for executing the solution of the present application, and the execution is controlled by the processor 3041. The processor 3041 is used to execute the application code stored in the memory 3043 to implement the content shown in the above method embodiment.

[0233] The electronic devices include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Servers and the like are also possible. Figure 7 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0234] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding contents of the aforementioned method embodiment. Compared with the related art, in the embodiment of the present application, the air pressure value in the annular air duct below each discharge port is obtained, and the air pressure value represents the sealing degree of the annular air duct. If the aluminum liquid at the discharge port leaks, it will splash outward and flow onto the annular air duct, melting the annular air duct, and the air pressure value of the annular air duct will change accordingly. Therefore, it is judged based on the air pressure value whether there is an abnormal discharge port with leakage. If so, the aluminum liquid height at the feed port corresponding to each abnormal discharge port and the first distance from each abnormal feed port to the sealing plug stacking place are obtained. The air pressure value, the aluminum liquid height and the first distance are all important factors affecting the sealing order. Therefore, the sealing order of the abnormal feed ports is determined based on the air pressure value, the aluminum liquid height and the first distance. By controlling the grasping device to pick up the sealing plugs in accordance with the sealing order and placing the sealing plugs in the abnormal feed ports, the leakage monitoring efficiency can be effectively improved, and the leaking feed ports can be sealed in time, reducing the occurrence of explosions and the loss of aluminum rods.

[0235] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0236] The above description is only part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for detecting aluminum bar processing, characterized in that: include: Obtaining the air pressure value in each annular air guide pipe, wherein the annular air guide pipe is located below the discharge port; Determine whether there is an abnormal discharge port with leakage based on the air pressure value; If so, obtain the aluminum liquid height at the abnormal feed port corresponding to each abnormal discharge port and the first distance from each abnormal feed port to the sealing plug stacking location; determine the sealing order of the abnormal feed port based on the air pressure value, aluminum liquid height and the first distance; control the grasping device to pick up the sealing plug in accordance with the sealing order and place the sealing plug into the abnormal feed port.

2. The aluminum bar processing and detection method according to claim 1, characterized in that: The determining of the blocking order of the abnormal feed ports based on the air pressure value, the aluminum liquid height, and the first distance includes: calculating a first difference between the aluminum liquid height and a preset height threshold, and a second difference between the air pressure value and a preset air pressure threshold; determining a first score based on the first difference, the second difference, the first distance, and respective first coefficients; and determining the blocking order of the abnormal feed ports based on the first score.

3. A method for detecting aluminum bar processing according to claim 1 or claim 2, characterized in that: The controlling grasping device takes the sealing plug according to the blocking sequence and places the sealing plug into the abnormal feed port, including: marking the abnormal feed port in a preset array, slidingly scanning the marked preset array based on a preset window range, and obtaining a plurality of first window matrices including at least two abnormal feed ports, wherein the preset array is arranged according to the arrangement of the plurality of feed ports; if there is a target abnormal feed port, and the first window matrix where the target abnormal feed port is located meets the preset conditions, then the second window matrix where the target abnormal feed port is located is determined based on the number of abnormal feed ports in the at least two first window matrices where the target abnormal feed port is located and the blocking sequence, wherein the target abnormal feed port in the second window matrix does not appear in other first window matrices, and the target abnormal feed port is located in at least two first window matrices, and the preset conditions include any one of the following: the number of abnormal feed ports is different; the number of abnormal feed ports is the same, but the abnormal feed ports are different; The feed ports are different; all abnormal feed ports in the second window matrix are marked as abnormal feed ports in the preset array after the marking, and the currently marked preset array is slid and scanned based on the preset window range to obtain a plurality of third window matrices including at least two abnormal feed ports; a second distance from each target window matrix to the sealing plug stacking location is determined, and the target window matrix includes a second window matrix and a third window matrix; the priority of each target window matrix is ​​determined based on the second distance, the number of abnormal feed ports in the target window matrix and the sealing order of the abnormal feed ports; based on the priority and the position and number of abnormal feed ports in each target window matrix, the gripping device is controlled to pick up the sealing plug according to the priority and place the sealing plug into the abnormal feed port; when it is detected that all target window matrices are blocked, the gripping device is controlled to pick up the sealing plug based on the blocking order of the remaining abnormal feed ports and place the sealing plug into the remaining abnormal feed port.

4. The aluminum bar processing and detection method according to claim 1, characterized in that: include: Acquire first image information of the abnormal discharge port; determining the leakage range and leakage severity of the abnormal discharge port based on the first image information; Determine the target water spray hole corresponding to the leakage range; The water flow pressure of the target water spray hole is determined based on the leakage range and the severity of the leakage; and the water pump is controlled to increase power until the water flow pressure is reached.

5. The aluminum bar processing and detection method according to claim 4, characterized in that: The first image information is a plurality of first image information obtained by continuous shooting, and determining the leakage range and leakage severity of the abnormal discharge port based on the first image information includes: performing leakage analysis based on the first image information to obtain the leakage range of each abnormal discharge port; calculating the similarity between two adjacent first image information of each abnormal discharge port; calculating the similarity variance of each abnormal discharge port, and determining the leakage severity based on the similarity variance.

6. The aluminum bar processing and detection method according to claim 1, characterized in that: The method also includes: obtaining second image information of each discharge port; performing feature recognition based on the second image information to determine whether there is leakage on the surface of the aluminum ingot; if there is an aluminum ingot leakage discharge port, determining a third distance from the feed port corresponding to the aluminum ingot leakage discharge port to the sealing plug stacking location; controlling a gripping device to pick up the sealing plug and place the sealing plug into the feed port corresponding to the aluminum ingot leakage discharge port from near to far according to the third distance.

7. The aluminum bar processing and detection method according to claim 1, characterized in that: The method further includes: if the number of the abnormal discharge ports exceeds a preset number threshold, outputting a prompt message.

8. An aluminum bar processing detection device, characterized in that: include: An air pressure acquisition module, used to acquire the air pressure value in each annular air guide pipe, wherein the annular air guide pipe is located below the discharge port; A first judgment module is used to judge whether there is an abnormal discharge port with liquid leakage based on the air pressure value; an acquisition module, configured to acquire, if any, the aluminum liquid height at the abnormal feed port corresponding to each abnormal discharge port and a first distance from each abnormal feed port to a blocked plug stacking location; a first determination module, configured to determine a blocking order for the abnormal feed ports based on the air pressure value, the aluminum liquid height, and the first distance; The first control module is used to control the grabbing device to pick up the sealing plug according to the blocking sequence and place the sealing plug into the abnormal feed port.

9. An aluminum bar processing detection system, characterized in that: include: An annular air guide pipe is provided below each discharge port and is coaxial with the discharge port; An air pressure sensor is provided in each annular air duct to collect air pressure values; A grabbing device, used to pick up the sealing plugs in the order of blocking and place them into the abnormal feed port; An electronic device, used to obtain the air pressure value in each annular air guide tube; and determine whether there is an abnormal discharge port with leakage based on the air pressure value; If so, obtain the aluminum liquid height at the abnormal feed port corresponding to each abnormal discharge port and the first distance from each abnormal feed port to the sealing plug stacking location; determine the sealing order of the abnormal feed port based on the air pressure value, aluminum liquid height and the first distance; control the grasping device to pick up the sealing plug in accordance with the sealing order and place the sealing plug into the abnormal feed port.

10. An electronic device, characterized in that: It includes: at least one processor; Memory; At least one application, wherein the at least one application is stored in the memory and configured to be executed by the at least one processor, and the at least one application is used to execute the aluminum bar processing detection method according to any one of claims 1 to 7.

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