Processing method and system for forming inner container of hydrogen storage tank based on data analysis

Abstract

The invention discloses a hydrogen storage tank inner container forming processing method and system based on data analysis, and belongs to the field of data analys.A three-dimensional scanning device is used for scanning the joint of a hydrogen storage tank inner container to obtain original point cloud data, and the quality of a connection seam of the hydrogen storage tank inner container is evaluated through characteristic parameter quantification, connection quality evaluation model construction and hydrogen storage tank inner container connection seam quality evaluation; hydrogen storage tank liners with unqualified connection are removed; a machining path is planned according to the geometrical characteristics of the hydrogen storage tank inner container connecting seam, and whether the machining environment and the equipment state are abnormal or not is judged through data collection during machining; and performing quality detection on the connection seam of the processed hydrogen storage tank liner, screening unqualified hydrogen storage tank liners by setting a standard range, constructing a scale precision evaluation model and sampling a two-stage screening mechanism, and rejecting the unqualified hydrogen storage tank liners according to a screening result. The problems of uneven quality, extensive processing path planning and single detection means caused by lack of data support in hydrogen storage tank liner processing are solved.

Description

Technical Field

[0001] The present invention relates to the field of data analysis, and more specifically to a processing method and system for forming a hydrogen storage tank liner based on data analysis. Background Art

[0002] As the core component of hydrogen energy storage and transportation, the accuracy and reliability of its manufacturing process are crucial. In the production process of hydrogen storage tanks, the connection process between the tank body and the head is indispensable. However, the connection process is restricted by many factors, such as the accuracy difference of the connection equipment, the difference in the size of the inner tank, the fluctuation of the connection parameters, the uneven technical level of the operators, and the deformation characteristics of the material itself under the heat of the connection. The combined effect of these factors causes the connection seam to show various irregularities and inconsistencies after the connection is completed, including the unevenness of the sealing edge, the uneven height of the connection seam, and the deviation of the shape. The external connection channel needs to be turned and polished to ensure that it meets the design requirements. The irregular and inconsistent conditions of the connection seam bring many problems to the subsequent processes of the hydrogen storage tank. From the perspective of structural integrity, the uneven connection seam will lead to insufficient pressure bearing of the hydrogen storage tank and stress concentration, which will significantly reduce the overall strength and fatigue resistance of the hydrogen storage tank. In the long-term high-pressure hydrogen storage and transportation process, the risk of tank rupture or even explosion is greatly increased. By processing and polishing the connection seam between the tank body and the head, the connection seam can be processed and polished flat. It is not only conducive to the implementation of subsequent sealing processes, improving sealing reliability and reducing the risk of hydrogen leakage, but also can make the stress distribution of the hydrogen storage tank more uniform when subjected to high pressure, significantly improving its structural strength and stability.

[0003] However, there is a lack of comprehensive and accurate data analysis in the processing process to achieve all-round quality control from connection to molding, the processing path planning fails to fully combine the geometric characteristics and dynamic changes of the workpiece for intelligent optimization, and the monitoring and early warning of the processing environment and equipment status are not perfect and fail to be closely integrated with the processing flow to ensure stability and consistency. In order to overcome these limitations, the present invention proposes a processing method and system for hydrogen storage tank liner molding based on data analysis. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a processing method and system for the forming of the hydrogen storage tank liner based on data analysis, which solves the problems of lack of data support in the processing of the hydrogen storage tank liner resulting in uneven quality, extensive processing path planning and single detection means.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A processing system for forming the inner liner of a hydrogen storage tank based on data analysis, comprising a data acquisition module, a path planning module and a detection and evaluation module;

[0007] The data acquisition module is used to perform a circumferential scan on the connection of the hydrogen storage tank liner through a three-dimensional scanning device to obtain original point cloud data, quantify the characteristic parameters of the original point cloud data, build a connection quality assessment model, conduct a quality assessment on the connection seam of the hydrogen storage tank liner, and eliminate the hydrogen storage tank liner with unqualified connection;

[0008] The path planning module is used to plan the processing path step by step according to the geometric characteristics of the connection seam of the hydrogen storage tank liner, adaptively plan the preliminary flattening trajectory of the connection seam based on the height change of the connection seam, plan the finishing trajectory according to the finishing depth, and judge whether the processing environment and equipment status are abnormal by collecting environmental data and key operation data during processing;

[0009] The detection and evaluation module is used to perform quality inspection on the connection seams of the hydrogen storage tank liners after processing. By setting the standard range and constructing a scale accuracy evaluation model, a two-stage screening mechanism is adopted to screen out unqualified hydrogen storage tank liners. The unqualified hydrogen storage tank liners are transported to the designated defective product area according to the screening results, and the hydrogen storage tank liners with unqualified processing are discarded.

[0010] Specifically, the data acquisition module includes a data processing unit and a preliminary evaluation unit;

[0011] The preliminary evaluation unit is configured with a geometric analysis strategy, which is used to adopt a geometric feature analysis algorithm to quantify the geometric features of the original point cloud data, conduct a preliminary evaluation of the hydrogen storage tank liner, calculate the hydrogen storage tank liner connection quality score, and determine whether the hydrogen storage tank liner connection is qualified.

[0012] Specifically, the steps of the geometric analysis strategy include:

[0013] Get the original point cloud data, set the target number of data points N1, divide the original point cloud data into N1 uniform grids, and select the data point closest to the center of each grid as a typical data point to construct a typical data set;

[0014] Configure the search radius, select N2 typical data points at equal distances from the typical data set, and search for the points on the straight line L perpendicular to the direction of the joint. i On the line L, take the typical data point as the center, obtain the typical data points and their coordinates within the search radius, and obtain i The maximum and minimum coordinate values ​​on the grid are used to calculate the width of the connection seam;

[0015] N3 sampling lines are selected at equal intervals along the extension direction of the joint, and along each sampling line, the sampling interval of the typical data points is dynamically adjusted according to the curvature change of the typical data points;

[0016] Sampling points are set on each sampling line according to the sampling interval, typical data points closest to the sampling points are selected, and the height values ​​of the joints perpendicular to the inner liner of the hydrogen storage tank and the sampling sequence positions are obtained. The spline interpolation and least square method are combined to fit the joint height change curve, and the maximum slope and minimum slope of each joint height change curve are calculated;

[0017] According to the grid division, any N4 data points in the grid where the typical data points are located are selected, and the height value of the connection seam perpendicular to the inner liner of the hydrogen storage tank of each data point is obtained, and weighted average is performed to calculate the surface undulation degree of the grid where the typical data points are located. According to the surface undulation degree of the grid where all typical data points are located, the variance of the surface undulation degree is obtained.

[0018] Specifically, the steps of the geometric analysis strategy also include:

[0019] Based on the quantified geometric feature data, a preliminary evaluation of the hydrogen storage tank liner is conducted, a connection quality evaluation model is constructed, and the connection quality score of the hydrogen storage tank liner is calculated, namely:

[0020] S=γ1×S1+γ2×S2+γ3×S3

[0021]

[0022] Among them, S is the hydrogen storage tank liner connection quality score, S max is the preset maximum score, S1 is the connection width quality score, [W min ,W max ] is the preset connection width range, is the width of the joint, δ is the shape parameter, S2 is the connection height variation score, is the maximum value of the slope of the height variation curve of the ζth joint, is the minimum value of the slope of the ζth joint height change curve, the value range of ζ is [1, N3], N3 is the number of joint height change curves, η is the height change parameter, S3 is the joint surface fluctuation score, σ is the variance of the joint fluctuation, [σ min ,σ max ] is the preset variance range of the undulation degree, ε is the surface undulation degree parameter, γ1, γ2 and γ3 are the non-negative weight parameters of the connection width quality score, the connection height variation score and the connection seam surface undulation degree score respectively;

[0023] Configure the qualified threshold. If the hydrogen storage tank liner connection quality score is greater than the qualified threshold, the hydrogen storage tank liner connection quality test is passed. Otherwise, the hydrogen storage tank liner connection quality test is not passed and the hydrogen storage tank liner with unqualified connection is discarded.

[0024] Specifically, the path planning module includes a trajectory planning unit and an abnormal warning unit;

[0025] The trajectory planning unit is equipped with a step-by-step planning strategy, which is used to generate a machining trajectory step by step according to the geometric characteristics of the connection seam of the hydrogen storage tank liner, determine the initial leveling cutting range by the height difference of the connection seam, construct the initial leveling trajectory by combining the linear interpolation method, and generate the finishing trajectory of the leveled connection seam by combining the finishing depth;

[0026] The abnormal warning unit is equipped with a fault prediction strategy. The fault prediction strategy is used to detect environmental parameters in real time through environmental sensors when implementing preliminary leveling trajectories and fine machining trajectories, and to determine whether the machining environment is in an abnormal state in combination with key operating data of the machining equipment.

[0027] Specifically, the steps of the step-by-step planning strategy include:

[0028] Based on the height change curve of the joint seam, the height difference of the joint seam is calculated. According to the width of the joint seam, the center line of the joint seam is located as the center line of the preliminary flattening trajectory. The typical data point closest to the flattening tool on the center line of the preliminary flattening trajectory is selected as the processing starting point of the preliminary flattening trajectory. The preliminary flattening trajectory is planned by linear interpolation. The preliminary flattening trajectory of the flattening tool is expressed as:

[0029]

[0030] Where x(t) is the flattening trajectory of the flattening tool around the center line in the width direction of the joint with the running time t, v1 is the feed speed in the width direction of the joint, which is determined by the width of the joint. Smoothing cycle T w And the hardness coefficient k1 of the processed material, that is, r is the radius of the flattening tool, y(t) is the machining depth of the flattening tool in the height direction of the joint with the running time t, T is the running time of a single flattening process, Ψ(·) is the upward rounding function, and θ1 is the machining depth of a single process, which is determined by the height difference of the joint and the undulation of the joint surface.

[0031] Specifically, the steps of step-by-step planning strategy also include:

[0032] Set the finishing depth h * , take the center line of the connecting seam after leveling as the center line of the finishing trajectory, and select the typical data point on the center line of the finishing trajectory closest to the leveling tool as the starting point of the finishing trajectory. According to the set finishing depth, plan the finishing trajectory of the finishing tool, that is:

[0033]

[0034] θ2=max(k1×h * ,θ min )

[0035] Among them, y * (t) is the machining depth of the finishing tool in the height direction of the joint with the running time t, T * is the running time of a single finishing operation, θ2 is the processing depth of a single finishing tool, θ min It is the minimum single processing depth.

[0036] Specifically, the detection and evaluation module includes a quality evaluation unit and a product screening unit;

[0037] The quality assessment unit is equipped with a comprehensive assessment strategy, which is used to set measurement points and sections in the circumferential and width directions of the connection seam, measure the width and depth of the connection seam after processing, and construct a scale accuracy assessment model after preliminary screening of unqualified hydrogen storage tank liners. Based on the scale accuracy score, unqualified hydrogen storage tank liners are screened again.

[0038] The product screening unit is equipped with a defective product sorting strategy, which is used to separate unqualified hydrogen storage tank liners based on the evaluation results. Through the automated robotic arm grasping device, according to the unqualified signal, the robotic arm is controlled to move the unqualified hydrogen storage tank liners to the designated defective product area, and the unqualified hydrogen storage tank liners are removed.

[0039] Specifically, the steps of the comprehensive assessment strategy include:

[0040] Configure angle intervals and distance intervals, set a measuring point at every angle interval in the circumferential direction of the connection seam, set a measuring section at every distance interval in the width direction of the connection seam at each measuring point, and use a laser interferometer to obtain the width and depth of the processed connection seam;

[0041] Configure the standard range of the processed joint seam, including the standard range of width and depth, and count the number of unqualified measurement points where the width and depth of the processed joint seam are outside the standard range of the joint seam. If the number of unqualified measurement points is greater than zero, the inner liner of the hydrogen storage tank is marked as unqualified. Otherwise, calculate the deviation value of the processed joint seam respectively.

[0042] Calculate the change in the deviation value of the connection seam, build a scale accuracy evaluation model, and evaluate the scale accuracy score. The expression of the scale accuracy evaluation model is as follows:

[0043]

[0044] Among them, F1 is the score of the dimension accuracy of the connection seam after processing, and F max is the maximum evaluation score, ΔW gis the width deviation of the gth measurement point, the value range of g is {1,2,...G}, G is the number of measurement points, ΔH g is the depth deviation of the g-th measurement point, ω1 and ω2 are the weighting coefficients of the joint deviation value and the change in the joint deviation value, respectively. and are weighting coefficients, pw is the change in the deviation value of the joint width, and ph is the change in the deviation value of the joint depth;

[0045] A score threshold is configured. If the dimension accuracy score of the connection seam of the hydrogen storage tank liner after processing is less than the score threshold, the hydrogen storage tank liner is judged to be unqualified, otherwise no operation is performed.

[0046] A method for forming a hydrogen storage tank liner based on data analysis comprises the following steps:

[0047] Step S1: perform a circumferential scan on the connection of the hydrogen storage tank liner by a three-dimensional scanning device to obtain original point cloud data, quantify the characteristic parameters of the original point cloud data, build a connection quality assessment model, conduct a quality assessment on the connection seam of the hydrogen storage tank liner, and remove the hydrogen storage tank liner with unqualified connection;

[0048] Step S2: planning the processing path step by step according to the geometric characteristics of the connection seam of the inner tank of the hydrogen storage tank, adaptively planning the preliminary flattening trajectory of the connection seam based on the height change of the connection seam, planning the finishing trajectory according to the finishing depth, and judging whether the processing environment and equipment status are abnormal by collecting environmental data and key operation data during processing;

[0049] Step S3: Perform quality inspection on the connection seams of the hydrogen storage tank liner after processing. By setting the standard range and constructing the scale accuracy evaluation model, a two-stage screening mechanism is sampled to screen out unqualified hydrogen storage tank liners. According to the screening results, the unqualified hydrogen storage tank liners are transported to the designated defective area, and the unqualified hydrogen storage tank liners are removed.

[0050] Beneficial effects of the present invention:

[0051] 1. Use a 3D scanning device to obtain the original point cloud data, and use a geometric analysis strategy to accurately quantify the geometric features. When calculating the width of the connection seam, the specific typical data point selection and coordinate analysis method can accurately determine the width of the connection seam; when evaluating the height change curve of the connection seam and the degree of surface undulation, complex algorithms such as dynamic sampling interval and weighted average are used to comprehensively and meticulously grasp the shape characteristics of the connection seam, thereby constructing a connection quality assessment model, effectively eliminating hydrogen storage tank liners with unqualified connections, and ensuring the quality of hydrogen storage tank liners from the source.

[0052] 2. According to the geometric characteristics of the joint, the processing path is planned step by step. The initial leveling cutting range is quickly determined by the height difference of the joint. The initial leveling trajectory is efficiently constructed by combining the linear interpolation method, and the finishing trajectory can be quickly generated according to the finishing depth. The automated and intelligent path planning method reduces the time and error of manual path planning, making the processing process smoother and more efficient, improving the utilization rate of production equipment, and shortening the processing cycle of a single hydrogen storage tank liner, so that more qualified hydrogen storage tank liners can be produced per unit time.

[0053] 3. The detection and evaluation module adopts a two-stage screening mechanism. First, the width and depth of the joint seam are preliminarily screened according to the standard range to quickly exclude obviously unqualified hydrogen storage tank liners. Then, a scale accuracy evaluation model is constructed to conduct an in-depth evaluation by comprehensively considering multiple factors such as the deviation value and its change amount. The layer-by-layer control method ensures that the processing quality of the joint seam of the final product meets the requirements, greatly reducing the risk of unqualified hydrogen storage tank liners entering the market and improving the overall quality stability and reliability of the hydrogen storage tank liners. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a structural schematic diagram of a processing system for forming the inner liner of a hydrogen storage tank based on data analysis of the present invention;

[0055] Figure 2 A flowchart of the specific steps of the geometric analysis strategy of the present invention;

[0056] Figure 3 A flowchart of the specific steps of the step-by-step planning strategy of the present invention;

[0057] Figure 4 A flowchart of the specific steps of the comprehensive evaluation strategy of the present invention;

[0058] Figure 5 The present invention is a flow chart of a method for forming a hydrogen storage tank liner based on data analysis. DETAILED DESCRIPTION

[0059] Example 1

[0060] See also Figure 1 ,This embodiment introduces a processing system for forming the inner liner of a hydrogen storage tank based on data analysis, including a data acquisition module, a path planning module and a detection and evaluation module;

[0061] The data acquisition module is used to perform a circumferential scan on the connection of the hydrogen storage tank liner through a three-dimensional scanning device to obtain original point cloud data, quantify the characteristic parameters of the original point cloud data, build a connection quality assessment model, conduct a quality assessment on the connection seam of the hydrogen storage tank liner, and eliminate the hydrogen storage tank liner with unqualified connection;

[0062] Preferably, the data acquisition module includes a data processing unit and a preliminary evaluation unit;

[0063] The data processing unit is equipped with an omnidirectional scanning strategy, which is used to obtain the three-dimensional geometric data of the connection surface of the inner tank of the hydrogen storage tank. The three-dimensional scanning device is calibrated and the parameters are set, and data is collected at a uniform speed, and data splicing is performed to obtain the original point cloud data of the connection surface of the inner tank of the hydrogen storage tank;

[0064] The preliminary evaluation unit is equipped with a geometric analysis strategy, which is used to adopt a geometric feature analysis algorithm to quantify the geometric features of the original point cloud data. The geometric features include the width of the connection seam, the change curve of the connection seam height and the undulation of the connection seam surface. The hydrogen storage tank liner is preliminarily evaluated, the connection quality score of the hydrogen storage tank liner is calculated, and whether the hydrogen storage tank liner connection is qualified is determined.

[0065] Preferably, the specific steps of the omni-directional scanning strategy include:

[0066] Calibrate the 3D scanning device to ensure its measurement accuracy and the accuracy of the coordinate system. Install the 3D scanning device on a robotic arm or rotating platform that can move around the inner liner of the hydrogen storage tank, and determine the initial position and direction of the scanning device relative to the inner liner of the hydrogen storage tank through a high-precision positioning sensor;

[0067] Set the scanning parameters of the 3D scanning device, including scanning resolution, scanning angle step, and scanning range radius, to ensure that sufficiently detailed and comprehensive raw scanning data can be obtained;

[0068] Start the mechanical arm or rotating platform to make the three-dimensional scanning device move at a uniform speed along the circumference of the inner tank of the hydrogen storage tank, and start the scanning device to collect data at the same time;

[0069] When the scanning device completes a circular scan, the scattered original scanning data collected will be integrated and processed. Through the data stitching algorithm, the data collected at different positions and angles will be stitched together to obtain the original point cloud data.

[0070] See also Figure 2 , preferably, the specific steps of the geometric analysis strategy include:

[0071] Get the original point cloud data, set the target number of data points N1, divide the original point cloud data into N1 uniform grids, and select the data point closest to the center of each grid as a typical data point to construct a typical data set, reduce the amount of data for subsequent calculations, improve calculation efficiency, and make data distribution more regular;

[0072] Configure the search radius, select N2 typical data points at equal distances from the typical data set, and search for the points on the straight line L perpendicular to the direction of the joint.i On the line L, take the typical data point as the center, obtain the typical data points and their coordinates within the search radius, and obtain i The maximum and minimum coordinate values ​​on the grid are used to calculate the width of the connection seam, that is:

[0073]

[0074] in, is the width of the joint, It is the straight line L i The maximum coordinate value on It is the straight line L i The minimum coordinate value on can be obtained by coordinate transformation, where the range of i is [1, N2], and N2 is the number of typical data points selected; directly quantifying the dimensional characteristics of the connection seam in the width direction provides key data basis for evaluating whether the connection seam meets the width specifications required by the design.

[0075] N3 sampling lines are selected equidistantly along the extension direction of the joint. Along each sampling line, the sampling interval of the typical data points is dynamically adjusted according to the curvature change of the typical data points. The dynamic adjustment formula of the sampling interval is:

[0076] ΔD j =ΔD×(1+α×|κ j |)

[0077] Where, ΔD j is a typical data point P j The next sampling interval, ΔD is the fixed sampling interval, κ j is a typical data point P j The average curvature of the area, α is the empirical adjustment coefficient, and its value range is [0,1]. The sampling interval is dynamically adjusted according to the curvature of typical data points, more data points are obtained in areas where the curvature of the joint changes greatly, and the data points are appropriately reduced in relatively flat areas, so that the sampling is more in line with the actual shape changes of the joint, thereby improving the effectiveness and pertinence of data collection.

[0078] Sampling points are set on each sampling line according to the sampling interval, and the typical data points closest to the sampling points are selected to obtain their connection seam height values ​​perpendicular to the inner liner of the hydrogen storage tank and the sampling order position. The connection seam height change curve is fitted, and the typical data points selected on each sampling line are preliminarily interpolated using spline interpolation to obtain a continuous and smooth spline curve. Based on the spline curve, the weighted least squares method is used to fit the high-order polynomial curve to obtain N3 connection seam height change curves, and the maximum slope and minimum slope of each connection seam height change curve are calculated to quantify the variation range of the connection seam height change curve; it reflects the flatness of the connection seam in the length direction and whether there are local defects of being too high or too low, which is of great significance for evaluating the overall shape quality of the connection seam and possible stress concentration risks.

[0079] According to the grid division, select any N4 data points in the grid where the typical data points are located, and obtain the height value of the connection seam perpendicular to the inner liner of the hydrogen storage tank for each data point, and perform weighted average to calculate the surface undulation degree of the grid where the typical data points are located, that is:

[0080]

[0081] in, is a typical data point P j The degree of surface undulation of the grid, is a typical data point P j The qth data point P in the grid q The height of the joint perpendicular to the inner liner of the hydrogen storage tank, β q is the qth data point P q The weighting coefficient of the data point P q To the typical data point P j The distance d(P j ,P q ) is determined; the surface undulation of the grid where all typical data points are located is calculated, and the variance of the surface undulation is calculated to quantify the change in the surface undulation of the joint; the flatness of the joint surface in the local area is reflected, and the distance factor from the data point to the typical data point is considered through weighted average to more reasonably reflect the contribution of each data point to the local undulation.

[0082] Based on the quantified geometric feature data, a preliminary evaluation of the hydrogen storage tank liner is conducted, a connection quality evaluation model is constructed, and the connection quality score of the hydrogen storage tank liner is calculated, namely:

[0083] S=γ1×S1+γ2×S2+γ3×S3

[0084]

[0085] Among them, S is the hydrogen storage tank liner connection quality score, Smax is the preset maximum score, S1 is the connection width quality score, [W min ,W max ] is the preset connection width range, δ is the shape parameter, the value range is (1,10), determined according to the curve shape requirements, S2 is the connection height change score, is the maximum value of the slope of the height variation curve of the ζth joint, is the minimum value of the slope of the ζth joint height change curve, the value range of ζ is [1, N3], N3 is the number of joint height change curves, η is the height change parameter, the value range is (0.05, 0.5), S3 is the joint surface fluctuation score, σ is the variance of the joint fluctuation, [σ min ,σ max ] is the preset variance range of the undulation degree, ε is the surface undulation degree parameter, and its value range is (1,5), γ1, γ2 and γ3 are the non-negative weight parameters of the connection width quality score, connection height variation score and connection seam surface undulation degree score, respectively, and their value range is (0,1);

[0086] Configure a qualified threshold. If the hydrogen storage tank liner connection quality score is greater than the qualified threshold, the hydrogen storage tank liner connection quality test is passed. Otherwise, it fails the hydrogen storage tank liner connection quality test and the hydrogen storage tank liner with unqualified connection is discarded to avoid it flowing into subsequent production links or entering the market, thereby ensuring the overall quality and safety of the hydrogen storage tank liner and reducing potential risks and losses caused by connection quality problems.

[0087] The path planning module is used to plan the processing path step by step according to the geometric characteristics of the connection seam of the hydrogen storage tank liner, adaptively plan the preliminary flattening trajectory of the connection seam based on the height change of the connection seam, plan the finishing trajectory according to the finishing depth, and judge whether the processing environment and equipment status are abnormal by collecting environmental data and key operation data during processing;

[0088] Preferably, the path planning module includes a trajectory planning unit and an abnormality warning unit;

[0089] The trajectory planning unit is equipped with a step-by-step planning strategy, which is used to generate a machining trajectory step by step according to the geometric characteristics of the connection seam of the hydrogen storage tank liner, determine the initial leveling cutting range through the height difference of the connection seam, construct a preliminary leveling trajectory in combination with the linear interpolation method, and generate a finishing trajectory for the leveled connection seam in combination with the finishing depth; thereby achieving seamless connection and precise transition from rough machining to finishing.

[0090] The abnormal warning unit is equipped with a fault prediction strategy. The fault prediction strategy is used to detect environmental parameters in real time through environmental sensors when implementing preliminary leveling trajectories and fine machining trajectories, and to determine whether the machining environment is in an abnormal state in combination with key operating data of the machining equipment.

[0091] See also Figure 3 , preferably, the specific steps of the step-by-step planning strategy include:

[0092] Obtain the geometric characteristics of the connection seam of the hydrogen storage tank liner, including the connection seam width, the connection seam height change curve and the connection seam surface undulation degree;

[0093] Based on the height change curve of the connection seam, the height difference of the connection seam is calculated to determine the cutting range of the preliminary flattening. The center line of the connection seam is located according to the width of the connection seam as the center line of the preliminary flattening trajectory, and the typical data point closest to the flattening tool on the center line of the preliminary flattening trajectory is selected as the processing starting point of the preliminary flattening trajectory. The preliminary flattening trajectory is planned by linear interpolation. During the flattening process, the connection seam of the inner tank of the hydrogen storage tank rotates at a constant speed, and the flattening tool only needs to move in the height direction and depth direction of the connection seam. The preliminary flattening trajectory of the flattening tool is expressed as:

[0094]

[0095] Where x(t) is the flattening trajectory of the flattening tool around the center line in the width direction of the joint with the running time t, v1 is the feed speed in the width direction of the joint, which is determined by the width of the joint. Smoothing cycle T w And the hardness coefficient k1 of the processed material, that is, When the hardness of the processed material is high, k1 takes a smaller value to reduce the feed speed and prevent excessive wear of the flattening tool; r is the radius of the flattening tool, y(t) is the processing depth of the flattening tool in the height direction of the joint with the running time t, T is the running time of a single flattening process, Ψ(·) is an upward rounding function, and θ1 is the processing depth of a single process, which is determined by the height difference of the joint and the degree of surface undulation of the joint, that is:

[0096]

[0097] Among them, Δh is the height difference of the connection seam, σ is the variance of the connection seam fluctuation, and θ min is the minimum single processing depth, and the single processing depth is adjusted according to the ratio of the height difference of the joint to the variance of the surface undulation. When the surface undulation of the joint is larger than the height difference of the joint, the value of the exponential term is smaller, and the single processing depth will be reduced accordingly, because the surface undulation needs to be processed more finely at this time; when σ is smaller, the exponential term approaches 0, and the single processing depth is closer to the height difference of the joint.

[0098] Set the finishing depth h * , the center line of the connection seam after leveling is used as the center line of the finishing trajectory, and the typical data point on the center line of the finishing trajectory closest to the leveling tool is selected as the starting point of the finishing trajectory. During the finishing, the connection seam of the inner tank of the hydrogen storage tank rotates at a constant speed, and the finishing leveling tool processes in the height direction of the connection seam to form a concave seam. According to the set finishing depth, the finishing trajectory of the finishing leveling tool is planned, that is:

[0099]

[0100] θ2=max(k1×h * ,θ min )

[0101] Among them, y * (t) is the machining depth of the finishing tool in the height direction of the joint with the running time t, T * is the running time of a single finishing operation, and θ2 is the machining depth of a single finishing operation by the finishing flat tool, which is determined by the finishing depth and the hardness coefficient of the processed material.

[0102] Preferably, the specific steps of the abnormal warning strategy include:

[0103] Environmental sensors, including temperature sensors, humidity sensors, vibration sensors, and dust sensors, are deployed in the processing area to ensure that the monitoring range of environmental factors that may affect the processing can be fully covered. The data collection frequency of environmental sensors is set. For example, the temperature and humidity sensors collect data every 10 seconds, the vibration sensors collect data 100 times per second, and the dust sensors collect data every 5 seconds, etc., to ensure the real-time and accuracy of the data.

[0104] When performing preliminary leveling and finishing trajectory processing, the environmental sensor continuously collects environmental data at the set frequency. The temperature sensor monitors the temperature changes in the processing area to prevent the processing accuracy or equipment performance from being affected by excessively high or low temperatures. The humidity sensor detects the ambient humidity to prevent excessive humidity from causing metal rust or affecting the insulation performance of electrical equipment. The vibration sensor monitors the vibration of the equipment and the surrounding environment. Abnormal vibration may indicate faults such as loose or unbalanced equipment parts. The dust sensor monitors the dust concentration in the air. Excessive dust may contaminate the processing surface or affect the accuracy of optical measurement equipment.

[0105] At the same time, key operating data of the processing equipment is collected, including current data, displacement data and speed data. The spindle load is judged to be abnormal through current changes. For example, a sudden increase in current may indicate an increase in tool cutting resistance or spindle failure. The displacement data and speed data of the feed system are collected to monitor whether the feed is accurate and stable. If feed deviation or speed fluctuation occurs, it may affect the processing accuracy. The real-time data of cutting depth is obtained to ensure that it complies with the processing technology settings. Abnormal changes in cutting depth may lead to a decrease in the quality of the processed surface or damage to the tool.

[0106] Integrate the collected environmental data and key operation data, arrange them in chronological order, and form a monitoring data set;

[0107] According to the processing technology requirements and the empirical data of normal equipment operation, abnormal threshold ranges are set for environmental data and key operating data. For example, the normal temperature range of the processing area is set to 20℃-30℃, the humidity range is 30%-60%, and the spindle motor current fluctuation range is within ±10% of the rated current.

[0108] The monitoring data set is compared and analyzed with the abnormal threshold range in real time. When any parameter is found to exceed its corresponding abnormal threshold range, it is determined that the processing environment or equipment operation is in an abnormal state.

[0109] When an abnormal state is detected, the early warning mechanism is triggered to generate early warning information, including the name of the abnormal parameter, the abnormal value, and the time of occurrence, and send out an audible and visual alarm signal to notify the on-site operator. The early warning information is sent to the monitoring center or the mobile device of the relevant manager through network communication so that timely response measures can be taken, including suspending processing, checking equipment, and adjusting environmental parameters.

[0110] The detection and evaluation module is used to perform quality inspection on the connection seams of the hydrogen storage tank liner after processing. By setting the standard range and building a scale accuracy evaluation model, a two-stage screening mechanism is adopted to screen out unqualified hydrogen storage tank liners. According to the screening results, the unqualified hydrogen storage tank liners are transported to the designated defective area, and the unqualified hydrogen storage tank liners are removed;

[0111] Preferably, the detection and evaluation module includes a quality evaluation unit and a product screening unit;

[0112] The quality assessment unit is equipped with a comprehensive assessment strategy, which is used to set measurement points and sections in the circumferential and width directions of the connection seam, measure the width and depth of the connection seam after processing, and construct a scale accuracy assessment model after preliminary screening of unqualified hydrogen storage tank liners. Based on the scale accuracy score, unqualified hydrogen storage tank liners are screened again.

[0113] The product screening unit is equipped with a defective product sorting strategy, which is used to separate unqualified hydrogen storage tank liners based on the evaluation results. Through the automated robotic arm grasping device, according to the unqualified signal, the robotic arm is controlled to move the unqualified hydrogen storage tank liners to the designated defective product area, and the hydrogen storage tank liners that have failed processing are removed.

[0114] See also Figure 4 , preferably, the specific steps of the comprehensive evaluation strategy include:

[0115] Configure angle intervals and distance intervals, set a measuring point at every angle interval in the circumferential direction of the connection seam, set a measuring section at every distance interval in the width direction of the connection seam at each measuring point, and use a laser interferometer to obtain the width and depth of the processed connection seam;

[0116] Configure the standard range of the processed joint seam, including the standard range of width and depth, and count the number of unqualified measurement points where the width and depth of the processed joint seam are outside the standard range of the joint seam for preliminary screening. If the number of unqualified points is greater than zero, the inner liner of the hydrogen storage tank is marked as unqualified. Otherwise, calculate the deviation value of the processed joint seam, that is:

[0117]

[0118] Where, ΔW g is the width deviation of the gth measurement point, the value range of g is {1,2,...G}, G is the number of measurement points, W g is the width of the g-th measurement point, [W min ,W max ] is the standard range of joint width, ΔH g is the depth deviation of the g-th measurement point, H g is the depth of the g-th measurement point, [H min ,H max ] is the standard range of joint depth;

[0119] Calculate the change in the deviation value of the connection seam, build a scale accuracy evaluation model, and evaluate the scale accuracy score. The expression of the scale accuracy evaluation model is as follows:

[0120]

[0121]

[0122] Among them, F1 is the score of the dimension accuracy of the connection seam after processing, and F max is the maximum value of the evaluation score, ω1 and ω2 are the weighted coefficients of the joint deviation value and the change in the joint deviation value, respectively, and the value range is (0,1). and are weighted coefficients, ranging from (0,1), pw is the change in the deviation value of the joint width, and ph is the change in the deviation value of the joint depth;

[0123] A score threshold is configured. If the dimension accuracy score of the connection seam of the hydrogen storage tank liner after processing is less than the score threshold, the hydrogen storage tank liner is judged to be unqualified, otherwise no operation is performed.

[0124] Preferably, the specific steps of the defective product sorting strategy include:

[0125] Receive evaluation result data on the connection seams of the inner tank of the hydrogen storage tank, including the number of unqualified products screened out initially, as well as the scale accuracy score and the final qualified judgment result.

[0126] According to the specifications of the hydrogen storage tank liner, including diameter, height, weight, and the layout environment of the production workshop, the grasping parameters are set in the control system of the automated robotic arm. For example, the grasping radius range of the robotic arm is adjusted for hydrogen storage tank liner of different diameter ranges; according to the weight of the hydrogen storage tank liner, the load capacity parameters and grasping force coefficient of the robotic arm are set to ensure that the robotic arm can grasp stably without causing damage to the liner during the grasping process.

[0127] When receiving the signal that the hydrogen tank liner is judged to be unqualified, the robotic arm moves to the top of the preset grasping position of the hydrogen tank liner according to the preset motion path planning. During the approach process, the visual recognition and positioning system carried by the robotic arm is used to perform secondary precise positioning of the hydrogen tank liner to ensure that the grasping device at the end of the robotic arm is aligned with the grasping part of the liner.

[0128] According to the preset grabbing parameters, grab the unqualified hydrogen storage tank liner. After successful grabbing, move the liner to the designated defective product area.

[0129] Example 2

[0130] See also Figure 5 This embodiment introduces a method for forming a hydrogen storage tank liner based on data analysis, comprising the following steps:

[0131] Step S1: perform a circumferential scan on the connection of the hydrogen storage tank liner by a three-dimensional scanning device to obtain original point cloud data, quantify the characteristic parameters of the original point cloud data, build a connection quality assessment model, conduct a quality assessment on the connection seam of the hydrogen storage tank liner, and remove the hydrogen storage tank liner with unqualified connection;

[0132] Step S2: planning the processing path step by step according to the geometric characteristics of the connection seam of the inner tank of the hydrogen storage tank, adaptively planning the preliminary flattening trajectory of the connection seam based on the height change of the connection seam, planning the finishing trajectory according to the finishing depth, and judging whether the processing environment and equipment status are abnormal by collecting environmental data and key operation data during processing;

[0133] Step S3: Perform quality inspection on the connection seams of the hydrogen storage tank liner after processing. By setting the standard range and constructing the scale accuracy evaluation model, a two-stage screening mechanism is sampled to screen out unqualified hydrogen storage tank liners. According to the screening results, the unqualified hydrogen storage tank liners are transported to the designated defective area, and the unqualified hydrogen storage tank liners are removed.

[0134] Preferably, the specific steps of quality assessment of the connection seam of the inner tank of the hydrogen storage tank include:

[0135] Get the original point cloud data, set the target number of data points N1, divide the original point cloud data into N1 uniform grids, and select the data point closest to the center of each grid as a typical data point to construct a typical data set;

[0136] Configure the search radius, select N2 typical data points at equal distances from the typical data set, and search for the points on the straight line L perpendicular to the direction of the joint. i On the line L, take the typical data point as the center, obtain the typical data points and their coordinates within the search radius, and obtain i The maximum and minimum coordinate values ​​on the grid are used to calculate the width of the connection seam;

[0137] N3 sampling lines are selected equidistantly along the extension direction of the joint. Along each sampling line, the sampling interval of the typical data points is dynamically adjusted according to the curvature change of the typical data points. The dynamic adjustment formula of the sampling interval is:

[0138] ΔD j =ΔD×(1+α×|κ j |)

[0139] Where, ΔD j is a typical data point P j The next sampling interval, ΔD is the fixed sampling interval, κ j is a typical data point P j The average curvature of the area, α is the empirical adjustment coefficient;

[0140] Sampling points are set on each sampling line according to the sampling interval, typical data points closest to the sampling points are selected, and the height values ​​of the joints perpendicular to the inner liner of the hydrogen storage tank and the sampling sequence positions are obtained. The spline interpolation and least square method are combined to fit the joint height change curve, and the maximum slope and minimum slope of each joint height change curve are calculated;

[0141] According to the grid division, select any N4 data points in the grid where the typical data points are located, and obtain the height value of the connection seam perpendicular to the inner liner of the hydrogen storage tank for each data point, and perform weighted average to calculate the surface undulation degree of the grid where the typical data points are located, that is:

[0142]

[0143] in, is a typical data point P j The degree of surface undulation of the grid, is a typical data point P j The qth data point P in the grid q The height of the joint perpendicular to the inner liner of the hydrogen storage tank, β q is the qth data point P q The weighting coefficient of the data point P q To the typical data point P j The distance d(P j ,P q ) is determined; the surface undulation of the grid where all typical data points are located is calculated to obtain the variance of the surface undulation.

[0144] Based on the quantified geometric feature data, a preliminary evaluation of the hydrogen storage tank liner is conducted, a connection quality evaluation model is constructed, and the connection quality score of the hydrogen storage tank liner is calculated, namely:

[0145] S=γ1×S1+γ2×S2+γ3×S3

[0146]

[0147] Among them, S is the hydrogen storage tank liner connection quality score, S max is the preset maximum score, S1 is the connection width quality score, [W min ,W max ] is the preset connection width range, is the width of the joint, δ is the shape parameter, S2 is the connection height variation score, is the maximum value of the slope of the height variation curve of the ζth joint, is the minimum value of the slope of the ζth joint height change curve, the value range of ζ is [1, N3], N3 is the number of joint height change curves, η is the height change parameter, S3 is the joint surface fluctuation score, σ is the variance of the joint fluctuation, [σ min ,σ max ] is the preset variance range of the undulation degree, ε is the surface undulation degree parameter, γ1, γ2 and γ3 are the non-negative weight parameters of the connection width quality score, the connection height variation score and the connection seam surface undulation degree score respectively;

[0148] Configure the qualified threshold. If the hydrogen storage tank liner connection quality score is greater than the qualified threshold, the hydrogen storage tank liner connection quality test is passed. Otherwise, the hydrogen storage tank liner connection quality test is not passed and the hydrogen storage tank liner with unqualified connection is discarded.

[0149] Preferably, the specific steps of planning the processing path step by step include:

[0150] Based on the height change curve of the joint seam, the height difference of the joint seam is calculated. According to the width of the joint seam, the center line of the joint seam is located as the center line of the preliminary flattening trajectory. The typical data point closest to the flattening tool on the center line of the preliminary flattening trajectory is selected as the processing starting point of the preliminary flattening trajectory. The preliminary flattening trajectory is planned by linear interpolation. The preliminary flattening trajectory of the flattening tool is expressed as:

[0151]

[0152] Where x(t) is the flattening trajectory of the flattening tool around the center line in the width direction of the joint with the running time t, v1 is the feed speed in the width direction of the joint, which is determined by the width of the joint. Smoothing cycle T w And the hardness coefficient k1 of the processed material, that is, r is the radius of the flattening tool, y(t) is the processing depth of the flattening tool in the direction of the joint height with the running time t, T is the running time of a single flattening process, Ψ(·) is the upward rounding function, and θ1 is the processing depth of a single process, which is determined by the height difference of the joint and the degree of surface undulation of the joint, that is:

[0153]

[0154] Among them, Δh is the height difference of the joint, σ is the variance of the joint fluctuation, and θ min It is the minimum single processing depth.

[0155] Set the finishing depth h * , take the center line of the connecting seam after leveling as the center line of the finishing trajectory, and select the typical data point on the center line of the finishing trajectory closest to the leveling tool as the starting point of the finishing trajectory. According to the set finishing depth, plan the finishing trajectory of the finishing tool, that is:

[0156]

[0157] θ2=max(k1×h * ,θ min )

[0158] Among them, y * (t) is the machining depth of the finishing tool in the height direction of the joint with the running time t, T * is the running time of a single finishing operation, and θ2 is the machining depth of a single finishing operation by the finishing flat tool.

[0159] Working principle and its effect:

[0160] A hydrogen storage tank liner forming processing system and method based on data analysis, with data as the core driving force, builds a comprehensive and sophisticated processing quality control system. In the data acquisition module, a three-dimensional scanning device is used to perform a circular scan on the connection of the hydrogen storage tank liner to obtain the original point cloud data. The original point cloud data is divided into a uniform grid, and the data point closest to the center of the grid is selected as a typical data point in each grid to construct a representative typical data set, so as to perform feature extraction, build a connection quality assessment model, eliminate hydrogen storage tank liners with unqualified connections, and control the quality of hydrogen storage tank liners from the source.

[0161] The path planning module carries out multi-step processing path planning based on the geometric characteristics of the connection seam of the inner tank of the hydrogen storage tank. First, through in-depth analysis of the height change curve of the connection seam, the height difference of the connection seam is calculated, and the center line of the connection seam is accurately located according to the width of the connection seam as the center line of the preliminary leveling trajectory, and the typical data point closest to the leveling tool on the center line of the preliminary leveling trajectory is selected as the processing starting point of the preliminary leveling trajectory to construct the preliminary leveling trajectory. Then, the finishing depth is set, and the center line of the connection seam after leveling is used as the center line of the finishing trajectory, and the typical data point closest to the leveling tool on the center line of the finishing trajectory is selected as the processing starting point of the finishing trajectory. According to the set finishing depth, the finishing trajectory is planned. And in the entire processing process, by deploying various environmental sensors in the processing area and closely combining the key operating data of the processing equipment, based on the intelligent fault prediction strategy, it is accurately judged whether the processing environment is in an abnormal state. Once an abnormality is found, an abnormal warning is immediately issued.

[0162] After processing, the detection and evaluation module conducts a comprehensive and in-depth quality inspection of the connection seams of the hydrogen storage tank liner. First, a laser interferometer is used to obtain the width and depth data of the processed connection seams in the circumferential and width directions of the connection seams according to carefully configured angle intervals and distance intervals. According to the pre-set standard range of the processed connection seams, the number of unqualified measurement points where the width and depth of the processed connection seams are outside the standard range of the connection seams is counted. If the number of unqualified points is zero, the deviation values ​​of the processed connection seams are further calculated, and the change in the deviation value of the connection seams is further calculated to construct a scale accuracy evaluation model to determine whether the hydrogen storage tank liner is qualified. For unqualified hydrogen storage tank liner, the automated robotic arm grasping device can accurately control the robotic arm to smoothly transport the unqualified hydrogen storage tank liner to the designated defective area based on the precise unqualified signal, so as to achieve efficient removal of unqualified hydrogen storage tank liner and ensure that the final quality of the hydrogen storage tank liner fully meets the high standards.

[0163] Close collaboration and data-driven decision-making in multiple links from data collection, path planning to detection and evaluation, full-process quality control reduces the failure rate, automation and intelligence improve production efficiency, precise operation reduces waste and optimizes resource utilization to control costs, effectively ensuring the quality of the hydrogen storage tank liner, while reducing the safety hazards that may be caused by quality problems, improving the rationality and efficiency of resource utilization, and fundamentally optimizing the processing and molding process of the hydrogen storage tank liner as a whole, laying a solid foundation for the high-quality production of hydrogen storage tanks.

[0164] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A processing system for forming the inner liner of a hydrogen storage tank based on data analysis, characterized in that: It includes data acquisition module, path planning module and detection and evaluation module; The data acquisition module is used to perform a circumferential scan on the connection of the hydrogen storage tank liner through a three-dimensional scanning device to obtain original point cloud data, quantify the characteristic parameters of the original point cloud data, build a connection quality assessment model, perform a quality assessment on the connection seam of the hydrogen storage tank liner, and eliminate the hydrogen storage tank liner with unqualified connection; The path planning module is used to plan the processing path step by step according to the geometric characteristics of the connection seam of the hydrogen storage tank liner, adaptively plan the preliminary flattening trajectory of the connection seam based on the height change of the connection seam, plan the finishing trajectory according to the finishing depth, and judge whether the processing environment and equipment status are abnormal by collecting environmental data and key operation data during processing; The detection and evaluation module is used to perform quality inspection on the connection seams of the hydrogen storage tank liner after processing. By setting the standard range and constructing the scale accuracy evaluation model, a two-stage screening mechanism is adopted to screen out unqualified hydrogen storage tank liners, and the unqualified hydrogen storage tank liners are transported to the designated defective product area according to the screening results, and the hydrogen storage tank liners with unqualified processing are eliminated.

2. A processing system for forming the inner liner of a hydrogen storage tank based on data analysis as claimed in claim 1, characterized in that: The data acquisition module includes a data processing unit and a preliminary evaluation unit; The preliminary evaluation unit is configured with a geometric analysis strategy, which is used to adopt a geometric feature analysis algorithm to quantify the geometric features of the original point cloud data, perform a preliminary evaluation of the hydrogen storage tank liner, calculate the hydrogen storage tank liner connection quality score, and determine whether the hydrogen storage tank liner connection is qualified.

3. A processing system for forming the inner liner of a hydrogen storage tank based on data analysis as claimed in claim 2, characterized in that: The steps of the geometric analysis strategy include: Get the original point cloud data, set the target number of data points N1, divide the original point cloud data into N1 uniform grids, and select the data point closest to the center of each grid as a typical data point to construct a typical data set; Configure the search radius, select N2 typical data points at equal distances from the typical data set, and search for the points on the straight line L perpendicular to the direction of the joint. i On the line L, take the typical data point as the center, obtain the typical data points and their coordinates within the search radius, and obtain i The maximum and minimum coordinate values ​​on the grid are used to calculate the width of the connection seam; N3 sampling lines are selected at equal intervals along the extension direction of the joint, and along each sampling line, the sampling interval of the typical data points is dynamically adjusted according to the curvature change of the typical data points; Sampling points are set on each sampling line according to the sampling interval, typical data points closest to the sampling points are selected, and the height values ​​of the joints perpendicular to the inner liner of the hydrogen storage tank and the sampling sequence positions are obtained. The spline interpolation and least square method are combined to fit the joint height change curve, and the maximum slope and minimum slope of each joint height change curve are calculated; According to the grid division, any N4 data points in the grid where the typical data points are located are selected, and the height value of the connection seam perpendicular to the inner liner of the hydrogen storage tank of each data point is obtained, and weighted average is performed to calculate the surface undulation degree of the grid where the typical data points are located. According to the surface undulation degree of the grid where all typical data points are located, the variance of the surface undulation degree is obtained.

4. A processing system for forming the inner liner of a hydrogen storage tank based on data analysis as claimed in claim 3, characterized in that: The steps of the geometric analysis strategy also include: Based on the quantified geometric feature data, a preliminary evaluation of the hydrogen storage tank liner is conducted, a connection quality evaluation model is constructed, and the connection quality score of the hydrogen storage tank liner is calculated, namely: S=γ1×S1+γ2×S2+γ3×S3 Among them, S is the hydrogen storage tank liner connection quality score, S max is the preset maximum score, S1 is the connection width quality score, [W min ,W max ] is the preset connection width range, is the width of the joint, δ is the shape parameter, S2 is the connection height variation score, is the maximum value of the slope of the height variation curve of the ζth joint, is the minimum value of the slope of the ζth joint height change curve, the value range of ζ is [1, N3], N3 is the number of joint height change curves, η is the height change parameter, S3 is the joint surface fluctuation score, σ is the variance of the joint fluctuation, [σ min ,σ max ] is the preset variance range of the undulation degree, ε is the surface undulation degree parameter, γ1, γ2 and γ3 are the non-negative weight parameters of the connection width quality score, the connection height variation score and the connection seam surface undulation degree score respectively; Configure the qualified threshold. If the hydrogen storage tank liner connection quality score is greater than the qualified threshold, the hydrogen storage tank liner connection quality test is passed. Otherwise, the hydrogen storage tank liner connection quality test is not passed and the hydrogen storage tank liner with unqualified connection is discarded.

5. A processing system for forming the inner liner of a hydrogen storage tank based on data analysis as claimed in claim 1, characterized in that: The path planning module includes a trajectory planning unit and an abnormality warning unit; The trajectory planning unit is configured with a step-by-step planning strategy, which is used to generate a machining trajectory step by step according to the geometric characteristics of the connection seam of the inner tank of the hydrogen storage tank, determine the initial leveling cutting range by the height difference of the connection seam, construct the initial leveling trajectory in combination with the linear interpolation method, and generate the finishing trajectory of the leveled connection seam in combination with the finishing depth; The abnormal warning unit is configured with a fault prediction strategy, which is used to detect environmental parameters in real time through environmental sensors when implementing preliminary leveling trajectories and fine machining trajectories, and to determine whether the machining environment is in an abnormal state in combination with key operating data of the machining equipment.

6. A processing system for forming the inner liner of a hydrogen storage tank based on data analysis as claimed in claim 5, characterized in that: The steps of the step-by-step planning strategy include: Based on the height change curve of the joint seam, the height difference of the joint seam is calculated. According to the width of the joint seam, the center line of the joint seam is located as the center line of the preliminary flattening trajectory. The typical data point closest to the flattening tool on the center line of the preliminary flattening trajectory is selected as the processing starting point of the preliminary flattening trajectory. The preliminary flattening trajectory is planned by linear interpolation. The preliminary flattening trajectory of the flattening tool is expressed as: Where x(t) is the flattening trajectory of the flattening tool around the center line in the width direction of the joint with the running time t, v1 is the feed speed in the width direction of the joint, which is determined by the width of the joint. Smoothing cycle T w And the hardness coefficient k1 of the processed material, that is, r is the radius of the flattening tool, y(t) is the machining depth of the flattening tool in the height direction of the joint with the running time t, T is the running time of a single flattening process, Ψ(·) is the upward rounding function, and θ1 is the machining depth of a single process, which is determined by the height difference of the joint and the undulation of the joint surface.

7. A processing system for forming the inner liner of a hydrogen storage tank based on data analysis as claimed in claim 6, characterized in that: The step of planning the strategy step by step also includes: Set the finishing depth h * , take the center line of the connecting seam after leveling as the center line of the finishing trajectory, and select the typical data point on the center line of the finishing trajectory closest to the leveling tool as the starting point of the finishing trajectory. According to the set finishing depth, plan the finishing trajectory of the finishing tool, that is: θ2=max(k1×h * ,i min ) Among them, y * (t) is the machining depth of the finishing tool in the height direction of the joint with the running time t, T * is the running time of a single finishing operation, θ2 is the processing depth of a single finishing tool, θ min It is the minimum single processing depth.

8. A processing system for forming the inner liner of a hydrogen storage tank based on data analysis as claimed in claim 1, characterized in that: The detection and evaluation module includes a quality evaluation unit and a product screening unit; The quality assessment unit is provided with a comprehensive assessment strategy, which is used to set measurement points and sections in the circumferential direction and width direction of the connection seam, measure the width and depth of the connection seam after processing, and construct a scale accuracy assessment model after preliminary screening of unqualified hydrogen storage tank liners, and screen unqualified hydrogen storage tank liners again based on the scale accuracy scores; The product screening unit is equipped with a defective product sorting strategy, which is used to separate unqualified hydrogen storage tank liners based on the evaluation results. Through the automated robotic arm grasping device, according to the unqualified signal, the robotic arm is controlled to move the unqualified hydrogen storage tank liners to the designated defective product area, and the unqualified hydrogen storage tank liners are removed.

9. A processing system for forming the inner liner of a hydrogen storage tank based on data analysis as claimed in claim 8, characterized in that: The steps of the comprehensive assessment strategy include: Configure angle intervals and distance intervals, set a measuring point at every angle interval in the circumferential direction of the connection seam, set a measuring section at every distance interval in the width direction of the connection seam at each measuring point, and use a laser interferometer to obtain the width and depth of the processed connection seam; Configure the standard range of the processed joint seam, including the standard range of width and depth, and count the number of unqualified measurement points where the width and depth of the processed joint seam are outside the standard range of the joint seam. If the number of unqualified measurement points is greater than zero, the inner liner of the hydrogen storage tank is marked as unqualified. Otherwise, calculate the deviation value of the processed joint seam respectively. Calculate the change in the deviation value of the connection seam, build a scale accuracy evaluation model, and evaluate the scale accuracy score. The expression of the scale accuracy evaluation model is as follows: Among them, F1 is the score of the dimension accuracy of the connection seam after processing, and F max is the maximum evaluation score, ΔW g is the width deviation of the gth measurement point, the value range of g is {1,2,...G}, G is the number of measurement points, ΔH g is the depth deviation of the g-th measurement point, ω1 and ω2 are the weighting coefficients of the joint deviation value and the change in the joint deviation value, respectively. and are weighting coefficients, pw is the change in the deviation value of the joint width, and ph is the change in the deviation value of the joint depth; A score threshold is configured. If the dimension accuracy score of the connection seam of the hydrogen storage tank liner after processing is less than the score threshold, the hydrogen storage tank liner is judged to be unqualified, otherwise no operation is performed.

10. A method for forming a hydrogen storage tank liner based on data analysis, which is implemented based on a processing system for forming a hydrogen storage tank liner based on data analysis as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: Step S1: perform a circumferential scan on the connection of the hydrogen storage tank liner by a three-dimensional scanning device to obtain original point cloud data, quantify the characteristic parameters of the original point cloud data, build a connection quality assessment model, conduct a quality assessment on the connection seam of the hydrogen storage tank liner, and remove the hydrogen storage tank liner with unqualified connection; Step S2: planning the processing path step by step according to the geometric characteristics of the connection seam of the inner tank of the hydrogen storage tank, adaptively planning the preliminary flattening trajectory of the connection seam based on the height change of the connection seam, planning the finishing trajectory according to the finishing depth, and judging whether the processing environment and equipment status are abnormal by collecting environmental data and key operation data during processing; Step S3: Perform quality inspection on the connection seams of the hydrogen storage tank liner after processing. By setting the standard range and constructing the scale accuracy evaluation model, a two-stage screening mechanism is sampled to screen out unqualified hydrogen storage tank liners. According to the screening results, the unqualified hydrogen storage tank liners are transported to the designated defective area, and the unqualified hydrogen storage tank liners are removed.

Images