Automated extrusion method and system for processing carbon fiber composite materials

Abstract

This invention provides an automated extrusion method and system for processing carbon fiber composite materials, belonging to the field of molding technology for plastic materials. The method includes: determining the ideal gap between extrusion rods based on the specifications of the carbon fiber prepreg; automatically adjusting the spacing of the spacers between the extrusion rods to adjust the current gap between the extrusion rods to the ideal gap; and controlling the carbon fiber prepreg to automatically extrude through the ideal gap between the extrusion rods. This automated extrusion method and system for processing carbon fiber composite materials determines the ideal gap based on the specifications of the carbon fiber prepreg, automatically adjusts the spacing of the spacers between the extrusion rods to adjust the current gap between the extrusion rods to the ideal gap, and then controls the carbon fiber prepreg to be fed between the extrusion rods for automatic extrusion. This achieves personalized extrusion based on specifications and processing objectives, avoids differences in extrusion results caused by unsuitable spacer configuration, and improves the extrusion effect.

Description

Technical Field

[0001] This invention relates to the field of molding technology for plastic materials, and particularly to an automated extrusion method and system for processing carbon fiber composite materials. Background Technology

[0002] Resin impregnation of carbon fiber is a crucial step in the processing of carbon fiber composites. After impregnation, the resin helps improve the overall mechanical properties of the composite material. Extrusion is an important process following resin impregnation. Extrusion allows the resin to fully penetrate the fiber bundle, forming a composite structure with a uniform fiber-resin distribution. Roller extrusion is a commonly used method. The basic process involves impregnating the carbon fiber bundle (or fabric) in a resin bath, then passing it through one or more pairs of rollers, where excess resin is extruded through the pressure of the rollers. However, current technology requires manual adjustment of the roller spacing according to specific extrusion needs, which is inconvenient. Furthermore, gaps may exist between the two rollers due to manufacturing precision limitations, resulting in poor extrusion performance.

[0003] In view of this, there is an urgent need for automated extrusion methods and systems for processing carbon fiber composite materials, in order to at least address the aforementioned shortcomings. Summary of the Invention

[0004] One of the objectives of this invention is to provide an automatic extrusion method and system for processing carbon fiber composite materials. Before the carbon fiber prepreg is fed into the extrusion device, the specification parameters are obtained, the ideal gap is determined based on the specification parameters, and the spacing of the spacers between the extrusion rods is automatically adjusted to adjust the current gap between the extrusion rods to the ideal gap. After the adjustment is completed, the carbon fiber prepreg is fed into the spacers for automatic extrusion. Personalized extrusion is achieved according to the specification parameters and processing purpose, avoiding the difference in extrusion effect caused by unsuitable spacer configuration, and improving the extrusion effect.

[0005] The automatic extrusion method for processing carbon fiber composite materials provided in this embodiment of the invention includes:

[0006] Step 1: Determine the ideal gap between the extrusion rods based on the specifications of the carbon fiber prepreg;

[0007] Step 2: Automatically adjust the spacing of the pads between the extrusion rods to adjust the current gap between the extrusion rods to the ideal gap;

[0008] Step 3: After adjustment, control the carbon fiber prepreg to automatically extrude through the ideal gap between the extrusion rods.

[0009] Preferably, the steps for obtaining the specifications of the carbon fiber prepreg are as follows:

[0010] A glue extrusion buffer zone is set between the glue dipping device and the glue extrusion device;

[0011] Before the carbon fiber prepreg is fed into the extrusion device, the specification parameters are measured by a laser thickness gauge set within a preset range of the extrusion buffer.

[0012] The preferred steps for determining the ideal gap are as follows:

[0013] The ideal gap is determined based on the processing purpose and processing purpose-extrusion strategy library associated with the carbon fiber prepreg.

[0014] Preferably, automatically adjusting the spacing of the pads between the extrusion rods to adjust the current gap between the extrusion rods to an ideal gap includes:

[0015] Determine the clearance adjustment amount based on the current clearance and the ideal clearance;

[0016] Based on the relationship between the control of each pad block and the corresponding gap change of the pad block, the pad block control instruction set is determined according to the gap adjustment amount.

[0017] Automatic adjustment of pads based on pad control instruction set.

[0018] Preferably, based on the relationship between the control of each pad block and the corresponding change in the gap, a pad block control instruction set is determined according to the gap adjustment amount, including:

[0019] Based on the order of the gap's height from the ground from low to high, traverse each gap;

[0020] When the first gap is reached, the first control command for the first target pad is determined based on the gap adjustment amount of the first gap and the pad control command library.

[0021] When traversing to the l-th gap, determine the gap fluctuation amount before the l-th gap adjustment based on the gap adjustment amount of the previous l-1 gaps;

[0022] Based on the gap fluctuation and gap adjustment of the l-th gap, determine the target adjustment amount of the l-th gap;

[0023] Based on the target adjustment amount of the l-th gap and the control instruction library for the pad block, determine the second control instruction for the second target pad block;

[0024] After all gaps have been traversed, the first and second control instructions are integrated to obtain the block control instruction set.

[0025] Where l is an integer greater than 1.

[0026] Preferably, before the carbon fiber prepreg is fed into the extrusion device, dimensional parameters are measured using a laser thickness gauge set within a preset range of the extrusion buffer, including:

[0027] The target image of the carbon fiber prepreg is captured by the shooting device set within the preset range of the extrusion buffer.

[0028] Based on the target image, analyze the adhesive distribution of each layer of carbon fiber prepreg;

[0029] The distribution of the adhesive solution is mapped onto the layering model of the carbon fiber prepreg to obtain the target layering model sequence;

[0030] Extract the variation characteristics of adhesive distribution in pairwise adjacent target layered models in the target layered model sequence;

[0031] Based on the characteristics of changes in adhesive distribution, predict the sequence of successive layering models;

[0032] The target stratified region is determined based on the successive stratification model sequence;

[0033] The measurement time for the target layered region is determined based on the startup parameters of the laser thickness gauge.

[0034] If the measurement time is before the predicted time corresponding to the target layered area, the laser thickness gauge will be retried to measure the target layered area after the predicted time.

[0035] The automated extrusion method for processing carbon fiber composite materials provided in this embodiment of the invention further includes:

[0036] When the laser thickness gauge is ready to start, a field laser reflection field is constructed based on the on-site 3D data and the laser thickness gauge's startup task. The on-site 3D data includes: 3D data of the resin coating of the carbon fiber prepreg.

[0037] Based on the on-site laser field, plan the set of safety lens indicator factors;

[0038] Construct the current lens indicator factor based on the lens position and lens orientation of the shooting device;

[0039] Calculate the adjustment cost of adjusting the current lens indicator factor to the safety lens indicator factor, and take the corresponding safety lens indicator factor with the minimum adjustment cost as the target safety lens indicator factor;

[0040] Based on the target safety lens indicator factor and the current lens indicator factor, plan the running trajectory of the shooting device before the laser thickness gauge is ready to start;

[0041] Based on the trajectory, the camera is controlled to move forward.

[0042] Preferably, based on the on-site laser field, a set of safety lens indicator factors is planned, including:

[0043] Based on the laser field at the scene, determine the characteristics of the light rays, including: reflection type, scattering type, and light ray distribution;

[0044] Determine the area to accommodate the imaging device within the laser field at the site;

[0045] Based on the template for determining safety camera indicator factors, the safety camera indicator factors corresponding to the accommodation area are determined according to the environmental information and light characteristics within the target area of ​​the accommodation area.

[0046] Integrate the safety camera indicator factors corresponding to all accommodation areas to obtain a safety camera indicator factor set.

[0047] Preferably, calculating the adjustment cost of adjusting the current lens indicator factor to a safe lens indicator factor includes:

[0048] Based on the current lens indicator factor and the safety lens indicator factor, determine the change factor values, which include: the path movement distance of the change path and the turning angle of the lens direction change angle;

[0049] Based on the change factor values ​​and the change time quantification table, determine the change time corresponding to the change factor values;

[0050] Accumulate the time spent on changes to obtain the adjustment cost.

[0051] The automatic extrusion system for processing carbon fiber composite materials provided in this embodiment of the invention includes:

[0052] The ideal gap determination module is used to determine the ideal gap between extrusion rods based on the specifications of the carbon fiber prepreg.

[0053] The adjustment module is used to automatically adjust the spacing of the pads between the extrusion rods so that the current gap between the extrusion rods is adjusted to the ideal gap;

[0054] The automatic extrusion module is used to control the carbon fiber prepreg to automatically extrude through the ideal gap between the extrusion rods after adjustment.

[0055] The beneficial effects of this invention are as follows:

[0056] This invention obtains specification parameters before the carbon fiber prepreg is fed into the extrusion device, determines the ideal gap based on the specification parameters, and automatically adjusts the spacing of the pads between the extrusion rods to adjust the current gap between the extrusion rods to the ideal gap. After the adjustment is completed, the carbon fiber prepreg is fed into the extrusion rods for automatic extrusion. Personalized extrusion is achieved according to the specification parameters and processing purpose, avoiding the difference in extrusion effect caused by unsuitable pad configuration, and improving the extrusion effect.

[0057] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in this application.

[0058] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0059] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0060] Figure 1 This is a schematic diagram of an automated extrusion method for processing carbon fiber composite materials in an embodiment of the present invention;

[0061] Figure 2 This is a schematic diagram of the extrusion device for processing carbon fiber composite materials in an embodiment of the present invention;

[0062] Figure 3 This is a schematic diagram of an automated extrusion system for processing carbon fiber composite materials in an embodiment of the present invention.

[0063] In the diagram: 11. Extrusion rod; 12. Double groove pad; 13. Single groove pad. Detailed Implementation

[0064] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0065] This invention provides an automated extrusion method for processing carbon fiber composite materials, such as... Figure 1 As shown, it includes:

[0066] Step 1: Determine the ideal gap between the extrusion rods based on the specifications of the carbon fiber prepreg;

[0067] The steps for obtaining the specifications of carbon fiber prepreg are as follows:

[0068] A glue extrusion buffer zone is set between the glue dipping device and the glue extrusion device;

[0069] Before the carbon fiber prepreg is fed into the extrusion device, the specification parameters are measured by a laser thickness gauge set within a preset range of the extrusion buffer.

[0070] Among them, carbon fiber prepreg is the product of carbon fiber pre-impregnated with resin; its specifications include thickness, fiber orientation, etc., which are measured by a laser thickness gauge set within a preset range of the extrusion buffer zone between the impregnation device and the extrusion device; the impregnation device is a device for impregnating carbon fiber material, such as a resin tank for impregnating carbon fiber; the structural diagram of the extrusion device is shown below. Figure 2 As shown, the schematic diagram is a side sectional view of the extrusion device. The extrusion rods 11 are spaced apart vertically, and a double-groove pad 12 is placed between every two extrusion rods. Single-groove pads 13 are placed at both ends of the extrusion device in the vertical direction. The spacing between the pads can be remotely controlled electronically based on Internet of Things technology. The extrusion buffer zone is a platform area set between the impregnation device and the extrusion device. It is used to buffer and wait for the precise measurement of the carbon fiber prepreg specifications before the formal extrusion, allowing sufficient measurement time. "Before the carbon fiber prepreg is ready to be fed into the extrusion device" refers to the time dimension before the carbon fiber prepreg is ready to be fed into the extrusion device. The preset range of the extrusion buffer zone is set manually in advance, for example, within 5 meters next to the platform area.

[0071] The steps for determining the ideal clearance are as follows:

[0072] Determine the ideal gap based on the processing purpose and processing purpose-extrusion strategy library associated with carbon fiber prepreg;

[0073] The processing purpose associated with carbon fiber prepreg is the intended use of the prepreg, such as lightweight automotive components or aerospace main load-bearing structures. The processing purpose-extrusion strategy library is pre-configured by staff. Generally, the initial resin content of the prepreg is 35%-45%. However, the required extrusion amount varies depending on the processing purpose. For example, lightweight automotive components require appropriate resin retention to improve impact resistance, corresponding to an ideal resin content of 32%-38% for the carbon fiber prepreg. Therefore, the extrusion strategy in the library for lightweight automotive components sets the extrusion gap to achieve a resin content of 32%-38%. Similarly, for aerospace main load-bearing structures, the ideal resin content of the prepreg is 28%-32%, so the extrusion strategy in the library for aerospace main load-bearing structures sets the extrusion gap to achieve a resin content of 28%-32%. If the processing purpose matches a processing purpose in the processing purpose-extrusion strategy library, the extrusion gap set for that strategy is the ideal gap.

[0074] Step 2: Automatically adjust the spacing of the pads between the extrusion rods to adjust the current gap between the extrusion rods to the ideal gap;

[0075] The automatic adjustment of the spacing between the pads on the extrusion rods ensures that the current gap between the extrusion rods is adjusted to the ideal gap, including:

[0076] Determine the clearance adjustment amount based on the current clearance and the ideal clearance;

[0077] Based on the relationship between the control of each pad block and the corresponding gap change of the pad block, the pad block control instruction set is determined according to the gap adjustment amount.

[0078] Automatic adjustment of pads based on pad control instruction set;

[0079] Among them, the current gap is the gap between any two extrusion rods in the current state; the gap adjustment amount is the change in the gap distance of the corresponding gap when the current gap is adjusted to the ideal gap; the pad block control refers to the control of the spacing between the pad blocks; the gap associated with the pad block refers to the gap whose corresponding gap distance also changes when the pad block spacing is adjusted; the change relationship is the correspondence between the degree of pad block control and the degree of change in the distance between the corresponding gaps of the pad blocks; when determining the pad block control instruction set, the corresponding pad block and pad block control that meet the gap adjustment amount are determined from the gap change relationship, and the pad block control instruction is determined based on the preset control instruction conversion template and the corresponding pad block and pad block control, and all determined pad block control instructions are integrated to obtain multiple pad block control instructions; the preset control instruction conversion template is a template for generating system readable instructions by referring to the pad block instruction generation information (pad block and pad block control), and after the system triggers the corresponding control instruction, the extrusion equipment can automatically realize the pad block control of the corresponding pad block;

[0080] Step 3: After adjustment, control the carbon fiber prepreg to automatically extrude through the ideal gap between the extrusion rods.

[0081] The working principle and beneficial effects of the above technical solution are as follows:

[0082] This invention obtains specification parameters before the carbon fiber prepreg is fed into the extrusion device, determines the ideal gap based on the specification parameters, and automatically adjusts the spacing of the pads between the extrusion rods to adjust the current gap between the extrusion rods to the ideal gap. After the adjustment is completed, the carbon fiber prepreg is fed into the extrusion rods for automatic extrusion. Personalized extrusion is achieved according to the specification parameters and processing purpose, avoiding the difference in extrusion effect caused by unsuitable pad configuration, and improving the extrusion effect.

[0083] In one embodiment, based on the relationship between the control of each pad block and the change in the corresponding gap of the pad block, a pad block control instruction set is determined according to the gap adjustment amount, including:

[0084] Based on the order of the gap's height from the ground from low to high, traverse each gap;

[0085] When the first gap is reached, the first control command for the first target pad is determined based on the gap adjustment amount of the first gap and the pad control command library.

[0086] The pad block control instruction library stores the adjustment amount of each pad block and its corresponding control instruction; the first target pad block is the first double-groove pad block determined in order of pad block height from low to high. When determining the first control instruction of the first target pad block, the gap adjustment amount of the first gap is compared with the adjustment amount of the first target pad block in the pad block control instruction library. If they match, the control instruction associated with the corresponding adjustment amount is used as the first control instruction.

[0087] When traversing to the l-th gap, determine the gap fluctuation amount before the l-th gap adjustment based on the gap adjustment amount of the previous l-1 gaps;

[0088] The gap fluctuation is the sum of the gap adjustment amounts of the first l-1 gaps. For example, if the gap adjustment amount of the first gap is +1, the gap adjustment amount of the second gap is -2, and the gap adjustment amount of the third gap is 2, then the gap fluctuation amount of the second gap is +1 and the gap fluctuation amount of the third gap is -1.

[0089] Based on the gap fluctuation and gap adjustment of the l-th gap, determine the target adjustment amount of the l-th gap;

[0090] The target adjustment amount is the sum of the gap fluctuation amount and the gap adjustment amount of the l-th gap. For example, the target adjustment amount of the 2nd gap is -1, and the target adjustment amount of the 3rd gap is 1.

[0091] Based on the target adjustment amount of the l-th gap and the control instruction library for the pad block, determine the second control instruction for the second target pad block;

[0092] The second target pad is the l-th double-groove pad determined according to the order of pad height from ground to ground from low to high. When determining the second control command for the second target pad, the target adjustment amount of the l-th gap is compared with the adjustment amount of the second target pad in the pad control command library. If they are consistent, the control command associated with the corresponding adjustment amount is used as the second control command.

[0093] After all gaps have been traversed, the first and second control instructions are integrated to obtain the block control instruction set.

[0094] Where l is an integer greater than 1.

[0095] The working principle and beneficial effects of the above technical solution are as follows:

[0096] Because the extrusion rods are stacked, when one gap is adjusted, the distance between its adjacent gaps above it also changes. Therefore, it is not appropriate to adjust based on the previously determined gap adjustment amount. Thus, each gap is traversed in order of increasing gap height from the ground. When the first gap is reached, the first control command for the first target pad is determined directly based on the gap adjustment amount and the pad control command library. Then, the target adjustment amount for the first gap is determined sequentially based on the gap adjustment amounts of the previous (l-1) gaps and the gap adjustment amount of the first gap. The second control command for the second target pad is determined based on the target adjustment amount of the first gap and the pad control command library. The first and second control commands are integrated to obtain the pad control command set. Considering the linkage effect during gap adjustment, the control accuracy is improved.

[0097] In one embodiment, before the carbon fiber prepreg is fed into the extrusion device, dimensional parameters are measured using a laser thickness gauge set within a preset range of the extrusion buffer, including:

[0098] The target image of the carbon fiber prepreg is captured by the shooting device set within the preset range of the extrusion buffer.

[0099] The shooting device is a high-definition camera set on a mobile trolley within a preset range of the extrusion buffer zone; the target image is an image containing carbon fiber prepreg captured by the shooting device.

[0100] Based on the target image, analyze the adhesive distribution of each layer of carbon fiber prepreg;

[0101] The distribution of the adhesive is as follows: the distribution position of the resin adhesive flowing on each layer of carbon fiber prepreg.

[0102] The distribution of the adhesive solution is mapped onto the layering model of the carbon fiber prepreg to obtain the target layering model sequence;

[0103] Among them, the layered model of carbon fiber prepreg is: a three-dimensional model of the extrusion buffer before the carbon fiber prepreg of different layers is fed into the gap between the extrusion rods for extrusion; the sorting order of the target layered models in the target layered model sequence is the order of the shooting time of the target images extracted from the corresponding mapping of the glue distribution.

[0104] Extract the variation characteristics of adhesive distribution in pairwise adjacent target layered models in the target layered model sequence;

[0105] Among them, the change characteristics are: the location of the adhesive change and the amount of adhesive change. During extraction, the target layer models of each pair of adjacent targets are compared, the location of the adhesive change is determined according to the model differences, and the migration rate (amount of adhesive change) of the adhesive from one location of adhesive change to another is calculated.

[0106] Based on the characteristics of changes in adhesive distribution, predict the sequence of successive layering models;

[0107] Among them, the successive layering model sequence is: the layering model that evolves in the future, where evolution refers to the evolution of the future distribution of the adhesive; when predicting the successive layering model sequence, machine learning technology is used to learn the change characteristics and analyze the trend of adhesive change. Based on the machine learning model that has been learned, the successive layering model that predicts the future form of the adhesive is obtained. The successive layering models are sorted in the order of the corresponding predicted future moments to obtain the successive layering model sequence.

[0108] The target stratified region is determined based on the successive stratification model sequence;

[0109] The target layered region is the interference region of the carbon fiber prepreg layer corresponding to the adhesive distribution interference in the continuous layered model when the adhesive distribution reaches the warning distribution. The warning distribution is the overflow adhesive distribution that causes the overflow adhesive to interfere with the adhesive distribution of other carbon fiber prepreg layers. For example, if the overflow adhesive accumulates in region A on the lower carbon fiber prepreg, then the warning distribution is: overflow adhesive accumulation. The target layered region is region A of the carbon fiber prepreg below the overflowing carbon fiber prepreg.

[0110] The measurement time for the target layered region is determined based on the startup parameters of the laser thickness gauge.

[0111] The startup parameter is the time when the laser thickness gauge intervenes in the measurement; the measurement time is the time when the laser thickness gauge intervenes in the measurement of the target layered area.

[0112] If the measurement time is before the predicted time corresponding to the target layered area, the laser thickness gauge will be retried to measure the target layered area after the predicted time.

[0113] The predicted time is the future time predicted by the successive layering model when the adhesive distribution reaches the warning distribution. If the measurement time is before the predicted time, it means that the specification parameters of the target layered area have been measured before the predicted time, but the subsequent adhesive distribution of the target layered area (the adhesive distribution at the predicted time) has changed significantly. Therefore, the laser thickness gauge is restarted to measure the thickness based on the predicted time corresponding to the target layered area.

[0114] The working principle and beneficial effects of the above technical solution are as follows:

[0115] The specifications of carbon fiber prepreg before it is fed into the extrusion unit are affected not only by its state immediately after impregnation but also by the overflow of adhesive from other layers of carbon fiber prepreg being conveyed simultaneously. Generally, to improve production efficiency, multiple layers of carbon fiber prepreg are fed into the extrusion unit at the same time. In this case, when adhesive overflows from the upper layer of carbon fiber prepreg, it may flow down to the lower layer. If the specifications of the overflowing adhesive interference area corresponding to the lower layer has already been detected, the system will determine the extrusion strategy based on the detected specifications, leading to an unsuitable determination of the ideal gap.

[0116] Therefore, this invention analyzes the adhesive distribution of each layer of carbon fiber prepreg based on captured target images and constructs corresponding layered models. The layered models are then arranged chronologically to obtain a target layered model sequence. Adjacent target layered models in the sequence are compared, and the location of adhesive changes is determined based on model differences. The migration rate of adhesive from one location to another (adhesive distribution change characteristics) is calculated. Machine learning techniques are used to learn the adhesive distribution change characteristics, predict subsequent layered model sequences, determine target layered regions from these models, and determine whether the target layered region was measured before the predicted time based on the laser thickness gauge's activation parameters. If so, a re-measurement is performed after the predicted time corresponding to the target layered region, avoiding the problem of inappropriate measurement intervention timing caused by setting a fixed laser thickness gauge measurement cycle. The laser thickness gauge is dynamically triggered, and the latest specification parameters after adhesive overflow interference are constantly updated, improving the accuracy of specification parameter measurement and further enhancing the suitability of subsequent ideal gap determination.

[0117] This invention provides an automated extrusion method for processing carbon fiber composite materials, further comprising:

[0118] When the laser thickness gauge is ready to start, a field laser reflection field is constructed based on the on-site 3D data and the laser thickness gauge's startup task. The on-site 3D data includes: 3D data of the resin coating of the carbon fiber prepreg.

[0119] The laser thickness gauge is ready to start up in the following context: within 10 seconds before each start-up; the on-site 3D data includes the type and 3D shape data of the objects on site; and the start-up task includes the laser emission position, direction, and power of the laser thickness gauge.

[0120] Based on the on-site laser field, plan the set of safety lens indicator factors;

[0121] Among them, the on-site laser field is: the distribution model of the laser in the processing site after simulating the interaction between the laser and on-site objects (such as carbon fiber prepreg and on-site equipment); the safety lens indicator factor set is a collection of multiple safety lens indicator factors, which are lens indicator factors that ensure the camera avoids laser threats and can capture necessary shooting areas (such as key monitoring points of prepreg), and the lens indicator factor is a descriptive vector of lens position and lens direction;

[0122] Construct the current lens indicator factor based on the lens position and lens orientation of the shooting device;

[0123] The current camera indicator factor is a description vector of the current camera position and the current camera direction.

[0124] Calculate the adjustment cost of adjusting the current lens indicator factor to the safety lens indicator factor, and take the corresponding safety lens indicator factor with the minimum adjustment cost as the target safety lens indicator factor;

[0125] The adjustment cost is a quantitative representation of the difficulty of adjusting the shooting lens of the shooting device from the lens state indicated by the current lens indicator factor to the lens state indicated by the safety lens indicator factor. The smaller the adjustment cost, the more priority is given to adjusting the shooting lens to the lens state indicated by the corresponding safety lens indicator factor.

[0126] Based on the target safety lens indicator factor and the current lens indicator factor, plan the running trajectory of the shooting device before the laser thickness gauge is ready to start;

[0127] When planning the operating trajectory, the system plans a change path for the shooting device from the current lens position to the lens position indicated by the target safety lens indicator factor, and controls the shooting device to move based on the change path. When the shooting device reaches the lens position indicated by the target safety lens indicator factor, the system controls the shooting device to adjust the lens direction after moving based on the change path to the lens direction indicated by the target safety lens indicator factor.

[0128] Based on the trajectory, control the camera to move forward.

[0129] The working principle and beneficial effects of the above technical solution are as follows:

[0130] Although the coordinated operation of the laser thickness gauge and the imaging device can improve the detection accuracy of specifications, the lens of the imaging device is easily damaged by laser scanning. Therefore, this invention constructs a field laser reflection field based on the on-site three-dimensional data and the laser thickness gauge's startup task when the laser thickness gauge is about to start. A set of safety lens indicator factors is planned in the field laser field, and the target safety lens indicator factor with the least adjustment difficulty is selected to plan the operating trajectory of the imaging device before the laser thickness gauge is about to start and control the imaging device to move to the safe area. At the same time, it does not delay the operation of the imaging device and avoids lens failure caused by laser equipment interference.

[0131] In one embodiment, planning a set of safety lens indicator factors based on the on-site laser field includes:

[0132] Based on the laser field at the scene, determine the characteristics of the light rays, including: reflection type, scattering type, and light ray distribution;

[0133] Among them, the light characteristics are the characteristic representation of the light in the on-site laser field. The reflection types include: specular reflection (e.g., laser reflection on metal equipment parts) and diffuse reflection (e.g., laser scattering in all directions from carbon fiber texture). The scattering types include: volume scattering (e.g., laser escaping after multiple refractions or scatterings inside a semi-transparent resin) and environmental scattering (e.g., laser scattering in dust and water mist in the air). The light distribution is the positional distribution of the light.

[0134] Determine the area to accommodate the imaging device within the laser field at the site;

[0135] The accommodating area is the area within the laser field that can accommodate the volume of the imaging device.

[0136] Based on the template for determining safety camera indicator factors, the safety camera indicator factors corresponding to the accommodation area are determined according to the environmental information and light characteristics within the target area of ​​the accommodation area.

[0137] The safety lens indicator factor determination template is a pre-set template that generates a safety lens indicator factor scheme based on light characteristics and environmental information. For example, if the light characteristic is specular reflection at position B and the environmental information is that there is a necessary monitoring process at position C, the safety lens indicator factor determination template will generate a lens indicator factor that avoids facing position B while still being able to monitor position C. If facing position B cannot be avoided when position C is detected, since specular reflection may burn out the photosensitive element, position B will be prioritized for avoidance. Another example is if the light characteristic is diffuse reflection at position D and the environmental information is that there is a necessary monitoring process at position E, the safety lens indicator factor determination template will generate a lens indicator factor that avoids facing position D while still being able to monitor position E. If facing position D cannot be avoided when position E is detected, since the impact of diffuse reflection on the camera is low-risk (e.g., increasing image noise), it will be considered to avoid facing position D as much as possible when position E is detected, without strictly avoiding facing position D. The target area is pre-set manually, for example, within a 10-meter radius around the area to be accommodated.

[0138] Integrate the safety camera indicator factors corresponding to all accommodation areas to obtain a safety camera indicator factor set.

[0139] The working principle and beneficial effects of the above technical solution are as follows:

[0140] This invention characterizes the on-site laser field to obtain light characteristics. Considering the different effects of different types of light on the camera, a safety lens indicator factor is introduced to determine the template. This, along with environmental information and light characteristics within the target area of ​​the field, determines the safety lens indicator factor, making its determination more reasonable.

[0141] In one embodiment, calculating the adjustment cost of adjusting the current lens indicator factor to a safe lens indicator factor includes:

[0142] Based on the current lens indicator factor and the safety lens indicator factor, determine the change factor values, which include: the path movement distance of the change path and the turning angle of the lens direction change angle;

[0143] The change path is the path of the shooting device planned based on the site map from the lens position indicated by the current lens indicator factor to the lens position indicated by the safety lens indicator factor; the lens direction change angle is the turning angle of the predicted shooting device moving based on the change path, and the lens direction turning to the lens direction indicated by the safety lens indicator factor after the movement.

[0144] Based on the change factor values ​​and the change time quantification table, determine the change time corresponding to the change factor values;

[0145] The change time quantification table stores the time taken to change the unit change factor value of the lens based on experimental data. For example, it takes 1.2 seconds to move 1 meter along the path and 20ms to turn the lens direction by 1°. The process of determining the change time is to multiply the change factor value by the time taken to change the unit change factor value corresponding to its change factor type to obtain the change time corresponding to that change factor value.

[0146] Accumulate the time spent on changes to obtain the adjustment cost.

[0147] The working principle and beneficial effects of the above technical solution are as follows:

[0148] This invention takes into account the various changing factors involved in adjusting the safety lens indicator factor, introduces the change time corresponding to the changing factor value, accurately quantifies the adjustment cost, and improves the accuracy of subsequent determination of the target safety lens indicator factor.

[0149] This invention provides an automated extrusion system for processing carbon fiber composite materials, such as... Figure 3 As shown, it includes:

[0150] Ideal gap determination module 1 is used to determine the ideal gap between extrusion rods based on the specifications of the carbon fiber prepreg.

[0151] Adjustment module 2 is used to automatically adjust the spacing of the pads between the extrusion rods so that the current gap between the extrusion rods is adjusted to the ideal gap;

[0152] Automatic extrusion module 3 is used to control the carbon fiber prepreg to automatically extrude through the ideal gap between the extrusion rods after adjustment.

[0153] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An automatic glue extrusion method for carbon fiber composite material processing, characterized in that, The method comprises the following steps: According to the specification parameters of the carbon fiber prepreg, the ideal gap between the extrusion rods is determined; The distance between the pads between the extrusion rods is automatically adjusted so that the current gap between the extrusion rods is adjusted to the ideal gap; After the adjustment is completed, the carbon fiber prepreg is automatically extruded through the ideal gap between the extrusion rods; The specification parameters of the carbon fiber prepreg are obtained as follows: A glue extrusion buffer zone is set between the glue impregnation device and the glue extrusion device; According to the shooting device set in the glue extrusion buffer zone, the target image of the carbon fiber prepreg is shot; According to the target image, the glue distribution of each layer of carbon fiber prepreg is analyzed; The glue distribution is mapped in the layered model of the carbon fiber prepreg to obtain a target layered model sequence; The glue distribution change characteristics of the target layered model sequence are extracted; According to the glue distribution change characteristics, the next layered model sequence is predicted; According to the next layered model sequence, the target layered area is determined; According to the start parameters of the laser thickness gauge, the measurement time of the target layered area is determined; If the measurement time is before the predicted time corresponding to the target layered area, the laser thickness gauge is retriggered to measure the target layered area after the predicted time.

2. The automatic resin injection method for processing carbon fiber composite materials according to claim 1, wherein The determination of the ideal gap comprises the following steps: According to the processing purpose related to the carbon fiber prepreg and the processing purpose-extrusion strategy library, the ideal gap is determined.

3. The automatic resin injection method for processing carbon fiber composite materials according to claim 1, wherein The distance between the pads between the extrusion rods is automatically adjusted so that the current gap between the extrusion rods is adjusted to the ideal gap, comprising: According to the current gap and the ideal gap, the gap adjustment amount is determined; Based on the pad control of each pad and the change relationship of the gap corresponding to the pad, the gap adjustment amount is determined according to the pad control instruction set; The pad is automatically adjusted based on the pad control instruction set.

4. The automatic resin injection method for processing carbon fiber composite materials according to claim 3, wherein Based on the pad control of each pad and the change relationship of the gap corresponding to the pad, the gap adjustment amount is determined according to the pad control instruction set, comprising: Based on the gap distance from low to high, each gap is traversed; When the first gap is traversed, the first control instruction of the first target pad is determined according to the gap adjustment amount of the first gap and the pad control instruction library; When the gap is traversed, the gap fluctuation amount before the gap adjustment is determined according to the gap adjustment amount of the previous gap; According to the gap fluctuation amount and the gap adjustment amount of the gap, the target adjustment amount of the gap is determined; According to the target adjustment amount of the gap and the pad control instruction library, the second control instruction of the second target pad is determined; After all the gaps are traversed, the first control instruction and the second control instruction are integrated to obtain the pad control instruction set; Wherein, n is an integer greater than 1.

5. The automatic resin injection method for processing carbon fiber composite materials according to claim 1, wherein Further comprising: When the laser thickness gauge is ready to start, based on the on-site three-dimensional data and the start task of the laser thickness gauge, the on-site laser reflection field is constructed, and the on-site three-dimensional data comprises the resin coating three-dimensional data of the carbon fiber prepreg; According to the on-site laser field, a set of safe lens indication factors is planned; According to the lens position and lens direction of the shooting device, the current lens indication factor is constructed; An adjustment cost of adjusting the current lens indication factor to the safe lens indication factor is calculated, and a corresponding safe lens indication factor with the minimum adjustment cost is taken as a target safe lens indication factor; Based on the target safe lens indication factor and the current lens indication factor, a running track of the shooting device before the laser thickness gauge is ready to start is planned; Based on the running track, the shooting device is controlled to go.

6. The automatic resin injection method for processing carbon fiber composite materials according to claim 5, wherein A set of safe lens indication factors is planned according to the on-site laser field, including: According to the on-site laser field, light characteristics are determined, including: reflection type, scattering type and light distribution; A containing field area of the shooting device in the on-site laser field is determined; Based on the safe lens indication factor, a template is determined, and the safe lens indication factor corresponding to the containing field area is determined according to the environmental information and the light characteristics within the target area range of the containing field area; The safe lens indication factors corresponding to all containing field areas are integrated to obtain the set of safe lens indication factors.

7. The automatic resin injection method for processing carbon fiber composite materials according to claim 5, wherein The adjustment cost of adjusting the current lens indication factor to the safe lens indication factor includes: According to the current lens indication factor and the safe lens indication factor, a change factor value is determined, including: path moving distance of the change path and turning angle of the lens direction change angle; According to the change factor value and the change time consumption quantization table, the change factor value corresponding to the change time consumption is determined; The change time consumption is accumulated to obtain the adjustment cost.

8. An automatic glue extrusion system for processing carbon fiber composite materials, characterized in that, It includes: An ideal gap determination module is configured to determine an ideal gap between the glue extruding rods according to the specification parameters of the carbon fiber prepreg; An adjustment module is configured to automatically adjust the distance between the spacers between the glue extruding rods so that the current gap between the glue extruding rods is adjusted to the ideal gap; An automatic glue extruding module is configured to control the carbon fiber prepreg to pass through the ideal gap between the glue extruding rods for automatic glue extruding after the adjustment is completed; The specification parameters of the carbon fiber prepreg are obtained as follows: An extrusion buffer zone is arranged between the impregnation device and the extrusion device; A target image of the carbon fiber prepreg is captured by a shooting device arranged within a preset range of the extrusion buffer zone; The glue distribution of each layer of the carbon fiber prepreg is analyzed according to the target image; The glue distribution is mapped in the layered model of the carbon fiber prepreg to obtain a target layered model sequence; The glue distribution change characteristics of two adjacent target layered models in the target layered model sequence are extracted; The subsequent layered model sequence is predicted according to the glue distribution change characteristics; The target layered area is determined according to the subsequent layered model sequence; The measurement time of the target layered area is determined according to the start parameters of the laser thickness gauge; If the measurement time is before the predicted time corresponding to the target layered area, the laser thickness gauge is retriggered to measure the target layered area after the predicted time.

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