A control method and system for an automatic follow-up edge-pulling machine for an industrial endoscope in a tin bath

Abstract

This application provides a control method and system for automatically following a tin bath edge-pulling machine using an endoscope in the tin bath industry. It relates to the field of automatic control technology for glass machinery equipment and solves the problems of low efficiency, insufficient precision, and easy collisions between multiple frames during manual operation. The method includes: calibrating the initial reference position of the endoscope frame and the reference parameters of the endoscope window; real-time acquisition of position and motion command data of the endoscope frame and the edge-pulling machine, calculating the relative displacement difference and generating a following control command to drive the frame to adjust until the displacement difference falls within a preset allowable error range; and calculating the three-axis fine-tuning displacement based on the window parameter deviation value until the window effect parameters are consistent with the reference parameters. This application is used for online monitoring of the tin bath edge-pulling machine's operating conditions in float glass production.

Description

Technical Field

[0001] This application relates to the field of automatic control technology for glass machinery and equipment, and in particular to a control method and system for an automatic following edge-pulling machine for an industrial endoscope in a tin bath. Background Technology

[0002] In the float glass production process, industrial endoscopes are core equipment for online monitoring of the tin bath's operating conditions. They are mainly used to collect real-time visual data on the operating status of the edge-drawing machine, the position of the machine head, and the edge forming of the glass strip, providing on-site data for process control of the glass strip width and thickness. Currently, the conventional application of industrial endoscopes in the tin bath within the industry is mainly through fixed installation or manual adjustment of the equipment's position.

[0003] The existing fixed installation method means that when the edge-pulling machine performs process adjustments such as displacement and swaying during production, the endoscope cannot move synchronously with the machine, easily resulting in blind spots, image shift, and an inability to continuously and stably obtain clear images of the target working condition. Manual adjustment is cumbersome and inefficient, and manual operation cannot guarantee the stability of the relative position between the endoscope and the edge-pulling machine, failing to meet the dynamic adjustment needs of the machine. When multiple endoscopes operate together, manual adjustment lacks a unified anti-collision control logic, easily leading to frame collisions and equipment damage. Furthermore, the equipment operating under these conventional modes is ill-suited to the harsh conditions of high temperatures, dust, and strong electromagnetic interference in the solder bath, resulting in insufficient operational stability. Therefore, there is an urgent need for a technical solution that enables automatic, accurate, safe, and stable tracking and monitoring of the edge-pulling machine using an industrial endoscope in the solder bath. Summary of the Invention

[0004] This application provides a control system and method for an automatic following edge-pulling machine for an industrial endoscope in a tin bath, which solves the technical problems of low efficiency and insufficient accuracy of manual operation leading to unstable monitoring results, as well as the tendency for collisions to occur when multiple frames work together in the prior art.

[0005] To achieve the above objectives, this application adopts the following technical solution: In a first aspect, a control method for an automatic follow-up edge-pulling machine using an endoscope in a tin bath industry is provided, characterized by comprising: acquiring the initial position and initial state parameters of the endoscope frame, acquiring the initial viewing window effect parameters of the endoscope, and labeling the initial reference position of the endoscope frame actuator and the viewing window reference parameters of the endoscope; real-time acquisition of real-time position data corresponding to the left-right swing, depth, and up-down swing of the endoscope frame, and simultaneously acquiring the real-time position data and action command data of the edge-pulling machine; calculating the relative displacement difference based on the real-time position data of the endoscope frame and the edge-pulling machine, and generating a control method based on the relative displacement difference. The endoscope gantry follows the control commands and performs the corresponding actions accordingly. It provides real-time feedback on the adjusted position parameters and recalculates the relative displacement difference until it is within the preset allowable error range. It acquires the current endoscope window effect parameters and calculates the window parameter deviation value based on the window reference parameters. Based on the window parameter deviation value, it calculates the fine adjustment displacement corresponding to left and right swing, depth, and up and down swing, generates fine control commands, and the endoscope gantry performs the corresponding actions according to the fine control commands until the window effect parameters are consistent with the window reference parameters.

[0006] In conjunction with the first aspect mentioned above, in one possible implementation, calculating the relative displacement difference based on the real-time position data of the endoscope and the edge-pulling machine includes: calculating the corresponding actual swing angle based on the real-time position data of the endoscope frame combined with the initial state parameters of the endoscope frame; using the formula... Calculate the actual swing angles of the endoscope gantry for left-right swing, depth of insertion, and up-down swing, respectively; where... Let be the actual swing angle of the endoscope actuator in the i-th direction of motion. Let be the actual linear displacement of the endoscope gantry actuator in the i-th direction of motion. Let be the mechanical length of the endoscope gantry in the i-th direction of motion.

[0007] In conjunction with the first aspect mentioned above, in one possible implementation, the allowable error range is the preset displacement difference range between the endoscope frame and the edge-pulling machine; when the relative displacement difference between the endoscope frame and the edge-pulling machine is within the allowable error range, the endoscope lens and the observed edge-pulling machine maintain a fixed relative position in physical space.

[0008] In conjunction with the first aspect mentioned above, in one possible implementation, calculating the fine adjustment displacement corresponding to the left-right swing, depth of penetration, and up-down swing includes: establishing a spatial rectangular coordinate system with any point in the movable space of the endoscope frame as the origin, with the left-right swing direction of the endoscope frame as the X-axis, the depth of penetration direction of the endoscope frame as the Y-axis, and the up-down swing direction of the endoscope frame as the Z-axis; the reference parameters of the viewing window and the current viewing window effect parameters include the calibration dimensions of the edge-pulling mechanism within the viewing window, the calibration position of the center point of the machine head within the viewing window, and the distance between the edge of the glass strip and the calibration line of the viewing window.

[0009] In conjunction with the first aspect mentioned above, in one possible implementation, calculating the fine adjustment displacement corresponding to left-right sway, depth, and up-down sway also includes: based on the window parameter deviation value, using a formula... Calculate the axial view window parameter deviations corresponding to left-right swing, depth, and up-down swing, where... The vector representing the positional relationship of the vertical swing {0, 0, Z} of the endoscope tracking edge-pulling machine in the preceding and following states within a Cartesian coordinate system. The vector representing the positional relationship of the left-right swing {X, 0, 0} of the endoscope tracking edge-pulling machine in the spatial rectangular coordinate system during its forward and backward states is given. This is a vector representing the positional relationship of the depth {0, Y, 0} in a Cartesian coordinate system during the endoscopic tracking of the edge-pulling machine before and after its operation. Based on the axial window parameter deviations corresponding to left-right swing, depth, and up-down swing, the formula is used to... Calculate the fine adjustment displacement corresponding to left-right sway, depth, and up-down sway, where This refers to the fine adjustment displacement of the endoscope actuator in the i-th direction of motion. Let be the axial window parameter deviation value of the endoscope actuator in the i-th direction of motion, and p be the vertical distance between the endoscope frame and the edge-pulling machine. Let be the maximum movable length of the endoscope actuator in the i-th direction of motion.

[0010] In conjunction with the first aspect mentioned above, in one possible implementation, the method further includes: real-time acquisition of the real-time position parameters of multiple endoscope gantry units in the same scene, and calculation of the spatial distance between adjacent endoscope gantry units; when the spatial distance is less than the preset safety distance, issuing a collision warning and terminating the current automatic following action until the spatial distance is greater than the preset safety distance.

[0011] Secondly, a control system for an automatic following edge-pulling machine using an industrial endoscope in a tin bath is provided. The system comprises an endoscope frame, a position sensor module, a control module, a network module, and a human-machine interface. The endoscope frame carries an industrial endoscope and includes three sets of actuators for left-right swing, depth measurement, and up-down swing. The position sensor module is configured corresponding to the three sets of actuators and is used to collect real-time position parameters of the endoscope frame. The control module is connected to the position sensor module, the edge-pulling machine control system, and the actuators, and is used to execute control logic and generate control commands. The network module is used to enable signal interaction between the control module and the edge-pulling machine control system. The human-machine interface is connected to the control module for parameter setting, status display, and manual control.

[0012] In conjunction with the second aspect above, in one possible implementation, the control module establishes a two-way data communication link with the position sensor module, the edge-pulling machine control system, and the human-machine interface via the network module; The control module reads data from the position sensor module, receives data from the edge-pulling machine control system, issues control commands, and receives equipment operating status via a communication link.

[0013] In conjunction with the second aspect mentioned above, in one possible implementation, the control module incorporates an automatic following control algorithm to perform relative displacement difference calculation, window parameter deviation analysis, and control command generation.

[0014] In conjunction with the second aspect mentioned above, in one possible implementation, the human-machine interface is used to display the endoscope gantry position parameters, equipment operating status, and endoscope window view in real time, supports the setting of preset allowable error range and safety distance parameters, and is also used to receive collision warning information and provide alarm prompts.

[0015] This application provides a control system and method for an industrial endoscope in a tin bath to automatically follow an edge-pulling machine. Through a closed-loop design encompassing parameter acquisition, intelligent calculation, command execution, visual correction, and safety protection, it achieves real-time and precise automatic following of the tin bath endoscope to the edge-pulling machine. By replacing manual adjustment in traditional solutions with a linkage control mode, adjustment efficiency is improved. The spatial coordinate system deviation calculation and fine-tuning logic of the visual feedback module ensure the consistency of the endoscope window parameters before and after following, solving the technical problems of insufficient precision and unstable monitoring effects in manual adjustment. A multi-machine anti-collision mechanism avoids the collision risk when multiple machines work together. This achieves automated, high-precision, and high-safety monitoring of the tin bath edge-pulling machine's operating conditions.

[0016] It should be understood that the descriptions of technical features, technical solutions, beneficial effects, or similar language in this application do not imply that all features and advantages can be achieved in any single embodiment. Rather, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution, or beneficial effect is included in at least one embodiment. Therefore, the descriptions of technical features, technical solutions, or beneficial effects in this specification do not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions, and beneficial effects described in this embodiment can be combined in any suitable manner. Those skilled in the art will understand that embodiments can be implemented without one or more specific technical features, technical solutions, or beneficial effects of a particular embodiment. In other embodiments, additional technical features and beneficial effects may be identified in specific embodiments that do not embody all embodiments. Attached Figure Description

[0017] Figure 1 A flowchart illustrating a control method for an automatic following edge-pulling machine for an industrial endoscope in a tin bath, provided in an embodiment of this application; Figure 2 A schematic diagram of the control system for an automatic following edge-pulling machine for an industrial tin bath endoscope, provided in an embodiment of this application; Figure 3 A schematic diagram of the control system for an automatic following edge-pulling machine for an industrial tin bath provided in this application embodiment; Figure 4 A schematic diagram of the layout of a control system for an automatic following edge-pulling machine for an industrial endoscope in a tin bath, provided in an embodiment of this application; Figure 5 This is a schematic diagram of the system network architecture of a control system for an automatic following edge-pulling machine for an industrial endoscope in a tin bath, provided in an embodiment of this application. Detailed Implementation

[0018] In the description of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. The "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" means one or more, and "multiple" means two or more. The terms "first," "second," etc., do not limit the quantity or order of execution, and "first," "second," etc., do not necessarily imply differences.

[0019] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0020] Figure 1 A flowchart illustrating a control method for an automatic following edge-pulling machine using an industrial endoscope in a tin bath, as provided in this application embodiment, is shown below. Figure 1 As shown, this method includes: S1: Obtain the initial position and initial state parameters of the endoscope gantry, obtain the initial window effect parameters of the endoscope, and mark the initial reference position of the endoscope gantry actuator and the window reference parameters of the endoscope.

[0021] Specifically, after the control module is powered on, it executes the intelligent control algorithm initialization and verifies the communication links with the position sensor, the edge-pulling machine control system, the endoscope vision unit, and each actuator to ensure normal two-way data interaction. It simultaneously collects the initial state parameters of the three sets of actuators: the installation position of the endoscope frame, left and right swing, depth, and up and down swing, as well as the initial window image data collected by the endoscope in real time. Based on the collected frame installation position and the initial state of the actuators, combined with the inherent mechanical parameters of the corresponding actuators of the frame, the initial reference positions of the three sets of actuators are calibrated. These initial reference positions are set as the initial tracking reference points for the endoscope frame to follow the edge-pulling machine's movements, serving as the reference for subsequent calculation of relative displacement differences. At the same time, the initial window image is calibrated, and the calibration dimensions of the edge-pulling machine head in the window, the calibration position of the center point of the edge-pulling machine head in the window, and the distance from the edge of the glass strip to the calibration line of the window are acquired and recorded. These are set as the window reference parameters and serve as the benchmark for fine adjustment of the window after the follow-up movements are completed.

[0022] The intelligent control algorithm includes two control modes: manual and linkage. In manual mode, each actuator can be remotely operated by a person in the central control room. In linkage mode, the endoscope frame automatically follows and controls the edge-pulling machine through automatic calculation.

[0023] Specifically, when switching to manual mode, the intelligent control algorithm pauses the automatic following logic, and the control module only receives manual control commands issued by the operator in the central control room through the human-machine interface, driving the left and right angle actuators, depth actuators, and up and down angle actuators to complete the corresponding actions. During the execution of the actions, the position sensor module collects the position data of each actuator in real time, transmits it back to the control module, and displays it in real time on the human-machine interface.

[0024] S2 collects real-time position data corresponding to the left-right swing, depth of insertion, and up-down swing of the endoscope frame, and simultaneously acquires real-time position data and action command data of the edge-pulling machine.

[0025] Specifically, the linear displacement data of the left and right swing actuators of the endoscope frame are collected in real time, and the real-time position data of the left and right swing dimension is obtained after conversion; at the same time, the real-time position data of the depth and vertical swing dimension are collected and obtained, and the real-time position data of the three sets of actuators of the endoscope frame are synchronously collected and refreshed. At the same time, real-time data interaction is established with the control logic of the edge-pulling machine to synchronously obtain the real-time position data of each actuator of the edge-pulling machine, as well as the swing, depth and indentation action command data of the edge-pulling machine, so as to complete the real-time acquisition of all the data required for automatic follow control.

[0026] S3: Calculate the relative displacement difference based on the real-time position data of the endoscope frame and the edge-pulling machine, generate a follow-up control command for the endoscope frame based on the relative displacement difference, the endoscope frame completes the corresponding action according to the follow-up control command, provides real-time feedback on the adjusted real-time position parameters, and recalculates the relative displacement difference until the relative displacement difference is within the preset allowable error range.

[0027] The calculation of the relative displacement difference based on the real-time position data of the endoscope gantry and the edge-pulling machine includes: calculating the corresponding actual swing angle based on the real-time position data of the endoscope gantry combined with the initial state parameters of the endoscope gantry, and then using the formula... Calculate the actual swing angles of the endoscope gantry for left-right swing, depth of insertion, and up-down swing, respectively; where... Let be the actual swing angle of the endoscope actuator in the i-th direction of motion. Let be the actual linear displacement of the endoscope gantry actuator in the i-th direction of motion. Let be the mechanical length of the endoscope gantry in the i-th direction of motion.

[0028] The allowable error range is the preset displacement difference range between the endoscope frame and the edge-pulling machine; when the relative displacement difference between the endoscope frame and the edge-pulling machine is within the allowable error range, the endoscope lens and the edge-pulling machine being observed maintain a fixed relative position in physical space.

[0029] Specifically, before the automatic follow control process is started, threshold upper and lower limits of the single-axis displacement difference in each of the three motion dimensions of the endoscope frame and the edge-pulling machine are set as the corresponding preset allowable error ranges for the left-right swing, depth of penetration, and up-down swing. During the first cycle adjustment of the follow control, each time the relative displacement difference between the endoscope frame and the edge-pulling machine is calculated, the single-axis relative displacement difference of the current three motion dimensions is compared and verified with the preset allowable error range of the corresponding dimension. When the single-axis relative displacement difference of the three motion dimensions all fall within the allowable error range of the corresponding dimension, the first follow is deemed to have met the standard, and the cycle adjustment and repeated calculation of relative displacement difference are terminated. At this time, the spatial pose deviation of the endoscope lens and the observed edge-pulling machine in the three dimensions are all within the preset controllable range, and the edge-pulling machine frame and the endoscope maintain a fixed relative position in physical space.

[0030] Furthermore, after the first adjustment is completed, the control module receives the current window image, extracts the core window parameters and compares them with the trigger thresholds. When the deviation values ​​of all core window parameters are less than the trigger thresholds, it is determined that no fine adjustment is needed and the follow process ends. When any window deviation exceeds the trigger threshold, it is determined that fine adjustment is needed. The trigger thresholds include the position deviation threshold of the center point of the edge-pulling machine head within the window, the size deviation threshold of the machine head within the window, and the distance deviation threshold of the glass strip edge from the window calibration line.

[0031] S4: Obtain the current viewing window effect parameters of the endoscope, and calculate the viewing window parameter deviation value in combination with the viewing window reference parameters.

[0032] Specifically, after the endoscope frame completes its first follow-up action and the relative displacement difference between the endoscope frame and the edge-pulling machine is within the preset allowable error range, the current view of the endoscope is acquired. Feature parameters corresponding to the reference parameters of the view are extracted from the current view to obtain the current view effect parameters. The current view effect parameters include the actual size of the edge-pulling machine mechanism in the view, the actual position of the machine head center point in the view, and the actual distance of the glass strip edge from the view calibration line. The acquired current view effect parameters are compared item by item with the pre-calibrated reference parameters of the view, and the parameter difference of each item is calculated. The results of the parameter difference are combined to obtain the complete view parameter deviation value.

[0033] S5: Based on the deviation value of the window parameters, calculate the fine adjustment displacement corresponding to the left and right swing, depth, and up and down swing, generate fine control commands, and the endoscope gantry completes the corresponding actions according to the fine control commands until the window effect parameters are consistent with the window reference parameters.

[0034] The calculation of fine adjustment displacements corresponding to left-right swing, depth of penetration, and up-down swing includes: establishing a spatial rectangular coordinate system with any point in the movable space of the endoscope frame as the origin, with the left-right swing direction of the endoscope frame as the X-axis, the depth of penetration direction of the endoscope frame as the Y-axis, and the up-down swing direction of the endoscope frame as the Z-axis; the reference parameters of the viewing window and the current viewing window effect parameters include the calibration dimensions of the edge-pulling mechanism in the viewing window, the calibration position of the center point of the machine head in the viewing window, and the distance of the edge of the glass strip from the calibration line of the viewing window.

[0035] Furthermore, calculating the fine-tuning displacement corresponding to left-right sway, depth, and up-down sway also includes: based on the window parameter deviation value, using the formula... Calculate the axial view window parameter deviations corresponding to left-right swing, depth, and up-down swing, where... The vector representing the positional relationship of the vertical swing {0, 0, Z} of the endoscope tracking edge-pulling machine in the preceding and following states within a Cartesian coordinate system. The vector representing the positional relationship of the left-right swing {X, 0, 0} of the endoscope tracking edge-pulling machine in the spatial rectangular coordinate system during its forward and backward states is given. The vector in a spatial rectangular coordinate system representing the positional relationship of the depth {0, Y, 0} during the endoscopic tracking of the edge-pulling machine before and after its state. Based on the axial view window parameter deviations corresponding to left-right swing, depth, and up-down swing, the formula is used. Calculate the fine adjustment displacement corresponding to left-right sway, depth, and up-down sway, where This refers to the fine adjustment displacement of the endoscope actuator in the i-th direction of motion. Let be the axial window parameter deviation value of the endoscope actuator in the i-th direction of motion, calculated using the vector product formula, and let p be the vertical distance between the endoscope frame and the edge-pulling machine. Let be the maximum movable length of the endoscope actuator in the i-th direction of motion.

[0036] Specifically, after the first follow-up termination and the physical pose deviation between the endoscope frame and the edge-pulling machine falls within the preset allowable error range, the window fine adjustment process is initiated. First, the acquired window parameter deviation values ​​are decomposed according to the preset window-space mapping rules. The calibration dimension deviation value of the edge-pulling machine head within the window is mapped to the Z-axis dimension, and the calibration position deviation value of the edge-pulling machine head center point within the window is mapped to the X and Y-axis dimensions. The distance deviation value between the glass strip edge and the window calibration line is used to confirm whether the edge-pulling machine is operating normally, completing the decoupling mapping from the two-dimensional window deviation to the three-dimensional spatial axial components. The decomposed three-axis components are substituted into the corresponding spatial vectors, and the coupling interference of the three-axis linkage is eliminated through vector cross product calculation to obtain the axial window parameter deviation values ​​that are independent of each other in the left-right swing, depth, and up-down swing dimensions. Then, the axial window parameter deviation values ​​are combined with the pre-calibrated vertical distance between the endoscope frame and the edge-pulling machine, and the maximum distance of each actuator. The system has a large movable length and calculates the fine adjustment displacement in each dimension. Simultaneously, it performs safety boundary checks on the calculated fine adjustment displacement. If the calculated value exceeds the maximum safe stroke of the corresponding actuator, it is truncated to the maximum safe stroke value to prevent overtravel. Based on the checked fine adjustment displacement in each dimension, it generates single-axis step-by-step fine control commands in the order of depth, vertical swing, and horizontal swing. These commands control the corresponding actuator of the endoscope gantry to complete single-step adjustment actions. After each single-step adjustment in a dimension is completed, the current window effect parameters of the endoscope are collected and updated in real time. The window parameter deviation value is recalculated, and the remaining adjustment amount is iteratively updated. During the iterative adjustment process, the current window effect parameters are continuously compared with the pre-calibrated window reference parameters. When the current window effect parameters match the window reference parameters, the fine adjustment process is immediately terminated, and the current pose of the endoscope gantry is locked, completing the endoscope's fully automatic following control of the edge-pulling machine.

[0037] Furthermore, this method also includes: real-time acquisition of the real-time position parameters of multiple endoscope gantry units in the same scene, and calculation of the spatial distance between adjacent endoscope gantry units; when the spatial distance is less than the preset safety distance, a collision warning is issued and the current automatic following action is terminated until the spatial distance is greater than the preset safety distance.

[0038] Specifically, during the entire process of the intelligent control algorithm, anti-collision protection logic for multiple solder bath industrial endoscope racks is executed simultaneously. The intelligent control algorithm collects real-time position parameters of the left-right swing, depth, and up-down swing of multiple solder bath industrial endoscope racks operating in the same scene through the network module, fed back by the position sensor module. Based on the acquired real-time position parameters of each solder bath industrial endoscope rack, combined with the physical installation position of each rack in space, the intelligent control algorithm calculates the spatial distance between two adjacent solder bath industrial endoscope racks. A safety distance parameter is preset through the human-machine interface, and the spatial distance between adjacent racks calculated in real time is compared with the preset safety distance parameter. When the spatial distance between two adjacent solder bath industrial endoscope racks is less than the preset safety distance, the intelligent control algorithm immediately generates a collision warning message, prompts production personnel through the human-machine interface that there is a risk of equipment collision, and terminates the current automatic following action of the corresponding solder bath industrial endoscope rack until the spatial distance between adjacent racks recovers to be greater than the preset safety distance, and then resumes the automatic following control process.

[0039] Figure 2 A system structure diagram of a control system for an automatic following edge-pulling machine for an industrial tin bath provided for embodiments of this application is shown below. Figure 2 As shown, this system includes an endoscope gantry, a position sensor module, a control module, a network module, and a human-machine interface, wherein: Figure 3 This application provides a schematic diagram of a control system for an automatic following edge-pulling machine for an industrial endoscope in a tin bath, wherein the endoscope frame, which carries an industrial endoscope, includes three sets of actuators for left-right swing, depth adjustment, and up-down swing.

[0040] Specifically, Figure 4This application provides a schematic diagram of the layout of a control system for an industrial endoscope that automatically follows a tin bath edge-pulling machine. 1 represents the side wall of the tin bath, 2 represents the endoscope frame mounting reference frame, 3 represents the edge-pulling machine mounting base, 4 represents the endoscope frame body, and P represents the vertical distance between the endoscope frame and the edge-pulling machine. The endoscope frame serves as the main support and position adjustment body for the endoscope, and is fixedly installed at the observation port of the tin bath. The frame body carries an industrial endoscope that can extend into the tin bath to collect real-time visual images of the edge-pulling machine's operation and glass ribbon forming. The frame integrates three independent actuators for left-right swing, depth adjustment, and up-down swing. Each actuator is equipped with a position acquisition unit, and its control terminal is connected to the control module signal, enabling it to receive control commands to complete position adjustment actions in the corresponding dimensions. Simultaneously, the position acquisition unit transmits real-time position data to form a closed-loop control. The left and right angle, depth, and up and down angle actuators are also equipped with drive motors and frequency converters to receive instructions from the control module and complete corresponding actions. The signal input terminal of the frequency converter establishes a two-way communication connection with the control module through the network module, the power output terminal of the frequency converter is electrically connected to the corresponding drive motor, and the output terminal of the drive motor is connected to the transmission component of the corresponding actuator. The control instructions generated by the control module are sent to the corresponding frequency converter through the network module, and the frequency converter drives the motor to run, thereby driving the corresponding actuator to complete the preset position adjustment action. Among them, the depth actuator is used to drive the endoscope to make linear feed and retraction along the depth direction of the tin bath, the left and right swing actuator is used to drive the endoscope to complete horizontal reciprocating swing to adjust the horizontal observation angle, and the up and down swing actuator is used to drive the endoscope to complete vertical pitch swing to adjust the vertical observation angle.

[0041] The position sensor module is configured to correspond to the three sets of actuators and is used to collect the real-time position parameters of the endoscope gantry.

[0042] Specifically, the position sensor module includes three sets of position acquisition units, each corresponding to one of the three sets of actuators for the left-right swing, depth, and up-down swing of the endoscope frame. Each acquisition unit is fixed to the fixed end and the action execution end of the corresponding actuator, and its signal output end is electrically connected to the control module. Among them, the acquisition unit corresponding to the depth actuator uses an absolute encoder to acquire the linear displacement parameters of the endoscope in the depth direction in real time. The acquisition units corresponding to the left-right swing and up-down swing actuators use wire-type displacement sensors to acquire the real-time linear displacement parameters corresponding to the actions of the two sets of swing actuators, providing basic data for swing angle conversion. Each acquisition unit synchronously acquires the real-time position data of the corresponding actuator at a preset fixed frequency and uploads it synchronously to the control module as position reference data for follow-up control and fine adjustment.

[0043] The control module is connected to the position sensor module, the edge-pulling machine control system, and the actuator, and is used to execute control logic and generate control commands. Specifically, the control module adopts a programmable logic controller (PLC) equipped with a communication interface. Its communication ports establish bidirectional signal connections with the position sensor module and the three sets of actuators of the endoscope frame, respectively. At the same time, it achieves bidirectional data interaction with the edge-pulling machine control system and the human-machine interface through the network module. The control module can receive and parse the real-time position parameters of the endoscope frame uploaded by the position sensor module, the endoscope window effect parameters uploaded by the endoscope, the real-time position and action command data synchronously transmitted by the edge-pulling machine control system, and the parameter setting commands issued by the human-machine interface. The module has a built-in complete automatic following control algorithm, which can perform the entire process of initial parameter calibration, relative displacement difference calculation, following control command generation, window parameter deviation analysis, fine adjustment displacement calculation, and fine control command generation. It can also execute multi-frame anti-collision protection logic simultaneously, complete the calculation of spatial distance between adjacent frames, threshold comparison, and generation of warning and emergency stop commands. The control module can send the generated control commands to the corresponding actuators in real time, drive the mechanisms to complete the corresponding adjustment actions, synchronously receive feedback data from each module to complete closed-loop control verification, and upload the equipment operating status and alarm information to the human-machine interface in real time.

[0044] The network module is used to enable signal interaction between the control module and the edge-pulling machine control system.

[0045] Specifically, Figure 5 This application provides a schematic diagram of the network architecture of a control system for an automatic following edge-pulling machine for an industrial endoscope in a tin bath. The network module uses the control module as the central node and adopts a star network topology to build a bidirectional data communication link between the control module and external devices and systems. It establishes bidirectional communication connections with the control module, the edge-pulling machine control system, the position sensor module, and the human-machine interface, respectively, to realize signal interaction between each unit and the control module. The network module synchronously receives the real-time position data and action command data of the edge-pulling machine output by the edge-pulling machine control system, as well as the real-time position parameters of the endoscope frame collected by the position sensor module, and transmits the above data to the control module. At the same time, the control module sends the control commands generated by the control module to the corresponding actuators, and synchronously uploads the equipment operating status and collision warning information to the human-machine interface and the edge-pulling machine control system, ensuring signal linkage and data synchronization of the automatic following control process.

[0046] Furthermore, the control module establishes a two-way data communication link with the position sensor module, the edge-pulling machine control system, and the human-machine interface via the network module. Through the communication link, the control module reads data from the position sensor module, receives data from the edge-pulling machine control system, issues control commands, and receives equipment operating status.

[0047] Specifically, the control module uses the network module as the data interaction hub, establishing one-to-one bidirectional data communication links with the position sensor module, the edge-pulling machine control system, and the human-machine interface, respectively, to achieve full-duplex data transmission between the control module and each unit. Through the established bidirectional communication links, the control module executes real-time position data reading operations from the position sensor module at preset intervals, and synchronously receives real-time position and action command data uploaded by the edge-pulling machine control system, completing the acquisition of all the basic data required for automatic follow-up control. After generating corresponding control commands, the control module sends the control commands to the corresponding target units through the communication links, driving the corresponding units to complete preset actions. At the same time, the control module receives equipment operation status data and command execution feedback data returned by each unit in real time through the communication links, realizing closed-loop verification of the entire process control and real-time monitoring of the operation status.

[0048] The human-machine interface is connected to the control module via signals and is used for parameter setting, status display, and manual control.

[0049] Furthermore, the human-machine interface is used to display the endoscope gantry position parameters, equipment operating status, and endoscope window view in real time. It supports the setting of preset allowable error range and safety distance parameters, and is also used to receive collision warning information and provide alarm prompts.

[0050] Specifically, the human-machine interface establishes a two-way signal connection with the control module, serving as the system's human-machine interaction port to realize the core functions of parameter setting, status display, and manual control. Regarding parameter setting, it supports operators in presetting and modifying relevant baseline parameters for the control logic, including the allowable error range of the relative displacement difference between the endoscope frame and the edge-pulling machine, and the preset safety distance between adjacent endoscope frames. It also supports the calibration triggering and confirmation of the initial reference position and window baseline parameters. All set parameters are synchronously sent to the control module as the calculation baseline. In terms of status display, it can receive and display real-time endoscope frame position parameters, equipment operating status, and real-time endoscope window images uploaded by the control module, synchronously receiving collision warning information and providing corresponding alarm prompts. In manual control mode, it supports operators issuing manual control commands, allowing individual control of the corresponding actions of the three sets of actuators for left-right swing, depth of insertion, and up-down swing of the endoscope frame. It also supports automatic start / stop, emergency stop, and abnormal reset operations following the process. All manual commands are transmitted to the control module for execution in real time.

[0051] It should be noted that, in addition to the specific embodiments described above, those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Although the description of this application is presented in conjunction with preferred embodiments, this does not mean that the features of this invention are limited to these embodiments. On the contrary, the purpose of describing the invention in conjunction with the embodiments is to cover other options or modifications that may be derived based on the claims of this application. To provide a thorough understanding of this application, many specific details are included in the above description, and this application may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this application, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0052] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0053] In the description of this embodiment, it should be noted that the terms "upper," "lower," "inner," "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. The terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0054] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0055] Although this application has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the application in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the application to these descriptions. Those skilled in the art can make various changes in form and detail, including some simple deductions or substitutions, without departing from the spirit and scope of this application.

Claims

1. A control method for an automatic following edge-pulling machine for an industrial tin bath endoscope, characterized in that, include: Obtain the initial position and initial state parameters of the endoscope gantry, obtain the initial window effect parameters of the endoscope, and mark the initial reference position of the endoscope gantry actuator and the window reference parameters of the endoscope. Real-time position data of the endoscope frame's left and right swing, depth of insertion, and up and down swing are collected, and real-time position data and action command data of the edge-pulling machine are acquired simultaneously. The relative displacement difference is calculated based on the real-time position data of the endoscope frame and the edge-pulling machine. Based on the relative displacement difference, a follow-up control command for the endoscope frame is generated. The endoscope frame completes the corresponding action according to the follow-up control command, and the adjusted real-time position parameters are fed back in real time. The relative displacement difference is recalculated until the relative displacement difference is within the preset allowable error range. Obtain the current view window effect parameters of the endoscope, and calculate the view window parameter deviation value by combining the view window reference parameters; Based on the deviation value of the window parameters, the fine adjustment displacement corresponding to the left and right swing, depth, and up and down swing is calculated, and fine control commands are generated. The endoscope gantry completes the corresponding actions according to the fine control commands until the window effect parameters are consistent with the window reference parameters.

2. The control method for an automatic following edge-pulling machine for an industrial tin bath endoscope according to claim 1, characterized in that, The calculation of the relative displacement difference based on the real-time position data of the endoscope and the edge-pulling machine includes: The actual swing angle is calculated based on the real-time position data of the endoscope gantry and the initial state parameters of the endoscope gantry: Through formula Calculate the actual swing angles of the endoscope gantry for left-right swing, depth of insertion, and up-down swing respectively; in, Let be the actual swing angle of the endoscope actuator in the i-th direction of motion. Let be the actual linear displacement of the endoscope gantry actuator in the i-th direction of motion. Let be the mechanical length of the endoscope gantry in the i-th direction of motion.

3. The control method for an automatic following edge-pulling machine for an industrial tin bath endoscope according to claim 1, characterized in that, The allowable error range is a preset displacement difference range between the endoscope frame and the edge-pulling machine; when the relative displacement difference between the endoscope frame and the edge-pulling machine is within the allowable error range, the endoscope lens and the edge-pulling machine being observed maintain a fixed relative position in physical space.

4. The control method for an automatic following edge-pulling machine for an industrial tin bath endoscope according to claim 1, characterized in that, The calculation of the fine adjustment displacement corresponding to the left-right swing, depth, and up-down swing includes: A spatial rectangular coordinate system is established with any point in the movable space of the endoscope gantry as the origin, with the left and right swing direction of the endoscope gantry as the X-axis, the depth direction of the endoscope gantry as the Y-axis, and the up and down swing direction of the endoscope gantry as the Z-axis. The reference parameters and current effect parameters of the viewing window include the calibration dimensions of the edge-pulling machine mechanism within the viewing window, the calibration position of the machine head center point within the viewing window, and the distance between the edge of the glass strip and the calibration line of the viewing window.

5. The control method for an automatic following edge-pulling machine for an industrial tin bath endoscope according to claim 1, characterized in that, The calculation of the fine adjustment displacement corresponding to the left-right swing, depth, and up-down swing also includes: Based on the window parameter deviation value, using the formula Calculate the axial view window parameter deviations corresponding to left-right swing, depth, and up-down swing, where... The vector representing the positional relationship of the vertical swing {0, 0, Z} of the endoscope tracking edge-pulling machine in the preceding and following states within a Cartesian coordinate system. The vector representing the positional relationship of the left-right swing {X, 0, 0} of the endoscope tracking edge-pulling machine in the spatial rectangular coordinate system during its forward and backward states is given. The vector in a spatial rectangular coordinate system representing the positional relationship of the depth {0, Y, 0} during the endoscopic tracking of the edge-pulling machine before and after its state. Based on the axial view window parameter deviation values ​​corresponding to the left-right swing, depth, and up-down swing, the formula is used. Calculate the fine adjustment displacement corresponding to left-right sway, depth, and up-down sway, where This refers to the fine adjustment displacement of the endoscope actuator in the i-th direction of motion. Let be the axial window parameter deviation value of the endoscope actuator in the i-th direction of motion, and p be the vertical distance between the endoscope frame and the edge-pulling machine. Let be the maximum movable length of the endoscope actuator in the i-th direction of motion.

6. The control method for an automatic following edge-pulling machine for an industrial tin bath endoscope according to claim 1, characterized in that, The method further includes: The system collects real-time position parameters of multiple endoscope racks in the same scene and calculates the spatial distance between adjacent endoscope racks. When the spatial distance is less than the preset safety distance, a collision warning is issued and the current automatic following action is terminated until the spatial distance is greater than the preset safety distance.

7. A control system for an automatic following edge-pulling machine for an industrial tin bath endoscope, characterized in that, The system includes an endoscope frame, a position sensor module, a control module, a network module, and a human-machine interface, wherein: Endoscope frame, equipped with industrial endoscope, including three sets of actuators for left and right swing, depth, and up and down swing; The position sensor module is set up corresponding to the three sets of actuators to collect the real-time position parameters of the endoscope gantry; The control module is connected to the position sensor module, the edge-pulling machine control system, and the actuator, and is used to execute control logic and generate control commands. The network module is used to enable signal interaction between the control module and the edge-pulling machine control system; The human-machine interface is connected to the control module via signals and is used for parameter setting, status display, and manual control.

8. The control system for an automatic following edge-pulling machine for an industrial tin bath endoscope according to claim 7, characterized in that, The control module establishes a two-way data communication link with the position sensor module, the edge-pulling machine control system, and the human-machine interface via the network module; The control module reads data from the position sensor module, receives data from the edge-pulling machine control system, issues control commands, and receives equipment operating status through the communication link.

9. The control system for an automatic following edge-pulling machine for an industrial tin bath endoscope according to claim 7, characterized in that, The control module has a built-in automatic following control algorithm, which is used to calculate the relative displacement difference, analyze the window parameter deviation, and generate control commands.

10. The control system for an automatic following edge-pulling machine for an industrial tin bath endoscope according to claim 7, characterized in that, The human-machine interface is used to display the endoscope gantry position parameters, equipment operating status, and endoscope window view in real time. It supports the setting of preset allowable error range and safety distance parameters, and is also used to receive collision warning information and provide alarm prompts.

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