An automatic adhesive stripping system and method for hydraulic hoses based on intelligent control.

Abstract

This application provides an automatic adhesive stripping system and method for hydraulic hoses based on intelligent control. The system identifies the boundary line between the outer adhesive and the metal joint from an image of the hydraulic hose end. Based on this boundary line, the initial adhesive stripping length of the hydraulic hose is corrected for exceeding the limit, resulting in the calibrated adhesive stripping length. During the adhesive stripping process following the target processing path of the stripping equipment, if the torque resistance information of the stripping cutter in the equipment exceeds the safe torque resistance of the hydraulic hose, it is determined that the stripping cutter is contacting the steel wire layer of the hydraulic hose, thus identifying the limit-exceeding characteristic of the torque resistance information. Based on this limit-exceeding characteristic, the radial displacement of the stripping cutter is set, and the depth parameters of the subsequent stripping path are adaptively adjusted based on this radial displacement, completing the automatic adhesive stripping process of the hydraulic hose. Based on the above scheme, adaptive adjustment of the cutting depth based on torque resistance can be achieved in the adhesive stripping of hydraulic hoses.

Description

Technical Field

[0001] This application relates to the field of adhesive stripping control technology, and more specifically, to an automatic adhesive stripping system and method for hydraulic hoses based on intelligent control. Background Technology

[0002] Hydraulic hoses are key components in hydraulic systems used to transmit hydraulic oil. They consist of a multi-layered structure, including an inner rubber layer, a braided or spiral steel wire layer, and an outer rubber layer. The inner rubber layer is in direct contact with the hydraulic oil, ensuring sealing and oil resistance; the steel wire layer provides strength and pressure resistance; and the outer rubber layer provides protection against external damage. The performance of the hydraulic hose directly affects the efficiency and reliability of the hydraulic system.

[0003] In traditional hydraulic hose stripping processes, stripping equipment uses a fixed-depth stripping method. However, due to variations in the thickness of the outer rubber layer among different hydraulic hoses, this fixed-depth method cannot flexibly adapt to these variations. When the outer rubber layer is thin, excessive stripping depth may damage the steel wire layer, affecting the structural strength and sealing performance of the hydraulic hose. Conversely, when the outer rubber layer is thick, insufficient stripping depth may fail to completely remove the outer rubber layer, affecting subsequent installation and connection. Inaccurate stripping depth not only reduces stripping quality but also increases production costs and equipment maintenance frequency, severely impacting the production efficiency and product quality of hydraulic hoses. Therefore, how to achieve adaptive adjustment of the cutting depth based on torque resistance during hydraulic hose stripping, thereby improving the protection of the steel wire layer during the stripping process, has become a challenge for the industry. Summary of the Invention

[0004] This application provides an automatic adhesive stripping system and method for hydraulic hoses based on intelligent control, which can realize adaptive adjustment of the cutting depth based on torque resistance during adhesive stripping of hydraulic hoses, thereby improving the protection of the steel wire layer during the adhesive stripping process.

[0005] In a first aspect, this application provides an automatic adhesive stripping method for hydraulic hoses based on intelligent control, comprising:

[0006] Obtain the connector model of the hydraulic hose, and set the initial peeling depth and initial peeling length of the hydraulic hose based on the connector model;

[0007] The hydraulic hose end image is acquired by a vision sensor. The boundary line between the outer adhesive and the metal joint is identified from the end image. The initial adhesive stripping length is then corrected based on the boundary line to obtain the calibrated adhesive stripping length of the hydraulic hose.

[0008] Based on the initial peeling depth and the calibrated peeling length, the processing path of the peeling equipment on the hydraulic oil pipe is planned to obtain the target processing path of the peeling equipment. During the peeling process according to the target processing path, the torque resistance information of the peeling blade in the peeling equipment is monitored. When the torque resistance information is greater than the safe torque resistance of the hydraulic oil pipe, it is determined that the peeling blade in the peeling equipment is in contact with the steel wire layer of the hydraulic oil pipe, thereby determining the over-limit characteristic of the torque resistance information.

[0009] The radial displacement of the blade of the adhesive stripping device is set according to the over-limit characteristics. The depth parameters of the subsequent adhesive stripping path are adaptively adjusted based on the radial displacement of the blade to complete the automatic adhesive stripping process of the hydraulic oil pipe.

[0010] In some embodiments, identifying the boundary line between the outer adhesive and the metal connector from the tube end image specifically includes:

[0011] The tube end image is subjected to grayscale conversion and Gaussian filtering to obtain a preprocessed tube end image;

[0012] Extract the edge contours of all regions in the preprocessed pipe end image to obtain an edge binary map;

[0013] A grayscale projection is performed along the hydraulic oil pipe axis in the edge binary image to obtain multiple grayscale abrupt change points;

[0014] The boundary between the outer adhesive and the metal joint is determined by identifying all the grayscale abrupt change points.

[0015] In some embodiments, the process of correcting the initial peeling length based on the boundary line to obtain the calibrated peeling length of the hydraulic hose specifically includes:

[0016] Using the boundary line as the reference zero point, an axial coordinate system for the hydraulic oil pipe is established;

[0017] Starting from the reference zero point in the axial coordinate system, the initial peeling length is measured along the tube axis to obtain the theoretical endpoint.

[0018] In the tube end image, the pixel distance between the theoretical endpoint and the actual outer adhesive end is compared to obtain the set deviation of the adhesive stripping length in the hydraulic oil pipe.

[0019] The initial peeling length is compensated for according to the set deviation to obtain the calibrated peeling length of the hydraulic hose.

[0020] In some embodiments, the processing path of the adhesive stripping equipment for the hydraulic oil pipe is planned based on the initial peeling depth and the calibrated peeling length, and the target processing path of the adhesive stripping equipment specifically includes:

[0021] Starting from the boundary line and ending at the calibrated peeling length, a straight path parallel to the axis of the hydraulic oil pipe is generated.

[0022] The initial peeling depth is taken as the cutting depth at each point on the straight path;

[0023] Based on the straight path, the tool feed speed and spindle speed of the adhesive stripping device are set, thereby obtaining the feed strategy of the adhesive stripping device.

[0024] The straight path, various cutting depths, and feed strategies are integrated and encapsulated into the target processing path of the adhesive stripping device.

[0025] In some embodiments, determining the over-limit characteristics of the torque resistance information specifically includes:

[0026] Obtain the safe torque resistance of the hydraulic oil pipe;

[0027] The safe torque value in the safe torque resistance is compared with the torque value in the torque resistance information to obtain the torque over-limit value;

[0028] The resistance limit is obtained by comparing the safe resistance value in the safe torque resistance with the resistance value in the torque resistance information.

[0029] The over-limit characteristics are determined by the torque over-limit value and the resistance over-limit value.

[0030] In some embodiments, setting the radial displacement of the blade of the adhesive stripping device based on the over-limit characteristic specifically includes:

[0031] Obtain the mapping rule table between the over-limit feature vector and the radial displacement of the tool;

[0032] Input the over-limit feature into the mapping rule table, and output the radial displacement of the blade of the peeling device.

[0033] In some embodiments, adaptively adjusting the depth parameters of the subsequent peeling path based on the radial displacement of the tool specifically includes:

[0034] Obtain the current axial position and initial peeling depth of the adhesive stripping tool;

[0035] The initial peeling depth after the current axial position is compensated based on the radial displacement of the tool to obtain the compensation value of the depth parameter in the subsequent peeling path.

[0036] The compensation value of the depth parameter is used to control the stripping equipment to continue performing the stripping operation of the hydraulic hose.

[0037] Secondly, this application provides an automatic adhesive stripping system for hydraulic hoses based on intelligent control, including an adhesive stripping depth adjustment unit, wherein the adhesive stripping depth adjustment unit includes:

[0038] The acquisition module is used to acquire the connector model of the hydraulic oil pipe and set the initial peeling depth and initial peeling length of the hydraulic oil pipe based on the connector model.

[0039] The processing module is used to acquire images of the hydraulic hose end through a vision sensor, identify the boundary line between the outer adhesive and the metal joint from the hose end image, and then correct the initial adhesive stripping length based on the boundary line to obtain the calibrated adhesive stripping length of the hydraulic hose.

[0040] The processing module is also used to plan the processing path of the peeling device on the hydraulic oil pipe based on the initial peeling depth and the calibrated peeling length, so as to obtain the target processing path of the peeling device. During the peeling process according to the target processing path, the torque resistance information of the peeling tool in the peeling device is monitored. When the torque resistance information is greater than the safe torque resistance of the hydraulic oil pipe, it is determined that the peeling tool in the peeling device is in contact with the steel wire layer of the hydraulic oil pipe, and then the over-limit characteristic of the torque resistance information is determined.

[0041] The execution module is used to set the radial displacement of the blade of the peeling device according to the over-limit feature, and to adaptively adjust the depth parameters of the subsequent peeling path based on the radial displacement of the blade, so as to complete the automatic peeling process of the hydraulic oil pipe.

[0042] Thirdly, this application provides a computer device, which includes a memory and a processor. The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device performs the above-described automatic adhesive stripping method for hydraulic hoses based on intelligent control.

[0043] Fourthly, this application provides a computer-readable storage medium storing instructions or code that, when executed on a computer, cause the computer to implement the aforementioned intelligent control-based automatic adhesive stripping method for hydraulic hoses.

[0044] The technical solutions provided by the embodiments disclosed in this application have the following beneficial effects:

[0045] This application provides an automatic adhesive stripping system and method for hydraulic hoses based on intelligent control. The system obtains the connector model of the hydraulic hose and sets the initial adhesive stripping depth and initial adhesive stripping length based on the connector model. A vision sensor acquires an image of the hydraulic hose end, identifying the boundary line between the outer adhesive and the metal connector. The initial adhesive stripping length is then corrected for exceeding the boundary line to obtain the calibrated adhesive stripping length. Based on the initial adhesive stripping depth and the calibrated adhesive stripping length, the processing path of the adhesive stripping device on the hydraulic hose is planned to obtain the target processing path. During the adhesive stripping process according to the target processing path, the torque resistance information of the adhesive stripping tool in the adhesive stripping device is monitored. When the torque resistance information exceeds the safe torque resistance of the hydraulic hose, it is determined that the adhesive stripping tool in the adhesive stripping device is in contact with the steel wire layer of the hydraulic hose, thus determining the limit-exceeding characteristic of the torque resistance information. The radial displacement of the tool in the adhesive stripping device is set based on the limit-exceeding characteristic, and the depth parameters of the subsequent adhesive stripping path are adaptively adjusted based on the radial displacement of the tool to complete the automatic adhesive stripping process of the hydraulic hose.

[0046] Therefore, in this application, the radial displacement of the tool of the peeling device is set according to the aforementioned over-limit characteristic, and the depth parameter of the subsequent peeling path is adaptively adjusted based on the radial displacement of the tool to complete the automatic peeling process of the hydraulic oil pipe. First, the process of determining the calibrated peeling length involves acquiring an image of the pipe end of the hydraulic oil pipe through a vision sensor and identifying the boundary line between the outer adhesive and the metal joint. The initial peeling length is corrected for over-limit, resulting in the calibrated peeling length. This allows the peeling device to perform peeling operations within an accurate length range, thereby avoiding insufficient or excessive peeling due to inaccurate peeling length and reducing damage to the steel wire layer of the hydraulic oil pipe. External damage provides an accurate length basis for subsequent adaptive adjustment of the cutting depth based on torque resistance, ensuring that the peeling process is carried out within a safe range and effectively improving the protection of the steel wire layer during peeling. Then, the process of determining the over-limit characteristic involves monitoring the torque resistance information of the peeling tool during peeling. When the torque resistance exceeds the safe torque resistance of the hydraulic hose, it is determined that the peeling tool is in contact with the steel wire layer, and the over-limit characteristic of the torque resistance is identified. This allows the peeling equipment to promptly and accurately identify whether the peeling tool is in contact with the steel wire layer, and thus set the radial displacement of the tool based on the over-limit characteristic to adaptively adjust the depth parameters of the subsequent peeling path. This achieves precise control of the peeling depth, avoids excessive cutting of the steel wire layer by the peeling tool, improves the protection of the steel wire layer during peeling, and ensures the quality and safety of the hydraulic hose. In summary, based on the above scheme, adaptive adjustment of the cutting depth based on torque resistance can be achieved in the peeling of hydraulic hoses, thereby improving the protection of the steel wire layer during peeling. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is an exemplary flowchart of an automatic adhesive stripping method for hydraulic hoses based on intelligent control, as shown in some embodiments of this application.

[0049] Figure 2 This is a flowchart illustrating the process of determining the over-limit feature according to some embodiments of this application;

[0050] Figure 3 This is a schematic diagram of the structure of a peeling depth adjustment unit according to some embodiments of this application, wherein 201 represents the acquisition module, 202 represents the processing module, and 203 represents the execution module;

[0051] Figure 4 This is a schematic diagram of the structure of a computer device for implementing an automatic adhesive stripping method for hydraulic hoses based on intelligent control, according to some embodiments of this application. In the diagram, 301 represents a processor, 302 represents a memory, 303 represents an instruction, 304 represents a program, and 305 represents a communication unit. Detailed Implementation

[0052] To better understand the technical solution of this application, the technical solution of this application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] refer to Figure 1 The figure is an exemplary flowchart of an automatic adhesive stripping method for hydraulic hoses based on intelligent control, according to some embodiments of this application. The automatic adhesive stripping method for hydraulic hoses based on intelligent control mainly includes the following steps:

[0054] In step S101, the connector model of the hydraulic oil pipe is obtained, and the initial peeling depth and initial peeling length of the hydraulic oil pipe are set based on the connector model.

[0055] It should be noted that in this application, the connector model is the standardized identification code of the connectors at both ends of the hydraulic hose; the initial peeling depth refers to the theoretical cutting thickness of the outer rubber layer of the hydraulic hose with a specified connector model. The goal of setting the initial peeling depth is to completely remove the outer rubber layer but avoid damaging the internal steel wire reinforcement layer; the initial peeling length is the axial distance that the outer rubber layer of the hydraulic hose with a specified connector model should theoretically need to be removed from the end of the hose.

[0056] In specific implementation, first, the operator manually inputs through the human-machine interface to obtain the joint model of the hydraulic oil pipe. In other embodiments, the radio frequency identification reader-writer can also automatically read the electronic tag attached to the hydraulic oil pipe to obtain the joint model of the hydraulic oil pipe, which is not limited here. Then, taking this joint model as the query keyword, access the process parameter database built into the controller. This process parameter database has pre-stored the optimal process parameters corresponding to different joint models. Through database query and matching, automatically retrieve and call the stripping depth and stripping length associated with this joint model, and respectively use them as the initial stripping depth and initial stripping length of the hydraulic oil pipe.

[0057] In step S102, collect the end image of the hydraulic oil pipe through the vision sensor, identify the boundary line between the outer rubber and the metal joint from the end image, and then perform out-of-bounds correction on the initial stripping length according to the boundary line to obtain the calibrated stripping length of the hydraulic oil pipe.

[0058] It should be noted that in this application, the end image is a digital image including the outer rubber surface of the end area of the hydraulic oil pipe and the metal joint part. In specific implementation, the hydraulic oil pipe is positioned and clamped at the preset imaging station by the conveying mechanism, start the annular light source supporting the vision sensor, uniformly illuminate the end of the hydraulic oil pipe at a preset angle and brightness to highlight the boundary feature between the outer rubber and the metal joint, trigger the vision sensor to expose at a fixed shooting distance and angle, and capture a clear image including the complete area to be recognized as the end image of the hydraulic oil pipe.

[0059] In some embodiments, the following steps can be used to identify the boundary line between the outer rubber and the metal joint from the end image:

[0060] Perform grayscale conversion and Gaussian filtering on the end image to obtain a preprocessed end image;

[0061] Extract the edge contours of all regions in the preprocessed end image to obtain an edge binary image;

[0062] Perform grayscale projection along the axial direction of the hydraulic oil pipe in the edge binary image to obtain multiple gray mutation points;

[0063] Determine the boundary line between the outer rubber and the metal joint through all the gray mutation points.

[0064] It should be noted that, in this application, the dividing line is an ideal straight line position perpendicular to the hydraulic pipe axis, representing the axial transition between the outer rubber layer area and the metal joint area; the preprocessed pipe end image is an image containing only brightness information and with noise suppressed; the edge binary image is a digital image with pixel values ​​containing only two values: 0 (black, representing the background or non-edge) and 255 (white, representing the edge); and the gray-level abrupt change point is a local extreme point on the one-dimensional function curve generated by gray-level projection where the function value undergoes a significant step change.

[0065] In specific implementation, firstly, the image processing unit performs color space conversion on the input pipe end image, converting it from a color image to a grayscale image that retains only brightness information. Then, a Gaussian filter convolution kernel is used to convolve this grayscale image to smooth image noise. The final processing result is used as the preprocessed pipe end image. Secondly, the Canny edge detection algorithm is used to process the preprocessed pipe end image, identifying pixels whose intensity and orientation gradients in all regions of the preprocessed pipe end image satisfy the edge condition. These pixels are set to white, and non-edge pixels are set to black, thus generating an edge binary map. Then, grayscale projection calculation is performed on the edge binary map along the axial direction of the hydraulic pipe. This involves calculating the sum of the number of all white pixels (with a value of 255) in each column of the edge binary map, thus obtaining a projection function. The first-order difference of the projection function obtained through grayscale projection is calculated as the absolute gradient value for each corresponding column. All points among all white pixels that satisfy the following condition are found: the absolute gradient value of this point... The gradient value must be greater than a preset gradient threshold, and the absolute value of the gradient at that point must be the maximum value within its local neighborhood (default is a 3*3 pixel matrix interval). Output all points that meet the above conditions, which are the found local gradient maximum points. Use the local gradient maximum points as gray-level abrupt change points to obtain multiple gray-level abrupt change points. Finally, set an expected boundary line position range, which can be preset according to the initial peeling length with appropriate margin. Select points located within this boundary line position range from all gray-level abrupt change points as candidate points. If there are multiple candidate points within this boundary line position range, further calculate the absolute value of the local gradient maximum value corresponding to each candidate point. This absolute value represents the strength of edge salience. From the candidate points within the expected range, select the point with the largest absolute gradient value, i.e., the most significant edge point, as the only valid gray-level abrupt change point. Use the coordinate position of this gray-level abrupt change point as the axial position of the boundary line between the outer adhesive and the metal joint to obtain the boundary line between the outer adhesive and the metal joint.

[0066] In some embodiments, the initial peeling length is corrected for exceeding the boundary based on the dividing line to obtain the calibrated peeling length of the hydraulic hose, which can be achieved by the following steps:

[0067] Using the boundary line as the reference zero point, an axial coordinate system for the hydraulic oil pipe is established;

[0068] Starting from the reference zero point in the axial coordinate system, the initial peeling length is measured along the tube axis to obtain the theoretical endpoint.

[0069] In the tube end image, the pixel distance between the theoretical endpoint and the actual outer adhesive end is compared to obtain the set deviation of the adhesive stripping length in the hydraulic oil pipe.

[0070] The initial peeling length is compensated for according to the set deviation to obtain the calibrated peeling length of the hydraulic hose.

[0071] It should be noted that in this application, the calibrated peeling length is the peeling length value applicable to the current hydraulic oil pipe; the axial coordinate system refers to a one-dimensional position reference system established with the boundary line as the origin and the direction of the central axis of the hydraulic oil pipe as the positive direction; the theoretical endpoint refers to the position point where peeling should theoretically end in the axial coordinate system; the set deviation represents the difference in axial distance between the theoretical endpoint and the actual position of the outer rubber end.

[0072] In practice, firstly, in the digital image space, a Cartesian coordinate system parallel to the axis of the hydraulic pipe is constructed as the axial coordinate system of the hydraulic pipe, with the pixel coordinates of the identified boundary line between the outer adhesive and the metal joint as the origin. Secondly, in the axial coordinate system, a pixel distance equal to the initial peeling length is moved from the origin towards the pipe body, and this position is marked as the theoretical endpoint of this peeling. Then, in the same pipe end image, the pixel coordinates of the actual outer adhesive end in the axial coordinate system can be identified through edge detection or template matching algorithms. The pixel coordinates are used to calculate the pixel distance between the actual outer adhesive end and the theoretical endpoint in the pipe end image. Then, this pixel distance is converted into an actual length value according to the camera calibration coefficient, thereby accurately calculating the set deviation of this peeling. Finally, the sum of the initial peeling length and the set deviation is taken as the calibrated peeling length of the hydraulic pipe.

[0073] In step S103, the processing path of the peeling device on the hydraulic oil pipe is planned based on the initial peeling depth and the calibrated peeling length to obtain the target processing path of the peeling device. During the peeling process according to the target processing path, the torque resistance information of the peeling blade in the peeling device is monitored. When the torque resistance information is greater than the safe torque resistance of the hydraulic oil pipe, it is determined that the peeling blade in the peeling device is in contact with the steel wire layer of the hydraulic oil pipe, thereby determining the over-limit characteristic of the torque resistance information.

[0074] In some embodiments, the processing path of the adhesive stripping equipment for the hydraulic oil pipe is planned based on the initial peeling depth and the calibrated peeling length. The target processing path of the adhesive stripping equipment can be obtained by the following steps:

[0075] Starting from the boundary line and ending at the calibrated peeling length, a straight path parallel to the axis of the hydraulic oil pipe is generated.

[0076] The initial peeling depth is taken as the cutting depth at each point on the straight path;

[0077] Based on the straight path, the tool feed speed and spindle speed of the adhesive stripping device are set, thereby obtaining the feed strategy of the adhesive stripping device.

[0078] The straight path, various cutting depths, and feed strategies are integrated and encapsulated into the target processing path of the adhesive stripping device.

[0079] It should be noted that in this application, the target processing path is a set of data instructions that can be directly parsed and executed by the CNC system of the peeling equipment; the straight path is a one-dimensional tool movement trajectory extending along the direction parallel to the axis of the hydraulic oil pipe to the endpoint of the calibrated peeling length; the cutting depth is the radial depth value of the tip of the peeling tool cutting into the outer rubber layer of the hydraulic oil pipe at each processing point in the straight path; the feed strategy is a set of motion control parameters set for executing the straight path, mainly including the linear velocity of the tool moving along the path (feed speed) and the angular velocity of the tool's own rotation (spindle speed).

[0080] In specific implementation, firstly, the path planning module starts with the coordinates of the boundary line provided by the vision system in the machine tool coordinate system, and uses the calibrated peeling length after calibration correction as the path length. Along a direction parallel to the axis of the clamped hydraulic hose, it performs interpolation calculations in the XZ plane of the machine tool to generate a tool center trajectory composed of a series of dense points. This tool movement trajectory is taken as a straight path. Secondly, this initial peeling depth is uniformly assigned to all interpolation points on the straight path, ensuring that the tool maintains the same radial depth of cut at each point as it moves along the straight path. This initial peeling depth is taken as the cutting depth at all points on the straight path. Then, the motion control module, based on the hydraulic... The material and outer adhesive properties of the pressure pipe are retrieved from the process database along preset parameters (including tool movement linear speed and tool rotation speed). This sets the tool movement linear speed as the feed rate for the straight path and simultaneously sets the tool rotation speed as the spindle speed. The combination of feed rate and spindle speed forms the feed strategy for the peeling equipment to perform this peeling task. Finally, the system integration module integrates the straight path, cutting depth, and feed strategy, and compiles them into a complete program segment containing all necessary action instructions and process commands according to the instruction set format specified by the peeling equipment's CNC system. This complete program segment serves as the target machining path driving the peeling equipment's actions.

[0081] It should be noted that in this application, during the peeling process according to the target processing path, the torque resistance information of the peeling tool in the peeling equipment is monitored. The torque resistance information includes a torque value and a resistance value. When the torque resistance information is greater than the safe torque resistance of the hydraulic oil pipe, that is, when both the torque value and the resistance value in the torque resistance information are greater than the safe torque and the safe resistance in the safe torque resistance, the control system can determine that the cutting amount of the peeling tool has exceeded the safe process window, and its tip has contacted or is about to damage the internal steel wire reinforcement layer, triggering the adaptive adjustment logic of the depth parameter. Herein, the safe torque resistance is used to define the maximum permissible load for the tool to not damage the steel wire reinforcement layer of the hydraulic oil pipe during the peeling process, and can be obtained from the process parameter table pre-stored in the database.

[0082] In some embodiments, the over-limit characteristics of the torque resistance information are determined by referring to... Figure 2 The diagram is a flowchart illustrating the process of determining the limit-crossing feature in some embodiments of this application. In this embodiment, the limit-crossing feature can be determined using the following steps:

[0083] In step S1031, the safe torque resistance of the hydraulic oil pipe is obtained;

[0084] In step S1032, the safe torque value in the safe torque resistance is compared with the torque value in the torque resistance information to obtain the torque over-limit value;

[0085] In step S1033, the safe resistance value in the safe torque resistance is compared with the resistance value in the torque resistance information to obtain the resistance limit value.

[0086] In step S1034, the over-limit characteristic is determined by the torque over-limit value and the resistance over-limit value.

[0087] It should be noted that, in this application, the over-limit feature is a feature identifier used to characterize the severity of the current load over-limit event. Specifically, firstly, the safe torque resistance of the hydraulic hose is obtained; secondly, the difference between the safe torque value in the safe torque resistance and the torque value in the torque resistance information can be used as the torque over-limit value; the torque over-limit value is a numerical value used to quantify the severity of the torque over-limit; then, the difference between the safe resistance value in the safe torque resistance and the resistance value in the torque resistance information can be used as the resistance over-limit value; the resistance over-limit value is a numerical value used to quantify the severity of the resistance over-limit; finally, the set of torque over-limit values ​​and resistance over-limit values ​​can be used as the over-limit feature.

[0088] In step S104, the radial displacement of the blade of the peeling device is set according to the over-limit feature, and the depth parameter of the subsequent peeling path is adaptively adjusted based on the radial displacement of the blade to complete the automatic peeling process of the hydraulic oil pipe.

[0089] In some embodiments, setting the radial displacement of the blade of the adhesive stripping device based on the over-limit characteristic can be achieved by the following steps:

[0090] Obtain the mapping rule table between the over-limit feature vector and the radial displacement of the tool;

[0091] Input the over-limit feature into the mapping rule table, and output the radial displacement of the blade of the peeling device.

[0092] It should be noted that in this application, the radial displacement of the tool is the safe distance that the peeling tool needs to move immediately in the radial direction. In specific implementation, firstly, the control system reads a data file that has been calibrated and stored by process engineers through a large number of experiments from its non-volatile memory. This data file clearly records in tabular form the radial displacement of the tool that uniquely corresponds to various combinations of torque and resistance over-limit values ​​(i.e., the value range of the over-limit feature vector) and can effectively avoid damage to the steel wire layer. This data table is used as the basis for subsequent decision-making on the amount of retreat based on the real-time load status, i.e., the mapping rule table between the over-limit feature vector and the radial displacement of the tool. The mapping rule table is a lookup table that has been established in advance through process experiments and stored in the control system. This mapping rule table clearly defines the correspondence between different over-limit feature vector value ranges and the corresponding radial displacement of the tool. Then, the over-limit feature is input into the mapping rule table as the over-limit feature vector, thereby filtering out the corresponding radial displacement of the tool in the mapping rule table as the radial displacement of the tool of the peeling equipment.

[0093] In some embodiments, adaptive adjustment of the depth parameter of the subsequent peeling path based on the radial displacement of the tool can be achieved by the following steps:

[0094] Obtain the current axial position and initial peeling depth of the adhesive stripping tool;

[0095] The initial peeling depth after the current axial position is compensated based on the radial displacement of the tool to obtain the compensation value of the depth parameter in the subsequent peeling path.

[0096] The compensation value of the depth parameter is used to control the stripping equipment to continue performing the stripping operation of the hydraulic hose.

[0097] In practice, firstly, the current axial position and initial peeling depth of the peeling tool are obtained. Then, the difference between the initial peeling depth and the radial displacement of the tool is used as the compensation value for the depth parameter in the subsequent peeling path. This compensation value ensures that the tool does not come into contact with the wire layer in the subsequent path. Finally, the path update module uses the compensation value of the depth parameter to cover the depth command from the current axial position to the end of the path in the original machining path. The control system then drives the peeling tool to move radially to the compensated peeling depth and continues to perform peeling feed along the axial direction. The process of applying this safer and shallower depth parameter and continuing to run is the final execution action of the entire adaptive adjustment logic, namely the compensated peeling operation.

[0098] Furthermore, in another aspect of this application, in some embodiments, this application provides an automatic adhesive stripping system for hydraulic hoses based on intelligent control. This system includes an adhesive stripping depth adjustment unit. (Refer to...) Figure 3The figure is a schematic diagram of the structure of a peeling depth adjustment unit according to some embodiments of this application. The peeling depth adjustment unit includes: an acquisition module 201, a processing module 202, and an execution module 203, which are described below:

[0099] The acquisition module 201 in this application is mainly used to acquire the connector model of the hydraulic oil pipe and set the initial peeling depth and initial peeling length of the hydraulic oil pipe based on the connector model.

[0100] Processing module 202, in this application, is used to acquire the pipe end image of the hydraulic oil pipe through a vision sensor, identify the boundary line between the outer adhesive and the metal joint from the pipe end image, and then correct the initial adhesive stripping length according to the boundary line to obtain the calibrated adhesive stripping length of the hydraulic oil pipe.

[0101] It should be noted that the processing module 202 is also used to plan the processing path of the peeling equipment to the hydraulic oil pipe based on the initial peeling depth and the calibrated peeling length, so as to obtain the target processing path of the peeling equipment. During the peeling process according to the target processing path, the torque resistance information of the peeling blade in the peeling equipment is monitored. When the torque resistance information is greater than the safe torque resistance of the hydraulic oil pipe, it is determined that the peeling blade in the peeling equipment contacts the steel wire layer of the hydraulic oil pipe, and then the over-limit characteristic of the torque resistance information is determined.

[0102] The execution module 203 in this application is mainly used to set the radial displacement of the tool of the peeling device according to the over-limit feature, and to adaptively adjust the depth parameters of the subsequent peeling path based on the radial displacement of the tool, so as to complete the automatic peeling process of the hydraulic oil pipe.

[0103] The foregoing has detailed examples of an automatic hydraulic hose peeling system and method based on intelligent control provided in the embodiments of this application. It is understood that the corresponding device, in order to achieve the above functions, includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the examples described in the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0104] In some embodiments, this application also provides a computer device, the computer device including a memory and a processor, the memory for storing a computer program, and the processor for calling and running the computer program from the memory, so that the computer device performs the above-described intelligent control-based automatic adhesive stripping method for hydraulic hoses.

[0105] In some embodiments, reference Figure 4 The dashed lines in the figure indicate that the unit or module is optional. This figure is a structural schematic diagram of a computer device for implementing an intelligent control-based automatic adhesive stripping method for hydraulic hoses according to an embodiment of this application. The intelligent control-based automatic adhesive stripping method for hydraulic hoses described in the above embodiments can... Figure 4 The computer device shown is used to implement this, and the computer device includes at least one processor 301, a memory 302 and at least one communication unit 305. The computer device may be a terminal device, a server or a chip.

[0106] Processor 301 can be a general-purpose processor or a special-purpose processor. For example, processor 301 can be a central processing unit (CPU), which can be used to control computer devices, execute software programs, and process data from software programs. The computer device may also include a communication unit 305 for inputting (receiving) and outputting (transmitting) signals.

[0107] For example, the computer device may be a chip, and the communication unit 305 may be the input and / or output circuit of the chip, or the communication unit 305 may be the communication interface of the chip, which may be a component of a terminal device, network device or other device.

[0108] For example, the computer device may be a terminal device or a server, and the communication unit 305 may be a transceiver of the terminal device or the server, or the communication unit 305 may be a transceiver circuit of the terminal device or the server.

[0109] The computer device may include one or more memories 302 storing a program 304. The program 304 can be executed by a processor 301 to generate instructions 303, causing the processor 301 to execute the method described in the above method embodiments according to the instructions 303. Optionally, the memory 302 may also store data (such as a target audit model). Optionally, the processor 301 may also read data stored in the memory 302, which may be stored at the same storage address as the program 304, or it may be stored at a different storage address than the program 304.

[0110] The processor 301 and memory 302 can be configured separately or integrated together, for example, integrated on the system on chip (SOC) of the terminal device.

[0111] It should be understood that each step of the above method embodiment can be completed by hardware logic circuits or software instructions in the processor 301. The processor 301 can be a CPU, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, such as discrete gate, transistor logic devices, or discrete hardware components.

[0112] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0113] For example, in some embodiments, this application also provides a computer-readable storage medium storing instructions or code that, when executed on a computer, cause the computer to implement the above-described intelligent control-based automatic adhesive stripping method for hydraulic hoses.

[0114] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0115] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for automatically stripping hydraulic tubing based on intelligent control, characterized in that, The method comprises the following steps: acquiring a joint type of the hydraulic oil pipe, setting an initial stripping depth and an initial stripping length of the hydraulic oil pipe based on the joint type; acquiring an image of a pipe end of the hydraulic oil pipe by using a visual sensor, identifying a demarcation line between the outer rubber and the metal joint from the image of the pipe end, and then correcting the initial stripping length beyond the boundary according to the demarcation line to obtain a calibrated stripping length of the hydraulic oil pipe; planning a machining path of the stripping equipment for the hydraulic oil pipe based on the initial stripping depth and the calibrated stripping length to obtain a target machining path of the stripping equipment, monitoring torque resistance information of a stripping cutter in the stripping equipment during the execution of the stripping process according to the target machining path, determining that the stripping cutter in the stripping equipment contacts the steel wire layer of the hydraulic oil pipe when the torque resistance information is greater than a safe torque resistance of the hydraulic oil pipe, and then determining an out-of-limit feature of the torque resistance information; setting a cutter radial displacement amount of the stripping equipment according to the out-of-limit feature, adaptively adjusting a depth parameter of a subsequent stripping path based on the cutter radial displacement amount, and completing an automatic stripping process of the hydraulic oil pipe; wherein the correcting the initial stripping length beyond the boundary according to the demarcation line to obtain the calibrated stripping length of the hydraulic oil pipe specifically comprises: taking the demarcation line as a reference zero point to establish an axial coordinate system of the hydraulic oil pipe; starting from the reference zero point in the axial coordinate system, measuring the initial stripping length along the pipe axis direction to obtain a theoretical end point; comparing the pixel distance between the theoretical end point and the actual outer rubber end in the image of the pipe end to obtain a setting deviation of the stripping length in the hydraulic oil pipe; and compensating the initial stripping length according to the setting deviation to obtain the calibrated stripping length of the hydraulic oil pipe; wherein the setting the cutter radial displacement amount of the stripping equipment according to the out-of-limit feature specifically comprises: acquiring a mapping rule table between an out-of-limit feature vector and the cutter radial displacement amount; inputting the out-of-limit feature into the mapping rule table to output the cutter radial displacement amount of the stripping equipment; wherein the adaptively adjusting the depth parameter of the subsequent stripping path based on the cutter radial displacement amount specifically comprises: acquiring a current axial position of the stripping cutter and the initial stripping depth; compensating the initial stripping depth after the current axial position based on the cutter radial displacement amount to obtain a compensation value of the depth parameter in the subsequent stripping path; and using the compensation value of the depth parameter to control the stripping equipment to continue the stripping operation of the hydraulic oil pipe.

2. The method of claim 1, wherein, The identifying the demarcation line between the outer rubber and the metal joint from the image of the pipe end specifically comprises: performing grayscale and Gaussian filtering on the image of the pipe end to obtain a preprocessed image of the pipe end; extracting edge contours of all regions in the preprocessed image of the pipe end to obtain an edge binary image; performing grayscale projection on the edge binary image along the axial direction of the hydraulic oil pipe to obtain a plurality of grayscale mutation points; determining the demarcation line between the outer rubber and the metal joint through all the grayscale mutation points.

3. The method of claim 1, wherein, The planning the machining path of the stripping equipment for the hydraulic oil pipe based on the initial stripping depth and the calibrated stripping length to obtain the target machining path of the stripping equipment specifically comprises: A straight line path parallel to the hydraulic oil pipe axis is generated from the demarcation line as the starting point to the demarcation stripping length as the ending point; The initial stripping depth is taken as the cutting depth of each point on the straight line path; The tool feed speed and spindle speed of the stripping device are set based on the straight line path, thereby obtaining the feed strategy of the stripping device; The straight line path, each cutting depth and the feed strategy are integrated and packaged as the target machining path of the stripping device.

4. The method of claim 1, wherein, The out-of-limit feature of the torque resistance information specifically includes: A safe torque resistance of the hydraulic oil pipe is obtained; The safe torque value in the safe torque resistance and the torque value in the torque resistance information are compared to obtain a torque out-of-limit value; The safe resistance value in the safe torque resistance and the resistance value in the torque resistance information are compared to obtain a resistance out-of-limit value; The out-of-limit feature is determined by the torque out-of-limit value and the resistance out-of-limit value.

5. A hydraulic tubing automatic stripping system based on intelligent control for performing a hydraulic tubing automatic stripping method based on intelligent control according to any one of claims 1 to 4, the hydraulic tubing automatic stripping system comprising a stripping depth adjusting unit, characterized in that, The stripping depth adjustment unit includes: An acquisition module is configured to acquire the joint type of the hydraulic oil pipe, and set the initial stripping depth and the initial stripping length of the hydraulic oil pipe based on the joint type; A processing module is configured to collect the pipe end image of the hydraulic oil pipe through a visual sensor, identify the demarcation line between the outer rubber and the metal joint from the pipe end image, and then correct the initial stripping length based on the demarcation line to obtain the demarcation stripping length of the hydraulic oil pipe; The processing module is further configured to plan the machining path of the stripping device on the hydraulic oil pipe based on the initial stripping depth and the demarcation stripping length, obtain the target machining path of the stripping device, monitor the torque resistance information of the stripping cutter in the stripping device during the execution of the stripping process according to the target machining path, and determine that the stripping cutter of the stripping device contacts the steel wire layer of the hydraulic oil pipe when the torque resistance information is greater than the safe torque resistance of the hydraulic oil pipe, thereby determining the out-of-limit feature of the torque resistance information; An execution module is configured to set the radial displacement amount of the tool of the stripping device according to the out-of-limit feature, and adaptively adjust the depth parameter of the subsequent stripping path based on the radial displacement amount of the tool, thereby completing the automatic stripping process of the hydraulic oil pipe.

6. A computer device, comprising: The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device executes the intelligent control-based automatic stripping method of the hydraulic oil pipe in any one of claims 1 to 4.

7. A computer readable storage medium characterized by The computer readable storage medium stores instructions or codes, when the instructions or codes are run on the computer, the computer executes the intelligent control-based automatic stripping method of the hydraulic oil pipe in any one of claims 1 to 4.

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