An intelligent control system for a casting riser grinding equipment based on machine vision

Abstract

The present invention relates to the technical field of casting production, and particularly relates to an intelligent control system for a casting riser grinding device based on machine vision, including: a preparation layer, a planning layer, and a control layer; the standard casting structure parameters are uploaded through the preparation layer, the structure parameters of the casting to be ground are collected through the preparation layer, three-dimensional models are respectively constructed based on the structure parameters of the standard casting and the casting to be ground, and the casting model to be ground is identified by combining the two groups of three-dimensional models in the preparation layer. The planning layer receives the casting model to be ground identified in the preparation layer, synchronously obtains the movement space parameters of the grinding end of the grinding device, and constructs a movement space model of the grinding end by applying the movement space parameters of the grinding end. Through the construction of various relevant models of the casting, the present invention provides data support for the grinding device, and finally obtains the casting grinding path based on model analysis to realize the fully automated production of the grinding device.

Description

Technical Field

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

[0002] The grinding of casting risers is an important link in casting processing. The riser plays a role in feeding during the casting process and needs to be ground and removed after the casting is formed. During grinding, workers use professional tools to precisely remove the riser part, making the surface of the casting flat and smooth. This not only improves the appearance quality of the casting but also ensures its dimensional accuracy, meeting the requirements for subsequent use.

[0003] The invention patent with the application number 202410388478.X discloses a casting grinding system based on 3D scanning and positioning, which is characterized in that it includes: a 3D scanning and positioning module, a control module, an HMI and handle module, and a sensor module; the 3D scanning and positioning module includes a 3D scanning unit and a positioning unit; the 3D scanning unit is used to perform 3D scanning on the entire surface of the unground casting to obtain the three-dimensional data of the casting surface, and process the three-dimensional data to obtain the three-dimensional model data of the casting; mark the casting area on the three-dimensional model data, and send the three-dimensional model data and the standard data to the control module; among them, the casting area includes the area to be ground and the area not to be ground, which are identified and marked manually; the positioning unit is used to position the position to be ground on the surface of the unground casting according to the three-dimensional model data and the standard data, and set the posture of the grinding head when grinding different positions; the sensor module is used to monitor the real-time state parameters of the grinding head during the grinding process and send them to the control module; among them, the real-time state parameters include force, positioning, 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 optimal grinding path of the grinding head; the operation monitoring unit is used to monitor the states of the casting and the grinding head during the grinding process and control the grinding head to complete the grinding process, and send the real-time state parameters and real-time positioning of the grinding head to the HMI and handle module.

[0004] This application aims to solve the problem that "the existing technology uses the standard drawing of the casting to be ground or the standard casting sample input into the PC for processing to grind the casting, and cannot grind according to the actual situation of the casting to be ground".

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

[0006] (1) Only a simple casting model is constructed for the planning of the grinding path, and its accuracy is 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] For this purpose, an intelligent control system for a casting riser grinding device 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 a casting riser grinding device based on machine vision, which solves the technical problems proposed in the above-mentioned background art.

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

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

[0012] The standard casting structure parameters are uploaded through the preparation layer, and the structure parameters of the casting to be ground are collected through the preparation layer. Three-dimensional models are respectively constructed based on the structure parameters of the standard casting and the casting to be ground, and the casting model to be ground is identified by combining the two groups of three-dimensional models in the preparation layer. The planning layer receives the casting model to be ground identified in the preparation layer, synchronously obtains the movement space parameters of the grinding end of the grinding device, constructs a movement space model of the grinding end by applying the movement space parameters of the grinding end, and further plans a three-dimensional grinding path model in the movement space model of the grinding end. The control layer obtains in real time the three-dimensional grinding path model planned in the planning layer, and controls the grinding end of the grinding device to operate based on the three-dimensional grinding path model to grind the casting to be ground;

[0013] The planning layer includes a receiving module, a modeling module, and a planning module. The receiving module is used to receive the casting model to be ground constructed in the preparation layer. The modeling module is used to obtain the movement parameters of the grinding end of the grinding device and construct a movement space model of the grinding end based on the movement parameters of the grinding end. The planning module is used to receive the casting model to be ground received by the operation of the receiving module and the movement space model of the grinding end constructed by the modeling module, and plan a three-dimensional grinding path model based on the casting model to be ground and the movement space model of the grinding end;

[0014] The construction logic of the movement space model of the grinding end is as follows:

[0015] On the grinding device, obtain the grinding surface of the grinding end, and further obtain the maximum moving distance in the left-right direction and the maximum moving distance in the up-down direction of the grinding end, and determine the grinding surface area based on the two groups of moving distances:

[0016]

[0017] In the formula: a is the length of the grinding surface area; b is the width of the grinding surface area; L left-right is the maximum moving distance in the left-right direction of the grinding end; L up-down is the maximum moving distance in the up-down direction of the grinding end; The length of the grinding surface of the grinding end; The width of the grinding surface of the grinding end;

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

[0019] Further obtain the maximum moving distance in the front-back direction of the grinding end. Based on the maximum moving distance in the front-back direction of the grinding end as the stretching length, and based on the grinding surface area as the stretching surface, perform a stretching operation. The three-dimensional model obtained by stretching is denoted as the grinding end moving 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 the structural parameters of the casting to be ground. The construction module is used to upload the structural parameters of the standard casting and the structural parameters of the casting to be ground collected by the operation of the collection module, and respectively construct a three-dimensional model of the standard casting and a three-dimensional model of the casting to be ground based on the two sets of parameters. The segmentation module is used to move the three-dimensional model of the standard casting to make the three-dimensional model of the standard casting coincide with the three-dimensional model of the casting to be ground, so as to obtain the model to be ground;

[0021] Among them, the casting to be ground is fixedly transmitted on the grinding equipment. During the transmission of the casting to be ground, the collection of structural parameters is performed. The three-dimensional model of the standard casting and the three-dimensional model of the casting to be ground 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 ground are the same. And the connection line of the bottom center points of the three-dimensional model of the standard casting and the three-dimensional model of the casting to be ground is parallel to the transmission path of the grinding equipment for transmitting the casting to be ground.

[0022] Furthermore, the collection module includes an electric telescopic rod. The top end of the electric telescopic rod is fixedly connected with a ring. The inner wall surface of the ring is slidably connected with an inverted L-shaped rod body through an electric slide rail. The bottom surface and the side surface close to the bottom surface of the inverted L-shaped rod body are equidistantly installed with ranging modules;

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

[0024] The example casting body is transmitted to directly below the ring through the conveyor belt. The ring is driven by the electric telescopic rod to move vertically downward until the bottom end of the inverted L-shaped rod body connected to the ring abuts against the top surface of the conveyor belt. Then, the electric telescopic rod pushes the ring and the inverted L-shaped rod body connected to the ring to move upward by 1 - 3 millimeters. Synchronously start the ranging modules to perform ranging operations, and synchronously control the ring to drive the inverted L-shaped rod body to perform a circular motion through the electric slide rail. After the inverted L-shaped rod body rotates one week, all components except the conveyor belt and the example casting body are reset, and the structural parameters of the casting to be ground are completed for collection;

[0025] Among them, the number of ranging modules installed at equal distances on the bottom surface of the inverted L-shaped rod body and the side surface close to the bottom surface follows that the higher the precision requirement for the grinding of the casting riser, the more the number of installed ranging modules; conversely, the fewer the number of installed ranging modules. And the ranging frequency of the ranging module follows that the higher the precision requirement for the grinding of the casting riser, the higher the ranging frequency of the ranging module; conversely, the lower the ranging frequency of the ranging module.

[0026] Furthermore, after the construction module runs and obtains the standard casting structure parameters, it constructs a standard casting three-dimensional model using three-dimensional drawing software;

[0027] After the construction module runs and obtains the structure parameters of the casting to be ground, based on the distance value and ranging direction of the ranging result of each group of ranging modules, a line segment is drawn starting from the position information of the ranging module in the ranging result generation stage. The endpoints of the line segments on the side far from the position of the ranging module in the ranging result generation stage of each line segment are connected adjacent to each other to construct a three-dimensional model of the casting to be ground;

[0028] During the operation stage of the segmentation module, the standard casting three-dimensional model is controlled to move towards the three-dimensional model of the casting to be ground. During the movement, when the overlapping area of the bottom surfaces of the two models is the largest, the movement of the standard casting three-dimensional model is controlled to stop. Using the standard casting three-dimensional model in the three-dimensional model of the intersection as the shear area and the three-dimensional model of the casting to be ground as the model to be sheared, a shearing operation is performed, and the remaining part after shearing is recorded as the model to be ground.

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

[0030] The standard casting three-dimensional model, the three-dimensional module of the casting to be ground, the model to be ground, the model of the grinding end activity space, 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 all in the same plane.

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

[0032]

[0033] In the formula: ξ plan is the model of the grinding end activity space; ξ waitis the model to be polished;

[0034] Among them, the polishing end active space model ξ plan and the model ξ to be polished wait When they meet the formula (1), in the polishing end active space model ξ plan intercept the area model that coincides with the model ξ to be polished wait as the three-dimensional polishing path model;

[0035] The polishing end active space model ξ plan and the model ξ to be polished wait When they meet the formula (2), move the model ξ to be polished wait in the direction of the polishing end active space model ξ plan until the moving result meets the formula (1) and then end, and output the three-dimensional polishing path model 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 polishing path model output in the planning layer, cut the three-dimensional polishing path model to obtain several groups of sub-three-dimensional polishing path models. The picking module is used to receive all the sub-three-dimensional polishing path models output by the cutting module, pick the center points on the same side cutting surface of each group of sub-three-dimensional polishing path models, and connect the picked center points adjacent to each other to create a casting polishing path. The output module is used to receive the casting polishing path obtained by the operation of the picking module and transmit the casting polishing path to the polishing equipment;

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

[0038] Furthermore, a three-dimensional polishing path model cutting logic is set in the cutting module, 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 runs is an equal-proportion mapping of the space where the cutting equipment is located;

[0040] After the polishing equipment obtains the corresponding spatial coordinates of each point on the casting polishing path, based on the mapping ratio, it magnifies each spatial coordinate, and then drives the polishing end of the polishing equipment to run based on the magnified spatial coordinates.

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

[0042]

[0043] Where: 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 abnormal shape rate of the models to be polished; D is the total length of the edge lines of the polished surfaces of the models to be polished; n is the total number of models 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 polishing path model is vertical cutting, represents rounding up the value of The base number of cuts m0 is user-defined by the system end user, represents taking the average of The normalization factor γ takes values in (0, 2);

[0045] The abnormal shape rate of the model to be polished is obtained through the following formula:

[0046]

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

[0048] Among them, the abnormal shape degree value R of the surface of the model to be polished is: the Hausdorff distance between two groups of divided surfaces after the surface of the model to be polished is divided based on the midline.

[0049] Furthermore, the receiving module is interconnected with a segmentation module through a local area network, the segmentation module is interconnected with a construction module and a collection module through a local area network, the receiving module is interconnected with a modeling module and a planning module through a local area network, the planning module is interconnected with a cutting module through a local area network, and the cutting module is interconnected with a picking module and an output module through a local area network.

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

[0051] The present invention provides an intelligent control system for a casting riser grinding device based on machine vision. During the operation of the system, through the construction of various related models of the casting, data support is provided for the grinding device. Based on model analysis, the casting grinding path is finally obtained to achieve the fully automated production of the grinding device;

[0052] And during the operation of the system, based on a specific casting structure parameter collection module, the collection accuracy of the casting structure parameter collection process is adaptively adjusted, further enabling the system to meet the casting riser grinding scenarios with different accuracy requirements;

[0053] And based on the comprehensive construction of the casting-related model, when providing the casting grinding path for the grinding equipment, the system can still control the construction accuracy of the casting grinding path, so as to achieve adaptive grinding for different accuracy requirements of the casting, and thereby control the casting grinding efficiency;

[0054] In summary, based on the system configured on the grinding equipment to grind the casting riser, the degree of manual control requirements during the operation of the grinding equipment is reduced to an extremely low level, enabling the grinding equipment to operate more intelligently, and realizing the unmanned digital model control with high precision and adjustable precision of the grinding equipment. Description of the Drawings

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

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

[0057] Figure 2 It is a schematic structural example diagram of the acquisition module in the present invention;

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

[0059] Figure 4 It is a schematic diagram of the logic for obtaining the active space model of the grinding end in the present invention:

[0060] Figure 5 It is a schematic diagram of the logic for obtaining the three-dimensional grinding path model in the present invention:

[0061] Figure 6 It is a schematic example diagram of the connection model in the present invention;

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

[0063] Reference numerals: 1, electric telescopic rod; 2, ring; 3, inverted L-shaped rod body; 4, ranging module; 5, conveyor belt, 6, example casting body; 7, grinding chamber. Detailed Embodiments

[0064] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0065] The present invention will be further described below with reference to embodiments.

[0066] Embodiment 1:

[0067] An intelligent control system for a casting riser grinding device based on machine vision in this embodiment, as Figure 1 shown, includes: a preparation layer, a planning layer and a control layer;

[0068] The structural parameters of the standard casting are uploaded through the preparation layer, the structural parameters of the casting to be ground are collected through the preparation layer, three-dimensional models are respectively constructed based on the structural parameters of the standard casting and the casting to be ground, and the model to be ground is identified by combining the two groups of three-dimensional models in the preparation layer. The planning layer receives the model to be ground identified in the preparation layer, synchronously obtains the movement space parameters of the grinding end of the grinding device, constructs a movement space model of the grinding end by applying the movement space parameters of the grinding end, and further plans a three-dimensional grinding path model in the movement space model of the grinding end. The control layer obtains the three-dimensional grinding path model planned in the planning layer in real time, controls the grinding end of the grinding device to run based on the three-dimensional grinding path model, and grinds the casting to be ground;

[0069] 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 ground. The construction module is used to upload the structural parameters of the standard casting and the structural parameters of the casting to be ground collected by the operation of the collection module, and respectively construct a three-dimensional model of the standard casting and a three-dimensional model of the casting to be ground based on the two groups of parameters. The segmentation module is used to move the three-dimensional model of the standard casting to make the three-dimensional model of the standard casting coincide with the three-dimensional model of the casting to be ground, so as to obtain the model to be ground;

[0070] Among them, the casting to be ground is fixedly transported on the grinding device, and the collection of the structural parameters is performed during the transportation of the casting to be ground. The three-dimensional model of the standard casting and the three-dimensional model of the casting to be ground in the construction module perform the construction operation 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 ground are the same, and the connection line of the bottom center points of the three-dimensional model of the standard casting and the three-dimensional model of the casting to be ground is parallel to the transportation path of the grinding device for transporting the casting to be ground;

[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 movement parameters of the polishing end of the polishing equipment, and construct a movement space model of the polishing end based on the movement parameters of the polishing end. The planning module is used to receive the model to be polished received by the receiving module and the movement 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 movement space model of the polishing end;

[0072] The construction logic of the movement space model of the polishing end is as follows:

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

[0074]

[0075] In the formula: a is the length of the polishing surface area; b is the width of the polishing surface area; L left-right is the maximum moving distance in the left-right direction of the polishing end; L up-down is the maximum moving distance in the up-down direction of the polishing end; is the length of the polishing surface of the polishing end; is the width of the polishing surface of the polishing end;

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

[0077] Further obtain the maximum moving distance in the front-back direction of the polishing end, use the maximum moving distance in the front-back direction of the polishing end as the stretching length, and perform a stretching operation based on the polishing surface area as the stretching surface. The three-dimensional model obtained by stretching is denoted as the movement space model of the polishing end;

[0078] When the number of models to be polished recognized by the preparation layer is one group or more, the number of three-dimensional polishing path models constructed in the planning layer is equal to the number of models to be polished. 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 models to be polished, so that the polishing end of the polishing equipment moves based on the model to be polished and performs a polishing operation, and the polishing end of the polishing equipment moves based on the connection model. No polishing operation is 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 movement 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 all in the same plane;

[0080] The planning logic of the three-dimensional polishing path model in the planning module is as follows:

[0081]

[0082] In the formula: ξ plan is the active space model of the grinding end; ξ wait is the model to be ground;

[0083] Among them, when the active space model ξ plan of the grinding end and the model ξ wait to be ground meet the formula (1), in the active space model ξ plan of the grinding end, intercept the regional model that coincides with the model ξ wait to be ground as the three-dimensional grinding path model;

[0084] When the active space model ξ plan of the grinding end and the model ξ wait to be ground meet the formula (2), move the model ξ wait to be ground in the direction of the active space model ξ plan of the grinding end until the moving result meets the formula (1) and then end, 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 output in 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 output by the cutting module, pick the center points on the same side cutting surface of each group of sub-three-dimensional grinding path models, and connect the picked center points adjacent to each other to create the casting grinding path. The output module is used to receive the casting grinding path obtained by the operation of the picking module and transmit the casting grinding path to the grinding equipment;

[0086] Among them, after receiving the casting grinding path, the grinding equipment 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 equipment to grind the casting based on the obtained spatial coordinates;

[0087] A three-dimensional grinding path model cutting logic is set in the cutting module, and the cutting module cuts the three-dimensional grinding path model based on the cutting logic;

[0088] The three-dimensional space where all the models constructed by the system runs is an equal-proportion 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, based on the mapping ratio, it magnifies each spatial coordinate, and then drives the grinding end of the grinding equipment to run based on the magnified 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 abnormal shape rate of the models to be polished; D is the total length of the edge lines of the polished surfaces of the models 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 polishing path model is vertical cutting, represents rounding up the value of , and the base number of cuts m0 is user-defined by the system end user, represents taking the average of , and the normalization factor γ takes a value in (0, 2);

[0094] The abnormal shape rate of the models to be polished is obtained through the following formula:

[0095]

[0096] In the formula: θ is the abnormal shape rate of the models to be polished; u is the number of surfaces of the models to be polished; R v is the abnormal shape degree value of the v-th surface on the models to be polished; V and S are the volume and surface area of the models to be polished;

[0097] Among them, the abnormal shape degree value R of the surface of the models to be polished is: the Hausdorff distance between the two sets of divided surfaces after the surface of the models to be polished is divided based on the midline;

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

[0099] In this embodiment, the acquisition module runs to acquire the structural parameters of the casting to be polished. The construction module runs later 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 constructed respectively. The segmentation module synchronously moves the three-dimensional model of the standard casting to make the three-dimensional model of the standard casting coincide with the three-dimensional model of the casting to be polished, so as to obtain the model to be polished. Then, the receiving module receives the model to be polished constructed in the preparation layer. The modeling module further obtains the movement parameters of the polishing end of the polishing equipment and constructs a movement space model of the polishing end based on the movement parameters of the polishing end. The planning module runs to receive the model to be polished received by the receiving module and the movement space model of the polishing end constructed by the modeling module, and plans a three-dimensional polishing path model based on the model to be polished and the movement space model of the polishing end. Finally, the cutting module receives the three-dimensional polishing path model output in the planning layer and cuts the three-dimensional polishing path model 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 the center points on the same-side cutting surface of each group of sub-three-dimensional polishing path models, connects the picked center points adjacent to each other to create a casting polishing path, and the output module receives the casting polishing path obtained by the operation of the picking module and transmits the casting polishing path to the polishing equipment;

[0100] Through the system in the above embodiment, the full-automatic polishing treatment of the casting riser by the polishing equipment is realized, the intelligence level of the polishing equipment is effectively improved, and based on the construction of the high-precision model, the polishing precision of the casting riser by the polishing equipment is further improved. And based on the above logical formula, the system absolutely controls the polishing precision of the polishing equipment.

[0101] See Figure 2 shown and the above relevant content to illustrate the specific structure and operation logic of the acquisition module;

[0102] See Figure 3 shown. Based on the indication of the dotted arrow in the figure, the moving direction of the three-dimensional model of the standard casting to the three-dimensional model of the casting to be polished is shown. Based on the indication of the solid arrow, when the two groups of models are moved and coincided, the model to be polished obtained by shearing based on the standard casting model is shown;

[0103] See Figure 4 shown. Based on the indication of the arrow in the figure, it further shows the process that the polishing surface of the polishing end of the polishing equipment is transformed into a polishing surface area based on the moving area of the polishing end, and then the polishing surface area is transformed into a moving space model of the polishing end based on the moving area of the polishing end;

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

[0105] See Figure 6 As shown, when the models to be ground are not unique, two groups of models to be ground are shown as solid lines in the figure, and all the connecting models are connected between the two groups of models;

[0106] See Figure 7 As shown, this figure performs segmentation based on the segmentation logic of the above three-dimensional grinding path model, and obtains points on each segmented sub-model. Based on the connection of the points, the casting grinding path is finally obtained, that is, the direction indicated by the arrow in the figure.

[0107] Embodiment 2:

[0108] At the specific implementation level, on the basis of Embodiment 1, this embodiment further specifically describes a smart control system for a casting riser grinding device based on machine vision with reference to Figure 1 as shown:

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

[0110] The conveyor belt of the grinding device is deployed on one side of the electric telescopic rod. An example casting body is fixedly placed on the top surface of the conveyor belt. The grinding chamber of the grinding device is deployed 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 transmitted to directly below the ring through the conveyor belt. The ring is driven by the electric telescopic rod to move vertically downward until the bottom end of the inverted L-shaped rod body connected to the ring abuts against the top surface of the conveyor belt. Then, the electric telescopic rod pushes the ring and the inverted L-shaped rod body connected to the ring to move upward by 1 - 3 millimeters. At the same time, the ranging modules are started to perform ranging operations. At the same time, the ring is controlled to drive the inverted L-shaped rod body to make a circular motion through the electric slide rail. After the inverted L-shaped rod body rotates one week, all components except the conveyor belt and the example casting body are reset, and the structural parameters of the casting to be ground are completed for acquisition;

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

[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 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.

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 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).

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.

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