CN112170781B - Method and device for improving environmental protection performance of sand spraying machine - Google Patents
Method and device for improving environmental protection performance of sand spraying machine Download PDFInfo
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- CN112170781B CN112170781B CN202011022174.XA CN202011022174A CN112170781B CN 112170781 B CN112170781 B CN 112170781B CN 202011022174 A CN202011022174 A CN 202011022174A CN 112170781 B CN112170781 B CN 112170781B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C9/00—Moulds or cores; Moulding processes
- B22C9/02—Sand moulds or like moulds for shaped castings
- B22C9/04—Use of lost patterns
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C23/00—Tools; Devices not mentioned before for moulding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Preparation Of Clay, And Manufacture Of Mixtures Containing Clay Or Cement (AREA)
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Abstract
The invention discloses a method and a device for improving the environmental protection performance of a sand-sprinkling machine, wherein the method comprises the following steps: in the slurry dripping process of the mechanical arm, obtaining a first direction of movement of the mechanical arm; obtaining a first speed of movement of the manipulator arm; inputting a first direction and a first speed into a first neural network model, wherein the model is trained using a plurality of sets of training data, each set of training data in the plurality of sets of training data comprising: a first direction, a first speed, and identification information identifying a first result; obtaining output information of the model, wherein the output information comprises a first result, and the first result represents a result of whether the operation of the mechanical arm in the slurry dripping process meets the construction requirement; and obtaining a first instruction according to the first result, wherein the first instruction is used for executing an instruction for continuing or adjusting the slurry dripping action of the mechanical arm. The technical problem that workers are in close contact with equipment in the sand sprinkling process and the health of the workers is affected is solved.
Description
Technical Field
The invention relates to an environment-friendly method, in particular to a method and a device for improving the environment-friendly performance of a sand-sprinkling machine.
Background
The sand coating is one of the necessary procedures of a shell making workshop, and two types of common sand coating equipment are provided, namely sand spraying and sand floating. The sand sprinkling is a rain sprinkling mode from top to bottom by conveying sand materials to a high position through the device. No matter what kind of sand hanging equipment brings big dust, the noise is high, and needs the manual work of high strength.
However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the inventors of the present application find that the above-mentioned technology has at least the following technical problems:
manual sand sprinkling equipment generally requires close contact between workers and the equipment, and the health of the workers is affected.
Disclosure of Invention
The embodiment of the application provides a method for improving the environmental protection performance of a sand drenching machine, and solves the technical problem that the health of workers is influenced due to close contact between the workers and equipment in the sand drenching process. The technical effects that the problems of dirtiness and poor equipment of the ground of a slurry dipping workshop are greatly improved by collecting the slurry sand and absorbing the dust, and the health of workers is ensured while the labor intensity of the workers is reduced are achieved.
The embodiment of the application provides a method for improving environmental protection performance of a sand drenching machine, wherein the method comprises the following steps: in the slurry dripping process of the mechanical arm, obtaining a first direction of movement of the mechanical arm; obtaining a first speed of movement of the manipulator arm; inputting the first direction and the first speed into a first neural network model, wherein the model is trained using a plurality of sets of training data, each set of training data in the plurality of sets comprising: a first direction, a first speed, and identification information identifying a first result; obtaining output information of the model, wherein the output information comprises a first result, and the first result represents a result of whether the operation of the mechanical arm in the slurry dripping process meets the construction requirement; and obtaining a first instruction according to the first result, wherein the first instruction is used for executing an instruction for continuing or adjusting the slurry dripping action of the mechanical arm.
On the other hand, this application still provides a promote and drench sand machine environmental protection performance device, wherein, the device includes: a first obtaining unit: the first obtaining unit is used for obtaining a first direction of movement of the mechanical arm in the slurry dripping process of the mechanical arm; a second obtaining unit: the second obtaining unit is used for obtaining a first speed of the movement of the mechanical arm; a first input unit: the first input unit is used for inputting the first direction and the first speed into a first neural network model, wherein the model is trained by using a plurality of groups of training data; a third obtaining unit: the third obtaining unit is configured to obtain output information of the model, where the output information includes a first result; a fourth obtaining unit: the fourth obtaining unit is used for obtaining a first instruction according to the first result, and the first instruction is used for executing an instruction for continuing or adjusting the slurry dripping action of the manipulator arm.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
1. can bounce-back partial sand and dust when the grit falls to the bottom, keep off through keeping off the sand that the sand device will bounce and return in drenching the sand machine cavity, the dust of raising can be siphoned away along the dust removal hood, through collecting the mortar, the dust is siphoned off, reduces the material and spills over, reduces energy consumption, has reached and has improved greatly and has been stained with the technological effect of thick liquid workshop ground and the dirty indiscriminate poor problem of equipment.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
FIG. 1 is a schematic flow chart of a method for improving environmental protection performance of a sand drenching machine according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a device for improving environmental protection performance of a sand-sprinkling machine according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an exemplary electronic device according to an embodiment of the present application.
Description of reference numerals: a first obtaining unit 11, a second obtaining unit 12, a first input unit 13, a third obtaining unit 14, a fourth obtaining unit 15, a bus 300, a receiver 301, a processor 302, a transmitter 303, a memory 304, and a bus interface 306.
Detailed Description
The embodiment of the application provides a method for improving the environmental protection performance of a sand drenching machine, and solves the technical problem that the health of workers is influenced due to close contact between the workers and equipment in the sand drenching process. The technical effects that the problems of dirtiness and poor equipment of the ground of a slurry dipping workshop are greatly improved by collecting the slurry sand and absorbing the dust, and the health of workers is ensured while the labor intensity of the workers is reduced are achieved.
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are merely some embodiments of the present application and not all embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein.
Summary of the application
The sand coating is one of the necessary procedures of a shell making workshop, and two types of common sand coating equipment are provided, namely sand spraying and sand floating. The sand sprinkling is a rain sprinkling mode from top to bottom by conveying sand materials to a high position through the device. No matter what kind of sand hanging equipment brings big dust, the noise is high, and needs the manual work of high strength. Manual sand sprinkling equipment generally requires close contact between workers and the equipment, and the health of the workers is affected.
In view of the above technical problems, the technical solution provided by the present application has the following general idea:
the embodiment of the application provides a method for improving environmental protection performance of a sand drenching machine, wherein the method comprises the following steps: in the slurry dripping process of the mechanical arm, obtaining a first direction of movement of the mechanical arm; obtaining a first speed of movement of the manipulator arm; inputting the first direction and the first speed into a first neural network model, wherein the model is trained using a plurality of sets of training data, each set of training data in the plurality of sets comprising: a first direction, a first speed, and identification information identifying a first result; obtaining output information of the model, wherein the output information comprises a first result, and the first result represents a result of whether the operation of the mechanical arm in the slurry dripping process meets the construction requirement; and obtaining a first instruction according to the first result, wherein the first instruction is used for executing an instruction for continuing or adjusting the slurry dripping action of the mechanical arm.
After the fundamental principles of the present application are introduced, the above technical solutions will be described in detail below with reference to the accompanying drawings and specific embodiments for better understanding.
Example one
As shown in fig. 1, an embodiment of the present application provides a method for improving environmental protection performance of a sand drenching machine, wherein the method includes:
step S100: in the slurry dripping process of the mechanical arm, obtaining a first direction of movement of the mechanical arm;
specifically, the manipulator is an automatic operation device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, the first direction is the direction of the manipulator towards the sand drenching machine body, the sand drenching machine body is a device for mixing sand and other mixtures, and the deviation of the direction can influence the slurry dripping effect.
Step S200: obtaining a first speed of movement of the manipulator arm;
specifically, the first speed is a speed of movement of the robot arm, the speed of movement of the robot arm determines a speed of dropping the slurry, and the speed of dropping the slurry is different, so that whether the slurry can flow uniformly or not is influenced, and the excess slurry drops into the collecting hopper.
Step S300: inputting the first direction and the first speed into a first neural network model, wherein the model is trained using a plurality of sets of training data, each set of training data in the plurality of sets comprising: a first direction, a first speed, and identification information identifying a first result;
step S400, obtaining output information of the model, wherein the output information comprises a first result, and the first result represents a result indicating whether the operation of the mechanical arm in the slurry dripping process meets the construction requirement;
specifically, whether the operation of the mechanical arm in the slurry dropping process meets the construction requirement can be predicted according to the first direction and the first speed. The first direction and the first speed are input into a first Neural network model (NN), which is a complex Neural network system formed by widely connecting a large number of simple processing units (called neurons), reflects many basic characteristics of human brain functions, and is a highly complex nonlinear dynamical learning system. Neural network models are described based on mathematical models of neurons. Artificial Neural Networks (Artificial Neural Networks) are a description of the first-order properties of the human brain system. Briefly, it is a mathematical model. In this embodiment of the application, the first direction and the first speed are input into a neural network model, and the neural network model is trained by using first result information of an identifier, where the first result information is a result of whether an operation of the manipulator arm in a slurry dropping process meets a construction requirement.
Further, the process of the first neural network model is substantially a process of supervised learning. The plurality of groups of training data are specifically: a first direction, a first velocity, and identification information identifying the first result. The neural network model outputs the result whether the operation of the mechanical arm in the slurry dripping process meets the construction requirement or not by inputting the first direction and the first speed, the output information is verified with the first result information with the identification function, and if the output information is consistent with the first result information with the identification function, the data supervised learning is finished, and then the next group of data supervised learning is carried out; and if the output information is not consistent with the first result information requirement for playing the identification role, the neural network learning model adjusts itself until the output result of the neural network learning model is consistent with the first result information requirement for playing the identification role, and then the supervised learning of the next group of data is carried out. The first direction and the first speed are continuously trained by means of a training model, and the technical effect that whether the output operation of the mechanical arm in the slurry dripping process meets the construction requirement or not is more accurate is achieved.
Step S500: and obtaining a first instruction according to the first result, wherein the first instruction is used for executing an instruction for continuing or adjusting the slurry dripping action of the mechanical arm.
Specifically, the first direction and the first speed are continuously trained to obtain a result of whether the operation of the mechanical arm in the slurry dripping process meets the construction requirement or not, and further obtain the first instruction, when the operation of the mechanical arm in the slurry dripping process meets the construction requirement, the first instruction is to continue to execute the slurry dripping action of the mechanical arm, and when the operation of the mechanical arm in the slurry dripping process does not meet the construction requirement, the first instruction is to adjust the slurry dripping action of the mechanical arm.
Drench sand machine still includes first camera, and this application embodiment still includes:
step S610: shooting the dripping slurry result according to the first camera to obtain first image information;
step S620: inputting the first image information into a second neural network model, wherein the model is trained using a plurality of sets of training data, each set of training data in the plurality of sets comprising: first image information and identification information identifying the second result;
step S630: obtaining output information of the model, wherein the output information comprises a second result, and the second result represents whether the dripping slurry result meets the construction requirement.
Step S640: and taking the second result as first supervision data, and carrying out supervision learning on the first neural network model.
In particular, the dripping process can be monitored in real time by installing a camera in order to obtain accurate dripping results. Shooting the dripping slurry result according to the first camera, and obtaining first image information; inputting the first image information into a second neural network model, wherein the model is trained by using a plurality of sets of training data, and each set of training data in the plurality of sets comprises: the second neural network model executes the same process as the first neural network model, namely the process of supervising learning substantially, and is not described in detail herein, the first image information is trained continuously, and then output information of the model is obtained, wherein the output information comprises a second result, the second result represents whether the slurry dripping result meets the construction requirement, and whether the slurry dripping result meets the construction requirement is judged by shooting the slurry dripping result according to the first camera, so that the technical effects of obtaining an accurate slurry dripping result and improving the casting efficiency of parts are achieved.
Whether the second result, namely the slurry dripping result meets the construction requirement or not, is used as first supervision data, and the first result, namely whether the operation of the mechanical arm in the slurry dripping process meets the construction requirement or not, is supervised and learned, so that the first neural network model is supervised and learned, and the technical effect that the operation of the mechanical arm in the slurry dripping process meets the construction requirement is achieved.
Drench the sand machine and still include the dust shaker, dust removal fan housing and second camera, wherein, the cooperation of dust removal fan housing the dust shaker is inhaled the collection to the dust that raises when drenching sand, and this application embodiment still includes:
step S710: obtaining a first angle of the dust removal fan cover;
step S720: obtaining second image information near the dust remover according to the second camera;
step S730: inputting the second image information into a third neural network model, wherein the model is trained using a plurality of sets of training data, and each set of training data in the plurality of sets of training data includes: second image information and identification information identifying a third result;
step S740: obtaining output information of the model, wherein the output information comprises a third result, and the third result represents whether the dust absorption meets the construction requirement;
step S750: and obtaining a first instruction according to the third result and the first angle, wherein the first instruction is used for instructing the dust removal fan to automatically adjust to a second angle.
Particularly, drench sand machine still comprises dust collecting equipment, specifically includes dust shaker and dust removal fan housing, and is right through the second camera the dust removal process is shot, is convenient for confirm whether the dust removal result reaches the requirement. The first angle is the angle of the dust removal fan cover, and the dust removal fan cover is used for being matched with a dust remover to enable dust raised during sand spraying to be sucked into the dust remover more easily, so that the external dust content is reduced; the second image information is image information near the dust remover shot by the second camera; the second image information is input into a third neural network model, the third neural network model executes the same process as the first neural network model, namely the process of supervising learning substantially, and is not elaborated herein, the second image information is continuously trained, so that a third result is obtained, namely whether the dust absorption meets the construction requirements or not, a first instruction is obtained according to the third result and the first angle, when the dust absorption does not meet the construction requirements, the first instruction is to automatically adjust the angle of the dust removal fan cover to be a second angle, and the second angle is to enable the dust absorption to meet the construction requirements, so that raised dust is easier to be sucked into a dust remover, the problem of messy difference between the ground of a slurry soaking workshop and equipment is greatly improved, and the technical effect of ensuring the health of workers is achieved.
In order to complete the whole process of pouring sand and dripping slurry, and then produce investment precision casting parts, the embodiment of the application also comprises:
step S810, the slurry dripping action enables the slurry to flow uniformly on the surface of the module and lowers the redundant slurry into a collecting hopper;
particularly, at the thick liquid in-process that drips, need guarantee on the even module that drips of thick liquid for the even tiling of thick liquid on module surface, the thick liquid that drips on module surface can not be too much or too little, and too little makes the module can not fill completely, and too much messenger's module is filled excessively, reaches the effect that does not reach the ideal, through guaranteeing that thick liquid evenly flows on module surface and with unnecessary thick liquid low fall in the collecting hopper, has reached the technological effect of precision casting part.
Step S820: after the slurry dripping is finished, the sand sprinkling machine starts to sprinkle sand after reaching a working position through the movable trolley from a waiting position, the sand falls to the bottom and rebounds partial sand and dust, the sand blocking device blocks the bounced sand back into a cavity of the sand sprinkling machine, and the raised dust is absorbed along the dust removal fan cover to finish the sand sprinkling action;
particularly, when manipulator arm rotated to drench the sand station, the manipulator dripped the thick liquid action according to control procedure, dripped thick liquid and accomplished the back, and the manipulator returns initial position, drenches the sand in-process, and dust collector can absorb the dust of raiseing and get rid of for external dust content diminishes, and then improves the requirement for quality, has reached and has guaranteed the healthy technological effect of workman when reducing workman's work is slight.
Step S830: after the sand pouring action is finished, the sand pouring machine returns to a waiting position, and the manipulator arm returns to the original position and then rotates to the next procedure;
specifically, the sand pouring process and the slurry dripping process are carried out alternately, after the sand pouring action is finished, the sand pouring machine returns to the initial position, the slurry dripping process is started, the mechanical arm returns to the original position, the mechanical arm rotates to the next procedure to carry out the slurry dripping process, the operation is repeated in a circulating mode, and finally the whole pouring process is finished.
Step S840: in the sand spraying process, when the sand lack is detected, the sand discharging device is started to supplement the sand in time.
Particularly, drench the sand in-process, when detecting lacking the sand, can obtain the third camera, the third camera can be to drenching the sand process and shoot, real time monitoring sand volume, works as when the sand volume is not enough, can start down sand device, in time mends the sand for the sand volume supply is sufficient.
Furthermore, through a series of complete processes such as sand spraying, slurry dripping, dust removal and the like, the part casting process is more complete, and the technical effect that the cast part is firmer and more precise is achieved.
In order to ensure the security of the image information near the dust shaker, an encryption operation based on a block chain is performed on the image information near the dust shaker, the embodiment of the present application further includes:
generating a first verification code according to first image information near the dust remover, wherein the first verification code corresponds to the first image information near the dust remover one by one;
generating a second verification code according to second image information near the dust remover, wherein the second verification code corresponds to the second image information near the dust remover one by one, and in the same way, generating an Nth verification code according to the Nth image information and an N-1 th verification code near the dust remover, wherein N is a natural number greater than 1;
and respectively copying and storing the image information and the verification codes near the dust remover on M devices, wherein M is a natural number greater than 1.
Specifically, in order to ensure the security of the image information in the vicinity of the dust remover and to ensure that it is not tampered with, an encryption operation based on a block chain may be performed. The block chain technology is a universal underlying technical framework, and can generate and synchronize data on distributed nodes through a consensus mechanism, and realize automatic execution and data operation of contract terms by means of programmable scripts. A block chain is defined as a data structure that organizes data blocks in time sequence, with chain-like connections being formed in order between different blocks, by means of which a digital ledger is built.
Generating a first verification code according to first image information near the dust remover, wherein the first verification code corresponds to the first image information near the dust remover one by one; generating a second verification code according to second image information near the dust remover, wherein the second verification code corresponds to the second image information near the dust remover one by one, and in the same way, generating an Nth verification code according to the Nth image information and an N-1 th verification code near the dust remover, wherein N is a natural number greater than 1; and respectively copying and storing the image information and the verification codes near the dust remover on M devices, wherein M is a natural number greater than 1. And encrypting and storing the image information near the dust remover, wherein each device corresponds to one node, all the nodes are combined to form a block chain, and the block chain forms a total account book which is convenient for verification (the Hash value of the last block is verified to be equivalent to the verification of the whole version) and cannot be changed (the Hash value of all the subsequent blocks is changed due to the change of any transaction information, so that the transaction information cannot pass the verification).
The block chain system adopts a distributed data form, each participating node can obtain a complete database backup, and unless 51% of nodes in the whole system can be controlled simultaneously, modification of the database by a single node is invalid, and data contents on other nodes cannot be influenced. Therefore, the more nodes participating in the system, the more powerful the computation, and the higher the data security in the system. The image information near the dust remover is encrypted based on the block chain, so that the storage safety of the image information near the dust remover is effectively ensured, and the technical effect of safely recording and storing the image information near the dust remover is achieved.
To sum up, the method and the device for improving the environmental protection performance of the sand drenching machine provided by the embodiment of the application have the following technical effects:
1. can bounce-back partial sand and dust when the grit falls to the bottom, keep off through keeping off the sand that the sand device will bounce and return in drenching the sand machine cavity, the dust of raising can be siphoned away along the dust removal hood, through collecting the mortar, the dust is siphoned off, reduces the material and spills over, reduces energy consumption, has reached and has improved greatly and has been stained with the technological effect of thick liquid workshop ground and the dirty indiscriminate poor problem of equipment.
2. Through training the first direction and the first speed, training the first image information and training the second image information respectively, the technical effects that the operation of the mechanical arm in the slurry dripping process meets the construction requirements and the dust absorption meets the construction requirements are achieved.
Example two
Based on the same inventive concept as the method for improving the environmental protection performance of the sand drenching machine in the previous embodiment, the invention also provides a device for improving the environmental protection performance of the sand drenching machine, as shown in fig. 2, the device comprises:
the first obtaining unit 11: the first obtaining unit 11 is configured to obtain a first direction of motion of the manipulator arm in a slurry dropping process of the manipulator arm;
the second obtaining unit 12: the second obtaining unit 12 is configured to obtain a first speed of the movement of the robot arm;
first input unit 13: the first input unit 13 is configured to input the first direction and the first speed into a first neural network model, where the model is trained using multiple sets of training data;
the third obtaining unit 14: the third obtaining unit 14 is configured to obtain output information of the model, where the output information includes a first result;
the fourth obtaining unit 15: the fourth obtaining unit 15 is configured to obtain a first instruction according to the first result, where the first instruction is used to execute an instruction to continue or adjust the slurry dripping motion of the robot arm.
Further, the apparatus further comprises:
a fifth obtaining unit: the fifth obtaining unit is used for shooting the dripping slurry result according to the first camera to obtain first image information;
a second input unit: the second input unit is configured to input the first image information into a second neural network model, where the model is trained using multiple sets of training data, and each set of training data in the multiple sets includes: first image information and identification information identifying the second result;
a sixth obtaining unit: the sixth obtaining unit is configured to obtain output information of the model, where the output information includes a second result, and the second result indicates whether the slurry dripping result meets a construction requirement.
Further, the apparatus further comprises:
a first supervision unit: the first supervision unit is used for taking the second result as first supervision data and carrying out supervision learning on the first neural network model.
Further, the apparatus further comprises:
a seventh obtaining unit: the seventh obtaining unit is used for obtaining a first angle of the dust removing fan cover;
an eighth obtaining unit: the eighth obtaining unit is used for obtaining second image information near the dust remover according to the second camera;
a third input unit: the third input unit is used for inputting the second image information into a third neural network model, wherein the model is trained by using a plurality of groups of training data;
a ninth obtaining unit: the ninth obtaining unit is configured to obtain output information of the model, where the output information includes a third result, and the third result indicates whether the dust absorption meets construction requirements;
a tenth obtaining unit: the tenth obtaining unit is used for obtaining a first instruction according to the third result and the first angle, and the first instruction is used for instructing the dust removing fan to automatically adjust to the second angle.
Various changes and specific examples of the method for improving the environmental performance of the sand drenching machine in the first embodiment of fig. 1 are also applicable to the device for improving the environmental performance of the sand drenching machine of the present embodiment, and through the foregoing detailed description of the method for improving the environmental performance of the sand drenching machine, those skilled in the art can clearly know the implementation method of the device for improving the environmental performance of the sand drenching machine in the present embodiment, so for the brevity of the description, detailed description is not repeated.
EXAMPLE III
The electronic device of the embodiment of the present application is described below with reference to fig. 3.
Fig. 3 illustrates a schematic structural diagram of an electronic device according to an embodiment of the present application.
Based on the inventive concept of the method for improving the environmental protection performance of the sand drenching machine in the foregoing embodiment, the invention further provides a device for improving the environmental protection performance of the sand drenching machine, wherein a computer program is stored thereon, and when the program is executed by a processor, the steps of any one of the methods for improving the environmental protection performance of the sand drenching machine described above are implemented.
Where in fig. 3 a bus architecture (represented by bus 300), bus 300 may include any number of interconnected buses and bridges, bus 300 linking together various circuits including one or more processors, represented by processor 302, and memory, represented by memory 304. The bus 300 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 306 provides an interface between the bus 300 and the receiver 301 and transmitter 303. The receiver 301 and the transmitter 303 may be the same element, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 302 is responsible for managing the bus 300 and general processing, and the memory 304 may be used for storing data used by the processor 302 in performing operations.
The embodiment of the application provides a method for improving environmental protection performance of a sand drenching machine, wherein the method comprises the following steps: in the slurry dripping process of the mechanical arm, obtaining a first direction of movement of the mechanical arm; obtaining a first speed of movement of the manipulator arm; inputting the first direction and the first speed into a first neural network model, wherein the model is trained using a plurality of sets of training data, each set of training data in the plurality of sets comprising: a first direction, a first speed, and identification information identifying a first result; obtaining output information of the model, wherein the output information comprises a first result, and the first result represents a result of whether the operation of the mechanical arm in the slurry dripping process meets the construction requirement; and obtaining a first instruction according to the first result, wherein the first instruction is used for executing an instruction for continuing or adjusting the slurry dripping action of the mechanical arm.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. A method for improving environmental protection performance of a sand drenching machine, wherein the method comprises the following steps:
in the slurry dripping process of the mechanical arm, obtaining a first direction of movement of the mechanical arm;
obtaining a first speed of movement of the manipulator arm;
inputting the first direction and the first speed into a first neural network model, wherein the model is trained using a plurality of sets of training data, each set of training data in the plurality of sets comprising: a first direction, a first speed, and identification information identifying a first result;
obtaining output information of the model, wherein the output information comprises a first result, and the first result represents a result of whether the operation of the mechanical arm in the slurry dripping process meets the construction requirement;
obtaining a first instruction according to the first result, wherein the first instruction is used for executing an instruction for continuing or adjusting the slurry dripping action of the mechanical arm;
the sand drenching machine further comprises a first camera, and the method comprises the following steps of;
shooting a dripping result according to the first camera to obtain first image information;
inputting the first image information into a second neural network model, wherein the model is trained using a plurality of sets of training data, each set of training data in the plurality of sets comprising: first image information and identification information identifying the second result;
obtaining output information of the model, wherein the output information comprises a second result, and the second result represents whether the slurry dripping result meets the construction requirement;
the sand drenching machine further comprises a dust remover, a dust removing fan housing and a second camera, wherein the dust removing fan housing is matched with the dust remover to suck and collect dust raised during sand drenching, and the method further comprises the following steps:
obtaining a first angle of the dust removal fan cover;
obtaining second image information near the dust remover according to the second camera;
inputting the second image information into a third neural network model, wherein the model is trained using a plurality of sets of training data, and each set of training data in the plurality of sets of training data includes: second image information and identification information identifying a third result;
obtaining output information of the model, wherein the output information comprises a third result, and the third result represents whether the dust absorption meets the construction requirement;
and obtaining a second instruction according to the third result and the first angle, wherein the second instruction is used for instructing the dust removal fan cover to automatically adjust to a second angle.
2. The method of claim 1, wherein the method comprises:
and taking the second result as first supervision data, and carrying out supervision learning on the first neural network model.
3. The method of claim 1, wherein the method further comprises:
the slurry dripping action causes the slurry to flow evenly over the surface of the die set and lowers excess slurry into the collection hopper.
4. The method of claim 3, wherein the method further comprises:
after the slurry dripping is finished, the sand sprinkling machine starts to sprinkle sand after reaching a working position through the movable trolley from a waiting position, the sand rebounds partial sand and dust after falling to the bottom, the sand blocking device blocks the bounced sand back into the cavity of the sand sprinkling machine, and the raised dust is absorbed along the dust removal fan cover to finish the sand sprinkling action.
5. The method of claim 4, wherein the method further comprises:
and after the sand pouring action is finished, the sand pouring machine returns to the waiting position, and the mechanical arm returns to the original position and then rotates to the next procedure.
6. The method of claim 5, wherein the method further comprises:
in the sand spraying process, when the sand lack is detected, the sand discharging device is started to supplement the sand in time.
7. The utility model provides a promote and drench sand machine feature of environmental protection device, wherein, the device includes:
a first obtaining unit: the first obtaining unit is used for obtaining a first direction of movement of the mechanical arm in the slurry dripping process of the mechanical arm;
a second obtaining unit: the second obtaining unit is used for obtaining a first speed of the movement of the mechanical arm;
a first input unit: the first input unit is used for inputting the first direction and the first speed into a first neural network model, wherein the model is trained by using a plurality of groups of training data;
a third obtaining unit: the third obtaining unit is configured to obtain output information of the model, where the output information includes a first result;
a fourth obtaining unit: the fourth obtaining unit is used for obtaining a first instruction according to the first result, and the first instruction is used for executing an instruction for continuing or adjusting the slurry dripping action of the manipulator arm;
wherein, drench the sand machine and still include the dust shaker, the dust removal fan housing, first camera and second camera, wherein, the cooperation of dust removal fan housing the dust shaker is inhaled the collection to the dust that raises when drenching sand, the device still includes:
a fifth obtaining unit: the fifth obtaining unit is used for shooting the dripping slurry result according to the first camera to obtain first image information;
a second input unit: the second input unit is configured to input the first image information into a second neural network model, where the model is trained using multiple sets of training data, and each set of training data in the multiple sets includes: first image information and identification information identifying the second result;
a sixth obtaining unit: the sixth obtaining unit is configured to obtain output information of the model, where the output information includes a second result, and the second result indicates whether the slurry dripping result meets a construction requirement;
a seventh obtaining unit: the seventh obtaining unit is used for obtaining a first angle of the dust removing fan cover;
an eighth obtaining unit: the eighth obtaining unit is used for obtaining second image information near the dust remover according to the second camera;
a third input unit: the third input unit is used for inputting the second image information into a third neural network model, wherein the model is trained by using a plurality of groups of training data;
a ninth obtaining unit: the ninth obtaining unit is configured to obtain output information of the model, where the output information includes a third result, and the third result indicates whether the dust absorption meets construction requirements;
a tenth obtaining unit: and the tenth obtaining unit is used for obtaining a second instruction according to the third result and the first angle, and the second instruction is used for instructing the dust removal fan cover to automatically adjust to a second angle.
8. An apparatus for improving environmental performance of a sand drenching machine, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the program.
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| CN114505447A (en) * | 2022-02-15 | 2022-05-17 | 上海交通大学 | Wax mold tray for large-scale complex thin-wall casting, wax mold slurry-sticking shell-making system and method |
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