Intelligent control system for casting riser grinding equipment based on machine vision

Abstract

The invention relates to the technical field of casting production, in particular to a casting riser grinding equipment intelligent control system based on machine vision, which comprises a preparation layer, a planning layer and a control layer, structural parameters of a standard casting are uploaded through the preparation layer, structural parameters of a to-be-polished casting are collected through the preparation layer, three-dimensional models are constructed based on the structural parameters of the standard casting and the structural parameters of the to-be-polished casting respectively, the to-be-polished model is recognized in the preparation layer in combination with the two sets of three-dimensional models, and the to-be-polished model recognized in the preparation layer is received by the planning layer. According to the method, data support is provided for the grinding equipment through construction of various related models of the casting, and the casting grinding path is finally obtained based on model analysis, so that full-automatic production of the grinding equipment is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of casting production, and in particular to an intelligent control system for casting riser grinding equipment based on machine vision. Background Art

[0002] The riser grinding of castings is an important part of casting processing. The riser plays a role in shrinkage compensation during the casting process. After the casting is formed, it needs to be polished and removed. During polishing, workers use professional tools to accurately remove the riser part to make the surface of the casting flat and smooth. This not only improves the appearance quality of the casting, but also ensures its dimensional accuracy to meet the requirements of subsequent use.

[0003] The invention patent with application number 202410388478.X discloses a casting polishing system based on 3D scanning positioning, which is characterized by comprising: a 3D scanning positioning module, a control module, an HI and handle module, and a sensor module; the 3D scanning positioning module comprises a 3D scanning unit and a positioning unit; the 3D scanning unit is used to perform 3D scanning on the entire surface of the unpolished casting, obtain three-dimensional data of the casting surface, and process the three-dimensional data to obtain three-dimensional model data of the casting; mark the casting area on the three-dimensional model data, and transmit the three-dimensional model data and standard data to the control module; wherein the casting area includes areas to be polished and areas not to be polished, and the areas are manually identified. The positioning unit is used to locate the position on the surface of the unpolished casting that needs to be polished according to the three-dimensional model data and the standard data, and to set the posture of the polishing head when polishing different positions; the sensor module is used to monitor the real-time state parameters of the polishing head during the polishing process and transmit them to the control module; wherein the real-time state parameters include force, position, and speed; the control module includes a path planning unit, an operation monitoring unit, and an emergency protection unit; the path planning unit is used to plan the best polishing path for the polishing head; the operation monitoring unit is used to monitor the state of the casting and the polishing head during the polishing process and control the polishing head to complete the polishing process and transmit the real-time state parameters and real-time position of the polishing head to the HMI and handle module.

[0004] The application aims to solve the problem that "the prior art uses standard drawings of castings to be polished or standard casting samples to be input into a PC for processing to polish castings, but cannot polish according to the actual conditions of the castings to be polished."

[0005] For the riser grinding process of castings, the above technology still has the following problems:

[0006] (1) Only a simple casting model was constructed for planning the grinding path, and its accuracy was uncontrollable and poor;

[0007] (2) This technology is more inclined to the semi-automatic equipment used in the casting riser grinding process, and cannot achieve fully automatic unmanned riser grinding operations;

[0008] Therefore, an intelligent control system for casting riser grinding equipment based on machine vision is proposed. Summary of the invention

[0009] In view of the above-mentioned shortcomings of the prior art, the present invention provides an intelligent control system for casting riser grinding equipment based on machine vision, which solves the technical problems raised in the above-mentioned background technology.

[0010] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0011] An intelligent control system for casting riser grinding equipment based on machine vision, comprising: a preparation layer, a planning layer and a control layer;

[0012] The structural parameters of the standard casting are uploaded through the preparation layer, and the structural parameters of the casting to be polished are collected through the preparation layer. Three-dimensional models are constructed based on the structural parameters of the standard casting and the casting to be polished respectively, and the model to be polished is identified by combining the two sets of three-dimensional models in the preparation layer. The planning layer receives the model to be polished identified in the preparation layer, and synchronously obtains the activity space parameters of the polishing end of the polishing equipment. The activity space model of the polishing end is constructed by applying the activity space parameters of the polishing end, and the three-dimensional polishing path model is further planned in the activity space model of the polishing end. The control layer obtains the three-dimensional polishing path model planned in the planning layer in real time, controls the polishing end of the polishing equipment to operate based on the three-dimensional polishing path model, and polishes the casting to be polished.

[0013] The planning layer includes a receiving module, a modeling module, and a planning module. The receiving module is used to receive the model to be polished constructed in the preparation layer. The modeling module is used to obtain the activity parameters of the polishing end of the polishing equipment and construct the activity space model of the polishing end based on the activity parameters of the polishing end. The planning module is used to receive the model to be polished received by the receiving module and the activity space model of the polishing end constructed by the modeling module, and plan a three-dimensional polishing path model based on the model to be polished and the activity space model of the polishing end.

[0014] The construction logic of the polishing end activity space model is:

[0015] Obtain the grinding surface of the grinding end on the grinding equipment, further obtain the maximum moving distance in the left and right directions and the maximum moving distance in the up and down directions of the grinding end, and determine the grinding surface area based on the two sets of moving distances:

[0016]

[0017] Where: a is the length of the polishing area; b is the width of the polishing area; L left-right L is the maximum moving distance of the grinding end in the left and right directions; up-down The maximum moving distance of the grinding end in the up and down directions; The grinding surface is long for the grinding end; Grind the surface width for the grinding end;

[0018] Based on the above formula, the polishing surface area is first located at a×b;

[0019] The maximum moving distance of the grinding end in the front-to-back direction is further obtained, and the stretching operation is performed based on the grinding surface domain as the stretching surface. The three-dimensional model obtained by stretching is recorded as the grinding end activity space model.

[0020] Furthermore, the preparation layer includes a collection module, a construction module, and a segmentation module. The collection module is used to collect structural parameters of the casting to be polished. The construction module is used to upload the structural parameters of the standard casting and the structural parameters of the casting to be polished collected by the collection module, and to respectively construct a three-dimensional model of the standard casting and a three-dimensional model of the casting to be polished based on the two sets of parameters. The segmentation module is used to move the three-dimensional model of the standard casting so that the three-dimensional model of the standard casting overlaps with the three-dimensional model of the casting to be polished, so as to obtain the model to be polished;

[0021] Among them, the casting to be polished is fixedly transmitted on the polishing equipment, and the structural parameters are collected during the transmission of the casting to be polished. The three-dimensional model of the standard casting and the three-dimensional model of the casting to be polished in the construction module are constructed in the same three-dimensional space, and the construction postures of the three-dimensional model of the standard casting and the three-dimensional model of the casting to be polished are consistent, and the line connecting the bottom center points of the three-dimensional model of the standard casting and the three-dimensional model of the casting to be polished is parallel to the transmission path of the casting to be polished by the polishing equipment.

[0022] Furthermore, the acquisition module includes an electric telescopic rod, the top of which is fixedly connected to a circular ring, the inner wall of which is slidably connected to an inverted L-shaped rod body via an electric slide rail, and the bottom surface of the inverted L-shaped rod body and the side surface close to the bottom surface are equidistantly installed with distance measuring modules;

[0023] The conveyor belt of the grinding device is arranged on one side of the electric telescopic rod, the example casting body is fixedly placed on the top surface of the conveyor belt, the grinding chamber of the grinding device is arranged on the top surface of the conveyor belt, and the grinding chamber is located in front of the electric telescopic rod relative to the transmission direction of the conveyor belt;

[0024] The example casting body is transferred to the bottom of the ring by the conveyor belt, and the ring is driven by the electric telescopic rod to move vertically downward until the bottom end of the inverted L-shaped rod connected to the ring is in contact with the top surface of the conveyor belt. The electric telescopic rod pushes the ring and the inverted L-shaped rod connected to the ring to move upward by 1 to 3 mm, and the distance measurement module is started synchronously to perform the distance measurement operation. The ring is synchronously controlled to drive the inverted L-shaped rod to make a circular motion through the electric slide rail. After the inverted L-shaped rod rotates one circle, all parts except the conveyor belt and the example casting body are reset, and the structural parameters of the casting to be polished are collected;

[0025] Among them, the number of ranging modules installed equidistantly on the bottom surface of the inverted L-shaped rod body and the side surface close to the bottom surface follows the rule that the higher the grinding accuracy requirement of the casting riser, the more the installation number of ranging modules, and vice versa, the fewer the installation number of ranging modules, and the ranging frequency of the ranging module follows the rule that the higher the grinding accuracy requirement of the casting riser, the higher the ranging frequency of the ranging module, and vice versa, the lower the ranging frequency of the ranging module.

[0026] Furthermore, after the construction module obtains the standard casting structural parameters, it uses the three-dimensional drawing software to construct the three-dimensional model of the standard casting;

[0027] After the construction module obtains the structural parameters of the casting to be polished, based on the distance value and the distance measurement direction of the distance measurement results of each group of distance measurement modules, a line segment is drawn with the position information of the distance measurement module in the distance measurement result generation stage as the starting point, and the end points of the line segments on the side away from the distance measurement module position in the distance measurement result generation stage are connected adjacently to each other, so as to construct a three-dimensional model of the casting to be polished;

[0028] During the operation phase of the segmentation module, the standard casting 3D model is controlled to move toward the 3D model of the casting to be polished. During the movement, when the overlapping area of ​​the bottom surfaces of the two sets of models is the largest, the standard casting 3D model is controlled to stop moving. The standard casting 3D model in the two sets of intersecting 3D models is used as the shearing area, and the 3D model of the casting to be polished is used as the sheared model. The shearing operation is performed, and the remaining shearing is recorded as the model to be polished.

[0029] Furthermore, the number of models to be polished identified by the preparation layer is one group or more, the three-dimensional polishing path model constructed in the planning layer is equal to the number of models to be polished, and when the number of models to be polished is not unique, the corresponding corner points of the similar surfaces of two adjacent groups of models to be polished are connected to each other to construct a connection model between the two adjacent groups of models to be polished, so that the polishing end of the polishing device moves based on the models to be polished and performs a polishing operation, and the polishing end of the polishing device moves based on the connection model, and no polishing operation is performed during the movement based on the connection model;

[0030] The standard casting three-dimensional model, the casting three-dimensional module to be polished, the model to be polished, the polishing end activity space model, and the connection model are all constructed in the same three-dimensional space, and the bottom transverse midlines of each group of models are on the same plane.

[0031] Furthermore, the planning logic of the three-dimensional polishing path model in the planning module is:

[0032]

[0033] Where: plan The activity space model of the polishing end; waitFor the model to be polished;

[0034] Among them, the grinding end activity space model ξ plan Model to be polished wait When the formula (1) is met, the activity space model ξ at the grinding end plan Cut and polished models wait The overlapping area model is used as a three-dimensional polishing path model;

[0035] Grinding end activity space modelξ plan Model to be polished wait When the formula (2) is met, the moving model to be polished ξ wait Activity space model towards the polishing end plan The movement is continued until the movement result meets the formula (1), and a three-dimensional grinding path model is output based on the formula (1).

[0036] Furthermore, the control layer includes a cutting module, a picking module and an output module. The cutting module is used to receive the three-dimensional grinding path model outputted from the planning layer, cut the three-dimensional grinding path model to obtain a plurality of groups of sub-three-dimensional grinding path models. The picking module is used to receive all the sub-three-dimensional grinding path models outputted from the cutting module, pick up the center points of the cutting surface on the same side of each group of sub-three-dimensional grinding path models, and connect the picked up center points adjacent to each other to create a casting grinding path. The output module is used to receive the casting grinding path obtained by running the picking module, and transmit the casting grinding path to the grinding equipment.

[0037] Among them, after receiving the casting grinding path, the grinding device obtains the spatial coordinates of each point on the casting grinding path in the three-dimensional space where the casting grinding path is located, and drives the grinding device to grind the casting based on the obtained spatial coordinates.

[0038] Furthermore, the cutting module is provided with a three-dimensional polishing path model cutting logic, and the cutting module cuts the three-dimensional polishing path model based on the cutting logic;

[0039] The three-dimensional space where all the models constructed by the system are located is a proportional mapping of the space where the cutting equipment is located;

[0040] After the grinding equipment obtains the corresponding spatial coordinates of each point on the casting grinding path, it enlarges each spatial coordinate based on the mapping ratio, and then drives the grinding end of the grinding equipment to operate based on the enlarged spatial coordinates.

[0041] Furthermore, the cutting logic of the three-dimensional grinding path model in the cutting module is expressed as:

[0042]

[0043] In the formula: m is the number of cuts; m0 is the base number of cuts; q is the number of models to be polished; is the average irregularity rate of the model to be polished; D is the total length of the edge of the polished surface of the model to be polished; n is the total amount of the model to be polished; g i is the volume of the i-th model to be polished; γ is the normalization factor;

[0044] Among them, the cutting direction of the cutting module for the three-dimensional grinding path model is vertical cutting. Express The value of is rounded up, and the cutting quantity base m0 is customized by the system user. Express The average value of the normalization factor γ is (0, 2);

[0045] The profile rate of the model to be polished is calculated by the following formula:

[0046]

[0047] Where: θ is the shape rate of the model to be polished; u is the number of surfaces of the model to be polished; R v is the value of the degree of irregularity of the vth surface on the model to be polished; V and S are the volume and surface area of ​​the model to be polished;

[0048] The value R of the degree of irregularity of the surface of the model to be polished is: the Hausdorff distance between two groups of segmented surfaces after the surface of the model to be polished is segmented based on the midline.

[0049] Furthermore, the receiving module is interactively connected to the segmentation module through a local area network, the segmentation module is interactively connected to the construction module and the acquisition module through a local area network, the receiving module is interactively connected to the modeling module and the planning module through a local area network, the planning module is interactively connected to the cutting module through a local area network, and the cutting module is interactively connected to the picking module and the output module through a local area network.

[0050] Compared with the known public technology, the technical solution provided by the present invention has the following beneficial effects:

[0051] The present invention provides an intelligent control system for casting riser grinding equipment based on machine vision. During operation, the system provides data support for the grinding equipment by constructing various relevant models of castings, and finally obtains the casting grinding path based on model analysis to realize fully automated production of the grinding equipment.

[0052] In addition, during the operation of the system, based on a specific casting structure parameter acquisition module, the system adaptively adjusts the acquisition accuracy of the casting structure parameter acquisition process, further enabling the system to meet the casting riser grinding scenarios with different accuracy requirements;

[0053] Moreover, based on the comprehensive construction of casting-related models, the system can still control the construction accuracy of the casting grinding path when providing the casting grinding path for the grinding equipment, thereby realizing adaptive grinding of castings with different precision requirements, and thereby realizing the control of casting grinding efficiency;

[0054] In summary, based on the configuration of this system in the grinding equipment to grind the riser of the casting, the demand for human control during the operation of the grinding equipment is reduced to an extremely low level, making the operation of the grinding equipment more intelligent, and realizing high-precision, precision-adjustable unmanned digital model control of the grinding equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0056] Figure 1 This is a structural schematic diagram of an intelligent control system for casting riser grinding equipment based on machine vision;

[0057] Figure 2 This is a schematic diagram of an example structure of the acquisition module in the present invention;

[0058] Figure 3 It is a logical schematic diagram of obtaining the model to be polished in the present invention;

[0059] Figure 4 Obtain a logical schematic diagram for the grinding end activity space model in the present invention:

[0060] Figure 5 Obtain a logical schematic diagram for the three-dimensional polishing path model in the present invention:

[0061] Figure 6 This is a schematic diagram of an example of a connection model in the present invention:

[0062] Figure 7 It is a schematic diagram of the cutting logic of the three-dimensional grinding path model and the logic of obtaining the casting grinding path in the present invention;

[0063] Figure numerals: 1. electric telescopic rod; 2. ring; 3. inverted L-shaped rod body; 4. distance measuring module; 5. conveyor belt; 6. example casting body; 7. grinding chamber. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] The present invention will be further described below in conjunction with the embodiments.

[0066] Embodiment 1:

[0067] The present embodiment is a machine vision-based intelligent control system for casting riser grinding equipment, such as Figure 1 As shown, it includes: preparation layer, planning layer and control layer;

[0068] The structural parameters of the standard casting are uploaded through the preparation layer, and the structural parameters of the casting to be polished are collected through the preparation layer. Three-dimensional models are constructed based on the structural parameters of the standard casting and the casting to be polished respectively, and the model to be polished is identified by combining the two sets of three-dimensional models in the preparation layer. The planning layer receives the model to be polished identified in the preparation layer, and synchronously obtains the activity space parameters of the polishing end of the polishing equipment. The activity space model of the polishing end is constructed by applying the activity space parameters of the polishing end, and the three-dimensional polishing path model is further planned in the activity space model of the polishing end. The control layer obtains the three-dimensional polishing path model planned in the planning layer in real time, controls the polishing end of the polishing equipment to operate based on the three-dimensional polishing path model, and polishes the casting to be polished.

[0069] The preparation layer includes an acquisition module, a construction module, and a segmentation module. The acquisition module is used to acquire the structural parameters of the casting to be polished. The construction module is used to upload the structural parameters of the standard casting and the structural parameters of the casting to be polished acquired by the acquisition module. Based on the two sets of parameters, a three-dimensional model of the standard casting and a three-dimensional model of the casting to be polished are respectively constructed. The segmentation module is used to move the three-dimensional model of the standard casting so that the three-dimensional model of the standard casting overlaps with the three-dimensional model of the casting to be polished, so as to obtain the model to be polished.

[0070] The casting to be polished is fixedly transmitted on the polishing equipment, and the structural parameters are collected during the transmission of the casting to be polished. The three-dimensional model of the standard casting and the three-dimensional model of the casting to be polished in the construction module are constructed in the same three-dimensional space, and the construction postures of the three-dimensional model of the standard casting and the three-dimensional model of the casting to be polished are consistent, and the line connecting the bottom center points of the three-dimensional model of the standard casting and the three-dimensional model of the casting to be polished is parallel to the transmission path of the casting to be polished by the polishing equipment;

[0071] The planning layer includes a receiving module, a modeling module, and a planning module. The receiving module is used to receive the model to be polished constructed in the preparation layer. The modeling module is used to obtain the activity parameters of the polishing end of the polishing equipment, and to construct the activity space model of the polishing end based on the activity parameters of the polishing end. The planning module is used to receive the model to be polished received by the receiving module and the activity space model of the polishing end constructed by the modeling module, and to plan a three-dimensional polishing path model based on the model to be polished and the activity space model of the polishing end.

[0072] The construction logic of the polishing end activity space model is:

[0073] Obtain the grinding surface of the grinding end on the grinding equipment, further obtain the maximum moving distance in the left and right directions and the maximum moving distance in the up and down directions of the grinding end, and determine the grinding surface area based on the two sets of moving distances:

[0074]

[0075] Where: a is the length of the polishing area; b is the width of the polishing area; L left-right L is the maximum moving distance of the grinding end in the left and right directions; up-down The maximum moving distance of the grinding end in the up and down directions; The grinding surface is long for the grinding end; Grind the surface width for the grinding end;

[0076] Based on the above formula, the polishing surface area is first located at a×b;

[0077] Further, the maximum moving distance of the grinding end in the front-to-back direction is obtained, and the stretching operation is performed based on the grinding surface domain as the stretching surface based on the maximum moving distance of the grinding end in the front-to-back direction as the stretching length, and the three-dimensional model obtained by stretching is recorded as the grinding end activity space model;

[0078] The number of models to be polished identified by the preparation layer is one group or more, the three-dimensional polishing path model constructed in the planning layer is equal to the number of models to be polished, and when the number of models to be polished is not unique, the corresponding corner points of the similar faces of two adjacent groups of models to be polished are connected to each other to construct a connection model between the two adjacent groups of models to be polished, so that the polishing end of the polishing equipment moves based on the models to be polished and performs the polishing operation, and the polishing end of the polishing equipment moves based on the connection model, and the polishing operation is not performed during the movement based on the connection model;

[0079] The three-dimensional model of the standard casting, the three-dimensional module of the casting to be polished, the model to be polished, the activity space model of the polishing end, the three-dimensional polishing path model, and the connection model are all constructed in the same three-dimensional space, and the horizontal midlines of the bottom surfaces of each group of models are on the same plane;

[0080] The planning logic of the 3D polishing path model in the planning module is:

[0081]

[0082] Where: plan The activity space model of the polishing end; wait For the model to be polished;

[0083] Among them, the grinding end activity space model ξ plan Model to be polished wait When the formula (1) is met, the activity space model ξ at the grinding end plan Cut and polished models wait The overlapping area model is used as a three-dimensional polishing path model;

[0084] Grinding end activity space modelξ plan Model to be polished wait When the formula (2) is met, the moving model to be polished ξ wait Activity space model towards the polishing end plan Move in the same direction until the moving result meets the formula (1), and output the three-dimensional grinding path model based on the formula (1);

[0085] The control layer includes a cutting module, a picking module and an output module. The cutting module is used to receive the three-dimensional grinding path model outputted from the planning layer, cut the three-dimensional grinding path model to obtain several groups of sub-three-dimensional grinding path models. The picking module is used to receive all the sub-three-dimensional grinding path models outputted from the cutting module, pick up the center points of the cutting surface on the same side of each group of sub-three-dimensional grinding path models, and connect the picked center points adjacently to each other to create a casting grinding path. The output module is used to receive the casting grinding path obtained by the picking module, and transmit the casting grinding path to the grinding equipment.

[0086] After receiving the casting grinding path, the grinding device acquires the spatial coordinates of each point on the casting grinding path in the three-dimensional space where the casting grinding path is located, and drives the grinding device to grind the casting based on the acquired spatial coordinates;

[0087] The cutting module is provided with a three-dimensional grinding path model cutting logic, and the cutting module cuts the three-dimensional grinding path model based on the cutting logic;

[0088] The three-dimensional space where all models built by the system are located is a proportional mapping of the space where the cutting equipment is located;

[0089] After the grinding equipment obtains the corresponding spatial coordinates of each point on the casting grinding path, it amplifies each spatial coordinate based on the mapping ratio, and then drives the grinding end of the grinding equipment to operate based on the amplified spatial coordinates;

[0090] The cutting logic of the three-dimensional grinding path model in the cutting module is expressed as:

[0091]

[0092] In the formula: m is the number of cuts; m0 is the base number of cuts; q is the number of models to be polished; is the average shape rate of the model to be polished; D is the total length of the edge line of the polished surface of the model to be polished; n is the total number of models to be polished; gi is the volume of the i-th model to be polished; γ is the normalization factor;

[0093] Among them, the cutting direction of the cutting module for the three-dimensional grinding path model is vertical cutting. Express The value of is rounded up, and the cutting quantity base m0 is customized by the system user. Express The average value of the normalization factor γ is (0, 2);

[0094] The shape rate of the model to be polished is calculated by the following formula:

[0095]

[0096] Where: θ is the shape rate of the model to be polished; u is the number of surfaces of the model to be polished; R v is the value of the degree of irregularity of the vth surface on the model to be polished; V and S are the volume and surface area of ​​the model to be polished;

[0097] The value R of the degree of irregularity of the surface of the model to be polished is: the Hausdorff distance between two groups of segmented surfaces after the surface of the model to be polished is segmented based on the midline;

[0098] The receiving module is interactively connected to the segmentation module through the local area network, the segmentation module is interactively connected to the construction module and the acquisition module through the local area network, the receiving module is interactively connected to the modeling module and the planning module through the local area network, the planning module is interactively connected to the cutting module through the local area network, and the cutting module is interactively connected to the picking module and the output module through the local area network.

[0099] In this embodiment, the acquisition module is operated to collect the structural parameters of the casting to be polished, the construction module is post-operated to upload the structural parameters of the standard casting and the structural parameters of the casting to be polished collected by the acquisition module, and the standard casting three-dimensional model and the three-dimensional model of the casting to be polished are respectively constructed based on the two sets of parameters. The segmentation module synchronously moves the standard casting three-dimensional model to make the standard casting three-dimensional model overlap with the three-dimensional model of the casting to be polished to obtain the model to be polished, and then the receiving module receives the model to be polished constructed in the preparation layer. The modeling module further obtains the polishing end activity parameters of the polishing equipment, and constructs the polishing end activity space model based on the polishing end activity parameters. The planning module runs to receive the receiving module and the receiving module runs to receive the The model to be polished and the polishing end activity space model constructed by the modeling module are used to plan a three-dimensional polishing path model based on the model to be polished and the polishing end activity space model. Finally, the three-dimensional polishing path model output in the planning layer is received by the cutting module, and the three-dimensional polishing path model is cut to obtain several groups of sub-three-dimensional polishing path models. The picking module receives all the sub-three-dimensional polishing path models output by the cutting module, picks up the center points of the cutting surface on the same side of each group of sub-three-dimensional polishing path models, and connects the picked up center points adjacent to each other to create a casting polishing path. The casting polishing path obtained by running the picking module is received by the output module, and the casting polishing path is transmitted to the polishing equipment.

[0100] Through the system in the above embodiment, the fully automated grinding process of the casting riser by the grinding equipment is realized, which effectively improves the intelligence level of the grinding equipment. Based on the construction of a high-precision model, the accuracy of the grinding process of the casting riser by the grinding equipment is further improved. Based on the above logical formula, the system has absolute control over the grinding accuracy of the grinding equipment.

[0101] See also Figure 2 The above-mentioned related contents illustrate the specific structure and operation logic of the acquisition module;

[0102] See also Figure 3 As shown, based on the dotted arrows in the figure, the moving directions of the standard casting 3D model and the 3D model of the casting to be polished are shown, and based on the solid arrows, the model to be polished is obtained by shearing based on the standard casting model when the two groups of models move in a state of overlap;

[0103] See also Figure 4 As shown, based on the arrow indication in the figure, it further shows the process that the grinding surface of the grinding end of the grinding equipment is transformed into the grinding surface domain based on the active area of ​​the grinding end, and then the grinding surface domain is transformed into the grinding end activity space model based on the active area of ​​the grinding end;

[0104] See also Figure 5As shown, based on the dotted arrow indication, the direction in which the grinding end activity space model moves toward the model to be ground is shown. Based on the model movement, the intersection area of ​​the two groups of models is obtained, that is, the model indicated by the solid arrow, which is recorded as the three-dimensional grinding path model;

[0105] See also Figure 6 As shown, when the model to be polished is not unique, two groups of models to be polished are shown with solid lines in the figure, and the two groups of models connect all the connected models;

[0106] See also Figure 7 As shown in the figure, the segmentation is performed based on the segmentation logic of the above-mentioned three-dimensional grinding path model, and points are obtained on each group of segmented sub-models. The casting grinding path is finally obtained based on the point connection, which is indicated by the arrow in the figure.

[0107] Embodiment 2:

[0108] In terms of specific implementation, based on Example 1, this example refers to Figure 1 The following is a further detailed description of an intelligent control system for casting riser grinding equipment based on machine vision in Example 1:

[0109] The acquisition module includes an electric telescopic rod, the top of which is fixedly connected to a circular ring, the inner wall of which is slidably connected to an inverted L-shaped rod body via an electric slide rail, and the bottom surface of the inverted L-shaped rod body and the side surface close to the bottom surface are equidistantly installed with distance measurement modules;

[0110] The conveyor belt of the grinding equipment is arranged on one side of the electric telescopic rod, the example casting body is fixedly placed on the top surface of the conveyor belt, the grinding chamber of the grinding equipment is arranged on the top surface of the conveyor belt, and the grinding chamber is located in front of the electric telescopic rod relative to the transmission direction of the conveyor belt;

[0111] The example casting body is transferred to the bottom of the ring through the conveyor belt, and the ring is driven by the electric telescopic rod to move vertically downward until the bottom end of the inverted L-shaped rod connected to the ring is in contact with the top surface of the conveyor belt. The electric telescopic rod pushes the ring and the inverted L-shaped rod connected to the ring to move upward by 1 to 3 mm, and the distance measurement module is started synchronously to perform the distance measurement operation. The ring is synchronously controlled to drive the inverted L-shaped rod to make a circular motion through the electric slide rail. After the inverted L-shaped rod rotates one circle, all parts except the conveyor belt and the example casting body are reset, and the structural parameters of the casting to be polished are collected;

[0112] Among them, the number of ranging modules installed equidistantly on the bottom surface of the inverted L-shaped rod body and the side surface close to the bottom surface follows the rule that the higher the grinding accuracy requirement of the casting riser, the more the installation number of ranging modules, and vice versa, the fewer the installation number of ranging modules, and the ranging frequency of the ranging module follows the rule that the higher the grinding accuracy requirement of the casting riser, the higher the ranging frequency of the ranging module, and vice versa, the lower the ranging frequency of the ranging module.

[0113] In this embodiment, through the above settings, the hardware components and operation logic of the acquisition module are further limited, providing necessary data support for the acquisition of structural parameters of the casting to be polished and the construction of the three-dimensional model of the casting to be polished.

[0114] like Figure 1 As shown, after the construction module obtains the standard casting structure parameters, it uses the 3D drawing software to construct the 3D model of the standard casting;

[0115] After the construction module obtains the structural parameters of the casting to be polished, based on the distance value and distance measurement direction of the distance measurement results of each set of distance measurement modules, a line segment is drawn with the position information of the distance measurement module in the distance measurement result generation stage as the starting point, and the end points of the line segments on the side away from the distance measurement module position in the distance measurement result generation stage are connected adjacently to each other, so as to construct a three-dimensional model of the casting to be polished;

[0116] During the operation phase of the segmentation module, the standard casting 3D model is controlled to move toward the 3D model of the casting to be polished. During the movement, when the overlapping area of ​​the bottom surfaces of the two sets of models is the largest, the standard casting 3D model is controlled to stop moving. The standard casting 3D model in the two sets of intersecting 3D models is used as the shearing area, and the 3D model of the casting to be polished is used as the sheared model. The shearing operation is performed, and the remaining shearing is recorded as the model to be polished.

[0117] Through the above settings, the acquisition logic of the model to be polished is further limited.

[0118] In summary, during the operation of the system in the above embodiment, the system provides data support for the grinding equipment through the construction of various relevant models of castings, and finally obtains the casting grinding path based on model analysis to realize the fully automated production of the grinding equipment; and during the operation of the system, based on a specific casting structure parameter acquisition module, the system adaptively adjusts the acquisition accuracy of the casting structure parameter acquisition process, so as to further enable the system to meet the casting riser grinding scenarios with different precision requirements; and based on the comprehensive construction of casting-related models, the system can still control the construction accuracy of the casting grinding path when providing the casting grinding path for the grinding equipment, thereby realizing adaptive grinding of castings with different precision requirements, and thereby realizing the control of casting grinding efficiency.

[0119] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent control system for casting riser grinding equipment based on machine vision, characterized in that: include: Preparation layer, planning layer and control layer; The structural parameters of the standard casting are uploaded through the preparation layer, and the structural parameters of the casting to be polished are collected through the preparation layer. Three-dimensional models are constructed based on the structural parameters of the standard casting and the casting to be polished respectively, and the model to be polished is identified by combining the two sets of three-dimensional models in the preparation layer. The planning layer receives the model to be polished identified in the preparation layer, and synchronously obtains the activity space parameters of the polishing end of the polishing equipment. The activity space model of the polishing end is constructed by applying the activity space parameters of the polishing end, and the three-dimensional polishing path model is further planned in the activity space model of the polishing end. The control layer obtains the three-dimensional polishing path model planned in the planning layer in real time, controls the polishing end of the polishing equipment to operate based on the three-dimensional polishing path model, and polishes the casting to be polished. The planning layer includes a receiving module, a modeling module, and a planning module. The receiving module is used to receive the model to be polished constructed in the preparation layer. The modeling module is used to obtain the activity parameters of the polishing end of the polishing equipment and construct the activity space model of the polishing end based on the activity parameters of the polishing end. The planning module is used to receive the model to be polished received by the receiving module and the activity space model of the polishing end constructed by the modeling module, and plan a three-dimensional polishing path model based on the model to be polished and the activity space model of the polishing end. The construction logic of the polishing end activity space model is: Obtain the grinding surface of the grinding end on the grinding equipment, further obtain the maximum moving distance in the left and right directions and the maximum moving distance in the up and down directions of the grinding end, and determine the grinding surface area based on the two sets of moving distances: Where: a is the length of the polishing area; b is the width of the polishing area; L left-right L is the maximum moving distance of the grinding end in the left and right directions; up -down is the maximum moving distance of the grinding end in the up and down directions; The grinding surface is long for the grinding end; Grind the surface width for the grinding end; Based on the above formula, the polishing surface area is first located at a×b; The maximum moving distance of the grinding end in the front-to-back direction is further obtained, and the stretching operation is performed based on the grinding surface domain as the stretching surface. The three-dimensional model obtained by stretching is recorded as the grinding end activity space model.

2. According to the intelligent control system of casting riser grinding equipment based on machine vision according to claim 1, it is characterized in that: The preparation layer includes a collection module, a construction module, and a segmentation module. The collection module is used to collect the structural parameters of the casting to be polished. The construction module is used to upload the structural parameters of the standard casting and the structural parameters of the casting to be polished collected by the collection module, and respectively construct a three-dimensional model of the standard casting and a three-dimensional model of the casting to be polished based on the two sets of parameters. The segmentation module is used to move the three-dimensional model of the standard casting so that the three-dimensional model of the standard casting overlaps with the three-dimensional model of the casting to be polished, so as to obtain the model to be polished; Among them, the casting to be polished is fixedly transmitted on the polishing equipment, and the structural parameters are collected during the transmission of the casting to be polished. The three-dimensional model of the standard casting and the three-dimensional model of the casting to be polished in the construction module are constructed in the same three-dimensional space, and the construction postures of the three-dimensional model of the standard casting and the three-dimensional model of the casting to be polished are consistent, and the line connecting the bottom center points of the three-dimensional model of the standard casting and the three-dimensional model of the casting to be polished is parallel to the transmission path of the casting to be polished by the polishing equipment.

3. The intelligent control system for casting riser grinding equipment based on machine vision according to claim 2 is characterized in that: The acquisition module comprises an electric telescopic rod, the top of which is fixedly connected to a circular ring, the inner ring wall of which is slidably connected to an inverted L-shaped rod body via an electric slide rail, and the bottom surface of the inverted L-shaped rod body and the side surface close to the bottom surface are equidistantly installed with distance measurement modules; The conveyor belt of the grinding device is arranged on one side of the electric telescopic rod, the example casting body is fixedly placed on the top surface of the conveyor belt, the grinding chamber of the grinding device is arranged on the top surface of the conveyor belt, and the grinding chamber is located in front of the electric telescopic rod relative to the transmission direction of the conveyor belt; The example casting body is transferred to the bottom of the ring by the conveyor belt, and the ring is driven by the electric telescopic rod to move vertically downward until the bottom end of the inverted L-shaped rod connected to the ring is in contact with the top surface of the conveyor belt. The electric telescopic rod pushes the ring and the inverted L-shaped rod connected to the ring to move upward by 1 to 3 mm, and the distance measurement module is started synchronously to perform the distance measurement operation. The ring is synchronously controlled to drive the inverted L-shaped rod to make a circular motion through the electric slide rail. After the inverted L-shaped rod rotates one circle, all parts except the conveyor belt and the example casting body are reset, and the structural parameters of the casting to be polished are collected; Among them, the number of ranging modules installed equidistantly on the bottom surface of the inverted L-shaped rod body and the side surface close to the bottom surface follows the rule that the higher the grinding accuracy requirement of the casting riser, the more the installation number of ranging modules, and vice versa, the fewer the installation number of ranging modules, and the ranging frequency of the ranging module follows the rule that the higher the grinding accuracy requirement of the casting riser, the higher the ranging frequency of the ranging module, and vice versa, the lower the ranging frequency of the ranging module.

4. According to the intelligent control system of casting riser grinding equipment based on machine vision according to claim 2 or 3, it is characterized in that: After the construction module obtains the standard casting structural parameters, it uses the three-dimensional drawing software to construct the three-dimensional model of the standard casting; After the construction module obtains the structural parameters of the casting to be polished, based on the distance value and the distance measurement direction of the distance measurement results of each group of distance measurement modules, a line segment is drawn with the position information of the distance measurement module in the distance measurement result generation stage as the starting point, and the end points of the line segments on the side away from the distance measurement module position in the distance measurement result generation stage are connected adjacently to each other, so as to construct a three-dimensional model of the casting to be polished; During the operation phase of the segmentation module, the standard casting 3D model is controlled to move toward the 3D model of the casting to be polished. During the movement, when the overlapping area of ​​the bottom surfaces of the two sets of models is the largest, the standard casting 3D model is controlled to stop moving. The standard casting 3D model in the two sets of intersecting 3D models is used as the shearing area, and the 3D model of the casting to be polished is used as the sheared model. The shearing operation is performed, and the remaining shearing is recorded as the model to be polished.

5. The intelligent control system for casting riser grinding equipment based on machine vision according to claim 1, characterized in that: The number of models to be polished identified by the preparation layer is one group or more, the three-dimensional polishing path model constructed in the planning layer is equal to the number of models to be polished, and when the number of models to be polished is not unique, the corresponding corner points of the similar surfaces of two adjacent groups of models to be polished are connected to each other to construct a connection model between the two adjacent groups of models to be polished, so that the polishing end of the polishing device moves based on the models to be polished and performs a polishing operation, and the polishing end of the polishing device moves based on the connection model, and no polishing operation is performed during the movement based on the connection model; The standard casting three-dimensional model, the casting three-dimensional module to be polished, the model to be polished, the polishing end activity space model, the three-dimensional polishing path model, and the connection model are all constructed in the same three-dimensional space, and the bottom horizontal midlines of each group of models are on the same plane.

6. The intelligent control system for casting riser grinding equipment based on machine vision according to claim 1 or 5, characterized in that: The planning logic of the three-dimensional polishing path model in the planning module is: Where: plan The activity space model of the polishing end; wait For the model to be polished; Among them, the grinding end activity space model ξ plan Model to be polished wait When the formula (1) is met, the activity space model ξ at the grinding end plan Cut and polished models wait The overlapping area model is used as a three-dimensional polishing path model; Grinding end activity space model plan Model to be polished wait When the formula (2) is met, the moving model to be polished ξ wait Activity space model towards the polishing end plan The movement is continued until the movement result meets the formula (1), and a three-dimensional grinding path model is output based on the formula (1).

7. The intelligent control system for casting riser grinding equipment based on machine vision according to claim 1, characterized in that: The control layer includes a cutting module, a picking module and an output module. The cutting module is used to receive the three-dimensional grinding path model outputted from the planning layer, cut the three-dimensional grinding path model to obtain a plurality of groups of sub-three-dimensional grinding path models. The picking module is used to receive all the sub-three-dimensional grinding path models outputted from the cutting module, pick up the center points of the cutting surface on the same side of each group of sub-three-dimensional grinding path models, and connect the picked up center points adjacent to each other to create a casting grinding path. The output module is used to receive the casting grinding path obtained by the picking module, and transmit the casting grinding path to the grinding equipment. Among them, after receiving the casting grinding path, the grinding device obtains the spatial coordinates of each point on the casting grinding path in the three-dimensional space where the casting grinding path is located, and drives the grinding device to grind the casting based on the obtained spatial coordinates.

8. The intelligent control system for casting riser grinding equipment based on machine vision according to claim 7, characterized in that: The cutting module is provided with a three-dimensional polishing path model cutting logic, and the cutting module cuts the three-dimensional polishing path model based on the cutting logic; The three-dimensional space where all the models constructed by the system are located is a proportional mapping of the space where the cutting equipment is located; After the grinding equipment obtains the corresponding spatial coordinates of each point on the casting grinding path, it enlarges each spatial coordinate based on the mapping ratio, and then drives the grinding end of the grinding equipment to operate based on the enlarged spatial coordinates.

9. The intelligent control system for casting riser grinding equipment based on machine vision according to claim 7, characterized in that: The cutting logic of the three-dimensional grinding path model in the cutting module is expressed as: In the formula: m is the number of cuts; m0 is the base number of cuts; q is the number of models to be polished; is the average irregularity rate of the model to be polished; D is the total length of the edge of the polished surface of the model to be polished; n is the total amount of the model to be polished; g i is the volume of the i-th model to be polished; γ is the normalization factor; Among them, the cutting direction of the cutting module for the three-dimensional grinding path model is vertical cutting. Express The value of is rounded up, and the cutting quantity base m0 is customized by the system user. Express The average value of the normalization factor γ is (0, 2); The profile rate of the model to be polished is calculated by the following formula: Where: θ is the shape rate of the model to be polished; u is the number of surfaces of the model to be polished; R v is the value of the degree of irregularity of the vth surface on the model to be polished; V and S are the volume and surface area of ​​the model to be polished; The value R of the degree of irregularity of the surface of the model to be polished is: the Hausdorff distance between two groups of segmented surfaces after the surface of the model to be polished is segmented based on the midline.

10. The intelligent control system for casting riser grinding equipment based on machine vision according to claim 1, characterized in that: The receiving module is interactively connected to the segmentation module through the local area network, the segmentation module is interactively connected to the construction module and the acquisition module through the local area network, the receiving module is interactively connected to the modeling module and the planning module through the local area network, the planning module is interactively connected to the cutting module through the local area network, and the cutting module is interactively connected to the picking module and the output module through the local area network.

Images