A method and system for measuring large hot red parts

Abstract

The present application provides a method and system for measuring large hot red parts, which relates to the technical field of forging measurement. The method sets a feature recognition surface in the circumference of the rotating area, sets the forging to be measured to rotate synchronously with the feature recognition surface, and sets different reference features for each feature recognition surface, which can facilitate associating the feature recognition surface with the target area of ​​the forging to be measured, so that after determining the reference feature of the feature recognition surface, the target area of ​​the forging to be measured can be forged according to the surface features of the area corresponding to the reference feature and the actual surface features of the target area. With such a setting, not only can the actual surface features of the forging to be measured be measured, but also the forging to be measured can be processed according to the target processing plan, which can achieve the effect of improving processing efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of forging measurement, and in particular to a measurement method and system for large hot red parts. Background Art

[0002] Large hot-hot parts refer to large metal parts that have been processed by the forging process. They are heated to a high temperature during the forging process (usually the surface is red to dark red, and the temperature reaches hundreds of degrees Celsius), so that they have good plasticity and deformation ability. Forgings in this state are easier to deform plastically, which is conducive to achieving the purpose of forging. Large hot-hot parts are widely used in many fields, such as aerospace, heavy machinery, and shipbuilding.

[0003] A method for measuring large hot red parts in the related art obtains the size information or morphological feature information of the large hot red parts by measurement. Afterwards, the operator can operate the mechanical arm to rotate based on the target processing plan, and control the hydraulic press to forge the large hot red parts. However, this method for measuring large hot red parts only involves the measurement process of large hot red parts, and the processing of large hot red parts still depends on the control of the operator. Therefore, the measurement method for large hot red parts in the related art is less efficient. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the related technology, the present application provides a measurement method and system for large hot red parts to solve the above-mentioned technical problems.

[0005] The present application provides a method for measuring a large hot red part, including:

[0006] Control the mechanical arm to clamp the forging to be tested and move it to the hydraulic operation position, the rotation area of ​​the end effector of the mechanical arm is provided with a plurality of feature recognition surfaces along the circumferential direction, and the plurality of feature recognition surfaces and the forging to be tested can rotate synchronously with the rotation area of ​​the end effector of the mechanical arm;

[0007] Controlling the robot arm to synchronously rotate the forging to be tested and the plurality of feature recognition surfaces, and stopping the rotation in response to any complete feature recognition surface being located in the recognition area of ​​the recognition module;

[0008] Determining the reference feature of the feature recognition surface detected by the recognition module as a basic feature, wherein each feature recognition surface is provided with a reference feature, and the feature types of the reference features on different feature recognition surfaces are different;

[0009] Obtaining a target processing scheme for the forging to be tested, and determining the regional surface features corresponding to each of the reference features based on a preset distribution mode of the feature recognition surface, basic features and the target processing scheme;

[0010] When the forging to be tested is rotated and / or moved along the axis of the forging to be tested, in response to the target feature recognition surface being located in the recognition area, an image to be recognized of a target area of ​​the forging to be tested is acquired, the target area is located in a detection area of ​​a detection module, the recognition module and the detection module are arranged on the same side of the robot arm, and the curvature of the recognition area is consistent with the curvature of the detection area;

[0011] determining actual surface features of the target area based on the image to be identified;

[0012] Based on the target surface features and the actual surface features, the target area of ​​the forging to be tested is forged, and the target surface features are the surface features of the area corresponding to the reference features of the target feature identification surface.

[0013] Optionally, based on the target surface features and the actual surface features, forging processing is performed on the target area of ​​the forging to be tested, including:

[0014] Determining feature difference data of the target surface feature and the actual surface feature;

[0015] Determining processing data of the target area based on the feature difference data;

[0016] A forging process is performed on a target area of ​​the forging to be tested based on the processing data.

[0017] Optionally, each of the reference features includes at least three feature identification points of the same feature type, the feature identification surface is a rectangle and at least three feature identification points are located at different vertices, and in response to the recognition module detecting any complete feature identification surface, the rotation is stopped, including:

[0018] In response to identifying all feature identification points of the same feature type, the rotation is stopped.

[0019] Optionally, the detection module includes a first image acquisition device and a second image acquisition device, the first image acquisition device and the second image acquisition device are arranged parallel to the axis of the forging to be detected, and the first image acquisition device and the second image acquisition device are both used to acquire images of the detection area.

[0020] Determining actual surface features of the target area based on the image to be identified includes:

[0021] Based on the first image to be identified acquired by the first image acquisition device and the second image to be identified acquired by the second image acquisition device, the actual surface features of the target area are determined; the image to be identified of the target area of ​​the forging under test includes the first image to be identified and the second image to be identified.

[0022] Optionally, the method further comprises:

[0023] Acquiring position information of a target area on the axis of the forging being tested;

[0024] The three-dimensional model of the forging to be measured is determined based on the actual surface features of the target area, the position information, the reference features of the target feature identification surface, and the preset distribution mode of the feature identification surface.

[0025] Optionally, the detection module further includes two laser emitters, the lasers emitted by the two laser emitters are respectively located at two opposite sides of the detection area, and the lasers are parallel to the axis of the forging to be detected, and the image to be identified of the target area of ​​the forging to be detected is obtained, including:

[0026] Obtain a detection image corresponding to the detection area of ​​the detection module;

[0027] When the target area of ​​the forging to be measured exists in the detection image and the lasers emitted by the two laser emitters exist in the target area, the detection image is determined as the image to be identified of the target area of ​​the forging to be measured.

[0028] To achieve the above-mentioned purpose and other related purposes, the present application provides a large hot red workpiece measurement system, including:

[0029] A first execution module is used to control the robot arm to clamp the forging to be tested and move it to a hydraulic operation position, wherein a rotation area of ​​the end effector of the robot arm is provided with a plurality of feature recognition surfaces along the circumferential direction, and the plurality of feature recognition surfaces and the forging to be tested can rotate synchronously with the rotation area of ​​the end effector of the robot arm;

[0030] A second execution module is used to control the robot arm to synchronously rotate the forging to be tested and the plurality of feature recognition surfaces, and stop the rotation in response to any complete feature recognition surface being located in the recognition area of ​​the recognition module;

[0031] A first determination module is used to determine the reference feature of the feature recognition surface detected by the recognition module as a basic feature, each of the feature recognition surfaces is provided with a reference feature, and the feature types of the reference features on different feature recognition surfaces are different;

[0032] A first acquisition module is used to acquire a target processing scheme for the forging to be tested, and determine the regional surface features corresponding to each of the reference features based on a preset distribution mode of the feature recognition surface, basic features and the target processing scheme;

[0033] a second acquisition module, configured to acquire an image to be identified of a target area of ​​the forging to be tested in response to a target feature recognition surface being located in the recognition area when the forging to be tested is rotated and / or moved along the axis of the forging to be tested, wherein the target area is located in a detection area of ​​the detection module, the recognition module and the detection module are arranged on the same side of the robot arm, and the curvature of the recognition area is consistent with the curvature of the detection area;

[0034] A second determination module, used to determine the actual surface features of the target area based on the image to be identified;

[0035] The third execution module is used to perform forging processing on the target area of ​​the forging to be tested based on the target surface feature and the actual surface feature, wherein the target surface feature is the regional surface feature corresponding to the reference feature of the target feature identification surface.

[0036] Optionally, the third execution module includes:

[0037] A difference data determining unit, used to determine feature difference data between the target surface feature and the actual surface feature;

[0038] a processing data determining unit, configured to determine processing data of the target area based on the feature difference data;

[0039] A target execution unit is used to perform forging processing on a target area of ​​the forging to be tested based on the processing data.

[0040] Optionally, each of the reference features includes at least three feature identification points of the same feature type, the feature identification surface is a rectangle and the at least three feature identification points are located at different vertices, and the second execution module is further used for:

[0041] In response to identifying all feature identification points of the same feature type, the rotation is stopped.

[0042] Optionally, the detection module includes a first image acquisition device and a second image acquisition device, the first image acquisition device and the second image acquisition device are arranged parallel to the axis of the forging to be detected, the first image acquisition device and the second image acquisition device are both used to acquire an image of the detection area, and the second determination module is further used to:

[0043] Based on the first image to be identified acquired by the first image acquisition device and the second image to be identified acquired by the second image acquisition device, the actual surface features of the target area are determined; the image to be identified of the target area of ​​the forging under test includes the first image to be identified and the second image to be identified.

[0044] As described above, the present application provides a method and system for measuring large hot red parts, which has the following beneficial effects:

[0045] A method for measuring a large hot red part in the present application controls a mechanical arm to clamp the forging to be measured, and synchronously rotates the feature recognition surface when rotating the forging to be measured, so that when the recognition module detects any complete feature recognition surface, the reference features of each feature recognition surface are matched with the target processing scheme of the forging to be measured, and the regional surface features corresponding to each reference feature are obtained. When the forging to be measured is rotated, the target area of ​​the forging to be measured can be forged based on the target surface features and the actual surface features of the target area of ​​the forging to be measured. The feature recognition surface is set in the circumference of the rotating area, the forging to be measured and the feature recognition surface are set to rotate synchronously, and different reference features are set for each feature recognition surface, which can facilitate the association of the feature recognition surface with the target area of ​​the forging to be measured, so that after determining the reference features of the feature recognition surface, the target area of ​​the forging to be measured can be forged according to the regional surface features corresponding to the reference features and the actual surface features of the target area. In this way, not only can the actual surface features of the forging to be measured be measured, but also the forging to be measured can be forged according to the target processing scheme, which can achieve the effect of improving processing efficiency.

[0046] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0048] Figure 1 It is a structural schematic diagram of a large-scale hot red part detection device shown in an exemplary embodiment of the present application;

[0049] Figure 2 is a flow chart of a method for measuring a large hot red part shown in an exemplary embodiment of the present application;

[0050] Figure 3 It is a structural block diagram of a large hot red part measurement system shown in an exemplary embodiment of the present application.

[0051] Description of reference numerals:

[0052] 110. End effector; 111. Feature recognition section; 120. Recognition module; 130. Detection module; 140. Total station; a. Forging to be measured; b. Feature recognition surface; c. Target area; d. Ray. DETAILED DESCRIPTION

[0053] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0054] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0055] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0056] See also Figure 1 , which is a schematic diagram of the structure of a large-scale hot red part detection device shown in an exemplary embodiment of the present application. Figure 1 It can be seen that the large-scale hot red parts detection device can include:

[0057] The end effector 110 of the robot arm, the identification module 120 and the detection module 130, the end effector 110 of the robot arm can release or clamp the forging a to be tested, and when clamping the forging a to be tested, the actuator ( Figure 1 The robot arm 100 is driven by a robot arm 101 to rotate the forged workpiece a. A feature recognition segment 111 is provided in the rotation area of ​​the end effector 110 of the robot arm. The feature recognition segment 111 is evenly provided with a plurality of feature recognition surfaces b along the circumferential direction. The recognition module 120 is provided at a position opposite to the feature recognition segment 111. The recognition module 120 is used to detect the feature recognition surface b. The detection module 130 is used to obtain an image of the forged workpiece a located in the detection area (in the detection area). Figure 1 In the large hot red piece detection device shown, the detection module 130 can obtain an image of the target area c); when the mechanical arm clamps the forging to be tested and rotates, the forging to be tested and the feature recognition section rotate synchronously.

[0058] It should be noted that the detection module 130 and the recognition module 120 can be arranged on the same side of the robotic arm.

[0059] In one embodiment of the present application, the large-scale hot red part detection device may further include a total station 140. The total station 140 may be used to track the position of the detection module 130, and the measured posture data of the detection module 130 is input into the control module via a cable ( Figure 1 The rays d emitted by the two laser emitters may be located at opposite sides of the target area c. The two laser emitters may be disposed on the outer surface of the detection module 130.

[0060] In addition, the end effector 110, the identification module 120 and the detection module 130 of the robot arm can be connected to the control module. The control module can receive data sent by the identification module and the detection module, and send control instructions to the robot arm so that the robot arm rotates the forging under test according to the control instructions.

[0061] It should be noted that Figure 1 The figure shows a case where three feature identification surfaces are evenly arranged along the circumference of the feature identification segment. Other numbers of feature identification surfaces can also be evenly arranged along the circumference of the feature identification segment, and the embodiment of the present application does not limit this.

[0062] See also Figure 2 , Figure 2 FIG. 1 is a flow chart of a method for measuring a large hot red part according to an exemplary embodiment of the present application. The method for measuring a large hot red part can be applied to Figure 1 The large hot red parts detection device shown. Figure 2 It can be seen that the measurement method of this large hot red part can include:

[0063] Step S210, control the robot arm to clamp the forging to be tested and move it to the hydraulic operation position, the rotation area of ​​the end effector of the robot arm is provided with a plurality of feature recognition surfaces along the circumferential direction, and the plurality of feature recognition surfaces and the forging to be tested can rotate synchronously with the rotation area of ​​the end effector of the robot arm.

[0064] In one embodiment of the present application, the robot arm can be controlled to clamp the forging under test and move to the hydraulic operation position. In step S210, the operator can control the robot arm to clamp the forging under test and move to the hydraulic operation position. The control module can also issue a control instruction to control the robot arm to clamp the forging under test and move to the hydraulic operation position.

[0065] It should be noted that heavy forgings that are free-forged on a forging hydraulic press with a capacity of more than 10MN (meganewtons) are usually called large forgings (referred to as large hot red parts in this application), generally referring to shaft forgings of more than 5t or pancake forgings of more than 2t. Large forgings are widely used as core or key components in heavy equipment, and have important applications in aerospace, shipbuilding, metallurgy and chemical industry, oil refining and power, and are the foundation of the machinery manufacturing industry. The forging to be tested can be a steel ingot, and the robotic arm can take the steel ingot out of the furnace, and the gripper can clamp the steel ingot to the grasping range of the robotic arm, and the robotic arm can clamp the forging to be tested and move it to the hydraulic operating position. The robotic arm can be located on one side of the hydraulic operating position, and the hydraulic press can perform forging processing on the forging to be tested located at the hydraulic operating position. The identification module can be set on the left or right side of the robotic arm, and the detection module can also be set on the left or right side of the robotic arm.

[0066] Exemplarily, the forging to be measured may have a clamping portion, and the robot arm clamps the clamping portion of the forging to be measured. During the process of measuring and forging the forging to be measured, the robot arm does not change the clamping position of the forging to be measured.

[0067] It should be noted that the detection module can be located in the initial position, and the robotic arm clamps the forging to be tested and moves to the hydraulic operation position, and the end of the forging to be tested can be moved to the detection area of ​​the detection module. The detection area can be defined by a laser emitter, and the laser emitter can emit blue laser or green laser.

[0068] Step S220, controlling the robot arm to synchronously rotate the forging to be tested and the plurality of feature recognition surfaces, and stopping the rotation in response to any complete feature recognition surface being located in the recognition area of ​​the recognition module.

[0069] In one embodiment of the present application, the robot arm can be controlled to synchronously rotate the forging to be tested and the feature recognition segment. Since the feature recognition segment is located in the rotation area of ​​the end effector of the robot arm, the feature recognition segment can be circular, so a plurality of feature recognition surfaces can be evenly arranged along the circumference on the feature recognition segment. The feature recognition surface can be a quadrilateral, and the plurality of feature recognition surfaces can have a common edge, or the plurality of feature recognition surfaces can have no common edge.

[0070] In an exemplary embodiment, a reference feature is provided on each feature recognition surface, the feature types of the reference features on different feature recognition surfaces are different, each reference feature includes at least three feature recognition points of the same feature type, the feature recognition surface is rectangular and at least three feature recognition points are located at different vertices. The process of stopping the rotation in response to any complete feature recognition surface being located in the recognition area of ​​the recognition module in step S220 may include stopping the rotation in response to identifying all feature recognition points of the same feature type.

[0071] Step S230: determining the reference features of the feature recognition surface detected by the recognition module as basic features.

[0072] Wherein, each feature recognition surface is provided with a reference feature, and the feature types of the reference features on different feature recognition surfaces are different.

[0073] In one embodiment of the present application, when the forging to be tested is first inspected, the forging to be tested has not been processed. When the forging to be tested is processed based on the target processing scheme, a base surface can be first determined in the circumference of the forging to be tested, and how to process the forging to be tested can be determined based on the base surface and the target processing scheme. The reference feature of the feature recognition surface detected by the recognition module can be determined as the basic feature, and the distribution position of all feature recognition surfaces on the feature recognition segment can be determined based on the basic feature and the preset distribution mode of the feature recognition surface.

[0074] Exemplarily, a three-dimensional model of the feature recognition segment can be pre-stored, and the forging to be tested can be a scaled model of the feature recognition segment. A preset distribution mode of the feature recognition surface can be set correspondingly in the three-dimensional model of the feature recognition segment. After the reference features of the feature recognition surface detected by the recognition module, the distribution positions of all feature recognition surfaces on the feature recognition segment can be determined based on the preset distribution mode of the pre-stored feature recognition surface. For example, how many degrees of rotation can identify the reference features of other feature recognition surfaces.

[0075] Exemplarily, the reference features may be features such as numbers and lines that can distinguish different feature identification surfaces.

[0076] Step S240, obtaining a target processing scheme for the forging to be tested, and determining the regional surface features corresponding to each reference feature based on the preset distribution mode of the feature recognition surface, the basic features and the target processing scheme.

[0077] In one embodiment of the present application, a target processing scheme of the forging to be tested can be obtained, and the regional surface features corresponding to each reference feature can be determined based on the preset distribution mode of the feature recognition surface, the basic features and the target processing scheme. The distribution positions of all feature recognition surfaces on the feature recognition segment can be determined based on the preset distribution mode of the basic feature pair and the feature recognition surface. The target processing scheme can include the target forging parameters after the forging to be tested is hydroformed (for example, the forging needs to be processed into a prism with three planes, the size parameters of each prism, etc.), and the forging regional surface features of each step in the processing process. The distribution position of each feature recognition surface in the circumferential direction of the feature recognition segment can be determined based on the preset distribution mode of the feature recognition surface and the basic features. Since the feature recognition segment and the forging to be tested rotate synchronously, the feature recognition segment can be used as the forging to be tested, and the regional surface features are assigned to each feature recognition surface on the feature recognition segment based on the target processing scheme. The regional surface features assigned to each feature recognition surface correspond to the reference features of each feature recognition surface, and then the regional surface features corresponding to each reference feature are determined.

[0078] Step S250, when the forging to be measured is rotated and / or moved along the axis of the forging to be measured, in response to the target feature recognition surface being located in the recognition area, an image to be recognized of the target area of ​​the forging to be measured is obtained, the target area is located in the detection area of ​​the detection module, the recognition module and the detection module are arranged on the same side of the robot arm, and the curvature of the recognition area is consistent with the curvature of the detection area.

[0079] The target area is located in the detection area of ​​the detection module, that is, when the detection module obtains the image of the forging to be detected, the part of the forging to be detected that is located in the detection area is the target area.

[0080] In one embodiment of the present application, after determining the regional surface features corresponding to each reference feature, the forging under test can be rotated and / or moved along the axial direction of the forging under test. Rotating the forging under test can perform forging processing on the forging under test in the circumferential direction of the forging under test, and moving the forging under test in the axial direction of the forging under test can perform forging processing on different axial positions of the forging under test. The forging under test is rotated at a certain axial position of the forging under test, and after all the feature recognition surfaces are detected by the module in the circumferential direction, the forging under test can be rotated and moved along the axial direction of the forging under test.

[0081] In one embodiment of the present application, since the forging to be tested and the feature recognition section rotate synchronously, in the process of the robot arm continuously clamping the forging to be tested, each feature recognition surface on the feature recognition section corresponds to an area on the circumference of the forging to be tested. In response to the recognition module detecting the target feature recognition surface, an image to be recognized of the target area of ​​the forging to be tested is obtained, wherein the target feature recognition surface can be any feature recognition surface, and when the recognition module detects the target feature recognition surface, the detection module can simultaneously obtain the image to be recognized of the forging to be tested located in the detection area.

[0082] It should be noted that after the forging to be tested is moved along its axis, the recognition module can be rotated in a direction parallel to the axis of the forging to be tested so that the feature recognition surface on the feature recognition segment can be located in the recognition area of ​​the recognition module.

[0083] In a possible embodiment, the detection module may also include two laser emitters, and the lasers emitted by the two laser emitters are respectively located on opposite sides of the detection area, and the lasers are parallel to the axis of the forging to be tested. The process of obtaining the image to be identified of the target area of ​​the forging to be tested in step S250 may include obtaining the detection image corresponding to the detection area of ​​the detection module; when the target area of ​​the forging to be tested exists in the detection image, and the lasers emitted by two laser emitters exist in the target area, the detection image is determined as the image to be identified of the target area of ​​the forging to be tested. That is, the detection image corresponding to the detection area of ​​the detection module can be obtained first, and the detection image can be image recognized. If the forging to be tested exists in the detection image, it can be determined that the target area of ​​the forging to be tested exists in the detection image. Thereafter, it is necessary to detect whether there are lasers emitted by two laser emitters in the target area of ​​the forging to be tested. If there are lasers emitted by two laser emitters in the target area of ​​the forging to be tested, the detection image can be determined as the image to be identified of the target area of ​​the forging to be tested.

[0084] In another possible implementation, the distance between the lasers emitted by the two laser emitters is adjustable, that is, the distance between the two lasers can be changed by adjusting the pitch angles of the two laser emitters.

[0085] It should be noted that a plurality of target areas may be pre-divided, and each target area is determined by the position of the circumferential direction of the forging under test and the position of the axial direction of the forging under test. When the forging under test is rotated and / or moved along the axis of the forging under test, the forging under test may be rotated and / or moved according to the position of each target area.

[0086] Step S260: determining actual surface features of the target area based on the image to be identified.

[0087] In one embodiment of the present application, the actual surface features of the target area can be determined based on the image to be recognized. The actual surface features of the target area can be recognized and obtained through an image recognition model.

[0088] In one embodiment of the present application, the detection module may include a first image acquisition device and a second image acquisition device, the first image acquisition device and the second image acquisition device are arranged parallel to the axis of the forging to be detected, and the first image acquisition device and the second image acquisition device are both used to acquire images of the detection area. The process of determining the actual surface features of the target area based on the image to be identified in step S260 may include determining the actual surface features of the target area based on the first image to be identified acquired by the first image acquisition device and the second image to be identified acquired by the second image acquisition device. The images to be identified of the target area of ​​the forging to be detected include the first image to be identified and the second image to be identified.

[0089] If there is an uneven structure on the surface of the forging to be tested, multi-angle images to be identified can be acquired through the first image acquisition device and the second image acquisition device. For the same raised structure, the raised structure is expressed differently in the first image to be identified and the second image to be identified (it can be expressed as a shadow of the raised structure located on the right side of the raised structure in the first image to be identified, and a shadow of the raised structure located on the left side of the raised structure in the second image to be identified). The actual surface features of the target area can be determined by combining the first image to be identified and the second image to be identified.

[0090] It should be noted that a two-dimensional image from a single angle can only provide plane information and cannot accurately reflect the true condition of the surface of the forging being tested. Images from multiple angles can help obtain a more three-dimensional perception through synthesis or three-dimensional reconstruction technology, which helps to more accurately identify surface features. Some defects such as cracks and holes may have a certain depth or extension direction, and it is difficult to accurately judge their size and position based on only one perspective. Multi-angle shooting helps to locate defects more accurately and measure their size.

[0091] Exemplarily, the first image acquisition device and the second image acquisition device may constitute a binocular device, and the binocular device may be a binocular camera, that is, Figure 1 In the large-scale hot red part detection device shown, the detection module 130 can be a binocular camera, and the first image acquisition device and the second image acquisition device can both be cameras.

[0092] Step S270: performing forging processing on the target area of ​​the forging to be tested based on the target surface features and the actual surface features.

[0093] The target surface feature is a regional surface feature corresponding to the reference feature of the target feature recognition surface.

[0094] In one embodiment of the present application, the target area of ​​the forging to be tested can be forged based on the regional surface features corresponding to the reference features of the target feature recognition surface and the actual surface features. Each reference feature corresponds to a regional surface feature. After determining the actual surface feature of the target area, the adjustment angle of the target area of ​​the forging to be tested located in the detection area can be determined based on the positional relationship between the detection area of ​​the preset detection module and the hydraulic press, so as to control the rotation of the forging to be tested to adjust the angle, and then the target area of ​​the forging to be tested can be forged.

[0095] It should be noted that if at least two adjacent target areas in the circumferential direction need to be processed during forging of the forging to be tested, then at least two adjacent target areas can be inspected to obtain two actual surface features and then forging can be performed on at least two target areas of the forging to be tested.

[0096] After determining the target feature identification surface, the position of the target area in the axial direction of the forging being measured can be determined based on the moving distance of the robotic arm and / or the moving distance of the detection module, and then the target surface features corresponding to the target area in the regional surface features corresponding to the reference features of the target feature identification surface can be determined.

[0097] In one embodiment, step S270 is a process of performing forging processing on a target area of ​​the forging to be tested based on the target surface features and the actual surface features, and may include steps S271 to S273.

[0098] Step S271, determining feature difference data between target surface features and actual surface features.

[0099] In one embodiment of the present application, feature difference data of target surface features and actual surface features may be determined. The target surface features may be used to characterize a processing target of a target area.

[0100] Exemplarily, the actual surface feature of the target area is a groove depth of x, and the target surface feature may be a groove depth of y, and the feature difference data is the groove depth difference yx.

[0101] Step S272, determining the processing data of the target area based on the feature difference data.

[0102] In one embodiment of the present application, processing data of the target area may be determined based on feature difference data.

[0103] For example, the operator can preset a characteristic parameter table, which can store the corresponding relationship between forging passes, punching intensity, punching times, and characteristic difference data, and can determine the corresponding punching intensity and punching times according to the forging passes and characteristic difference data. When forging the target area, the forging passes corresponding to the target area can be accumulated.

[0104] Exemplarily, the characteristic difference data is the groove depth difference yx, and based on the characteristic difference data, it is known that the groove punching depth of the target area is insufficient. At this time, it is necessary to determine the processing data of the target area (such as the punching force and punching times of the punching equipment) according to the characteristic difference data.

[0105] Step S273, performing forging processing on the target area of ​​the forging to be tested based on the processing data.

[0106] In one embodiment of the present application, a forging process may be performed on a target area of ​​the forging to be tested based on the processing data.

[0107] In one embodiment, the method for measuring a large hot red part provided in the embodiment of the present application may further include:

[0108] The position information of the target area on the axis of the forging to be measured is obtained; based on the actual surface features, position information, reference features of the target feature recognition surface, and the preset distribution mode of the feature recognition surface of the target area, the three-dimensional model of the forging to be measured is determined.

[0109] In one embodiment of the present application, the position information of the target area on the axis of the forging to be tested can be obtained. When the forging to be tested is moved along the axis of the forging to be tested, the moving distance can be determined, and the position information of the target area on the axis of the forging to be tested can be determined based on the moving distance, that is, the position information of the target area in the length direction of the forging to be tested can be determined.

[0110] In one embodiment of the present application, the three-dimensional model of the forging to be measured can be determined based on the actual surface features, position information, reference features of the target feature recognition surface, and the preset distribution mode of the feature recognition surface of the target area. The preset distribution mode of the feature recognition surface can include the distribution position of the feature recognition surface in the circumferential direction of the feature recognition segment, and the distribution position of the target area in the circumferential direction of the forging to be measured can be determined based on the reference features of the target feature recognition surface corresponding to the target area, and the position of the target area in the length direction of the forging to be measured can be determined based on the position information of the target area. Finally, the three-dimensional model of the forging to be measured can be determined based on the actual surface features of the target area.

[0111] It should be noted that after the forging process of the forging to be tested is completed, the forging to be tested can be measured based on the forging to be tested, and a three-dimensional model of the forging to be tested can be obtained. At this time, the detection module can be moved, and the total station can detect the posture information of the detection module to correspond to the position information of each target area.

[0112] Using the large hot red parts measurement method provided in the embodiment of the present application, a comparative analysis can be performed for each target area of ​​the forging being measured (based on the comparative analysis of the regional surface features), and then the machining allowance of the target area can be obtained, which can improve efficiency. In addition, in the length direction of the forging being measured, when the surface structural features of a certain target area reach the target surface structural features, and the machining correction of the surface structural features of other target areas does not affect the surface structural features that have reached the target (in the length direction, the distance between the unqualified target area and the qualified target area is greater than the preset value), the other unqualified target areas can be corrected without the need to re-test the qualified target area.

[0113] Exemplarily, the various steps in the method for measuring a large hot red part disclosed in the embodiment of the present application can be Figure 1 The control module in the large hot red parts detection device shown is implemented.

[0114] In summary, the solution provided by the embodiment of the present application controls the mechanical arm to clamp the forging to be tested, and synchronously rotates the feature recognition surface when rotating the forging to be tested, so that when the recognition module detects any complete feature recognition surface, the reference features of each feature recognition surface are matched with the target processing scheme of the forging to be tested, and the regional surface features corresponding to each reference feature are obtained. When the forging to be tested is rotated, the target area of ​​the forging to be tested can be forged based on the target surface features and the actual surface features of the target area of ​​the forging to be tested. The feature recognition surface is set in the circumference of the rotating area, the forging to be tested and the feature recognition surface are set to rotate synchronously, and different reference features are set for each feature recognition surface, which can facilitate the association of the feature recognition surface with the target area of ​​the forging to be tested, so that after determining the reference features of the feature recognition surface, the target area of ​​the forging to be tested can be forged according to the regional surface features corresponding to the reference features and the actual surface features of the target area. With such a setting, not only can the actual surface features of the forging to be tested be measured, but also the forging to be tested can be forged according to the target processing scheme, which can achieve the effect of improving processing efficiency.

[0115] Figure 3 FIG. 1 is a block diagram of a large hot red part measurement system shown in an exemplary embodiment of the present application. The large hot red part measurement system can be applied to Figure 1 The large hot red parts detection device shown in the figure. Figure 3 As shown, the exemplary large hot red part measurement system 300 includes:

[0116] The first execution module 310 is used to control the robot arm to clamp the forging to be tested and move it to the hydraulic operation position. The rotation area of ​​the end effector of the robot arm is provided with multiple feature recognition surfaces along the circumferential direction, and the multiple feature recognition surfaces and the forging to be tested can rotate synchronously with the rotation area of ​​the end effector of the robot arm.

[0117] The second execution module 320 is used to control the robot arm to synchronously rotate the forging to be tested and the multiple feature recognition surfaces, and stop rotating in response to any complete feature recognition surface being located in the recognition area of ​​the recognition module.

[0118] The first determination module 330 is used to determine the reference feature of the feature recognition surface detected by the recognition module as a basic feature. Each feature recognition surface is provided with a reference feature, and the feature types of the reference features on different feature recognition surfaces are different.

[0119] The first acquisition module 340 is used to acquire a target processing scheme for the forged part to be tested, and determine the regional surface features corresponding to each reference feature based on a preset distribution mode of the feature recognition surface, basic features and the target processing scheme.

[0120] The second acquisition module 350 is used to acquire an image to be identified of a target area of ​​the forging to be measured in response to the target feature recognition surface being located in the recognition area when the forging to be measured is rotated and / or moved along the axis of the forging to be measured, the target area is located in the detection area of ​​the detection module, the recognition module and the detection module are arranged on the same side of the robot arm, and the curvature of the recognition area is consistent with the curvature of the detection area.

[0121] The second determination module 360 ​​is used to determine the actual surface features of the target area based on the image to be identified.

[0122] The third execution module 370 is used to perform forging processing on the target area of ​​the forging to be tested based on the target surface feature and the actual surface feature, where the target surface feature is the regional surface feature corresponding to the reference feature of the target feature identification surface.

[0123] In one embodiment of the present application, the third execution module includes:

[0124] A difference data determination unit, used to determine feature difference data of target surface features and actual surface features;

[0125] a processing data determining unit, configured to determine processing data of a target area based on the feature difference data;

[0126] The target execution unit is used to perform forging processing on the target area of ​​the forging to be tested based on the processing data.

[0127] In one embodiment of the present application, each reference feature includes at least three feature identification points of the same feature type, the feature identification surface is a rectangle and the at least three feature identification points are located at different vertices, and the second execution module is further used to:

[0128] In response to identifying all feature identification points of the same feature type, the rotation is stopped.

[0129] In one embodiment of the present application, the detection module includes a first image acquisition device and a second image acquisition device, the first image acquisition device and the second image acquisition device are arranged parallel to the axis of the forging to be tested, the first image acquisition device and the second image acquisition device are both used to acquire an image of the detection area, and the second determination module is further used to:

[0130] Based on the first image to be identified acquired by the first image acquisition device and the second image to be identified acquired by the second image acquisition device, the actual surface features of the target area are determined; the image to be identified in the target area of ​​the forging under test includes the first image to be identified and the second image to be identified.

[0131] In one embodiment of the present application, the measurement system for large hot red parts further includes:

[0132] The third acquisition module is used to obtain the position information of the target area on the axis of the forging to be tested;

[0133] The third determination module is used to determine the three-dimensional model of the forging to be measured based on the actual surface features of the target area, the position information, the reference features of the target feature recognition surface, and the preset distribution mode of the feature recognition surface.

[0134] In one embodiment of the present application, the detection module further includes two laser emitters, the lasers emitted by the two laser emitters are respectively located at two opposite sides of the detection area, and the lasers are parallel to the axis of the forging to be detected, and the second acquisition module includes:

[0135] An image acquisition unit, used to acquire a detection image corresponding to a detection area of ​​the detection module;

[0136] The image determination unit is used to determine the detection image as the image to be identified of the target area of ​​the forging to be detected when there is a target area of ​​the forging to be detected in the detection image and there are lasers emitted by two laser transmitters in the target area.

[0137] It should be noted that the large hot red part measurement system provided in the above embodiment and the large hot red part measurement method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In actual application, the large hot red part measurement system provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0138] An embodiment of the present application also provides an electronic device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by one or more processors, the electronic device implements the large hot red parts measurement method provided in the above-mentioned embodiments.

[0139] Another aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor of a computer, causes the computer to execute the large hot red part measurement method provided in the above-mentioned embodiments. The computer-readable storage medium may be included in the electronic device described in the above-mentioned embodiments, or may exist independently without being assembled into the electronic device.

[0140] Another aspect of the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the large hot red part measurement method provided in each of the above embodiments.

[0141] In the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. "Including" and "comprising" mentioned throughout the specification and claims are open-ended terms and should be interpreted as "including but not limited to".

[0142] The above embodiments are merely illustrative of the principles and effects of the present application, and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A method for measuring large hot red parts, characterized in that: include: Control the mechanical arm to clamp the forging to be tested and move it to the hydraulic operation position, the rotation area of ​​the end effector of the mechanical arm is provided with a plurality of feature recognition surfaces along the circumferential direction, and the plurality of feature recognition surfaces and the forging to be tested can rotate synchronously with the rotation area of ​​the end effector of the mechanical arm; Controlling the robot arm to synchronously rotate the forging to be tested and the plurality of feature recognition surfaces, and stopping the rotation in response to any complete feature recognition surface being located in the recognition area of ​​the recognition module; Determining the reference feature of the feature recognition surface detected by the recognition module as a basic feature, wherein each feature recognition surface is provided with a reference feature, and the feature types of the reference features on different feature recognition surfaces are different; Obtaining a target processing scheme for the forging to be tested, and determining the regional surface features corresponding to each of the reference features based on a preset distribution mode of the feature recognition surface, basic features and the target processing scheme; When the forging to be tested is rotated and / or moved along the axis of the forging to be tested, in response to the target feature recognition surface being located in the recognition area, an image to be recognized of a target area of ​​the forging to be tested is acquired, the target area is located in a detection area of ​​a detection module, the recognition module and the detection module are arranged on the same side of the robot arm, and the curvature of the recognition area is consistent with the curvature of the detection area; determining actual surface features of the target area based on the image to be identified; Based on the target surface feature and the actual surface feature, forging processing is performed on the target area of ​​the forging to be tested, wherein the target surface feature is the surface feature of the area corresponding to the reference feature of the target feature identification surface; Each of the reference features includes at least three feature identification points of the same feature type, the feature identification surface is a rectangle and at least three feature identification points are located at different vertices, and in response to the recognition module detecting any complete feature identification surface, the rotation is stopped, including: In response to identifying all feature identification points of the same feature type, the rotation is stopped.

2. The method for measuring large hot red parts according to claim 1, characterized in that: Based on the target surface features and the actual surface features, a forging process is performed on the target area of ​​the forging to be tested, including: Determining feature difference data of the target surface feature and the actual surface feature; Determining processing data of the target area based on the feature difference data; A forging process is performed on a target area of ​​the forging to be tested based on the processing data.

3. The method for measuring large hot red parts according to claim 1, characterized in that: The detection module includes a first image acquisition device and a second image acquisition device, the first image acquisition device and the second image acquisition device are arranged parallel to the axis of the forging to be detected, the first image acquisition device and the second image acquisition device are used to acquire an image of the detection area, and determine the actual surface features of the target area based on the image to be identified, including: Based on the first image to be identified acquired by the first image acquisition device and the second image to be identified acquired by the second image acquisition device, the actual surface features of the target area are determined; the image to be identified of the target area of ​​the forging under test includes the first image to be identified and the second image to be identified.

4. The method for measuring large hot red parts according to claim 3, characterized in that: The method further comprises: Acquiring position information of a target area on the axis of the forging being tested; The three-dimensional model of the forging to be measured is determined based on the actual surface features of the target area, the position information, the reference features of the target feature identification surface, and the preset distribution mode of the feature identification surface.

5. The method for measuring large hot red parts according to claim 1, characterized in that: The detection module further includes two laser emitters, the lasers emitted by the two laser emitters are respectively located at two opposite sides of the detection area, and the lasers are parallel to the axis of the forging to be detected, and the image to be identified of the target area of ​​the forging to be detected is obtained, including: Obtain a detection image corresponding to the detection area of ​​the detection module; When the target area of ​​the forging to be measured exists in the detection image and the lasers emitted by the two laser emitters exist in the target area, the detection image is determined as the image to be identified of the target area of ​​the forging to be measured.

6. A large hot red part measurement system, characterized in that: include: A first execution module is used to control the robot arm to clamp the forging to be tested and move it to a hydraulic operation position, wherein a rotation area of ​​the end effector of the robot arm is provided with a plurality of feature recognition surfaces along the circumferential direction, and the plurality of feature recognition surfaces and the forging to be tested can rotate synchronously with the rotation area of ​​the end effector of the robot arm; A second execution module is used to control the robot arm to synchronously rotate the forging to be tested and the plurality of feature recognition surfaces, and stop the rotation in response to any complete feature recognition surface being located in the recognition area of ​​the recognition module; A first determination module is used to determine the reference feature of the feature recognition surface detected by the recognition module as a basic feature, each of the feature recognition surfaces is provided with a reference feature, and the feature types of the reference features on different feature recognition surfaces are different; A first acquisition module is used to acquire a target processing scheme for the forging to be tested, and determine the regional surface features corresponding to each of the reference features based on a preset distribution mode of the feature recognition surface, basic features and the target processing scheme; a second acquisition module, configured to acquire an image to be identified of a target area of ​​the forging to be tested in response to a target feature recognition surface being located in the recognition area when the forging to be tested is rotated and / or moved along the axis of the forging to be tested, wherein the target area is located in a detection area of ​​the detection module, the recognition module and the detection module are arranged on the same side of the robot arm, and the curvature of the recognition area is consistent with the curvature of the detection area; A second determination module, used to determine the actual surface features of the target area based on the image to be identified; A third execution module is used to perform forging processing on a target area of ​​the forging to be tested based on a target surface feature and an actual surface feature, wherein the target surface feature is a regional surface feature corresponding to a reference feature of the target feature identification surface; Each of the reference features includes at least three feature identification points of the same feature type, the feature identification surface is a rectangle and the at least three feature identification points are located at different vertices, and the second execution module is further used for: In response to identifying all feature identification points of the same feature type, the rotation is stopped.

7. The large hot red part measurement system according to claim 6, characterized in that: The third execution module includes: A difference data determining unit, used to determine feature difference data between the target surface feature and the actual surface feature; a processing data determining unit, configured to determine processing data of the target area based on the feature difference data; A target execution unit is used to perform forging processing on a target area of ​​the forging to be tested based on the processing data.

8. The large hot red part measurement system according to claim 6, characterized in that: The detection module includes a first image acquisition device and a second image acquisition device, the first image acquisition device and the second image acquisition device are arranged parallel to the axis of the forging to be detected, the first image acquisition device and the second image acquisition device are both used to acquire an image of the detection area, and the second determination module is further used to: determining actual surface features of the target area based on a first image to be identified acquired by the first image acquisition device and a second image to be identified acquired by the second image acquisition device; The image to be identified in the target area of ​​the forging to be measured includes a first image to be identified and a second image to be identified.

Images