CN101825883A - Tubing intelligent forming detection and correction method and tubing forming system - Google Patents
Tubing intelligent forming detection and correction method and tubing forming system Download PDFInfo
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- CN101825883A CN101825883A CN 201010143845 CN201010143845A CN101825883A CN 101825883 A CN101825883 A CN 101825883A CN 201010143845 CN201010143845 CN 201010143845 CN 201010143845 A CN201010143845 A CN 201010143845A CN 101825883 A CN101825883 A CN 101825883A
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Abstract
The invention relates to a tubing intelligent forming detection and correction method and a tubing forming system, solving the technical difficulty that tubing cannot be processed and formed according to processing requirements because of inaccurate manually input forming working parameters. The technical scheme comprises the steps of: acquiring a set of tubing pre-pressed initial calibration points by a computer matched with a digital image processing software program through curve simulation and straight line detection; obtaining corresponding theory performance parameters of tubing bending angle by the help of the processing of a matched software, and completing the tubing forming process by the acquisition of a camera and the real-time monitoring of the computer starting from the pre-pressing of a first calibration point. A result pre-calculated by the computer avoids the fuzziness brought by manual operation and has strong accuracy. Meanwhile, the whole system has stronger adjustable correction property; and if existing deviation with the practical production condition, people can continuously manually correct compensation numerical values to achieve more accurate effect.
Description
Technical field
The invention belongs to the round tubular body of tube forming field, relate to a kind of tube forming method and system, particularly be improved to computing machine and simulate and control at the inaccurate problem of artificial input parameter based on the JCO molding mode.
Background technology
Pipe JCO forming technique is admitted by people already and is utilized, the JCO forming process is: at first an end of dull and stereotyped tubing is processed, by make-up machine tubing one end is pressed into " J " type, the other end with tubing pressurizes again, both sides press the back to form " C " type of falling like this, press down the middle part of tubing at last again, and the two ends of the tubing of " C " type are closed up to the centre, final molding is " O " type, becomes closed steel-tube construction.But, JCO moulding does not in the past have intelligent computerized control system, fully by the manual input parameter of operating personnel, for pressure, the depression distance of the compacting of per step and send parameter such as step-length to and can't measure accurately and control, make inefficiency, it is more to repeat to revise number of times, even causes steel pipe moulding failure once in a while.And run into when yield strength difference is big between every part of steel plate and the different steel plate, the numerical value of artificial input is often inaccurate, and the steel pipe of extrusion is very flat, and ovality is very big; Can not become positive circle.
Summary of the invention
The objective of the invention is in order to solve owing to the inaccuracy of molding running parameter manually causes the technical barrier of machine-shaping on request, the intelligent moulding detection of tubing and modification method and tube forming system have been designed, come the real work parameter of make-up machine is carried out adaptive equalization by the computer intelligence control system, the steel tube section that makes moulding is for positive circular.
The present invention for realizing the technical scheme that goal of the invention adopts is, intelligent moulding detection of tubing and modification method, above method is based on the JCO molding mode, and the tube-forming machine with controller is realized the forming process of tubing, the location is provided with the ccd video camera with capture card, and computing machine with supporting data transmission interface, computing machine is connected with the controller of tube-forming machine by cpu motherboard, computing machine is by supporting digital imaging processing software program, collect the initial alignment point of one group of tubing precompressed by curve simulation and straight-line detection, and handle the corresponding theory performance parameter calculate the bending pipes angle by software kit, deposit intermediate database in, tubing begins in first calibration point position precompressed, and carries out following steps:
1., gather the curved images of facing in tubing cross section in real time, and image is sent to computing machine by data transmission interface by ccd video camera;
2., gather the corresponding actual performance parameter of tubing angle of bend, call the theoretical performance parameter of computing machine intermediate data library storage, and compare with supporting identification software;
3., the 2. middle actual performance parameter of gathering of determination step and the rationality of theoretical performance parameter error, if rationally, then carry out step 4., if unreasonable, computing machine sends a control signal to the controller of tube-forming machine, and the control tube-forming machine presses down in initial alignment point position;
4., the precompressed that enters next calibration point position, repeating step 1.～3., until the moulding of finishing whole tubing.
The invention still further relates to tube forming system with the supporting realization of said method, comprise tube-forming machine in the structure of tube forming system with controller, be provided with in the structure of above system real-time acquisition module and with the computing machine of tube-forming machine communication, acquisition module comprises the ccd video camera of gathering the tubing cross-sectional image in real time, gather the pressure transducer and the position transducer of tube-forming machine running parameter, the information that collects is real-time transmitted to computing machine by the A/D change-over circuit, and COMPUTER CALCULATION is handled after the D/A change-over circuit sends a control signal to the controller of tube-forming machine presses down or revise.
Key of the present invention is to catch each one-step forming process with camera, the signal abstraction that seizure is photographed becomes geometric figure again, send into computer analysis, automatically calculate drafts and send parameter such as step-length to by computer program, thereby the error that can avoid manual control to bring, and efficient is very high.Realize the compensating in real time and revising of forming process by closed-loop control,, need carry out system calibrating again when system transplantation to other production line or during the change of the length of steel pipe; When the grade of steel of steel plate not simultaneously, need neural network training again; The desirable default value of other parameters.
The result of machine budget has avoided the manual ambiguity of bringing of operating of people as calculated, has extremely strong accuracy.And total system has stronger adjustable correction, if having deviation with practical condition, we are manual modification compensation numerical value constantly, reaches more accurate effect.
The effect error of the parameter compacting that system provides is judged automatically by camera head, according to producing error size, carries out next step adjustment automatically.Whole process is convenient and swift, even the gross data of digital-to-analogue and reality are not inconsistent in the computer program, as long as the error of measuring is accurate, system can recomputate and revise according to error.
The present invention is described in detail below in conjunction with accompanying drawing.
Description of drawings
Fig. 1 is a tube forming system architecture diagram of the present invention.
In the accompanying drawing, the 1st, tube-forming machine, the 2nd, ccd video camera, the 3rd, pressure transducer, the 4th, position transducer, the 5th, A/D change-over circuit, the 6th, computing machine, the 7th, D/A change-over circuit, the 8th, controller.
Embodiment
Intelligent moulding detection of tubing and modification method, above method is based on the JCO molding mode, and the tube-forming machine with controller is realized the forming process of tubing, the location is provided with the ccd video camera 2 with capture card, and computing machine 6 with supporting data transmission interface, computing machine 6 is connected by the controller of cpu motherboard with tube-forming machine 1, computing machine 6 is by supporting digital imaging processing software program, collect the initial alignment point of one group of tubing precompressed by curve simulation and straight-line detection, and handle the corresponding theory performance parameter calculate the bending pipes angle by software kit, deposit intermediate database in, tubing begins in first calibration point position precompressed, and carries out following steps:
1., gather the curved images of facing in tubing cross sections in real time, and image is sent to computing machine 6 by data transmission interface by ccd video camera 2;
2., gather the corresponding actual performance parameter of tubing angle of bend, call the theoretical performance parameter of computing machine 6 intermediate data library storage, and compare with supporting identification software;
3., the 2. middle actual performance parameter of gathering of determination step and the rationality of theoretical performance parameter error, if rationally, then carry out step 4., if unreasonable, computing machine 6 sends a control signal to the controller of tube-forming machine, and control tube-forming machine 1 presses down in initial alignment point position;
4., the precompressed that enters next calibration point position, repeating step 1.～3., until the moulding of finishing whole tubing.
Above-mentioned step 3. in, if unreasonable, can suspend the real-time monitoring of computing machine 6 and ccd video camera 2, taking manually, mode compensates and corrects.
Initial alignment point is set adopts Hough mapping algorithm and least square method, at first just discern the straight line parameter by the Hough mapping algorithm, the setpoint distance threshold value is sorted out satisfactory point set, utilize least square method that the point set after sorting out is carried out fitting a straight line again, obtain the straight line parameter and demarcate.
The result of the actual performance parameter that collects and theoretical performance parameter compare of analysis is preserved and generates historical shaping information.
A kind of tube forming system of and the supporting realization of said method, comprise tube-forming machine 1 in the structure of tube forming system with controller, be provided with in the structure of above system real-time acquisition module and with the computing machine 6 of tube-forming machine 1 communication, acquisition module comprises the ccd video camera 2 of gathering the tubing cross-sectional image in real time, gather the pressure transducer 3 and the position transducer 4 of tube-forming machine 1 running parameter, the information that collects is real-time transmitted to computing machine 6 by A/D change-over circuit 5, and computing machine 6 computings are after D/A change-over circuit 7 sends a control signal to the controller 8 of tube-forming machine 1 presses down or revise.
The lighting source that is used with ccd video camera 2 is set in system.
Be provided for ccd video camera 2 in the system and gather the locating device of tubing cross-sectional image.
The present invention adopts camera to catch each one-step forming process, the signal abstraction that seizure is photographed becomes geometric figure again, sends into computer analysis, is calculated drafts automatically and is sent to parameter such as step-length by computer program, thereby the error that can avoid manual control to bring, and efficient is very high.Idiographic flow is as follows:
1), is provided with and demarcates: before ccd video camera 2 is fixed in the production line field apparatus, adopt the controller 8 signal intercommunications of computing machine 6 integrated integrated circuit boards and tube-forming machine 1, carry out image-capture at fixing depressing position, once demarcate, determined simulation value and actual proportionate relationship of suppressing parameter, and it is correct specifically to suppress parameter setting.
2), carry out the image acquisition simulation: during the compacting steel pipe, in every one step of pressure, the compacting image abstraction that camera will photograph is modeled as curve signal and is calculated by finite element analysis software, and the drafts parameter guidance comparatively accurately of output is at last produced.Through using, the steel pipe roundness that adopts this system to produce is better, reaches the expection level.
Wherein the invention still further relates to the supporting software algorithm and the mathematical model that are used for computing machine 6 Based Intelligent Control and identification, proposed the line detection algorithm that Hough conversion and least square method combine.At first adopt the Hough conversion slightly to discern the straight line parameter, and near the point set that the setpoint distance threshold value will slightly be discerned the straight line sorts out, reject noise spot and noise, utilize least square method that the point set after sorting out is carried out fitting a straight line then, obtain accurate straight line parameter.
Mathematical model has adopted nerual network technique, and it is not superior that nerual network technique is compared with classical calculation, but when conventional method can't solve or during poor effect neural network just demonstrate its superiority.Especially when the system that the rules such as mechanism of problem is had little understanding maybe can not represent with mathematical model, the instrument that neural network is the strongest often.In addition, neural network can not show great dirigibility and adaptivity with the problem of rule or formula description to handling a large amount of raw data.By the characteristic variable in pipe JCO moulding and the spring-go process is analyzed and is studied, finished input, the output layer design of neural network model of cognition, utilize the MATLAB programming language, developed parameter recognition and predictor in the pipe JCO forming process.With the input layer variable of parameters such as bending angle behind bending force, crooked stroke and the spring-go as model of cognition, parameters such as material property parameter are as the output layer variable of model of cognition.Select feedforward BP network as the neural network structure of identification and forecast model, least-squares algorithm as network optimization algorithm, improved network convergence and extensive precision.
The present invention also has an advantage, though promptly control by computing machine, control mode is very flexible, also can carry out manually-operated according to the actual requirements under the real-time monitoring of computer state, avoids finishing situation complicated and changeable with the form of machinery.
Claims (7)
1. intelligent moulding detection of tubing and modification method, above method is based on the JCO molding mode, and the tube-forming machine with controller is realized the forming process of tubing, it is characterized in that: the location is provided with the ccd video camera (2) with capture card, and computing machine (6) with supporting data transmission interface, computing machine (6) is connected by the controller of cpu motherboard with tube-forming machine (1), computing machine (6) is by supporting digital imaging processing software program, collect the initial alignment point of one group of tubing precompressed by curve simulation and straight-line detection, and handle the corresponding theory performance parameter calculate the bending pipes angle by software kit, deposit intermediate database in, tubing begins in first calibration point position precompressed, and carries out following steps:
1., gather the curved images of facing in tubing cross section in real time, and image is sent to computing machine (6) by data transmission interface by ccd video camera (2);
2., gather the corresponding actual performance parameter of tubing angle of bend, call the theoretical performance parameter of computing machine (6) intermediate data library storage, and compare with supporting identification software;
3., the 2. middle actual performance parameter of gathering of determination step and the rationality of theoretical performance parameter error, if rationally, then carry out step 4., if it is unreasonable, computing machine (6) sends a control signal to the controller of tube-forming machine, and control tube-forming machine (1) presses down in initial alignment point position;
4., the precompressed that enters next calibration point position, repeating step 1.～3., until the moulding of finishing whole tubing.
2. intelligent moulding detection of tubing according to claim 1 and modification method, it is characterized in that: described step 3. in, if unreasonable, can suspend the real-time monitoring of computing machine (6) and ccd video camera (2), taking manually, mode compensates and corrects.
3. intelligent moulding detection of tubing according to claim 1 and modification method, it is characterized in that: initial alignment point is set adopts Hough mapping algorithm and least square method, at first just discern the straight line parameter by the Hough mapping algorithm, the setpoint distance threshold value is sorted out satisfactory point set, utilize least square method that the point set after sorting out is carried out fitting a straight line again, obtain the straight line parameter and demarcate.
4. intelligent moulding detection of tubing according to claim 1 and modification method is characterized in that: with result's preservation of the actual performance parameter that collects and theoretical performance parameter compare of analysis and generate historical shaping information.
5. tube forming system with the supporting realization of method described in the claim 1, comprise tube-forming machine (1) in the structure of tube forming system with controller, it is characterized in that: be provided with in the structure of above system real-time acquisition module and with the computing machine (6) of tube-forming machine (1) communication, acquisition module comprises the ccd video camera (2) of gathering the tubing cross-sectional image in real time, gather the pressure transducer (3) and the position transducer (4) of tube-forming machine (1) running parameter, the information that collects is real-time transmitted to computing machine (6) by A/D change-over circuit (5), and computing machine (6) computing is after D/A change-over circuit (7) sends a control signal to the controller (8) of tube-forming machine (1) presses down or revise.
6. a kind of tube forming according to claim 5 system is characterized in that: the lighting source that is used with ccd video camera (2) is set in system.
7. a kind of tube forming according to claim 5 system is characterized in that: be provided for the locating device that ccd video camera (2) is gathered the tubing cross-sectional image in the system.
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| CN 201010143845 CN101825883A (en) | 2010-04-12 | 2010-04-12 | Tubing intelligent forming detection and correction method and tubing forming system |
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| CN 201010143845 CN101825883A (en) | 2010-04-12 | 2010-04-12 | Tubing intelligent forming detection and correction method and tubing forming system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102728662A (en) * | 2011-03-31 | 2012-10-17 | 廊坊市管道人机械设备有限公司 | Apparatus for correcting orifices of steel pipes |
| CN106694653A (en) * | 2016-11-15 | 2017-05-24 | 成都陵川特种工业有限责任公司 | Pipe bender system for producing gas exhaust pipes |
| CN108305348A (en) * | 2017-12-25 | 2018-07-20 | 重庆达德机械制造有限公司 | A kind of multifunctional pipe bending machine |
| CN108332788A (en) * | 2017-12-30 | 2018-07-27 | 重庆安特管业有限公司 | PVC pipe production line fault detection method |
| CN109460607A (en) * | 2018-11-09 | 2019-03-12 | 福州大学 | A kind of superplasticity allumen tube-drawing molding simulation method |
| CN112440079A (en) * | 2020-11-09 | 2021-03-05 | 燕山大学 | Manufacturing method of composite oil pipe and seaming device |
| CN112859735A (en) * | 2020-12-31 | 2021-05-28 | 中国石油天然气集团有限公司 | JCO forming tubular online closed-loop control method, system and device |
| CN114993229A (en) * | 2022-06-02 | 2022-09-02 | 西南石油大学 | Multi-sensor data fusion-based ovality online detection method |
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| CN101205596A (en) * | 2007-12-10 | 2008-06-25 | 华北石油管理局第一机械厂 | X120 pipeline steel submerged arc straight weld pipe and manufacture technique thereof |
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| CN101205596A (en) * | 2007-12-10 | 2008-06-25 | 华北石油管理局第一机械厂 | X120 pipeline steel submerged arc straight weld pipe and manufacture technique thereof |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102728662B (en) * | 2011-03-31 | 2015-11-04 | 廊坊市管道人机械设备有限公司 | A kind of calibration equipment for steel pipe nozzle |
| CN102728662A (en) * | 2011-03-31 | 2012-10-17 | 廊坊市管道人机械设备有限公司 | Apparatus for correcting orifices of steel pipes |
| CN106694653A (en) * | 2016-11-15 | 2017-05-24 | 成都陵川特种工业有限责任公司 | Pipe bender system for producing gas exhaust pipes |
| CN108305348A (en) * | 2017-12-25 | 2018-07-20 | 重庆达德机械制造有限公司 | A kind of multifunctional pipe bending machine |
| CN108332788A (en) * | 2017-12-30 | 2018-07-27 | 重庆安特管业有限公司 | PVC pipe production line fault detection method |
| CN109460607B (en) * | 2018-11-09 | 2023-03-10 | 福州大学 | Superplastic zinc-aluminum alloy pipe drawing forming simulation method |
| CN109460607A (en) * | 2018-11-09 | 2019-03-12 | 福州大学 | A kind of superplasticity allumen tube-drawing molding simulation method |
| CN112440079A (en) * | 2020-11-09 | 2021-03-05 | 燕山大学 | Manufacturing method of composite oil pipe and seaming device |
| CN112440079B (en) * | 2020-11-09 | 2021-11-02 | 燕山大学 | Manufacturing method of composite oil pipe and seaming device |
| CN112859735B (en) * | 2020-12-31 | 2022-04-08 | 中国石油天然气集团有限公司 | JCO forming tubular online closed-loop control method, system and device |
| CN112859735A (en) * | 2020-12-31 | 2021-05-28 | 中国石油天然气集团有限公司 | JCO forming tubular online closed-loop control method, system and device |
| CN114993229A (en) * | 2022-06-02 | 2022-09-02 | 西南石油大学 | Multi-sensor data fusion-based ovality online detection method |
| CN114993229B (en) * | 2022-06-02 | 2024-06-11 | 西南石油大学 | Ovality online detection method based on multi-sensor data fusion |
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