RMI intelligent processing method and system, electronic equipment and storage medium

Abstract

The invention relates to the technical field of intelligent processing, in particular to an RMI intelligent processing method and system, electronic equipment and a storage medium. A traditional system often needs to manually measure and input the workpiece size, so that the efficiency is low and errors are easily caused; meanwhile, the real-time adjusting capacity is lacked, and precision changes caused by abrasion of the grinding head cannot be handled; firstly, a visual system measures the coordinates of a positioning hole and identifies the contour of a workpiece, and automatically obtains workpiece information; then the diameter of the grinding head is measured, a basis is provided for follow-up parameter adjustment, necessary machining parameters are obtained, a machining track is intelligently generated according to all collected data, the machining parameters are dynamically adjusted, an accurate grinding task is executed, the machining efficiency and precision are remarkably improved, human errors are reduced, and the machining efficiency is improved. And the device can adapt to different types of workpieces and grinding head abrasion conditions, and has higher flexibility and reliability.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent processing, and in particular to an RMI intelligent processing method, system, electronic device and storage medium. Background Art

[0002] With the rapid development of high-speed railways and urban rail transit, the maintenance and care of train wheels has become increasingly important. Precise grinding of the inner ring of the wheel is a key link to ensure safe operation of the train and riding comfort. Traditional manual grinding methods can no longer meet the requirements of modern railways for accuracy and efficiency. Therefore, the development and application of automated intelligent grinding systems has become an urgent need of the industry, and this situation needs to be further improved. Summary of the invention

[0003] In order to solve the problem of low precision and efficiency of existing manual grinding methods, the present application provides an RMI intelligent processing system, electronic equipment and storage medium, which adopt the following technical solutions: In a first aspect, the present application provides a RMI intelligent processing method, comprising the following steps: Measure the center coordinates of the positioning hole to obtain the workpiece positioning data; Identify the workpiece contour and obtain the workpiece model recognition result; Measure the grinding head diameter; Get processing parameters; Generate a machining trajectory according to the workpiece positioning data and the workpiece model recognition result; Determining final processing parameters according to the grinding head diameter and the processing parameters; The machining task is performed according to the machining trajectory and the final machining parameters.

[0004] By adopting the above technical solution, traditional systems often require manual measurement and input of workpiece dimensions, resulting in low efficiency and prone to errors; at the same time, they lack real-time adjustment capabilities and are unable to cope with changes in accuracy caused by wear of the grinding head; the present application first measures the coordinates of the positioning holes and identifies the contour of the workpiece through a visual system to automatically obtain workpiece information; then measures the diameter of the grinding head to provide a basis for subsequent parameter adjustments, obtains the necessary processing parameters, intelligently generates processing trajectories based on all collected data, and dynamically adjusts processing parameters to perform precise grinding tasks, significantly improving processing efficiency and accuracy, reducing human errors, and being able to adapt to different types of workpieces and grinding head wear conditions, with greater flexibility and reliability.

[0005] Optionally, obtaining processing parameters includes the following steps: Obtain the preset fixed value of the grinding head preload and the fixed value of the weekly feed spiral distance; Calculating a grinding head rotation speed based on the grinding head diameter and a preset first proportionality coefficient; The walking speed of the robot is calculated based on the grinding head diameter and a preset second proportionality coefficient.

[0006] By adopting the above technical solution, in conventional systems, as the diameter of the grinding head decreases, if the parameters are not adjusted in time, insufficient or excessive grinding may occur, affecting the contour accuracy and surface quality; the present application first obtains the preset fixed value of the grinding head preload and the fixed value of the weekly feed spiral distance, measures the grinding head diameter through the visual system, and then calculates the grinding head rotation speed and the robot walking speed respectively through the preset proportional coefficient, establishes a dynamic relationship between the tool size and the processing parameters, ensures the consistency of the processing process, not only improves the processing accuracy and consistency, but also extends the service life of the grinding head and reduces the replacement frequency.

[0007] Optionally, after generating a processing trajectory according to the workpiece positioning data and the workpiece model recognition result, the method further comprises the following steps: Based on the grinding head diameter, calculating a change in the grinding head diameter; Automatically adjust the machining track radius according to the change in the diameter of the grinding head; The machining trajectory is updated according to the adjusted machining trajectory radius.

[0008] By adopting the above-mentioned technical scheme, the traditional railway wheel inner ring grinding system is difficult to compensate in real time for the influence of grinding head wear on the processing trajectory during long-term operation, resulting in a gradual decrease in processing accuracy; for example, in conventional systems, even if the grinding head rotation speed and the robot walking speed can be adjusted, if the processing trajectory is not adjusted synchronously, it may still cause problems such as uneven processing depth or contour deviation; the present application first calculates the change in diameter based on the latest measured grinding head diameter, and then converts this change into an adjustment amount for the processing trajectory radius to ensure that the grinding head always maintains an ideal contact position, and finally, the system updates the processing trajectory according to the adjusted trajectory radius, realizes dynamic adaptive adjustment of the processing trajectory, and significantly improves the accuracy and stability of long-term continuous processing.

[0009] Optionally, the final processing parameters include processing time, and determining the final processing parameters according to the grinding head diameter and the processing parameters specifically includes the following steps: According to the workpiece profile, identifying the workpiece hole diameter and the workpiece hole depth; Calculate the processing time according to the grinding head diameter, workpiece hole diameter, workpiece hole depth, a preset fixed value of the weekly feed screw distance, the robot walking speed and a preset number of grinding times; Processing time = π*(workpiece hole diameter - grinding head diameter)*workpiece hole depth / preset weekly feed screw distance fixed value / robot walking speed*grinding times; Final processing parameters are determined according to the processing parameters and the processing time.

[0010] By adopting the above technical scheme, in conventional systems, the processing time is often fixed or roughly estimated based on empirical values, which may lead to insufficient processing or waste of time; what is more serious is that when faced with workpieces of different sizes or grinding heads with different degrees of wear, the fixed time setting may cause significant fluctuations in processing quality; the present application firstly uses the workpiece contour recognition technology to accurately obtain the workpiece hole diameter and hole depth data, and then introduces a mathematical model that comprehensively considers the workpiece size, grinding head diameter, feed parameters, robot speed and number of grinding times, so as to realize the accurate calculation and dynamic adjustment of the processing time, significantly improve the processing efficiency and quality consistency, and can cope with various specifications of railway wheel inner rings and different degrees of grinding head wear.

[0011] Optionally, generating a processing trajectory according to the workpiece positioning data and the workpiece model recognition result specifically includes the following steps: According to the workpiece model recognition result, determine the current workpiece model; According to the current workpiece model, check whether the currently selected processing program is correct, and automatically switch to the correct processing program corresponding to the current workpiece model when the checking result shows that the program is wrong; A machining trajectory is generated according to the workpiece positioning data and the correct machining program.

[0012] By adopting the above technical scheme, in conventional systems, the operator may select an incompatible processing program due to negligence or work fatigue, resulting in a serious decline in processing quality or even damage to the workpiece; and this error may be repeatedly executed in mass production, causing large-scale economic losses; the present application first determines the model of the current workpiece, and then introduces an automatic inspection mechanism to compare the identified workpiece model with the currently selected processing program. When the system detects that the program does not match, it can autonomously switch to the correct processing program without human intervention. Finally, based on the accurate positioning data of the workpiece and the correct processing program, an accurate processing trajectory is generated, which realizes the intelligent selection of processing programs and error prevention, and significantly improves the reliability and efficiency of production.

[0013] Optionally, before generating the processing trajectory, the method further includes the following steps: Calculating the offset of the robot machining origin relative to the workpiece according to the workpiece positioning data to obtain origin offset data; The robot machining origin correction data is generated according to the origin offset data.

[0014] By adopting the above-mentioned technical scheme, in conventional systems, a slight positioning deviation of the workpiece may cause the entire processing trajectory to shift, thereby affecting the processing accuracy and surface quality. At the same time, this deviation may accumulate in mass production, leading to systematic processing errors. The present application first uses the workpiece positioning data to calculate the offset of the robot processing origin relative to the actual position of the workpiece, and then generates correction data for the robot processing origin based on the offset, thereby realizing real-time dynamic adjustment of the processing origin, and significantly improving the system's adaptability to workpiece position deviations and processing accuracy.

[0015] Optionally, after measuring the diameter of the grinding head, the method further comprises the following steps: comparing the grinding head diameter with a preset grinding head diameter limit value; When the diameter of the grinding head is smaller than the preset grinding head diameter limit value, it is determined that the grinding head has reached its service life, and a grinding head replacement instruction is triggered; After receiving the operator's confirmation signal that the grinding head replacement is completed, the diameter of the new grinding head is re-measured to obtain updated grinding head size data.

[0016] By adopting the above technical solution, in conventional systems, the replacement of grinding heads usually depends on fixed time intervals or the subjective judgment of operators, which may cause the grinding heads to be scrapped prematurely or used for too long and affect the processing quality. More seriously, during intensive production, operators may ignore the wear condition of the grinding heads, resulting in a sharp decline in processing quality or even damage to the workpiece; the present application first uses a visual system to measure the size of the grinding head, and then determines whether the grinding head has reached its service life through a preset grinding head diameter limit value. When the system detects that the diameter of the grinding head is less than the limit value, it automatically triggers a replacement instruction to ensure the consistency of processing quality. At the same time, after receiving the operator's replacement confirmation, the system will automatically re-measure the size of the new grinding head to achieve real-time data update; it realizes accurate management of the life of the grinding head and intelligent replacement reminders, significantly improving the stability of processing quality and the reliability of system operation.

[0017] In a second aspect, the present application provides an RMI intelligent processing system, comprising: A vision system is used to perform the following steps: Measure the center coordinates of the positioning hole to obtain the workpiece positioning data; Identify the workpiece contour and obtain the workpiece model recognition result; Measure the grinding head diameter; Parameter setting system, used to obtain processing parameters; The robot execution system is used to perform the following steps: Generate a machining trajectory according to the workpiece positioning data and the workpiece model recognition result; Determining final processing parameters according to the grinding head diameter and the processing parameters; The machining task is performed according to the machining trajectory and the final machining parameters.

[0018] In a third aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned RMI intelligent processing method when executing the computer program.

[0019] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above-mentioned RMI intelligent processing method are implemented.

[0020] In summary, the present application includes at least one of the following beneficial technical effects: 1. Traditional systems often require manual measurement and input of workpiece dimensions, which leads to low efficiency and prone to errors. At the same time, they lack real-time adjustment capabilities and cannot cope with the accuracy changes caused by grinding head wear. This application first measures the coordinates of the positioning holes and identifies the workpiece contour through a visual system to automatically obtain workpiece information. Then, the grinding head diameter is measured to provide a basis for subsequent parameter adjustments. By obtaining the necessary processing parameters, the processing trajectory is intelligently generated based on all collected data, and the processing parameters are dynamically adjusted to perform precise grinding tasks, which significantly improves processing efficiency and accuracy, reduces human errors, can adapt to different types of workpieces and grinding head wear conditions, and has greater flexibility and reliability. 2. In conventional systems, as the diameter of the grinding head decreases, if the parameters are not adjusted in time, insufficient or excessive grinding may occur, affecting the contour accuracy and surface quality. The present application first obtains the preset fixed value of the grinding head preload and the fixed value of the weekly feed spiral distance, measures the grinding head diameter through the visual system, and then calculates the grinding head rotation speed and the robot walking speed respectively through the preset proportional coefficient, establishes a dynamic relationship between the tool size and the processing parameters, ensures the consistency of the processing process, not only improves the processing accuracy and consistency, but also extends the service life of the grinding head and reduces the replacement frequency. 3. In conventional systems, the processing time is often fixed or roughly estimated based on empirical values, which may lead to insufficient processing or waste of time; more seriously, when faced with workpieces of different sizes or grinding heads with different degrees of wear, the fixed time setting may cause significant fluctuations in processing quality; the present application first uses workpiece contour recognition technology to accurately obtain the workpiece hole diameter and hole depth data, and then introduces a mathematical model that comprehensively considers the workpiece size, grinding head diameter, feed parameters, robot speed and number of grinding times, thereby achieving accurate calculation and dynamic adjustment of processing time, significantly improving processing efficiency and quality consistency, and can cope with various specifications of railway wheel inner rings and different degrees of grinding head wear. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a flow chart of an RMI intelligent processing method according to an embodiment of the present application; Figure 2 This is a schematic diagram of the working of a visual system in an RMI intelligent processing system according to an embodiment of the present application; Figure 3 It is a schematic diagram of parameter compensation in an RMI intelligent processing method according to an embodiment of the present application; Figure 4 It is a schematic diagram of processing parameters in an RMI intelligent processing method according to an embodiment of the present application; Figure 5 It is a schematic diagram of a process for obtaining processing parameters in an RMI intelligent processing method according to an embodiment of the present application; Figure 6 It is a schematic diagram of a process of adjusting a processing trajectory in an RMI intelligent processing method according to an embodiment of the present application; Figure 7 It is a flow chart of triggering a grinding head replacement and sending an instruction in an RMI intelligent processing method according to an embodiment of the present application; Figure 8 It is a schematic diagram of a process of switching a processing program in an RMI intelligent processing method according to an embodiment of the present application; Fig. 9 It is a schematic diagram of the process of correcting the machining origin in an RMI intelligent machining method according to an embodiment of the present application; Fig.10 It is a schematic diagram of a process for determining final processing parameters in an RMI intelligent processing method according to an embodiment of the present application; Fig.11 This is a module schematic diagram of an RMI intelligent processing system according to an embodiment of the present application; Fig.12 This is an action flow chart of an RMI intelligent processing system according to an embodiment of the present application; Fig.13 It is a diagram of the internal structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application refers to any or all possible combinations comprising one or more listed items.

[0023] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0024] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0025] In the first aspect, the present application provides a RMI intelligent processing method, referring to Figure 1 , an RMI intelligent processing method, comprising the following steps: S11, measuring the coordinates of the center of the positioning hole to obtain the workpiece positioning data.

[0026] Among them, through the visual system, image processing and three-dimensional reconstruction are carried out to achieve accurate measurement of the workpiece and the grinding head. The detection system can include 3D measurement devices, 2D visual detection devices, contact measurement devices, non-contact optical measurement systems, profile measuring instruments, optical sensor arrays, etc. Processing tools include but are not limited to grinding tools, lapping tools, scouring pads, polishing brushes, wire brushes, diamond tools, rubber grinding heads, fiber abrasives, composite abrasives, etc.

[0027] In this embodiment, the RMI intelligent processing method is mainly used for grinding the inner ring of the train wheel. The workpiece refers to the train wheel. The visual system is a camera. The camera shoots and automatically locates the initial position of the workpiece, obtains the coordinates of the center of the positioning hole (x, y, z), and realizes fixture-free positioning processing. It can be understood that this method is applicable to a variety of processing objects, including but not limited to workpieces composed of arc surfaces, spherical surfaces, planes, composite surfaces, various special-shaped surfaces, etc., such as rail transit parts, aerospace parts, automobile manufacturing parts, engineering machinery parts, precision instrument parts, mold manufacturing and other fields. There is no restriction on the material of the workpiece, and it can be applied to metal materials (steel, aluminum alloy, titanium alloy, etc.), non-metallic materials (ceramics, composite materials, engineering plastics, etc.) and special materials.

[0028] S12, identifying the contour of the workpiece and obtaining a workpiece model recognition result.

[0029] Specifically, an image classification algorithm based on deep learning is used to realize workpiece contour recognition through a pre-trained neural network model. This embodiment takes train wheels as an example to quickly and accurately identify train wheels of different models to realize the function of machine model error prevention.

[0030] S13, measuring the diameter of the grinding head to obtain the size data of the grinding head.

[0031] S14, obtaining processing parameters.

[0032] In this embodiment, a flexible and intuitive interface is provided, allowing the operator to set various processing parameters according to specific processing requirements, which may include grinding speed, feed rate, grinding times, etc.

[0033] Specifically, the operator can input processing parameters through functions such as touch screens, through intuitive sliders or value input boxes, and with reasonable parameter range limits to prevent operators from entering inappropriate values. The system also integrates parameter preset functions, which can quickly call the optimal parameter combination according to different workpiece models or processing requirements. In addition, the system also has a real-time parameter verification function, which can instantly check the logical relationship between parameters to avoid conflicting settings. For example, when setting a higher grinding speed, the system will automatically prompt to adjust the feed rate accordingly to ensure processing quality.

[0034] S15. Generate a processing trajectory according to the workpiece positioning data and the workpiece model recognition result.

[0035] Specifically, the system first generates a preliminary processing trajectory based on the workpiece positioning data and model recognition results provided by the visual system. This process takes into account the geometric characteristics and processing requirements of the workpiece to ensure the continuity and smoothness of the trajectory.

[0036] In this embodiment, the system first performs a coordinate system conversion, converts the workpiece positioning data (usually the coordinates of the center of the positioning hole) provided by the visual system into the coordinate system of the robot, and then performs model parameter matching. According to the workpiece model recognition result, the parameters of the corresponding model are retrieved from the preset database, such as the inner circle diameter, arc radius, and chamfer angle. According to the workpiece model parameters, a parametric curve equation (such as a Bezier curve or a spline curve) is used to generate a series of discrete trajectory points, and the generated trajectory points are optimized, including path smoothing, redundant point elimination, etc., to calculate the optimal robot posture for each point on the trajectory, ensuring that the grinding head always maintains the correct working angle. Furthermore, interpolation calculations are performed between key trajectory points to generate more dense path points, and virtual simulations are performed on the generated complete trajectory to detect possible collision risks and make fine adjustments when necessary.

[0037] S16. Determine final processing parameters according to the grinding head diameter and processing parameters.

[0038] Next, the system calculates the final processing parameters based on the grinding head diameter and the set processing parameters through the built-in parameter optimization model.

[0039] Specifically, the system inputs the grinding head diameter into the parameter optimization model, which is built based on a large amount of historical processing data and expert experience, and can accurately predict the impact of grinding heads of different diameters on the processing effect. For grinding heads with smaller diameters, increase the rotation speed to maintain the same linear speed, or adjust the feed rate to ensure uniform material removal. At the same time, the system inputs the preset processing parameters into the model, including the target surface roughness, material removal amount, processing time, etc., to obtain the final processing parameters.

[0040] S17, executing the processing task according to the processing trajectory and the final processing parameters.

[0041] Finally, the optimized processing trajectory and parameters are converted into specific robot motion instructions to control the robot to accurately perform the processing task. For example, during the grinding process of the inner ring of a train wheel, the system dynamically adjusts the robot's posture, grinding radius, grinding pressure, etc. according to the curvature change of the inner ring to ensure uniform processing quality.

[0042] Reference Figure 2 , Figure 2 This is a schematic diagram of the working of the visual system in an RMI intelligent processing method in an embodiment of the present application. During the operation of the system, the grinding head and the workpiece are photographed by a measuring device (i.e., a camera), wherein the grinding head is controlled by a robot. The camera automatically locates the initial position of the workpiece, obtains the coordinates (x, y, z) of the center of the positioning hole, and realizes jig-free positioning processing; realizes workpiece contour recognition, quickly and accurately identifies different types of train wheels, so as to realize the function of machine model error prevention; and simultaneously measures the diameter of the grinding head to calculate and adjust the processing parameters.

[0043] For ease of understanding, refer to Figure 3 and Figure 4 , Figure 3 It is a schematic diagram of parameter compensation in an RMI intelligent processing method according to an embodiment of the present application. Figure 4 It is a schematic diagram of processing parameters in an RMI intelligent processing method according to an embodiment of the present application. Figure 3 In the process, the system performs speed compensation, trajectory compensation and grinding head life management based on the grinding head diameter captured by the camera. Figure 4 As shown, the processing parameters include a preset fixed value of the grinding head pre-pressure value, a preset fixed value of the weekly feed spiral distance, a grinding head rotation speed and a robot speed, that is, a grinding head walking speed.

[0044] Specifically, refer to Figure 5 In step S14, the processing parameters are obtained, which specifically includes the following steps: S51, obtaining a preset grinding head preload fixed value and a weekly feed spiral distance fixed value.

[0045] In this embodiment, the preset fixed value of the grinding head preload amount and the preset fixed value of the weekly feeding spiral distance can be input by the operator through the touch screen, or can be pre-stored in the memory.

[0046] S52: Calculate the grinding head rotation speed based on the grinding head diameter and a preset first proportionality coefficient.

[0047] Specifically, in step S52, the system first obtains the current grinding head diameter data, and then multiplies it by the preset first proportionality coefficient to obtain the optimal rotation speed suitable for the current grinding head size. This proportionality coefficient is determined based on a large amount of experimental data and expert experience to ensure that the optimal linear speed is maintained at different diameters. For example, assuming that the currently measured grinding head diameter is 50mm and the preset first proportionality coefficient is 60, the calculated grinding head rotation speed is 3000rpm (50*60=3000). This calculation method ensures that as the grinding head diameter decreases, its rotation speed will increase accordingly, thereby maintaining a constant cutting speed.

[0048] S53: Calculate the walking speed of the robot based on the grinding head diameter and a preset second proportional coefficient.

[0049] Similarly, the grinding head diameter is multiplied by the preset second proportional coefficient to calculate the most suitable robot travel speed. This proportional coefficient takes into account the effect of the grinding head size on the material removal rate to ensure that the appropriate feed speed is maintained at different diameters. For example, if the second proportional coefficient is set to 2, then for a grinding head with a diameter of 50mm, the calculated robot travel speed is 100mm / min (50*2=100). This dynamic adjustment method can automatically adjust the robot speed during the wear of the grinding head to ensure the consistency of the processing effect.

[0050] In one embodiment, referring to Figure 6 ,The system adopts adaptive trajectory adjustment technology, which can dynamically adjust the processing trajectory according to the real-time changes of the grinding head diameter.

[0051] S61. Calculate the change in the diameter of the grinding head based on the diameter of the grinding head.

[0052] Specifically, in step S61, the system first obtains the current grinding head diameter measurement value, and then compares it with the initial diameter stored in the system or the last recorded diameter to calculate the diameter change. For example, assuming that the initial grinding head diameter is 60mm and the current measured diameter is 58.5mm, the system will calculate the diameter change to be 1.5mm. This change reflects the degree of wear of the grinding head and is the key basis for subsequent trajectory adjustment.

[0053] S62, automatically adjust the machining track radius according to the change in the grinding head diameter.

[0054] In step S62, the system automatically adjusts the radius of the machining track according to the calculated diameter change. The principle of adjustment is to keep the contact area between the grinding head and the workpiece surface constant, so as to ensure a uniform machining effect. Usually, the adjustment amount of the track radius is half of the diameter change. In this case, the system will reduce the track radius by 0.75mm (1.5mm / 2). This precise adjustment ensures that the ideal machining depth and width can be maintained even when the grinding head is worn. Furthermore, the system will consider the geometric features of the workpiece, such as curvature changes, to further optimize the adjustment amount.

[0055] S63. Update the machining trajectory according to the adjusted machining trajectory radius.

[0056] In step S63, the system updates the entire processing trajectory according to the adjusted trajectory radius and recalculates the coordinates of each trajectory point and the robot posture. For an arc trajectory, the system generates a series of new point coordinates to ensure that they are all located on the adjusted radius. At the same time, the system also adjusts the robot's posture parameters to ensure that the grinding head always maintains the correct working angle.

[0057] Further, see Figure 7 , step S13, after measuring the diameter of the grinding head, the method further comprises the following steps: S71. Compare the grinding head diameter with a preset grinding head diameter limit value.

[0058] Specifically, in step S71, the system uses high-precision scanning technology to measure the diameter of the grinding head in real time. For example, the system may perform a full scan every fixed processing cycle (such as after processing 10 workpieces), or perform a quick test after each processing. Assuming that the current measured grinding head diameter is 52.3mm, the system will compare this value with the preset grinding head diameter limit value (such as 50mm). This limit value is determined based on a large amount of experimental data and expert experience, and represents the minimum diameter of the grinding head that can still ensure processing quality.

[0059] S72. When the diameter of the grinding head is smaller than a preset grinding head diameter limit value, it is determined that the grinding head has reached the end of its service life, and a grinding head replacement instruction is triggered.

[0060] Specifically, when the system detects that the diameter of the grinding head is less than the preset limit, a series of automated processes will be triggered immediately. First, the system will send a high-priority replacement instruction to the central control unit. This instruction not only contains the replacement request, but also includes the current usage data of the grinding head, such as the accumulated processing time, the number of processed workpieces, etc. At the same time, the system automatically pauses the current processing task and moves the robot to a predetermined safe position to facilitate the operator to perform the replacement operation.

[0061] S73. After receiving the grinding head replacement completion confirmation signal from the operator, re-measure the diameter of the new grinding head to obtain updated grinding head size data.

[0062] The system has an interactive confirmation mechanism. After the operator completes the grinding head replacement, he needs to send a confirmation signal through the human-machine interface, which may be done by pressing a specific button on the touch screen or by scanning the QR code on the new grinding head.

[0063] Specifically, after receiving the confirmation signal, the vision system will immediately start the dimensional measurement program of the new grinding head. This program not only measures the diameter, but also checks whether the installation angle and position of the grinding head are correct. If all parameters meet the requirements, the system will update the grinding head information in the database, including the new diameter value, installation date, etc. Subsequently, the system will automatically adjust the relevant processing parameters, such as rotation speed and feed speed, to adapt to the characteristics of the new grinding head. Finally, the system will restart the previously suspended processing task and resume normal production.

[0064] In one embodiment, referring to Figure 8 In step S15, a processing trajectory is generated according to the workpiece positioning data and the workpiece model recognition result, which specifically includes the following steps: S81. Determine the current workpiece model according to the workpiece model recognition result.

[0065] Specifically, in step S81, the system first conducts an in-depth analysis of the workpiece model recognition results. This process may involve multiple verifications, including shape feature matching, size parameter comparison, etc. For example, for a train wheel, the system may simultaneously check multiple key dimensions such as its outer diameter, rim height, rim thickness, etc., and compare these data with the pre-stored model database.

[0066] S82. Check whether the currently selected processing program is correct according to the current workpiece model. If the checking result shows that the program is wrong, automatically switch to the correct processing program corresponding to the current workpiece model.

[0067] Specifically, the system first retrieves the standard machining program corresponding to the "CRH3 type high-speed rail wheel". Then, it compares this standard program with the currently loaded program to check whether key parameters such as machining path, cutting depth, feed speed, etc. are consistent. If inconsistency is found, the system will immediately trigger the automatic switching mechanism. For example, if the currently loaded machining program is for the "CR400 type wheel", the system will automatically replace it with the correct program for the "CRH3 type wheel".

[0068] S83. Generate a processing trajectory based on the workpiece positioning data and the correct processing program.

[0069] In one embodiment, referring to Fig. 9 In step S15, before generating the processing trajectory, the method further comprises the following steps: S91. Calculate the offset of the robot machining origin relative to the workpiece according to the workpiece positioning data to obtain origin offset data.

[0070] Specifically, in step S91, the system first establishes the relationship between the workpiece coordinate system and the robot base coordinate system. For example, assuming that the origin of the workpiece coordinate system is located at the center of the wheel, and the origin of the robot base coordinate system is located at a fixed point on the ground. The system will calculate the translation and rotation relationship between the two coordinate systems through the data collected by the visual system.

[0071] S92. Generate robot processing origin correction data according to the origin offset data.

[0072] Specifically, the system first directly converts the linear offset into a coordinate correction instruction that the robot controller can understand. For example, the system will generate an instruction to tell the robot controller that before executing the machining program, the origin of the current working coordinate system needs to be moved 5mm in the positive direction of the X axis, 3mm in the negative direction of the Y axis, and 2mm in the positive direction of the Z axis. For rotational deviations, the system will use the rotation matrix to perform complex coordinate transformation calculations.

[0073] In one embodiment, referring to Fig.10 In step S16, the final processing parameters include the processing time. The final processing parameters are determined according to the grinding head diameter and the processing parameters, which specifically include the following steps: S101, identifying the workpiece hole diameter and the workpiece hole depth according to the workpiece contour.

[0074] S102, calculating the processing time according to the grinding head diameter, the workpiece hole diameter, the workpiece hole depth, the preset weekly feed spiral distance fixed value, the robot walking speed and the preset grinding times.

[0075] Among them, processing time = π*(workpiece hole diameter-grinding head diameter)*workpiece hole depth / preset weekly feed screw distance fixed value / robot walking speed*grinding times.

[0076] S103: Determine final processing parameters according to the processing parameters and processing time.

[0077] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0078] In the second aspect, the present application provides an RMI intelligent processing system. The RMI intelligent processing system of the present application is described below in combination with the above-mentioned RMI intelligent processing method.

[0079] Reference Fig.11 , an RMI intelligent processing system, comprising: A vision system is used to perform the following steps: Measure the center coordinates of the positioning hole to obtain the workpiece positioning data; Identify the workpiece contour and obtain the workpiece model recognition result; Measure the grinding head diameter; Parameter setting system, used to obtain processing parameters; The robot execution system is used to perform the following steps: Generate machining trajectory based on workpiece positioning data and workpiece model recognition results; Determine the final processing parameters based on the grinding head diameter and processing parameters; Execute the machining task according to the machining trajectory and final machining parameters.

[0080] In one embodiment, referring to Fig.12 , Fig.12 It is an action flow chart of an RMI intelligent processing system according to an embodiment of the present application.

[0081] Specifically, the RMI intelligent processing system executes action instructions through the visual system, parameter setting system and robot execution system. The visual system measures the coordinates of the center of the positioning hole, identifies the contour of the workpiece, and measures the diameter of the grinding head. When the grinding head size data is less than the preset grinding head diameter limit value, it is determined that the grinding head has reached its service life and triggers the sending of a grinding head replacement instruction. The parameter setting system can be set by the operator through the touch screen. The processing parameters include a fixed value for the grinding head preload value and a fixed value for the weekly feed spiral distance. The parameter setting system can also calculate the grinding head rotation speed and the robot walking speed based on the grinding head diameter. The robot execution system corrects the robot processing origin according to the coordinates of the center of the positioning hole, obtains the workpiece model recognition result according to the recognized workpiece contour, judges the current workpiece model, checks whether the currently selected processing program is correct according to the current workpiece model, and automatically switches to the correct processing program corresponding to the current workpiece model when the inspection result shows a program error, and calculates the processing time according to the workpiece hole diameter, workpiece hole depth, preset weekly feed screw distance fixed value, robot walking speed and preset grinding times, wherein the workpiece hole diameter and workpiece hole depth are identified through the workpiece contour, and then the robot actuator grinds the workpiece with the grinding head according to the calculation result, and finally outputs the finished product.

[0082] Furthermore, during the execution of the method, the system can also automatically calculate and adjust the processing parameters in real time, and can also receive the processing parameters input by the operator on the touch screen, so that the processing parameters can be adjusted without stopping the equipment even when the equipment is in production.

[0083] In one embodiment, the present application provides an electronic device, which may be a server, and its internal structure diagram may be as follows: Fig.13 As shown. The electronic device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the electronic device is used to store data. The network interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the functions of the above-mentioned RMI intelligent processing system are realized.

[0084] Those skilled in the art will understand that Fig.13 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0085] In one embodiment, an electronic device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0086] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the above-mentioned computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0087] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A RMI intelligent processing method, characterized in that: The steps include: Measure the center coordinates of the positioning hole to obtain the workpiece positioning data; Identify the workpiece contour and obtain the workpiece model recognition result; Measure the grinding head diameter; Get processing parameters; Generate a machining trajectory according to the workpiece positioning data and the workpiece model recognition result; Determining final processing parameters according to the grinding head diameter and the processing parameters; The machining task is performed according to the machining trajectory and the final machining parameters.

2. The RMI intelligent processing method according to claim 1, characterized in that: Obtaining processing parameters includes the following steps: Obtain the preset fixed value of the grinding head preload and the fixed value of the weekly feed spiral distance; Calculating a grinding head rotation speed based on the grinding head diameter and a preset first proportionality coefficient; The walking speed of the robot is calculated based on the grinding head diameter and a preset second proportionality coefficient.

3. The RMI intelligent processing method according to claim 1, characterized in that: After generating a processing trajectory according to the workpiece positioning data and the workpiece model recognition result, the method further comprises the following steps: Based on the grinding head diameter, calculating a change in the grinding head diameter; Automatically adjust the machining track radius according to the change in the diameter of the grinding head; The machining trajectory is updated according to the adjusted machining trajectory radius.

4. The RMI intelligent processing method according to claim 2, characterized in that: The final processing parameters include processing time. The final processing parameters are determined according to the grinding head diameter and the processing parameters, and specifically include the following steps: According to the workpiece profile, identifying the workpiece hole diameter and the workpiece hole depth; Calculate the processing time according to the grinding head diameter, workpiece hole diameter, workpiece hole depth, a preset fixed value of the weekly feed screw distance, the robot walking speed and a preset number of grinding times; Processing time = π*(workpiece hole diameter - grinding head diameter)*workpiece hole depth / preset weekly feed screw distance fixed value / robot walking speed*grinding times; Final processing parameters are determined according to the processing parameters and the processing time.

5. The RMI intelligent processing method according to claim 1, characterized in that: Generating a machining trajectory according to the workpiece positioning data and the workpiece model recognition result specifically includes the following steps: According to the workpiece model recognition result, determine the current workpiece model; According to the current workpiece model, check whether the currently selected processing program is correct, and automatically switch to the correct processing program corresponding to the current workpiece model when the checking result shows that the program is wrong; A machining trajectory is generated according to the workpiece positioning data and the correct machining program.

6. The RMI intelligent processing method according to claim 1, characterized in that: Before generating the processing trajectory, the method further includes the following steps: Calculating the offset of the robot machining origin relative to the workpiece according to the workpiece positioning data to obtain origin offset data; The robot machining origin correction data is generated according to the origin offset data.

7. The RMI intelligent processing method according to claim 1, characterized in that: After measuring the grinding head diameter, the method further comprises the following steps: comparing the grinding head diameter with a preset grinding head diameter limit value; When the diameter of the grinding head is smaller than the preset grinding head diameter limit value, it is determined that the grinding head has reached its service life, and a grinding head replacement instruction is triggered; After receiving the operator's confirmation signal that the grinding head replacement is completed, the diameter of the new grinding head is re-measured to obtain updated grinding head size data.

8. An RMI intelligent processing system, characterized in that: include: A vision system is used to perform the following steps: Measure the center coordinates of the positioning hole to obtain the workpiece positioning data; Identify the workpiece contour and obtain the workpiece model recognition result; Measure the grinding head diameter; Parameter setting system, used to obtain processing parameters; The robot execution system is used to perform the following steps: Generate a machining trajectory according to the workpiece positioning data and the workpiece model recognition result; Determining final processing parameters according to the grinding head diameter and the processing parameters; The machining task is performed according to the machining trajectory and the final machining parameters.

9. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the RMI intelligent processing method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the RMI intelligent processing method according to any one of claims 1 to 7 are implemented.

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