CN103949632A - Alloy demolding system control method based on machine vision - Google Patents
Alloy demolding system control method based on machine vision Download PDFInfo
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- CN103949632A CN103949632A CN201410196108.2A CN201410196108A CN103949632A CN 103949632 A CN103949632 A CN 103949632A CN 201410196108 A CN201410196108 A CN 201410196108A CN 103949632 A CN103949632 A CN 103949632A
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Abstract
The invention discloses an alloy demolding system control method based on machine vision and relates to a demolding control method. The alloy demolding system control method has the benefits that the automatic operation and control of alloy demolding can be realized, an alloy ingot in a mold can be accurately positioned and judged whether to be adhesive or not, demolding or mold breaking can be performed according to the adhesion situation of the alloy ingot, and with the adoption of the alloy demolding system control method provided by the invention, the alloy ingot can be protected against damage to the maximum extent, so that the qualified rate of finished products is improved.
Description
Technical field
The present invention relates to a kind of demoulding control method, particularly relate to a kind of alloy dismoulding system control method based on machine vision.
Background technology
The demoulding is the ingot casting of processing difformity, size and substance, completes following technological operation: freedom or forced stripper mechanism, de-hot top, de-ingot; The steel ingot on base plate is taken off in free or pressure.Existing ingot stripper, most folders that rely on Static behavior to assemble on hoisting machinery pull and ejection specific purpose tool.The Action of Gravity Field of the switching by clamp and lifter motion and steel ingot, ingot mould completes the various free demouldings, raises one's hat and de-ingot operation, utilize ejection instrument top, gear and and folder pull the linear relative movement between instrument and carry out forced stripper mechanism (de-ingot) operation.
In Die Casting process, due to the needs of the ingot casting production automation, for fear of ingot casting distortion, cracking or can not Automatic-falling, the existing demoulding needs to adopt twice ejecting mechanism or the smooth demoulding of three ejecting mechanism guarantee foundry goods more.Existing release method shortcoming is as follows: twice ejecting mechanism of lever utilizes lever principle, realizing secondary releases, its structure is comparatively complicated, and the size of lever, installation and work limitation are larger, and in order to guarantee that the thimble for releasing for the second time can reset smoothly, necessarily require the diameter of thimble to be greater than to be ejected position dimension or thimble fixed head to increase pull bar and reset.This limitation has limited the scope of application of lever Double-ejection greatly, and the secondary that is used in running channel part is released more, is not suitable for continuous automatic production in enormous quantities.
Summary of the invention
Because the above-mentioned defect of prior art, technical problem to be solved by this invention is to provide a kind of alloy dismoulding system control method based on machine vision that can automatic demoulding.
For achieving the above object, the invention provides a kind of alloy dismoulding system control method based on machine vision, comprise the following steps:
On step 1, alloy cast ingot, expect in mould;
Step 2, the position of each alloy cast ingot in mould is positioned and judges in mould the whether adhesion of each alloy cast ingot;
Step 3, mould emptier move to not adhesion alloy cast ingot place according to position location and carry out demoulding processing;
Described in step 4, judgement, the whether whole demouldings of adhesion alloy cast ingot do not complete; When described not adhesion alloy cast ingot does not have whole demoulding, return to execution step three; When the whole demoulding of described not adhesion alloy cast ingot, execution step five;
Step 5, judge whether the alloy cast ingot of adhesion; When there is no the alloy cast ingot of adhesion, do not finish; When having alloy cast ingot adhesion, extrusion die makes its fragmentation, then finishes.
Preferably, in described step 5, by extrusion equipment, carry out extrusion die, by torque sensor, detect the Motor torque of extrusion equipment, whether the Motor torque that detects of judgement in setting range, adjusts the size of the Motor torque of extrusion equipment when the Motor torque detecting is not in setting range.
Preferably, in described step 2, judge in mould each alloy cast ingot whether carry out according to the following steps by adhesion:
A1, obtain the gray level image of the mould that alloy cast ingot is housed;
A2, the gray level image of acquisition is carried out to binary conversion treatment, obtain black white image;
A3, Criterion ingot casting template image;
A4, ingot casting template image is mated with the ingot casting image in described gray level image, obtain ingot casting matching value;
A5, judge whether described ingot casting matching value is greater than setting value; When described ingot casting matching value is greater than setting value, determine described alloy cast ingot adhesion; When described ingot casting matching value is less than or equal to setting value, carry out next step;
A6, described black white image is carried out to edge sharpening;
A7, to the alloy cast ingot outward flange in described black white image justify search and alloy ingot casting outward flange justify matching, obtain the circularities of alloy cast ingot in black white image;
A8, judge whether described ingot casting circularities is greater than setting value; When described ingot casting circularities is greater than setting value, determine described alloy cast ingot adhesion; When described ingot casting circularities is less than or equal to setting value, determine the not adhesion of described alloy cast ingot.
Preferably, in described step 2, the position of each alloy cast ingot in mould is positioned according to the following steps and is carried out:
B1, obtain the gray level image of the mould that alloy cast ingot is housed;
B2, the gray level image of acquisition is carried out to binary conversion treatment, obtain black white image;
B3, described black white image is carried out to edge sharpening;
B4, to the mould outward flange in described black white image justify search and mould outward flange is justified to matching, obtain round centre coordinate and the radius of circle of mould in black white image;
B5, to the alloy cast ingot outward flange in described black white image justify search and alloy ingot casting outward flange justify matching, obtain round centre coordinate and the radius of circle of alloy cast ingot in black white image;
B6, according to the round centre coordinate of alloy cast ingot in described black white image and radius of circle, determine the position of described alloy cast ingot in described mould.
The invention has the beneficial effects as follows: the present invention can realize the automation of the alloy demoulding and control; can accurately to the alloy cast ingot in mould, position and judge its whether adhesion; can carry out the demoulding or the processing of broken mould according to the adhesion situation of alloy cast ingot; adopt release method of the present invention can maximized protection alloy cast ingot injury-free, improved the qualification rate of finished product.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the embodiment of the invention.
The specific embodiment
Below in conjunction with drawings and Examples, the invention will be further described:
As shown in Figure 1, a kind of alloy dismoulding system control method based on machine vision, comprises the following steps:
On step 1, alloy cast ingot, expect in mould;
Step 2, the position of each alloy cast ingot in mould is positioned and judges in mould the whether adhesion of each alloy cast ingot;
Step 3, mould emptier move to not adhesion alloy cast ingot place according to position location and carry out demoulding processing;
Described in step 4, judgement, the whether whole demouldings of adhesion alloy cast ingot do not complete; When described not adhesion alloy cast ingot does not have whole demoulding, return to execution step three; When the whole demoulding of described not adhesion alloy cast ingot, execution step five;
Step 5, judge whether the alloy cast ingot of adhesion; When there is no the alloy cast ingot of adhesion, do not finish; When having alloy cast ingot adhesion, extrusion die makes its fragmentation, then finishes.
In described step 5, by extrusion equipment, carry out extrusion die, by torque sensor, detect the Motor torque of extrusion equipment, whether the Motor torque that detects of judgement in setting range, adjusts the size of the Motor torque of extrusion equipment when the Motor torque detecting is not in setting range.Described extrusion equipment is known equipment in alloy cast ingot demoulding field, does not repeat them here.In the present embodiment, whether the Motor torque that judgement detects is greater than Motor torque maximum set value, when the moment of torsion detecting is greater than Motor torque maximum set value, controls extrusion equipment and reduces Motor torque; When the moment of torsion detecting is less than the minimum setting value of Motor torque, controlling extrusion equipment increases Motor torque.
In described step 2, judge in mould each alloy cast ingot whether carry out according to the following steps by adhesion:
A1, by NI Vision Builder for Automated Inspection, obtain the gray level image of the mould that alloy cast ingot is housed.NI Vision Builder for Automated Inspection is technology well known in the art, does not repeat them here.
A2, the gray level image of acquisition is carried out to binary conversion treatment, obtain black white image;
A3, Criterion ingot casting template image;
A4, ingot casting template image is mated with the ingot casting image in described gray level image, obtain ingot casting matching value;
A5, judge whether described ingot casting matching value is greater than setting value; When described ingot casting matching value is greater than setting value, determine described alloy cast ingot adhesion; When described ingot casting matching value is less than or equal to setting value, carry out next step;
A6, described black white image is carried out to edge sharpening;
A7, to the alloy cast ingot outward flange in described black white image justify search and alloy ingot casting outward flange justify matching, obtain the circularities of alloy cast ingot in black white image;
A8, judge whether described ingot casting circularities is greater than setting value; When described ingot casting circularities is greater than setting value, determine described alloy cast ingot adhesion; When described ingot casting circularities is less than or equal to setting value, determine the not adhesion of described alloy cast ingot.
Described ingot casting matching value determines according to the ingot casting images match degree in ingot casting template image and gray level image, and the higher ingot casting of matching degree matching value is higher.Described ingot casting circularities determines according to the ingot casting image cylindrical fitting degree in black white image, and the higher ingot casting of fitting degree circularities is higher.
In described step 2, the position of each alloy cast ingot in mould is positioned according to the following steps and is carried out:
B1, obtain the gray level image of the mould that alloy cast ingot is housed;
B2, the gray level image of acquisition is carried out to binary conversion treatment, obtain black white image;
B3, described black white image is carried out to edge sharpening;
B4, to the mould outward flange in described black white image justify search and mould outward flange is justified to matching, obtain round centre coordinate and the radius of circle of mould in black white image;
B5, to the alloy cast ingot outward flange in described black white image justify search and alloy ingot casting outward flange justify matching, obtain round centre coordinate and the radius of circle of alloy cast ingot in black white image;
B6, according to the round centre coordinate of alloy cast ingot in described black white image and radius of circle, determine the position of described alloy cast ingot in described mould.
According to the round centre coordinate of alloy cast ingot in described black white image and radius of circle, determine that the position of described alloy cast ingot in described mould carry out according to the following steps:
Setting mould rectangular co-ordinate is O
xy, black white image rectangular co-ordinate is O'
x'y', described mould rectangular coordinate system is identical with the change in coordinate axis direction of black white image rectangular coordinate system;
Set mold center at mould rectangular coordinate system O
xyfor O, at black white image rectangular coordinate system O'
x'y'for O', described O' is at O
xyin coordinate be (x
0, y
0), set the center of circle M of any alloy cast ingot, it is at mould rectangular coordinate system O
xycoordinate be (x, y), described M is at black white image rectangular coordinate system O'
x'y'in coordinate be (x', y');
Calculate x=x'+x
0, y=y'+y
0, obtain M (x, y).Determine the home position of each alloy cast ingot in mould, also just determined the position of each alloy cast ingot in mould.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that those of ordinary skill in the art just can design according to the present invention make many modifications and variations without creative work.Therefore, all technical staff in the art, all should be in the determined protection domain by claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (4)
1. the alloy dismoulding system control method based on machine vision, is characterized in that comprising the following steps:
On step 1, alloy cast ingot, expect in mould;
Step 2, the position of each alloy cast ingot in mould is positioned and judges in mould the whether adhesion of each alloy cast ingot;
Step 3, mould emptier move to not adhesion alloy cast ingot place according to position location and carry out demoulding processing;
Described in step 4, judgement, the whether whole demouldings of adhesion alloy cast ingot do not complete; When described not adhesion alloy cast ingot does not have whole demoulding, return to execution step three; When the whole demoulding of described not adhesion alloy cast ingot, execution step five;
Step 5, judge whether the alloy cast ingot of adhesion; When there is no the alloy cast ingot of adhesion, do not finish; When having alloy cast ingot adhesion, extrusion die makes its fragmentation, then finishes.
2. the alloy dismoulding system control method based on machine vision as claimed in claim 1, it is characterized in that: in described step 5, by extrusion equipment, carry out extrusion die, by torque sensor, detect the Motor torque of extrusion equipment, whether the Motor torque that detects of judgement in setting range, adjusts the size of the Motor torque of extrusion equipment when the Motor torque detecting is not in setting range.
3. the alloy dismoulding system control method based on machine vision as claimed in claim 1, is characterized in that: in described step 2, judge in mould each alloy cast ingot whether carry out according to the following steps by adhesion:
A1, obtain the gray level image of the mould that alloy cast ingot is housed;
A2, the gray level image of acquisition is carried out to binary conversion treatment, obtain black white image;
A3, Criterion ingot casting template image;
A4, ingot casting template image is mated with the ingot casting image in described gray level image, obtain ingot casting matching value;
A5, judge whether described ingot casting matching value is greater than setting value; When described ingot casting matching value is greater than setting value, determine described alloy cast ingot adhesion; When described ingot casting matching value is less than or equal to setting value, carry out next step;
A6, described black white image is carried out to edge sharpening;
A7, to the alloy cast ingot outward flange in described black white image justify search and alloy ingot casting outward flange justify matching, obtain the circularities of alloy cast ingot in black white image;
A8, judge whether described ingot casting circularities is greater than setting value; When described ingot casting circularities is greater than setting value, determine described alloy cast ingot adhesion; When described ingot casting circularities is less than or equal to setting value, determine the not adhesion of described alloy cast ingot.
4. the alloy dismoulding system control method based on machine vision as claimed in claim 1, is characterized in that: in described step 2, the position of each alloy cast ingot in mould is positioned according to the following steps and carried out:
B1, obtain the gray level image of the mould that alloy cast ingot is housed;
B2, the gray level image of acquisition is carried out to binary conversion treatment, obtain black white image;
B3, described black white image is carried out to edge sharpening;
B4, to the mould outward flange in described black white image justify search and mould outward flange is justified to matching, obtain round centre coordinate and the radius of circle of mould in black white image;
B5, to the alloy cast ingot outward flange in described black white image justify search and alloy ingot casting outward flange justify matching, obtain round centre coordinate and the radius of circle of alloy cast ingot in black white image;
B6, according to the round centre coordinate of alloy cast ingot in described black white image and radius of circle, determine the position of described alloy cast ingot in described mould.
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| CN201410196108.2A CN103949632B (en) | 2014-05-12 | 2014-05-12 | Based on the alloy dismoulding system control method of machine vision |
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| CN201410196108.2A CN103949632B (en) | 2014-05-12 | 2014-05-12 | Based on the alloy dismoulding system control method of machine vision |
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Citations (5)
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|---|---|---|---|---|
| JPH06210582A (en) * | 1993-01-19 | 1994-08-02 | Toyo Mach & Metal Co Ltd | Communication system between molding machine and peripheral robot |
| CN201823895U (en) * | 2010-10-15 | 2011-05-11 | 云南铝业股份有限公司 | Automatic non-demoulding detection and alarm device of 160-mould pig moulding machine |
| CN102363354A (en) * | 2011-11-02 | 2012-02-29 | 宁波安信数控技术有限公司 | Mechanical-vision-based injection molding machine mold protecting system and method |
| CN102529019A (en) * | 2012-01-31 | 2012-07-04 | 温州大学 | Method for mould detection and protection as well as part detection and picking |
| CN102814957A (en) * | 2012-08-10 | 2012-12-12 | 浙江工业大学 | Embedded type mold protection system and method based on ZigBee network |
-
2014
- 2014-05-12 CN CN201410196108.2A patent/CN103949632B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06210582A (en) * | 1993-01-19 | 1994-08-02 | Toyo Mach & Metal Co Ltd | Communication system between molding machine and peripheral robot |
| CN201823895U (en) * | 2010-10-15 | 2011-05-11 | 云南铝业股份有限公司 | Automatic non-demoulding detection and alarm device of 160-mould pig moulding machine |
| CN102363354A (en) * | 2011-11-02 | 2012-02-29 | 宁波安信数控技术有限公司 | Mechanical-vision-based injection molding machine mold protecting system and method |
| CN102529019A (en) * | 2012-01-31 | 2012-07-04 | 温州大学 | Method for mould detection and protection as well as part detection and picking |
| CN102814957A (en) * | 2012-08-10 | 2012-12-12 | 浙江工业大学 | Embedded type mold protection system and method based on ZigBee network |
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| CN103949632B (en) | 2016-04-20 |
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