Copper strip processing method, apparatus, device, and storage medium

Abstract

The application discloses a copper strip processing method, device, equipment and storage medium. The method comprises the following steps: conveying a target copper strip to a flattening structure based on a first speed control rotating shaft; flattening the target copper strip based on a second speed control flattening structure; determining a sag parameter of the target copper strip based on a reference image captured by a camera, wherein the sag parameter comprises a sag amount and a deformation characteristic amount; and adjusting the first speed based on the second speed, the sag amount and the deformation characteristic amount when the sag amount and the deformation characteristic amount do not meet a preset condition, so that the sag amount and the deformation characteristic amount meet the preset condition. The application determines the sag state of the target copper strip based on the image captured by the camera, does not contact the target copper strip when the sag state does not meet the condition, and automatically controls the feeding speed of the target copper strip according to the sag state. Compared with the manual adjustment scheme, the processing quality of the copper strip is ensured.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of metal copper strip processing technology, and particularly to a copper strip processing method, apparatus, equipment, and storage medium. Background Technology

[0002] Thin copper strips are widely used in the manufacture of electrical components, heat sinks, conductive base materials and other parts. In the process of manufacturing various parts using copper strips, the copper strip is driven to rotate on a copper strip reel, which is then conveyed to a flattening mechanism for flattening, and then sent to a punching mechanism for stamping and subsequent manufacturing processes.

[0003] The flattening mechanism is equipped with flattening rollers. However, the rotational speed (i.e., flattening speed) of the flattening rollers varies depending on the size of the copper strip or the specific manufacturing requirements. To ensure the flattening quality of the copper strip, it is necessary to adjust the rotational speed of the copper strip winding on the reel in a timely manner, i.e., adjust the feed speed of the copper strip entering the flattening mechanism. If the feed speed exceeds the flattening speed, the copper strip will fall to the ground, causing contamination or damage. The current method relies on manual observation and adjustment of the feed speed, which cannot achieve precise preventative control and therefore cannot guarantee the processing quality of the copper strip. Summary of the Invention

[0004] This application provides a copper strip processing method, apparatus, equipment, and storage medium, which can effectively ensure the processing quality of copper strips.

[0005] In a first aspect, embodiments of this application provide a copper strip processing method applied to copper strip processing equipment. The copper strip processing equipment includes a feeding structure, a flattening structure, and a camera. The feeding structure includes a copper strip reel wound with a target copper strip, and the reel has a corresponding rotating shaft. The flattening structure includes an upper pressure roller and a lower pressure roller corresponding to each other. One end of the target copper strip away from the copper strip reel is located between the upper pressure roller and the lower pressure roller. The camera faces the target copper strip between the feeding structure and the flattening structure, and the target copper strip between the feeding structure and the flattening structure is suspended. The method includes: Based on the first speed control, the rotating shaft conveys the target copper strip between the upper and lower pressure rollers of the flattening structure; The target copper strip is flattened based on the second speed control of the upper and lower pressure rollers. The sag parameters of the target copper strip are determined based on the reference image captured by the camera. The sag parameters include sag amount and deformation characteristic amount. The sag amount is the distance between the lowest point of the bend of the target copper strip and a preset horizontal baseline. The horizontal baseline is the extension line of the tangent line tangent to the bottom of the lower pressure roller. The deformation characteristic amount is determined by the sag angle of the target copper strip, the bending radius of the bend, and the sag area. When the sag and the deformation feature do not meet the preset conditions, the first speed is adjusted based on the second speed, the sag, and the deformation feature to make the sag and the deformation feature meet the preset conditions.

[0006] In some embodiments, the sag amount is obtained according to the following steps: The contour line of the target copper strip is extracted from the reference image using an edge detection algorithm, wherein the contour line is the contour line corresponding to the lower edge of the target copper strip, and the contour line includes multiple pixels. Calculate the distance between each pixel and the horizontal baseline; The maximum value among all the distance values ​​is determined as the droop amount.

[0007] In some embodiments, determining whether the sag and the deformation characteristic satisfy preset conditions includes: Assign a first weight to the sag amount and a second weight to the deformation characteristic amount; Multiply the current droop amount by the first weight to obtain the first product, and multiply the current deformation feature amount by the second weight to obtain the second product; Summing the first product and the second product yields a reference value. When the reference value is greater than or equal to a first threshold, it is determined that the droop amount and the deformation feature amount do not meet the preset conditions. When the reference value is less than the first threshold, it is determined that the droop amount and the deformation feature amount meet the preset conditions.

[0008] In some embodiments, adjusting the first speed based on the second speed, the sag, and the deformation characteristic includes: Within a preset period, calculate the first velocity difference between the first velocity and the second velocity, and calculate the first rate of change of the sag and the second rate of change of the deformation characteristic quantity; The state vector of the target copper strip is constructed based on the sag amount, the first rate of change, the deformation characteristic amount, and the second rate of change within the preset period; A state vector prediction model is constructed based on the state vector and the first velocity difference; A cost function is constructed based on the sag amount, ideal sag amount, deformation characteristic amount, and velocity adjustment amount. Based on the state vector prediction model, predict the predicted state vector and predicted droop within the target period. Sequentially obtain a reference adjustment from multiple candidate speed adjustment values. Then, sequentially input the predicted state vector, the predicted droop, and the reference adjustment to the cost function to obtain the corresponding cost value. The reference adjustment amount corresponding to the lowest cost value is determined as the first adjustment amount, and the first speed is adjusted based on the first adjustment amount, wherein the first adjustment amount corresponds to a target adjustment time.

[0009] In some embodiments, the expression of the state vector prediction model is as follows: X_pred(n+1) = A * X(n) + B * ΔV(n); X(n)= [Sag(n), dSag_dt(n), Df(n), dDf_dt(n)] T ; Where X_pred(n+1) is the predicted state vector at time n+1, X(n) is the state vector at time n, A is the state transition matrix, B is the input matrix, the input matrix and the state transition matrix are determined by the mass, elastic coefficient and damping parameter of the target copper strip, ΔV(n) is the first velocity difference at time n, Sag(n) is the sag at time n, dSag_dt(n) is the rate of change of the sag at time n, Df(n) is the deformation characteristic quantity at time n, and dDf_dt(n) is the rate of change of the deformation characteristic quantity at time n.

[0010] In some embodiments, the cost function is expressed as follows: J = (Sag_predicted-Sag_setpoint) 2 + Q * (Df_predicted) 2 + R * (ΔV_cmd) 2 ; Where J is the cost value, Sag_predicted is the predicted droop amount, Sag_setpoint is the preset value of the droop amount, Q is the third weight, Df_predicted is the predicted deformation feature, R is the fourth weight, and ΔV_cmd is the adjustment amount.

[0011] In some embodiments, adjusting the first speed based on the second speed, the sag, and the deformation characteristic includes: A reference speed is determined based on the second speed, wherein the reference speed is proportional to the second speed; The first speed is reduced based on a preset second adjustment amount, and the second speed difference between the current first speed and the reference speed is detected; When the second speed difference is greater than or equal to the second adjustment amount, the first speed is further reduced based on the second adjustment amount until the second speed difference is less than the second adjustment amount, at which point the adjustment operation stops.

[0012] In a second aspect, embodiments of this application provide a control device, including at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, which, when executed by the at least one control processor, enable the at least one control processor to perform the copper strip processing method as described in the first aspect.

[0013] Thirdly, embodiments of this application also provide an electronic device, including the control device of the second aspect.

[0014] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer-executable instructions for performing the copper strip processing method as described in the first aspect.

[0015] This application provides a copper strip processing method, apparatus, equipment, and storage medium. The method includes: controlling the rotating shaft to convey the target copper strip to the space between the upper and lower pressure rollers of the flattening structure based on a first speed; controlling the upper and lower pressure rollers to flatten the target copper strip based on a second speed; determining the sag parameters of the target copper strip based on a reference image captured by a camera, wherein the sag parameters include sag amount and deformation characteristic amount, the sag amount is the distance between the lowest point of the bend of the target copper strip and a preset horizontal baseline, the horizontal baseline is the extension line of the tangent line tangent to the bottom of the lower pressure roller, and the deformation characteristic amount is determined by the sag angle of the target copper strip, the bending radius of the bend, and the sag area; when the sag amount and the deformation characteristic amount do not meet the preset conditions, adjusting the first speed based on the second speed, the sag amount, and the deformation characteristic amount to make the sag amount and the deformation characteristic amount meet the preset conditions. According to the solution provided in the embodiments of this application, the drooping state of the target copper strip is determined based on the drooping parameters determined by the reference image captured by the camera. If the drooping state does not meet the conditions, the feeding speed of the target copper strip is adjusted based on the drooping state. That is, the feeding speed of the target copper strip is automatically controlled without contacting the target copper strip. Compared with the solution of manually adjusting the feeding speed according to experience, the processing quality of the target copper strip can be guaranteed. Attached Figure Description

[0016] Figure 1 This is a flowchart of the steps of a copper strip processing method provided in one embodiment of this application; Figure 2 This is a schematic diagram of the structure of a copper strip processing equipment provided in another embodiment of this application; Figure 3 This is a structural diagram of a control device provided in another embodiment of this application.

[0017] Explanation of reference numerals in the attached figures: Material feeding structure 110; copper strip winding disc 111; rotating shaft 112; flattening structure 120; upper pressure roller 121; lower pressure roller 122; camera 130; target copper strip 200. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0019] It is understandable that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, or the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0020] Thin copper strips are widely used in the manufacture of electrical components, heat sinks, conductive base materials and other parts. In the process of manufacturing various parts using copper strips, the copper strip is driven to rotate on a copper strip reel, which is then conveyed to a flattening mechanism for flattening, and then sent to a punching mechanism for stamping and subsequent manufacturing processes.

[0021] The flattening mechanism is equipped with flattening rollers. However, the rotational speed (i.e., flattening speed) of the flattening rollers varies depending on the size of the copper strip or the specific manufacturing requirements. To ensure the flattening quality of the copper strip, it is necessary to adjust the rotational speed of the copper strip winding on the reel in a timely manner, i.e., adjust the feed speed of the copper strip entering the flattening mechanism. If the feed speed exceeds the flattening speed, the copper strip will fall to the ground, causing contamination or damage. The current method relies on manual observation and adjustment of the feed speed, which cannot achieve precise preventative control and therefore cannot guarantee the processing quality of the copper strip.

[0022] To address the aforementioned problems, this application provides a copper strip processing method, apparatus, equipment, and storage medium. The method includes: controlling the rotating shaft to convey the target copper strip between the upper and lower pressure rollers of the flattening structure based on a first speed; controlling the upper and lower pressure rollers to flatten the target copper strip based on a second speed; determining the sag parameters of the target copper strip based on a reference image captured by a camera, wherein the sag parameters include sag amount and deformation characteristic amount, the sag amount being the distance between the lowest point of the bend of the target copper strip and a preset horizontal baseline, the horizontal baseline being the extension of the tangent line tangent to the bottom of the lower pressure roller, and the deformation characteristic amount being determined by the sag angle of the target copper strip, the bending radius of the bend, and the sag area; when the sag amount and the deformation characteristic amount do not meet preset conditions, adjusting the first speed based on the second speed, the sag amount, and the deformation characteristic amount to make the sag amount and the deformation characteristic amount meet the preset conditions. According to the solution provided in the embodiments of this application, the drooping state of the target copper strip is determined based on the drooping parameters determined by the reference image captured by the camera. If the drooping state does not meet the conditions, the feeding speed of the target copper strip is adjusted based on the drooping state. That is, the feeding speed of the target copper strip is automatically controlled without contacting the target copper strip. Compared with the solution of manually adjusting the feeding speed according to experience, the processing quality of the target copper strip can be guaranteed.

[0023] The embodiments of this application will be further described below with reference to the accompanying drawings.

[0024] refer to Figure 1 and Figure 2 , Figure 1 This is a flowchart of the steps of a copper strip processing method provided in one embodiment of this application. Figure 2 This is a schematic diagram of the structure of a copper strip processing equipment provided in another embodiment of this application. This application provides a copper strip processing method applied to a copper strip processing equipment. The copper strip processing equipment includes a feeding structure 110, a flattening structure 120, and a camera 130. The feeding structure 110 includes a copper strip winding reel 111 with a target copper strip 200 wound on it. The copper strip winding reel 111 has a corresponding rotating shaft 112. The flattening structure 120 includes an upper pressure roller 121 and a lower pressure roller 122 corresponding to each other. One end of the target copper strip 200 away from the copper strip winding reel 111 is located between the upper pressure roller 121 and the lower pressure roller 122. The camera 130 faces the target copper strip 200 between the feeding structure 110 and the flattening structure 120. The target copper strip 200 between the feeding structure 110 and the flattening structure 120 is suspended in the air. The method includes, but is not limited to, the following steps: Step S10: Based on the first speed control shaft, the target copper strip is conveyed between the upper and lower pressure rollers of the flattening structure.

[0025] Step S20: Based on the second speed control, the upper and lower pressure rollers are used to flatten the target copper strip.

[0026] Understandably, for the target copper strip 200, different flattening processing requirements correspond to different linear speeds (i.e., second speeds) of the upper pressure roller 121 and lower pressure roller 122 of the flattening structure 120. When the target copper strip 200 is on a production line with a certain flattening processing requirement, the second speed remains constant during the production process. Although the system assigns an initial first speed to the shaft 112 of the copper strip winding reel 111 for the same processing requirement, factors such as motor slippage and load changes can cause variations in the first speed during the operation of the copper strip processing equipment. Since the first speed and second speed are proportional, the target copper strip 200 can maintain a small tension during transport, eliminating sagging and loosening of the copper strip without stretching or deforming it. However, the varying first speed affects the flattening effect of the target copper strip 200, thus affecting the subsequent copper strip processing effect. Therefore, this embodiment needs to record the initial first speed of the rotating shaft 112, as well as the real-time recording of the changing first speed of the rotating shaft 112, to provide an effective data basis for subsequent adjustments to the first speed.

[0027] Step S30: Determine the sag parameters of the target copper strip based on the reference image captured by the camera. The sag parameters include sag amount and deformation characteristic amount. The sag amount is the distance between the lowest point of the bend of the target copper strip and the preset horizontal baseline. The horizontal baseline is the extension line of the tangent line tangent to the bottom of the lower pressure roller. The deformation characteristic amount is determined by the sag angle of the target copper strip, the bending radius of the bend, and the sag area.

[0028] Specifically, in this embodiment, weighting coefficients are assigned to the sag angle, bending radius and sag area of ​​the target copper strip 200, respectively. After multiplying the sag angle, bending radius and sag area by their respective weighting coefficients, three products are obtained. The sum of these three products is used to obtain the current deformation characteristic of the target copper strip 200.

[0029] It is understood that in this embodiment, the camera 130 captures a reference image of the target copper strip 200 between the flattening structure 120 and the feeding structure 110, and determines the current sag and deformation characteristics of the target copper strip 200 based on the reference image. This allows it to determine whether the target copper strip 200 is at risk of damage, and if the target copper strip 200 is at risk of damage, the currently determined sag and deformation characteristics can provide an effective data basis for adjusting the first speed.

[0030] Specifically, the determination of the sag amount in this embodiment includes, but is not limited to, the following steps: Step S31: Extract the contour line of the target copper strip from the reference image using an edge detection algorithm. The contour line is the contour line corresponding to the lower edge of the target copper strip and includes multiple pixels. Step S32: Calculate the distance between each pixel and the horizontal baseline; Step S33: Determine the maximum value among all distance values ​​as the droop amount.

[0031] It should be noted that the edge detection algorithm in this embodiment is the Canny operator, and those skilled in the art can choose the appropriate algorithm based on the actual situation.

[0032] It is understood that this embodiment uses an edge detection algorithm to extract the contour line corresponding to the lower edge of the target copper strip from the reference image. The contour line includes multiple pixels. By calculating the distance value between each pixel and the horizontal baseline, the maximum value is determined from all the distance values ​​as the sag of the target copper strip. This allows the sag state of the target copper strip to be quickly determined based on the sag amount, and then it can be determined whether the first speed needs to be adjusted.

[0033] Step S40: When the sag and deformation characteristics do not meet the preset conditions, the first speed is adjusted based on the second speed, sag and deformation characteristics to make the sag and deformation characteristics meet the preset conditions.

[0034] Specifically, the preset conditions in this embodiment refer to the boundary conditions that can ensure the target copper strip is not damaged. The boundary conditions are related to the sag and deformation characteristics of the target copper strip. If the sag and deformation characteristics do not meet the preset conditions, the copper strip processing equipment needs to be triggered to adjust the first speed.

[0035] Specifically, this embodiment determines whether the sag and deformation characteristics meet preset conditions, including but not limited to the following steps: Step S401: Assign a first weight to the sag amount and a second weight to the deformation characteristic amount; Step S402: Multiply the current droop amount by the first weight to obtain the first product, and multiply the current deformation feature amount by the second weight to obtain the second product; Step S403: Summing the first product and the second product yields a reference value. When the reference value is greater than or equal to the first threshold, it is determined that the droop amount and deformation feature amount do not meet the preset conditions. When the reference value is less than the first threshold, it is determined that the droop amount and deformation feature amount meet the preset conditions.

[0036] It is understood that this embodiment determines whether the droop and deformation feature meet the preset conditions by assigning a first weight to the droop and a second weight to the deformation feature; multiplying the current droop by the first weight to obtain a first product, and multiplying the current deformation feature by the second weight to obtain a second product; summing the first and second products to obtain a reference value; if the reference value is greater than or equal to a first threshold, it is determined that the droop and deformation feature do not meet the preset conditions; if the reference value is less than the first threshold, it is determined that the droop and deformation feature meet the preset conditions. In other words, by using the weighted result of multiple consideration factors to determine whether the preset conditions are met, the false alarm rate of triggering the first speed adjustment operation is effectively reduced, and the accuracy of the decision is improved.

[0037] Furthermore, referring to the description of the above embodiments, the first speed and the second speed are proportional, and the corresponding proportionality coefficient is constant. The target value range of the proportionality coefficient is 0.85 to 0.98. In this embodiment, the target value range of the proportionality coefficient is determined as the boundary condition to ensure that the target copper strip is not damaged, that is, the first speed is slightly less than the second speed. However, the first speed is variable. In order to ensure the processing quality of the target copper strip, the copper strip processing method of this embodiment further includes: when the first speed is much less than the second speed, that is, the proportionality coefficient between the current first speed and the second speed is less than the minimum boundary value of the target value range, it indicates that the current target copper strip is at risk of being overstretched. At this time, the first speed is increased based on the third adjustment amount until the difference between the proportionality coefficient between the first speed and the second speed and the maximum boundary value of the target value range is less than a preset threshold, and the preset threshold is 0.05. For example, if the current first speed is 14 m / min and the second speed is 18 m / min, the proportionality coefficient between the first and second speeds is 0.778. 0.778 is not within the target value range and is less than the minimum boundary value. Therefore, the first speed needs to be adjusted upwards according to the third adjustment amount of 0.9 m / min (the specific third adjustment amount can be selected according to the actual situation). This means that it needs to be adjusted 4 times consecutively. The adjusted first speed is 17.6 m / min, and the corresponding proportionality coefficient is 0.977. The difference between 0.977 and 0.98 is less than 0.05, and the speed adjustment is complete.

[0038] Specifically, the adjustment of the first velocity based on the second velocity, sag, and deformation characteristic in step S40 includes, but is not limited to, the following steps: Step S411: Within a preset period, calculate the first velocity difference between the first velocity and the second velocity, and calculate the first rate of change of sag and the second rate of change of deformation characteristic quantity. Step S412: Construct the state vector of the target copper strip based on the sag amount, first rate of change, deformation characteristic amount and second rate of change within a preset period; Step S413: Construct a state vector prediction model based on the difference between the state vector and the first velocity; Step S414: Construct a cost function based on the sag amount, ideal sag amount, deformation characteristic amount, and velocity adjustment amount; Step S415: Based on the state vector prediction model, predict the predicted state vector and predicted droop within the target period. Sequentially obtain a reference adjustment from multiple candidate velocity adjustment values. Input the predicted state vector, predicted droop, and reference adjustment to the cost function in sequence to obtain the corresponding cost value. Step S416: Determine the reference adjustment amount corresponding to the lowest cost value as the first adjustment amount, and adjust the first speed based on the first adjustment amount, wherein the first adjustment amount corresponds to a target adjustment time.

[0039] Specifically, the predicted state vector and predicted sag within the target period in this embodiment refer to the predicted state vector and sag within a future time period (i.e., the prediction time domain) based on the current physical parameters of the target copper strip and the current processing parameters of the processing equipment for the target copper strip within a preset period.

[0040] Understandably, by substituting each candidate speed adjustment amount, along with the corresponding current state vector and the predicted droop amount, into the cost function for evaluation, we can determine the adjustment amount (i.e., the first adjustment amount) that ensures rapid stabilization of droop (reducing droop amount), minimal deformation, smooth movement, and maintenance of small tension—the optimal solution. The cost function value corresponding to the first adjustment amount is the lowest.

[0041] It is understood that in this embodiment, within a preset period, after calculating the first speed difference between the first speed and the second speed, and calculating the first rate of change of droop and the second rate of change of deformation characteristic quantity, a state vector of the target copper strip is constructed based on the droop, the first rate of change, the deformation characteristic quantity, and the second rate of change within the preset period. A state vector prediction model is then constructed based on the state vector and the first speed difference. Thus, the state vector prediction model constructed based on the physical laws of the target copper strip in this embodiment can accurately predict how the state of the copper strip (including droop, deformation, etc.) will change under a given speed difference input, making its control commands more "scientific" rather than blindly trying and failing. After predicting the predicted state vector and predicted droop within the target period based on the state vector prediction model, a reference adjustment amount is sequentially obtained from multiple candidate speed adjustment amounts. The predicted state vector, predicted droop, and reference adjustment amount are sequentially input into the cost function to obtain the corresponding cost value. The reference adjustment amount corresponding to the lowest cost value is determined as the first adjustment amount. The first speed is adjusted based on the first adjustment amount, where the first adjustment amount corresponds to a target adjustment time. In other words, after each preset cycle, the system remeasures the latest state and then re-executes the entire "prediction-optimization" process to calculate a new, optimal first adjustment amount adapted to the latest situation. Through this continuous and forward-looking optimization mechanism, the state of the target copper strip can be stabilized within preset conditions in a rapid and accurate manner. Furthermore, the first adjustment amount in this embodiment corresponds to a target adjustment time, which not only determines the optimal adjustment amount for the first speed but also the adjustment time for the optimal solution.

[0042] It should be noted that the first adjustment amount in this embodiment corresponds to the adjustment amount of adjusting the first speed once. That is to say, within the preset period (i.e. the control period), after adjusting the first speed once by the first adjustment amount determined in steps S411 to S416, the sag amount and deformation characteristic amount can meet the preset conditions, so as to quickly and accurately adjust the first speed to a speed value that ensures that the target copper strip is not damaged and maintains a small tension.

[0043] It should be noted that the expression for the state vector prediction model in this embodiment is as follows: X_pred(n+1) = A * X(n) + B * ΔV(n); X(n)= [Sag(n), dSag_dt(n), Df(n), dDf_dt(n)] T ; Where X_pred(n+1) is the predicted state vector at time n+1, X(n) is the state vector at time n, A is the state transition matrix, B is the input matrix, the input matrix and the state transition matrix are determined by the mass, elastic coefficient and damping parameters of the target copper strip, ΔV(n) is the first velocity difference at time n, Sag(n) is the sag at time n, dSag_dt(n) is the rate of change of the sag at time n, Df(n) is the deformation characteristic quantity at time n, and dDf_dt(n) is the rate of change of the deformation characteristic quantity at time n.

[0044] It should be noted that the matrix expression of the state transition matrix in this embodiment is as follows: A = [ 0, 1; -k / m, -b / m ]; The matrix expression for the input matrix is: B = [ 0; c / m ] ; Where m is the mass of the target copper strip, k is the elastic coefficient of the target copper strip, b is the damping coefficient of the target copper strip, and c is the conversion coefficient.

[0045] It should be noted that the expression for the cost function in this embodiment is as follows: J = (Sag_predicted-Sag_setpoint) 2 + Q * (Df_predicted) 2 + R * (ΔV_cmd) 2 ; Where J is the cost value, Sag_predicted is the predicted droop, Sag_setpoint is the preset value of the droop, Q is the third weight, Df_predicted is the predicted deformation feature, R is the fourth weight, and ΔV_cmd is the adjustment amount.

[0046] Furthermore, adjusting the first velocity based on the second velocity, sag, and deformation characteristic in step S40 includes, but is not limited to, the following steps: Step S417: Determine a reference speed based on the second speed, wherein the reference speed is proportional to the second speed; Step S418: Adjust the first speed based on a preset second adjustment amount, and detect the second speed difference between the current first speed and the reference speed; Step S419: When the second speed difference is greater than or equal to the second adjustment amount, continue to adjust the first speed based on the second adjustment amount until the second speed difference is less than the second adjustment amount, and then stop the adjustment operation.

[0047] It is understood that the adjustment method for the first speed in this embodiment also includes: determining a reference speed based on the second speed, wherein the reference speed is proportional to the second speed; reducing the first speed based on a preset second adjustment amount, and detecting the second speed difference between the current first speed and the reference speed; when the second speed difference is greater than or equal to the second adjustment amount, continuing to reduce the first speed based on the second adjustment amount until the second speed difference is less than the second adjustment amount, and stopping the adjustment operation. For example, the current second speed is 18 m / min, the reference speed is 17.6 m / min, the current first speed is 20 m / min, and the preset second adjustment amount is 0.8. After one adjustment, the first speed is 19.2 m / min, and the corresponding second speed difference is 1.6. Since 1.6 > 0.8, the first speed is adjusted based on the second adjustment amount. After the third adjustment, the current first speed is 17.6, and the corresponding second speed difference is 0, which is less than the second adjustment amount. The adjustment operation is then stopped. This ensures that the current sag and deformation characteristics of the target copper strip meet the preset conditions while maintaining a small tension on the target copper strip. Since the target copper strip needs to be precisely clamped and positioned in the stamping die during subsequent stamping operations, constant tension ensures that the state of the target copper strip in the stamping die is consistent each time, thereby ensuring the stamping quality of the copper strip and providing effective assurance for the final copper strip processing effect.

[0048] like Figure 3 As shown, Figure 3 This is a structural diagram of a control device provided in one embodiment of this application. The present invention also provides a control device 300, comprising: The processor 310 can be implemented using a general-purpose central processing unit (CPU), microprocessor, application specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 320 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 320 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 320 and called by the processor 310 to execute the copper strip processing method of the embodiments of this application. Input / output interface 330 is used to realize information input and output; The communication interface 340 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 350 transmits information between various components of the device (e.g., processor 310, memory 320, input / output interface 330, and communication interface 340); The processor 310, memory 320, input / output interface 330 and communication interface 340 are connected to each other within the device via bus 350.

[0049] In addition, this application also provides an electronic device, including the control device 300 of the above embodiments.

[0050] In addition, this application embodiment also provides a storage medium, which is a computer-readable storage medium, storing a computer program that, when executed by a processor, implements the above-described copper strip processing method.

[0051] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof. The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate, and may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0052] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0053] The above provides a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A method for processing copper strip, characterized in that, An application is made in copper strip processing equipment, the equipment comprising a feeding structure, a flattening structure, and a camera. The feeding structure includes a copper strip reel wound with a target copper strip, the reel having a corresponding rotating shaft. The flattening structure includes corresponding upper and lower pressure rollers, with the end of the target copper strip furthest from the reel located between the upper and lower pressure rollers. The camera faces the target copper strip between the feeding structure and the flattening structure, the target copper strip being suspended in the air between the feeding structure and the flattening structure. The method includes: Based on the first speed control, the rotating shaft conveys the target copper strip between the upper and lower pressure rollers of the flattening structure; The target copper strip is flattened based on the second speed control of the upper and lower pressure rollers. The sag parameters of the target copper strip are determined based on the reference image captured by the camera. The sag parameters include sag amount and deformation characteristic amount. The sag amount is the distance between the lowest point of the bend of the target copper strip and a preset horizontal baseline. The horizontal baseline is the extension line of the tangent line tangent to the bottom of the lower pressure roller. The deformation characteristic amount is determined by the sag angle of the target copper strip, the bending radius of the bend, and the sag area. When the sag amount and the deformation characteristic amount do not meet the preset conditions, the first speed is adjusted based on the second speed, the sag amount and the deformation characteristic amount so that the sag amount and the deformation characteristic amount meet the preset conditions; The adjustment of the first speed based on the second speed, the droop, and the deformation characteristic includes: calculating a first speed difference between the first speed and the second speed within a preset period; calculating a first rate of change of the droop and a second rate of change of the deformation characteristic; constructing a state vector of the target copper strip based on the droop, the first rate of change, the deformation characteristic, and the second rate of change within the preset period; constructing a state vector prediction model based on the state vector and the first speed difference; constructing a cost function based on the droop, the ideal droop, the deformation characteristic, and the speed adjustment; predicting the predicted state vector and the predicted droop within the target period based on the state vector prediction model; sequentially obtaining a reference adjustment amount from multiple candidate speed adjustment amounts; sequentially inputting the predicted state vector, the predicted droop, and the reference adjustment amount into the cost function to obtain the corresponding cost value; determining the reference adjustment amount corresponding to the lowest cost value as the first adjustment amount; and adjusting the first speed based on the first adjustment amount, wherein the first adjustment amount corresponds to a target adjustment time. The expression for the state vector prediction model is as follows: X_pred(n+1) = A * X(n) + B * ΔV(n); X(n) = [Sag(n), dSag_dt(n), Df(n), dDf_dt(n)] T Where X_pred(n+1) is the predicted state vector at time n+1, X(n) is the state vector at time n, A is the state transition matrix, B is the input matrix, the input matrix and the state transition matrix are determined by the mass, elastic coefficient and damping parameter of the target copper strip, ΔV(n) is the first velocity difference at time n, Sag(n) is the sag at time n, dSag_dt(n) is the rate of change of the sag at time n, Df(n) is the deformation characteristic quantity at time n, and dDf_dt(n) is the rate of change of the deformation characteristic quantity at time n. The cost function is expressed as follows: J = (Sag_predicted - Sag_setpoint) 2 + Q * (Df_predicted) 2 + R * (ΔV_cmd) 2 Where J is the cost value, Sag_predicted is the predicted droop, Sag_setpoint is the preset value of the droop, Q is the third weight, Df_predicted is the predicted deformation feature, R is the fourth weight, and ΔV_cmd is the adjustment amount.

2. The copper strip processing method according to claim 1, characterized in that, The sag amount is obtained according to the following steps: The contour line of the target copper strip is extracted from the reference image using an edge detection algorithm, wherein the contour line is the contour line corresponding to the lower edge of the target copper strip, and the contour line includes multiple pixels. Calculate the distance between each pixel and the horizontal baseline; The maximum value among all the distance values ​​is determined as the droop amount.

3. The copper strip processing method according to claim 1, characterized in that, Determining whether the sag and the deformation characteristic satisfy preset conditions includes: Assign a first weight to the sag amount and a second weight to the deformation characteristic amount; Multiply the current droop amount by the first weight to obtain the first product, and multiply the current deformation feature amount by the second weight to obtain the second product; Summing the first product and the second product yields a reference value. When the reference value is greater than or equal to a first threshold, it is determined that the droop amount and the deformation feature amount do not meet the preset conditions. When the reference value is less than the first threshold, it is determined that the droop amount and the deformation feature amount meet the preset conditions.

4. The copper strip processing method according to claim 1 or 3, characterized in that, Adjusting the first speed based on the second speed, the sag, and the deformation characteristic includes: A reference speed is determined based on the second speed, wherein the reference speed is proportional to the second speed; The first speed is reduced based on a preset second adjustment amount, and the second speed difference between the current first speed and the reference speed is detected; When the second speed difference is greater than or equal to the second adjustment amount, the first speed is further reduced based on the second adjustment amount until the second speed difference is less than the second adjustment amount, at which point the adjustment operation stops.

5. A control device, characterized in that, It includes at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform the copper strip processing method as described in any one of claims 1 to 4.

6. An electronic device, characterized in that, Includes the control device as described in claim 5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the copper strip processing method as described in any one of claims 1 to 4.

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