A control method and system for shot blasting equipment

Abstract

This invention relates to a control method and system for shot blasting equipment, specifically within the field of shot blasting equipment. The method includes: receiving a workpiece number in response to a detection signal; searching for the corresponding vibrating screen group number and workpiece characteristics based on the workpiece number; controlling the vibrating screen corresponding to the vibrating screen group number to extend below the cleaning chamber; dropping the workpiece onto the vibrating screen corresponding to the vibrating screen group number and vibrating for a preset vibration duration; after the vibration duration, acquiring a planar projection image of the vibrating screen group number for each layer; and when no workpiece characteristics appear in the planar projection image of each layer of the vibrating screen group, removing the workpiece that has passed through the vibrating screen group along with a carrying hopper, the carrying hopper being preset below the vibrating screen group number. This invention effectively solves the problems of incomplete cleaning of localized areas during shot blasting, requiring manual inspection of the final product, which is time-consuming, labor-intensive, and inefficient.

Description

Technical Field

[0001] This invention relates to the field of shot blasting equipment, and in particular to a shot blasting equipment control method and system. Background Technology

[0002] Shot blasting equipment is a type of industrial surface treatment equipment that uses high-speed shot impact as its core principle. It is widely used in industries such as automobile manufacturing, steel structure, shipbuilding, and casting.

[0003] In related technologies, such as Figure 2 As shown, during the shot blasting process of a casting of an automotive robotic arm, a hoist needs to send the steel shot collected by the bottom spiral into a separator. After dust and broken shot are removed by a dust removal screen, the clean steel shot flows into a storage hopper and is fed into a high-speed rotating shot blaster by a shot supply gate at a set flow rate. The shot blaster blades accelerate the shot to 60-80 m / s and direct it onto the surface of the workpiece that is continuously passing through the cleaning chamber. The impact removes oxide scale, rust, and old paint. The cleaned steel shot is sent back to the hoist by the lower spiral for recycling. At the same time, the dust collector removes dust throughout the process, and finally the workpiece obtains a uniform roughness and a strengthened surface.

[0004] Regarding the aforementioned technologies, the shot blasting process is prone to problems such as uneven track speed, insufficient shot quantity, wear of shot blaster blades, and excessively dense stacking of workpieces, which can lead to incomplete cleaning of local areas. The final product requires manual inspection. When the number of workpieces shot blasted at one time is too large, manual inspection is time-consuming and labor-intensive, resulting in low inspection efficiency and room for improvement. Summary of the Invention

[0005] To address the issues that arise during shot blasting, such as uneven track speed, insufficient shot quantity, wear of shot blaster blades, and excessively dense workpiece stacking, which can lead to incomplete cleaning of localized areas and necessitate manual inspection of the final product, and the time-consuming, labor-intensive, and inefficient manual inspection when the number of workpieces blasted in a single operation is too large, this invention provides a shot blasting equipment control method.

[0006] In a first aspect, the present invention provides a shot blasting equipment control method, which adopts the following technical solution:

[0007] A method for controlling a shot blasting equipment, comprising:

[0008] Step S1: In response to the detection signal, receive the workpiece number;

[0009] Step S2: Find the corresponding vibrating screen group number and workpiece characteristics based on the workpiece number;

[0010] Step S3: Control the vibrating screen corresponding to the number of the vibrating screen group to extend to the bottom of the cleaning chamber;

[0011] Step S4: Place the workpiece onto the vibrating screen corresponding to the number of the vibrating screen group, and vibrate it for the preset vibration duration;

[0012] Step S5: After the vibration duration, obtain the planar projection image of the vibrating screen for each layer corresponding to the vibrating screen group number;

[0013] Step S6: When no workpiece features appear in the plane projection image of each layer of the vibrating screen, the workpiece that has passed through the vibrating screen group is moved out with the carrying net bucket, which is preset below the vibrating screen corresponding to the vibrating screen group number.

[0014] By adopting the above technical solution, the workpiece number is received in response to the detection signal, the corresponding vibrating screen group is matched based on the workpiece number and its extension is controlled, and then the workpiece is dropped into the corresponding vibrating screen and vibrates for a preset time. After vibration, the planar projection image of each layer of vibrating screen is obtained to determine whether the workpiece has completely passed through. Finally, the workpiece that has passed through is removed with the preset carrying net bucket. This method solves the problem that manual inspection is required after the workpiece is removed in traditional shot blasting equipment, realizes the automated and precise control of workpiece screening and removal, and improves the efficiency and reliability of workpiece processing after shot blasting.

[0015] Optionally, the method of controlling the vibrating screen corresponding to the vibrating screen group number to extend below the cleaning chamber, then letting the workpiece fall onto the vibrating screen corresponding to the vibrating screen group number, and vibrating according to a preset vibration duration includes:

[0016] Step S40: Within the vibration duration, acquire a real-time planar projection image of the vibrating screen;

[0017] Step S41: When workpiece features appear in the real-time vibrating screen plane projection image, obtain the vibrating screen layer number;

[0018] Step S42: Divide the real-time vibrating screen planar projection image according to the preset division area to obtain the real-time center image and the real-time edge image;

[0019] Step S43: When workpiece features appear on the real-time center image, no operations other than vibration are performed;

[0020] Step S44: When no workpiece features appear in the real-time center image but workpiece features appear in the real-time edge image, the workpiece features are used to analyze the real-time edge image to obtain the workpiece position.

[0021] Step S45: Calculate the tilt direction based on the workpiece position and the preset center position;

[0022] Step S46: Control the vibrating screen corresponding to the vibrating screen layer number to tilt in the tilt direction and maintain the vibration operation.

[0023] By adopting the above technical solution, the planar projection image of the vibrating screen is acquired in real time within the preset vibration time. The characteristics of the workpiece in the image are identified and the corresponding vibrating screen layer number is determined. The image is then divided into real-time center image and real-time edge image for analysis. When the workpiece characteristics appear in the real-time center image, vibration is maintained. When the workpiece characteristics appear in the real-time edge image, the workpiece position is analyzed by the workpiece characteristics and the tilt direction is calculated. This allows the corresponding layer of vibrating screen to be tilted in the tilt direction and maintain vibration. This solves the problem that the workpiece is easily stuck at the edge of the screen during vibration, resulting in insufficient screening and low efficiency, and ensures the smooth screening of subsequent workpieces.

[0024] Optionally, methods for controlling the tilting of the vibrating screen corresponding to the layer number of the vibrating screen according to the tilting direction include:

[0025] Step S460: Obtain the number of workpieces in the real-time edge image;

[0026] Step S461: When the number of workpieces is equal to 1, control the vibrating screen corresponding to the vibrating screen layer number to tilt in the tilting direction;

[0027] Step S462: When the number of workpieces is greater than 1, calculate a single tilt direction based on the position and center position of a single workpiece;

[0028] Step S463: Based on a single tilt direction, decompose it according to the preset standard horizontal direction and standard vertical direction to obtain the horizontal tilt direction and the vertical tilt direction;

[0029] Step S464: When the horizontal or vertical tilt direction of all workpieces is consistent, define the consistent horizontal or vertical tilt direction as the tilt direction and output it, and control the vibrating screen corresponding to the vibrating screen layer number to tilt according to the tilt direction.

[0030] Step S465: When there is inconsistency in both the horizontal and vertical tilt directions of all workpieces, no operation other than vibration shall be performed.

[0031] By adopting the above technical solution, the number of workpieces in the real-time edge image is first obtained. When the number of workpieces is 1, the corresponding layer of vibrating screen is directly controlled to tilt in the tilt direction. When the number of workpieces is greater than 1, the tilt direction corresponding to a single workpiece is first calculated and decomposed into horizontal and vertical tilt directions. Then, it is determined whether the horizontal or vertical tilt directions of all workpieces are consistent. Only when the directions are consistent, the screen tilt is controlled in that direction. When the directions are inconsistent, the screen is kept in a vibrating state. This solves the problem of confused tilt direction judgment and blind adjustment that can easily lead to workpiece accumulation or screening failure when multiple workpieces are stuck at the edge of the screen.

[0032] Optional, also includes:

[0033] Step S7: If a planar projection image of the vibrating screen with workpiece characteristics exists, obtain the residual vibrating screen layer number;

[0034] Step S8: Control the vibrating screen corresponding to the residual vibrating screen layer number to tilt in the preset recycling tilt direction so that the workpiece on the vibrating screen corresponding to the residual vibrating screen layer number falls into the recycling pipe and is recycled to the cleaning chamber for shot blasting again.

[0035] By adopting the above technical solution, when a planar projection image of a vibrating screen containing workpiece features is detected after vibration, the residual vibrating screen layer number corresponding to the residual workpiece is first obtained, and then the vibrating screen of that layer is controlled to tilt in a preset recycling tilt direction, so that the residual workpiece falls into the recycling pipe and is sent back to the cleaning chamber for shot blasting again. This achieves the precise recycling and secondary processing of the residual workpiece, ensures the integrity of the shot blasting cleaning of the workpiece, and avoids the residual workpiece interfering with the normal operation of the equipment.

[0036] Optional, also includes:

[0037] Step S9: Determine all lower vibrating screen layer numbers based on the residual vibrating screen layer number;

[0038] Step S10: After the workpiece on the vibrating screen corresponding to the residual vibrating screen layer number falls into the recycling pipe and is recycled to the cleaning chamber for shot blasting again, the vibrating screen group number is updated based on the residual vibrating screen layer number and the lower vibrating screen layer number. Then, steps S3 to S8 are executed again until the residual vibrating screen layer number no longer exists.

[0039] By adopting the above technical solution, after the residual workpiece is recycled and shot blasted again, the layer numbers of all lower vibrating screens are first determined based on the residual vibrating screen layer number. Then, the vibrating screen group number is updated by combining the residual layer number and the lower layer number. Subsequently, the processes of vibrating screen extension, workpiece vibration screening, residual detection and recycling are repeated until there are no residual vibrating screen layer numbers. This improves the thoroughness of the secondary cleaning of residual workpieces and optimizes the adaptability of the screen group to ensure the continuity and stability of subsequent processing.

[0040] Optionally, methods for allowing workpieces on the vibrating screen corresponding to the residual vibrating screen layer number to fall into the recovery pipe and be recycled to the cleaning chamber for re-shot blasting include:

[0041] Step S80: Determine the number of items that did not pass through the vibrating screen based on the residual vibrating screen layer number;

[0042] Step S81: When the number of screens that have not passed through the vibrating screen is greater than 1, control the vibrating screen corresponding to the residual vibrating screen layer number to tilt in the recycling tilt direction;

[0043] Step S82: When the number of non-vibrating screens is equal to 1 and the residual vibrating screen layer number is the preset last layer number, the workpiece on the vibrating screen corresponding to the residual vibrating screen layer number falls into the recycling pipe and is recycled to the cleaning chamber for shot blasting again.

[0044] Step S83: When the number of non-vibrating screens is equal to 1, but the residual vibrating screen layer number is not the last layer number, the residual vibrating screen layer number is defined as the marked screen layer number;

[0045] Step S84: Update the vibrating screen group number according to the lower layer vibrating screen number;

[0046] Step S85: Collect the vibrating screen corresponding to the residual vibrating screen layer number, and execute steps S3 to S5 and steps S7 to S83 until the residual vibrating screen layer number is the last layer number or no workpiece features appear in the plane projection image of each layer of the vibrating screen.

[0047] Step S86: The workpiece that has fallen into the loading hopper is dropped into the recycling pipe and recycled to the cleaning chamber for shot blasting again. The vibrating screen group number is updated based on the marked screen layer number. Then, steps S3 to S5 and steps S7 to S83 are repeated until the residual vibrating screen layer number is no longer present.

[0048] By adopting the above technical solution, the number of unprocessed vibrating screens is determined based on the residual vibrating screen layer number. When the number is greater than 1, the corresponding layer screen is directly controlled to tilt and recycle the workpiece in the recycling tilt direction. When the number is equal to 1 and is the last layer number, the workpiece is directly recycled. When the number is equal to 1 but is not the last layer number, the layer is marked and the screen group number is updated. After the residual layer screen is collected, the screening and recycling process is repeated until the residual layer is the last layer or there is no workpiece residue. Finally, the workpiece in the carrying net bucket is recycled and thrown again, and the screen group is updated based on the marked layer number. The process is repeated until there is no residue. This achieves dynamic adaptation of the recycling scheme according to the screen layer and the number of unprocessed screens, ensuring the comprehensiveness of shot blasting cleaning.

[0049] Optional, also includes:

[0050] Step S11: When the workpiece features appear in the projection image of the vibrating screen plane on any layer, the workpiece that has passed through the vibrating screen group is moved out along with the carrying net bucket.

[0051] By adopting the above technical solution, the method of detecting workpiece features in the planar projection image of any layer of vibrating screen during the vibration screening process and controlling the workpieces passing through the vibrating screen group to be moved out with the carrying net bucket solves the problem in the traditional process that the workpieces are moved out uniformly after all screen layers have been detected, which is prone to screen blockage and affects the rhythm of subsequent processes due to the residual workpieces staying for too long.

[0052] Optional, also includes:

[0053] Step S12: Within the vibration duration, acquire real-time projection video of the vibrating screen plane;

[0054] Step S13: Based on the real-time vibrating screen plane projection video, obtain a group of vibrating screen plane projection images of the workpiece features on the vibrating screen.

[0055] Step S14: Based on the workpiece features and center of gravity, analyze the upper planar projection image group of the vibrating screen to obtain the workpiece displacement distance;

[0056] Step S15: When the workpiece displacement distance is 0, output a preset alarm signal.

[0057] By adopting the above technical solution, real-time planar projection video of the vibrating screen is acquired within the vibration duration. Based on the video, planar projection image groups corresponding to the workpiece features are extracted. Then, the workpiece displacement distance is obtained by combining the workpiece features with the center of gravity analysis image group. When the workpiece displacement distance is 0, a preset alarm signal is output. This achieves the effect of real-time monitoring of the workpiece's motion state on the screen, timely alarming of abnormal workpiece jamming, and ensuring the stable operation of the vibrating screening process.

[0058] Optionally, the method for outputting a preset alarm signal when the workpiece displacement distance is 0 includes:

[0059] Step S16: Determine the location of abnormal workpieces with a displacement distance of 0 based on the upper planar projection image group of the vibrating screen;

[0060] Step S17: Using the abnormal workpiece location as the center, analyze the number of workpieces surrounding the abnormal workpiece location based on the upper planar projection image group of the vibrating screen.

[0061] Step S18: When the number of surrounding workpieces is greater than 0, determine the position of the assisting workpiece;

[0062] Step S19: Determine the tilting and falling direction based on the position of the assisted workpiece and the position of the abnormal workpiece, and control the vibrating screen to tilt in accordance with the tilting and falling direction;

[0063] Step S110: When no workpiece features appear in the real-time vibrating screen plane projection image, the workpiece that has fallen into the loading hopper is dropped into the recycling pipe and recycled to the cleaning chamber for shot blasting again.

[0064] Step S111: When a workpiece feature appears in the real-time vibrating screen plane projection image, an alarm signal is output.

[0065] By adopting the above technical solution, when the workpiece displacement distance is 0, the abnormal workpiece position is first determined based on the planar projection image group of the vibrating screen, and then the number of workpieces around that position is analyzed. When there are workpieces around, the position of the assisting workpiece is determined and the tilting and falling direction is calculated accordingly. The vibrating screen is tilted to guide the workpiece movement. At the same time, the real-time projection image is used to determine whether the workpiece has moved out. If it has not moved out, an alarm signal is output. This achieves the effect of proactive intervention and graded handling of abnormal workpiece jamming. It attempts to autonomously eliminate jamming faults by tilting the screen, and promptly alarms to remind manual intervention when autonomous handling is ineffective, thus ensuring the safety of equipment operation and the continuity of the workpiece screening process.

[0066] Secondly, the present invention provides a shot blasting equipment control system, which adopts the following technical solution:

[0067] A shot blasting equipment control system, comprising:

[0068] The acquisition module is used to acquire the workpiece number, vibrating screen layer number, real-time vibrating screen planar projection image, and real-time vibrating screen planar projection video.

[0069] A memory for storing a program for a shot blasting equipment control method as described above;

[0070] The processor loads and executes programs from memory.

[0071] By adopting the above technical solution, setting up an acquisition module to collect key data such as workpiece number, vibrating screen layer number, real-time vibrating screen planar projection image and video, configuring a memory to store the program of the shot blasting equipment control method described above, and using a processor to load and execute the program, the problem of traditional shot blasting equipment control relying on manual inspection is solved, and the entire process of workpiece screening, abnormal handling and residue recovery after shot blasting is automated and intelligently operated.

[0072] In summary, the present invention has at least one of the following beneficial technical effects:

[0073] The system receives the workpiece number in response to the detection signal, matches the corresponding vibrating screen group based on the workpiece number and controls its extension, then drops the workpiece into the corresponding vibrating screen and vibrates for a preset duration. After vibration, it determines whether the workpiece has completely passed by acquiring the planar projection image of each layer of vibrating screen. Finally, the passed workpiece is moved out with the preset carrying net bucket. This method solves the problem of manual inspection after the workpiece is removed in traditional shot blasting equipment, realizes the automated and precise control of workpiece screening and removal, and improves the efficiency and reliability of workpiece processing after shot blasting.

[0074] By adopting the above technical solution, the number of workpieces in the real-time edge image is first obtained. When the number of workpieces is 1, the corresponding layer of vibrating screen is directly controlled to tilt in the tilt direction. When the number of workpieces is greater than 1, the tilt direction corresponding to a single workpiece is first calculated and decomposed into horizontal and vertical tilt directions. Then, it is determined whether the horizontal or vertical tilt directions of all workpieces are consistent. Only when the directions are consistent, the screen tilt is controlled in that direction. When the directions are inconsistent, the screen is kept in a vibrating state. This solves the problem of confused tilt direction judgment and blind adjustment that can easily lead to workpiece accumulation or screening failure when multiple workpieces are stuck at the edge of the screen.

[0075] The number of unprocessed vibrating screens is determined based on the residual vibrating screen layer number. When the number is greater than 1, the corresponding layer screen is directly controlled to tilt and recycle the workpiece in the recycling tilt direction. When the number is equal to 1 and is the last layer number, the workpiece is directly recycled. When the number is equal to 1 but is not the last layer number, the layer is marked and the screen group number is updated. After the residual layer screen is collected, the screening and recycling process is repeated until the residual layer is the last layer or there is no workpiece residue. Finally, the workpiece in the carrying net bucket is recycled and thrown again, and the screen group is updated based on the marked layer number. The process is repeated until there is no residue. This achieves dynamic adaptation of the recycling scheme according to the screen layer and the number of unprocessed screens, ensuring the comprehensiveness of shot blasting cleaning. Attached Figure Description

[0076] Figure 1 This is a flowchart of a shot blasting equipment control method according to an embodiment of this application.

[0077] Figure 2 This is a schematic diagram of the structure of a workpiece in related technologies.

[0078] Figure 3 This is a schematic diagram of the structure of a vibrating screen assembly in an embodiment of this application.

[0079] Figure 4 This is a schematic diagram of the structure of a shot blasting device according to an embodiment of this application.

[0080] The parts referred to by the numbers in the above attached diagrams are as follows: 1. Workpiece; 2. Vibrating screen assembly; 3. Vibrating tilting device; 4. Camera; 5. Cleaning chamber; 6. Loading hopper; 7. Recycling pipe. Detailed Implementation

[0081] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0082] This invention discloses a control method for shot blasting equipment. (Refer to...) Figure 1 A method for controlling shot blasting equipment includes:

[0083] Step S1: In response to the detection signal, receive the workpiece number.

[0084] The detection signal refers to the signal received by workpiece 1 after shot blasting in the shot blasting equipment. This signal is pre-set by those skilled in the art. The workpiece number refers to the number of the workpiece 1 that needs to be shot blasted. This number is obtained by those skilled in the art collecting different workpieces 1 and their colors that need to be shot blasted, designing corresponding vibrating screen groups 2 for different workpieces 1, and numbering each workpiece 1 individually. The vibrating screen group 2 refers to a combination of vibrating screens with different colors than the corresponding workpiece 1, using the outer contour shapes of different surfaces of workpiece 1 as screen holes, arranged layer by layer, used to screen the corresponding workpiece 1. The vibrating screen group 2 is obtained by those skilled in the art first collecting the outer contour shapes of each surface of workpiece 1, removing one of the identical outer contour shapes, and then designing different screens using the different outer contour shapes of workpiece 1 as screen holes and combining them.

[0085] Step S2: Find the corresponding vibrating screen group number and workpiece characteristics based on the workpiece number.

[0086] The vibrating screen group number refers to the number of the vibrating screen corresponding to the workpiece number. This number is obtained by those skilled in the art numbering the vibrating screens corresponding to the workpiece number one by one. The workpiece characteristic refers to the color characteristic of workpiece 1, which is obtained by those skilled in the art collecting different colors of workpiece 1.

[0087] Step S3: Control the vibrating screen corresponding to the number of the vibrating screen group to extend below the cleaning chamber 5.

[0088] The vibrating screen refers to the vibrating screen within vibrating screen group 2. The corresponding vibrating screen group 2 is located by the workpiece number and obtained from within it. The cleaning chamber 5 is the enclosed space in the shot blasting equipment used to place workpiece 1 and perform shot blasting. The cleaning chamber 5 is the core processing area of ​​the shot blasting equipment, equipped with a high-speed rotating shot blaster and a spiral conveyor for circulating steel shot. When the vibrating screen extends below the cleaning chamber 5, its position corresponds to the shot blasting area within the cleaning chamber 5, facilitating the reception of workpiece 1 that falls after shot blasting.

[0089] Step S4: Place workpiece 1 onto the vibrating screen corresponding to the number of the vibrating screen group, and vibrate it according to the preset vibration duration.

[0090] Vibration duration refers to the length of time a qualified workpiece 1, after shot blasting, is vibrated to facilitate its passage through the screen. This duration is preset by those skilled in the art. Specifically, the vibration is achieved by controlling the vibration of the screen through a vibration tilting device 3 located beneath the screen.

[0091] Step S5: After the vibration duration, obtain the planar projection image of the vibrating screen corresponding to each layer of the vibrating screen group number.

[0092] The planar projection image of the vibrating screen refers to the image obtained by taking a picture from the side and above the vibrating screen after the vibration time. The image is obtained by the camera 4 taking a picture of the plane of the vibrating screen from the side and above the vibrating screen. Only the diagonal chamber wall is captured through the screen holes, excluding the screen below.

[0093] Step S6: When no workpiece features appear in the projection image of the vibrating screen in each layer, the workpiece 1 that has passed through the vibrating screen group 2 is moved out along with the carrying net 6. The carrying net 6 is preset below the vibrating screen corresponding to the number of the vibrating screen group.

[0094] When no workpiece features appear in the planar projection image of each layer of the vibrating screen, it means that there are no workpieces 1 on each layer of the vibrating screen. Workpieces 1 have all passed through the vibrating screen group 2 and fallen into the carrying net hopper 6 below the vibrating screen group 2. They are now considered qualified workpieces 1. At this time, the carrying net hopper 6 is removed.

[0095] The method of controlling the vibrating screen corresponding to the vibrating screen group number to extend below the cleaning chamber 5, and then dropping the workpiece 1 onto the vibrating screen corresponding to the vibrating screen group number, and vibrating according to the preset vibration duration includes:

[0096] Step S40: Acquire a real-time planar projection image of the vibrating screen within the vibration duration.

[0097] A real-time planar projection image of a vibrating screen refers to an image captured in real-time from above the side of the vibrating screen during the vibration process. This image is captured in real-time from above the side of the vibrating screen by camera 4 during vibration, showing only the diagonal walls of the screen through the screen holes, excluding the screen below.

[0098] Step S41: When workpiece features appear in the real-time vibrating screen plane projection image, obtain the vibrating screen layer number.

[0099] The vibrating screen layer number refers to the numbering system within the vibrating screen group 2, arranged from top to bottom according to the layer number and associated with the camera number of each layer. The camera number corresponds to each layer of the vibrating screen and is used to identify and distinguish the images captured by different cameras 4; this number is obtained through pre-setting. The vibrating screen layer numbers are obtained by those skilled in the art, numbering the vibrating screens sequentially from top to bottom according to their actual position within the vibrating screen group 2, and each layer's vibrating screen layer number is associated with its corresponding camera number. When a workpiece feature appears in the real-time vibrating screen planar projection image, it indicates that workpiece 1 has fallen onto the vibrating screen. To determine which specific layer of the vibrating screen workpiece 1 has fallen onto for subsequent vibration operations, the vibrating screen layer number is obtained.

[0100] Step S42: Divide the real-time vibrating screen plane projection image into preset division areas to obtain real-time center image and real-time edge image.

[0101] The defined regions refer to the central area, which facilitates the sieve passage and descent of workpiece 1, and the edge areas, which hinder its passage and descent. These regions are pre-defined according to rules established by those skilled in the art. (Refer to...) Figure 3 The image represents the planar projection of the vibrating screen over different surfaces of workpiece 1. The real-time center image refers to the portion of the image located in the center of the real-time vibrating screen planar projection image, which is obtained by dividing the real-time vibrating screen planar projection image into defined regions. The real-time edge image refers to the portion of the image located in the edge regions of the real-time vibrating screen planar projection image, which is also obtained by dividing the real-time vibrating screen planar projection image into defined regions.

[0102] Step S43: When workpiece features appear on the real-time center image, no operations other than vibration are performed.

[0103] When the workpiece features appear on the real-time center image, it means that workpiece 1 has fallen into the center area of ​​the screen, which means that workpiece 1 has fallen into the lower layer area. At this time, no additional operation is required. Just complete the vibration according to the previously set vibration duration.

[0104] Step S44: When no workpiece features appear in the real-time center image but workpiece features appear in the real-time edge image, the workpiece features are used to analyze the real-time edge image to obtain the workpiece position.

[0105] The workpiece position refers to the specific coordinates of workpiece 1 within the edge area of ​​the vibrating screen. This position is determined using image recognition technology. The workpiece features, specifically the color of workpiece 1, are extracted and analyzed from the real-time edge image. Combined with a pre-defined coordinate system and image scale, the precise position of workpiece 1 on the vibrating screen is calculated. When workpiece features are not visible in the real-time center image but appear in the real-time edge image, it indicates that workpiece 1 has fallen into the screen edge area, a region where it is difficult for workpiece 1 to pass through the screen. In this case, the workpiece features are analyzed in the real-time edge image, and the workpiece position is located using its color, preparing for subsequent accurate tilt adjustments of workpiece 1.

[0106] Step S45: Calculate the tilt direction based on the workpiece position and the preset center position.

[0107] The center position refers to the coordinate position of the center point of the vibrating screen. This coordinate is set based on the geometric center of the vibrating screen and is a reference point predefined within the system. The tilt direction refers to the direction in which the vibrating screen needs to be tilted to move workpiece 1 from the edge area to the center position. This direction is determined by calculating the coordinate difference between the workpiece position and the center position, combined with the size and shape of the vibrating screen.

[0108] Step S46: Control the vibrating screen corresponding to the vibrating screen layer number to tilt in the tilt direction and maintain the vibration operation.

[0109] To move workpiece 1 from an edge area that makes it difficult for it to pass through the screen to a central area that facilitates its passage, the vibrating screen corresponding to the screen layer number is tilted in the tilting direction while maintaining vibration operation. Specifically, this tilting is achieved by controlling the vibrating tilting device 3 located below the vibrating screen to tilt it.

[0110] The methods for controlling the tilt of the vibrating screen corresponding to the layer number of the vibrating screen according to the tilt direction include:

[0111] Step S460: Obtain the number of workpieces in the real-time edge image.

[0112] The number of workpieces in the real-time edge image refers to the number of workpieces 1 within the edge area of ​​the vibrating screen. This number is obtained by identifying the workpiece features (i.e., the color of workpiece 1) in the real-time edge image using image recognition technology and then counting their numbers.

[0113] Step S461: When the number of workpieces is equal to 1, control the vibrating screen corresponding to the vibrating screen layer number to tilt in the tilting direction.

[0114] When the number of workpieces is equal to 1, it means that there is a workpiece 1 in the edge area of ​​the corresponding vibrating screen. The camera number that emits the real-time edge image is obtained through the corresponding real-time edge image. The vibrating screen layer number associated with the camera number is found. The vibrating screen corresponding to the vibrating screen layer number is controlled to tilt in the direction that the workpiece 1 moves from the edge area to the center position, so that the workpiece 1 falls to the lower layer through the screen from the center position.

[0115] Step S462: When the number of workpieces is greater than 1, calculate a single tilt direction based on the position and center position of a single workpiece.

[0116] A single tilt direction refers to calculating the tilt direction required for each workpiece 1 in the edge region to move from its current position to the center position. This direction is determined by calculating the coordinate difference between each workpiece position and the center position, and combining this with the size and shape of the vibrating screen to determine an independent tilt direction for each workpiece 1. When the number of workpieces is greater than one, it indicates that there are more than one workpiece 1 in the corresponding edge region of the vibrating screen. The direction for moving a single workpiece 1 from the edge region to the center position is calculated for each individual workpiece position and the center position.

[0117] Step S463: Based on a single tilt direction, decompose it according to the preset standard horizontal direction and standard vertical direction to obtain the horizontal tilt direction and the vertical tilt direction.

[0118] The standard horizontal direction refers to a pre-defined direction parallel to the plane of the vibrating screen within a horizontal plane. The standard vertical direction refers to a pre-defined direction perpendicular to the plane of the vibrating screen within a vertical plane. Both the standard horizontal and vertical directions are obtained through pre-setting. The horizontal tilt direction is the direction obtained by decomposing a single tilt direction within a horizontal plane. This direction is obtained by calculating the vector projection of the single tilt direction onto the standard horizontal direction. The vertical tilt direction is the direction obtained by decomposing a single tilt direction within a vertical plane. This direction is obtained by calculating the vector projection of the single tilt direction onto the standard vertical direction.

[0119] Step S464: When the horizontal or vertical tilting direction of all workpieces 1 is consistent, the consistent horizontal or vertical tilting direction is defined as the tilting direction and output, and the vibrating screen corresponding to the vibrating screen layer number is controlled to tilt according to the tilting direction.

[0120] When the horizontal or vertical tilt direction of all workpieces 1 is consistent, it means that the position of all workpieces 1 is at a certain point in the edge area of ​​the corresponding vibrating screen. The specific tilt direction of the corresponding vibrating screen is determined by the horizontal or vertical tilt direction and output, so as to control the vibrating screen corresponding to the vibrating screen layer number to tilt according to the tilt direction.

[0121] Step S465: When there is inconsistency in the horizontal and vertical tilt directions of all workpieces 1, no operation other than vibration shall be performed.

[0122] When the horizontal and vertical tilt directions of all workpieces 1 are inconsistent, it means that workpieces 1 are not gathered at a certain point in the corresponding vibrating screen edge area, but are scattered in various places in the corresponding vibrating screen edge area. At this time, no operation other than vibration is performed.

[0123] This also includes:

[0124] Step S7: If a planar projection image of the vibrating screen with workpiece characteristics exists, obtain the residual vibrating screen layer number.

[0125] The residual vibrating screen layer number refers to the layer number of the vibrating screen whose workpiece characteristics appear in the planar projection image after the vibration duration. If the workpiece characteristics were captured by the corresponding camera 4, it indicates that workpiece 1 remains on that layer of the screen, and this layer number is considered the residual vibrating screen layer number. When a planar projection image of the vibrating screen showing workpiece characteristics exists, it means that workpiece 1, which did not pass through vibrating screen group 2, remained on the vibrating screen after the vibration duration. In this case, the camera number that emitted the image is obtained from the planar projection image of the vibrating screen showing workpiece characteristics. The corresponding layer number of the vibrating screen containing the residual workpiece 1 is then found through the camera number, facilitating subsequent processing of these workpieces 1 that did not pass through vibrating screen group 2.

[0126] Step S8: Control the vibrating screen corresponding to the residual vibrating screen layer number to tilt in the preset recycling tilt direction so that the workpiece 1 on the vibrating screen corresponding to the residual vibrating screen layer number falls into the recycling pipe 7 and is recycled to the cleaning chamber 5 for shot blasting again.

[0127] The recovery tilt direction refers to the direction in which the vibrating screen pours the workpiece 1 that did not pass through the screen into the recovery pipe 7 below the screen. This direction is obtained through a pre-set setting. The recovery pipe 7 is a pipe in the shot blasting equipment used to recover the workpiece 1 that did not pass through the vibrating screen group 2 and needs to be shot blasted again. This pipe is pre-designed by those skilled in the art.

[0128] This also includes:

[0129] Step S9: Determine all lower vibrating screen layer numbers based on the residual vibrating screen layer number.

[0130] The lower layer vibrating screen layer number refers to the layer number of the vibrating screen below the remaining vibrating screen in vibrating screen group 2. The vibrating screen layer number is obtained by searching from top to bottom for the remaining vibrating screen layer number.

[0131] Step S10: After the workpiece 1 on the vibrating screen corresponding to the residual vibrating screen layer number falls into the recycling pipe 7 and is recycled to the cleaning chamber 5 for shot blasting again, the vibrating screen group number is updated based on the residual vibrating screen layer number and the lower vibrating screen layer number. Then, steps S3 to S8 are executed again until the residual vibrating screen layer number no longer exists.

[0132] When the workpiece 1 on the vibrating screen corresponding to the residual vibrating screen layer number falls into the recovery pipe 7 and is recovered to the cleaning chamber 5 for re-shot blasting, it indicates that the workpiece 1 that did not pass through the vibrating screen group 2 has been re-shot blasted and needs to be screened again. These workpieces 1 only need to pass through the residual vibrating screen and the vibrating screen below it. The vibrating screen group number is updated based on the residual vibrating screen layer number and the lower vibrating screen layer number. That is, the residual vibrating screen layer number and the lower vibrating screen layer number are combined to form a new vibrating screen group number. Workpiece 1 that passes through this vibrating screen group 2 is considered a qualified workpiece 1. Repeating steps S3 to S8 involves dropping the shot-blasted workpiece 1 back into the new vibrating screen group 2 for vibration. After the vibration time is over, a planar projection image of each layer of the vibrating screen is obtained. Once there is no workpiece 1 remaining on the vibrating screen, the workpiece 1 that has passed through the vibrating screen group 2 is removed with the carrying net hopper 6. If there is workpiece 1 remaining on the vibrating screen, the layer number of the remaining vibrating screen is obtained. The workpiece 1 remaining on the vibrating screen is tilted to the recovery pipe 7 for shot blasting again. The new vibrating screen group 2, which is formed by the remaining vibrating screen and the vibrating screen group 2 below, continues until there is no workpiece 1 remaining on the vibrating screen, indicating that all workpiece 1 has passed through the vibrating screen group 2. The passed workpiece 1 is then removed with the carrying net hopper 6.

[0133] The method for removing workpiece 1 from the vibrating screen corresponding to the residual vibrating screen layer number and transferring it into the recovery pipe 7 and back to the cleaning chamber 5 for re-shot blasting includes:

[0134] Step S80: Determine the number of screens that did not pass through the vibrating screen based on the residual vibrating screen layer number.

[0135] The number of screens that did not pass through the vibrating screen refers to the total number of screens remaining on the vibrating screen. This number is obtained by counting the number of layers in the remaining vibrating screen layer number. For example, if the remaining vibrating screen layer numbers are 3, 4, and 5, then the number of screens that did not pass through the vibrating screen is 3.

[0136] Step S81: When the number of screens that have not passed through the vibrating screen is greater than 1, control the vibrating screen corresponding to the residual vibrating screen layer number to tilt in the recycling tilt direction.

[0137] When the number of non-vibrating screens is greater than 1, it means that there are two or more layers of vibrating screens remaining on workpiece 1. At this time, these workpieces 1 that have not passed through the vibrating screens will be shot blasted again. The specific method is to control the vibrating screens corresponding to the residual vibrating screen layer numbers to tilt them in the recycling tilt direction, pour workpiece 1 into the recycling pipe 7 and recycle it to the cleaning chamber 5 for shot blasting again.

[0138] Step S82: When the number of non-vibrating screens is equal to 1 and the residual vibrating screen layer number is the preset last layer number, the workpiece 1 on the vibrating screen corresponding to the residual vibrating screen layer number falls into the recycling pipe 7 and is recycled to the cleaning chamber 5 for shot blasting again.

[0139] When the number of non-vibrating screens is equal to 1, it means that there is only one layer of vibrating screen remaining on workpiece 1. When the layer number of the remaining vibrating screen is the preset last layer number, it means that the vibrating screen remaining on workpiece 1 is the last layer. Workpiece 1 on this layer of vibrating screen only needs to fall into the recycling pipe 7 and be recycled to the cleaning chamber 5 for shot blasting. After that, it only needs to be screened through this layer of vibrating screen for verification.

[0140] Step S83: When the number of non-vibrating screens is equal to 1, but the residual vibrating screen layer number is not the last layer number, the residual vibrating screen layer number is defined as the marked screen layer number.

[0141] When the number of non-vibrating screens is equal to 1, but the residual vibrating screen layer number is not the last layer number, it means that the number of residual vibrating screens on workpiece 1 is only one layer but not the last layer. In order to facilitate the subsequent screening process, the residual vibrating screen layer number is first defined as the marked screen layer number.

[0142] Step S84: Update the vibrating screen group number according to the lower layer vibrating screen number.

[0143] Update the vibrating screen group number by updating the layer number of the lower vibrating screens that have not passed below the vibrating screen, that is, combine all the lower vibrating screens into a new vibrating screen group 2.

[0144] Step S85: Collect the vibrating screen corresponding to the residual vibrating screen layer number, and execute steps S3 to S5 and steps S7 to S83 until the residual vibrating screen layer number is the last layer number or no workpiece features appear in the plane projection image of each layer of the vibrating screen.

[0145] Retract the vibrating screen corresponding to the residual vibrating screen layer number, and control the new vibrating screen corresponding to the new vibrating screen group number to extend to the bottom of the cleaning chamber 5. Place the workpiece 1 onto the new vibrating screen for vibration. After the vibration is completed, obtain the plane projection image of the vibrating screen for each vibration and obtain the residual vibrating screen layer number. If there are still two or more workpieces that have not passed through the vibrating screen, pour the workpiece 1 into the recycling pipe 7 and return it to the cleaning chamber 5 for shot blasting again. Then, combine the residual vibrating screen layer number with the lower vibrating screen layer number to form an updated vibrating screen group number corresponding to the vibrating screen group 2 until the residual vibrating screen layer number is the last layer number or no workpiece features appear in the plane projection image of each layer of the vibrating screen.

[0146] Step S86: The workpiece 1 that has fallen into the loading net hopper 6 is dropped into the recycling pipe 7 and recycled to the cleaning chamber 5 for shot blasting again. The vibrating screen group number is updated based on the marked screen layer number. Then, steps S3 to S5 and steps S7 to S83 are repeated until the residual vibrating screen layer number is no longer present.

[0147] The workpiece 1 that falls into the loading net hopper 6 is dropped into the recycling pipe 7 and recycled to the cleaning chamber 5 for shot blasting again. A new vibrating screen group number is updated according to one or more previously determined marked screen layer numbers. The vibrating screen group 2 corresponding to the new vibrating screen group number is the combination in which only one layer of vibrating screen remains after each screening of workpiece 1 and the vibrating screen layer number is not the last layer number. Then, steps S3 to S5 and steps S7 to S83 are repeated until the residual vibrating screen layer number no longer exists.

[0148] This also includes:

[0149] Step S11: When the workpiece features appear in the projection image of the vibrating screen plane on any layer, the workpiece 1 that has passed through the vibrating screen group 2 is moved out along with the carrying net hopper 6.

[0150] When the workpiece features appear in the planar projection image of any layer of the vibrating screen, it indicates that workpiece 1 has been left in any layer after one screening. At this time, the workpiece 1 that has passed through the vibrating screen group 2 is moved out with the carrying net hopper 6 to facilitate the subsequent screening of workpiece 1 that has not passed through the vibrating screen group 2.

[0151] This also includes:

[0152] Step S12: Within the vibration duration, acquire real-time projection video of the vibrating screen plane.

[0153] Real-time vibrating screen planar projection video refers to video captured in real-time from above the side of the vibrating screen during the vibration process. This video is captured by camera 4 from above the side of the vibrating screen, showing only the diagonal walls of the screen through the screen holes, excluding the screen below.

[0154] Step S13: Based on the real-time vibrating screen plane projection video, obtain a group of vibrating screen plane projection images of the workpiece features on the vibrating screen.

[0155] A vibrating screen planar projection image set refers to a combination of images obtained by taking pictures from above the side of the vibrating screen when there are workpiece features. These images are obtained by capturing frame by frame from the real-time vibrating screen planar projection video.

[0156] Step S14: Based on the workpiece characteristics and the workpiece center of gravity, analyze the set of plane projection images of the vibrating screen to obtain the workpiece displacement distance.

[0157] The workpiece displacement distance refers to the change in distance of workpiece 1 from its initial position to its position at a certain moment on the vibrating screen. This distance is calculated by analyzing the positional changes of workpiece features in the vibrating screen's planar projection image set, combined with the coordinate movement of the workpiece's center of gravity in the images. Specifically, the calculation method involves first determining the initial position coordinates of the workpiece features in the first frame image, then selecting a subsequent frame image as the target frame, determining the position coordinates of the same workpiece feature in the target frame, calculating the distance between these two position coordinates, and correcting for the workpiece's center of gravity coordinate movement between the two frames. This yields the displacement distance of workpiece 1 within the time interval between the two frames. For the entire vibrating screen's planar projection image set, multiple adjacent frames can be selected sequentially for the above calculation, ultimately obtaining the overall displacement distance change of workpiece 1 during the vibration process.

[0158] Step S15: When the workpiece displacement distance is 0, output a preset alarm signal.

[0159] The alarm signal is used to alert operators that workpiece 1 is stuck in the sieve hole and cannot fall down. This signal is obtained through a preset setting. When the workpiece displacement distance is 0, it indicates that workpiece 1 may have fallen into the sieve hole but is stuck due to incomplete shot blasting or due to the orientation of workpiece 1's fall. In this case, an alarm signal is output to facilitate operators in handling the problem of workpiece 1 being stuck in the sieve hole after the vibration period ends.

[0160] The method for outputting a preset alarm signal when the workpiece displacement distance is 0 includes:

[0161] Step S16: Determine the location of abnormal workpieces with a displacement distance of 0 based on the group of plane projection images of the vibrating screen.

[0162] An abnormal workpiece position refers to the coordinate position of workpiece 1, which is stuck in the screen and unable to fall due to a displacement distance of 0. In the vibrating screen planar projection image group, by comparing the position coordinates of the workpiece features in each frame of the image, if it is found that the position coordinates of a certain workpiece 1 remain basically unchanged in multiple consecutive frames of images, it can be determined that the displacement distance of the workpiece is 0, and thus its abnormal workpiece position can be determined.

[0163] Step S17: Using the abnormal workpiece location as the center, analyze the number of workpieces surrounding the abnormal workpiece location based on the plane projection image group of the vibrating screen.

[0164] The number of surrounding workpieces refers to the number of workpieces other than the abnormal workpiece within a defined radius range in the planar projection image group of the vibrating screen, centered on the location of the abnormal workpiece. For example, using the center coordinates of the abnormal workpiece as the center and setting a radius of a certain pixel value, the number of workpiece features contained within this circular area is counted; this number represents the number of workpieces surrounding the abnormal workpiece. This is obtained through image analysis of the workpiece features within the planar projection image group of the vibrating screen.

[0165] Step S18: When the number of surrounding workpieces is greater than 0, determine the position of the assisting workpiece.

[0166] The assisting workpiece position refers to the location of workpiece 1 around the abnormal workpiece that can act on it through its own vibration or mutual collision, helping it to break free from its jammed state. In the vibrating screen planar projection image set, by analyzing the positional relationships and distances of various workpiece features, the positions of workpieces that may assist the abnormal workpiece are comprehensively determined. When the number of surrounding workpieces is greater than 0, it indicates that the abnormal workpiece is not isolated and that other workpieces exist around it. In this case, it is necessary to further determine which workpiece 1 might assist the abnormal workpiece. By analyzing the vibrating screen planar projection image set, combined with information such as the position of workpiece features and relative distances between workpieces, the assisting workpiece positions can be accurately determined.

[0167] Step S19: Determine the tilting and falling direction based on the position of the assisted workpiece and the position of the abnormal workpiece, and control the vibrating screen to tilt in accordance with the tilting and falling direction.

[0168] The tilting drop direction refers to the direction that allows the assisting workpiece to effectively collide with the abnormal workpiece, thus freeing the abnormal workpiece from its stuck state. This direction is determined by analyzing the relative coordinate relationship between the positions of the assisting workpiece and the abnormal workpiece, combined with the tilt angle range of the vibrating screen. Specifically, the calculation method involves first obtaining the coordinate difference between the positions of the assisting workpiece and the abnormal workpiece. Using the abnormal workpiece position as a reference point, a general direction range is determined based on the coordinate difference. Then, considering the tilt angle range that the vibrating screen can achieve, the direction most conducive to an effective collision between the assisting workpiece and the abnormal workpiece, thus freeing the abnormal workpiece from its stuck state, is selected as the tilting drop direction. After determining the tilting drop direction, the vibrating screen is controlled to tilt in this direction, causing the assisting workpiece and the abnormal workpiece to collide with each other, attempting to free the abnormal workpiece from its stuck state and allow it to resume normal descent.

[0169] Step S110: When no workpiece features appear in the real-time vibrating screen plane projection image, the workpiece 1 that has fallen into the loading net hopper 6 is dropped into the recycling pipe 7 and recycled to the cleaning chamber 5 for shot blasting again.

[0170] When no workpiece features appear in the real-time vibrating screen planar projection image, it indicates that the abnormal workpiece has fallen into the carrying net hopper 6 after being impacted by the surrounding workpiece 1. At the same time, the surrounding workpiece 1 also falls into the carrying net hopper 6, and the workpiece 1 falls into the recycling pipe 7 and is recycled into the cleaning chamber 5 for shot blasting again.

[0171] Step S111: When a workpiece feature appears in the real-time vibrating screen plane projection image, an alarm signal is output.

[0172] When a workpiece feature appears in the real-time vibrating screen planar projection image, it indicates that the abnormal workpiece has not fallen into the carrying net hopper 6 after being impacted by the surrounding workpiece 1. At this time, an alarm signal is output to facilitate the staff to handle the problem of workpiece 1 being stuck in the screen hole and unable to fall after the vibration time ends.

[0173] Based on the same inventive concept, embodiments of the present invention provide a shot blasting equipment control system.

[0174] A shot blasting equipment control system, comprising:

[0175] The acquisition module is used to acquire the workpiece number, vibrating screen layer number, real-time vibrating screen planar projection image, and real-time vibrating screen planar projection video.

[0176] A memory for storing a program that can be loaded by a processor and executed as a method for controlling a shot blasting equipment;

[0177] The processor loads and executes programs from memory.

[0178] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0179] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A control method for shot blasting equipment, characterized in that, include: Step S1: In response to the detection signal, receive the workpiece number; Step S2: Find the corresponding vibrating screen group number and workpiece characteristics based on the workpiece number; Step S3: Control the vibrating screen corresponding to the number of the vibrating screen group to extend to the bottom of the cleaning chamber (5); Step S4: Drop the workpiece (1) onto the vibrating screen corresponding to the number of the vibrating screen group, and vibrate it according to the preset vibration time. Step S40: Within the vibration duration, acquire a real-time planar projection image of the vibrating screen; Step S41: When workpiece features appear in the real-time vibrating screen plane projection image, obtain the vibrating screen layer number; Step S42: Divide the real-time vibrating screen planar projection image according to the preset division area to obtain the real-time center image and the real-time edge image; Step S43: When workpiece features appear on the real-time center image, no operations other than vibration are performed; Step S44: When no workpiece features appear in the real-time center image but workpiece features appear in the real-time edge image, the workpiece features are used to analyze the real-time edge image to obtain the workpiece position. Step S45: Calculate the tilt direction based on the workpiece position and the preset center position; Step S460: Obtain the number of workpieces in the real-time edge image; Step S461: When the number of workpieces is equal to 1, control the vibrating screen corresponding to the vibrating screen layer number to tilt in the tilting direction; Step S462: When the number of workpieces is greater than 1, calculate a single tilt direction based on the position and center position of a single workpiece; Step S463: Based on a single tilt direction, decompose it according to the preset standard horizontal direction and standard vertical direction to obtain the horizontal tilt direction and the vertical tilt direction; Step S464: When the horizontal or vertical tilting direction of all workpieces (1) is consistent, the consistent horizontal or vertical tilting direction is defined as the tilting direction and output, and the vibrating screen corresponding to the vibrating screen layer number is controlled to tilt in the tilting direction. Step S465: When there is inconsistency in both the horizontal and vertical tilt directions of all workpieces (1), no operation other than vibration shall be performed; Step S5: After the vibration duration, obtain the planar projection image of the vibrating screen for each layer corresponding to the vibrating screen group number; Step S6: When no workpiece features appear in the projection image of the vibrating screen plane of each layer, the workpiece (1) that has passed through the vibrating screen group (2) is moved out with the carrying net bucket (6), which is preset below the vibrating screen corresponding to the number of the vibrating screen group.

2. The shot blasting equipment control method according to claim 1, characterized in that, Also includes: Step S7: If a planar projection image of the vibrating screen with workpiece characteristics exists, obtain the residual vibrating screen layer number; Step S8: Control the vibrating screen corresponding to the residual vibrating screen layer number to tilt in the preset recycling tilt direction so that the workpiece (1) on the vibrating screen corresponding to the residual vibrating screen layer number falls into the recycling pipe (7) and is recycled to the cleaning chamber (5) for shot blasting again.

3. The shot blasting equipment control method according to claim 2, characterized in that, Also includes: Step S9: Determine all lower vibrating screen layer numbers based on the residual vibrating screen layer number; Step S10: After the workpiece (1) on the vibrating screen corresponding to the residual vibrating screen layer number falls into the recycling pipe (7) and is recycled to the cleaning chamber (5) for shot blasting again, the vibrating screen group number is updated based on the residual vibrating screen layer number and the lower vibrating screen layer number. Then, steps S3 to S8 are executed again until the residual vibrating screen layer number no longer exists.

4. The shot blasting equipment control method according to claim 3, characterized in that, The method for dropping the workpiece (1) on the vibrating screen corresponding to the residual vibrating screen layer number into the recycling pipe (7) and recycling it to the cleaning chamber (5) for re-shot blasting includes: Step S80: Determine the number of items that did not pass through the vibrating screen based on the residual vibrating screen layer number; Step S81: When the number of screens that have not passed through the vibrating screen is greater than 1, control the vibrating screen corresponding to the residual vibrating screen layer number to tilt in the recycling tilt direction; Step S82: When the number of non-vibrating screens is equal to 1 and the residual vibrating screen layer number is the preset last layer number, the workpiece (1) on the vibrating screen corresponding to the residual vibrating screen layer number falls into the recycling pipe (7) and is recycled to the cleaning chamber (5) for shot blasting again. Step S83: When the number of non-vibrating screens is equal to 1, but the residual vibrating screen layer number is not the last layer number, the residual vibrating screen layer number is defined as the marked screen layer number; Step S84: Update the vibrating screen group number according to the lower layer vibrating screen number; Step S85: Collect the vibrating screen corresponding to the residual vibrating screen layer number, and execute steps S3 to S5 and steps S7 to S83 until the residual vibrating screen layer number is the last layer number or no workpiece features appear in the plane projection image of each layer of the vibrating screen. Step S86: The workpiece (1) that has fallen into the loading net hopper (6) is dropped into the recycling pipe (7) and recycled to the cleaning chamber (5) for shot blasting again. The vibrating screen group number is updated based on the marked screen layer number. Then, steps S3 to S5 and steps S7 to S83 are repeated until the residual vibrating screen layer number is no longer present.

5. The shot blasting equipment control method according to claim 1, characterized in that, Also includes: Step S11: When the workpiece features appear in the projection image of the vibrating screen plane on any layer, the workpiece (1) that has passed through the vibrating screen group (2) is moved out along with the carrying net bucket (6).

6. The shot blasting equipment control method according to claim 1, characterized in that, Also includes: Step S12: Within the vibration duration, acquire real-time projection video of the vibrating screen plane; Step S13: Based on the real-time vibrating screen plane projection video, obtain a group of vibrating screen plane projection images of the workpiece features on the vibrating screen. Step S14: Based on the workpiece features and center of gravity, analyze the upper planar projection image group of the vibrating screen to obtain the workpiece displacement distance; Step S15: When the workpiece displacement distance is 0, output a preset alarm signal.

7. The shot blasting equipment control method according to claim 6, characterized in that, Methods for outputting a preset alarm signal when the workpiece displacement distance is 0 include: Step S16: Determine the location of abnormal workpieces with a displacement distance of 0 based on the upper planar projection image group of the vibrating screen; Step S17: Using the abnormal workpiece location as the center, analyze the number of workpieces surrounding the abnormal workpiece location based on the upper planar projection image group of the vibrating screen. Step S18: When the number of surrounding workpieces is greater than 0, determine the position of the assisting workpiece; Step S19: Determine the tilting and falling direction based on the position of the assisted workpiece and the position of the abnormal workpiece, and control the vibrating screen to tilt in accordance with the tilting and falling direction; Step S110: When no workpiece features appear in the real-time vibrating screen plane projection image, the workpiece (1) that has fallen into the loading net hopper (6) is dropped into the recycling pipe (7) and recycled to the cleaning chamber (5) for shot blasting again. Step S111: When a workpiece feature appears in the real-time vibrating screen plane projection image, an alarm signal is output.

8. A shot blasting equipment control system, characterized in that, include: The acquisition module is used to acquire the workpiece number, vibrating screen layer number, real-time vibrating screen planar projection image, and real-time vibrating screen planar projection video. A memory for storing a program for a shot blasting equipment control method as described in any one of claims 1 to 7; The processor loads and executes programs from memory.

Images