CN113222089A - Cross bar anti-collision detection system, method and terminal based on RFID technology - Google Patents
Cross bar anti-collision detection system, method and terminal based on RFID technology Download PDFInfo
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Abstract
The invention discloses a cross bar anti-collision detection system, a cross bar anti-collision detection method and a cross bar anti-collision detection terminal based on an RFID technology, and relates to the technical field of machinery. The device is provided with a base, a support column is fixedly arranged at the upper end of the base, an installation shell is movably arranged at the upper end of the support column, a horizontally arranged cross rod is welded on the installation shell, a support rod is arranged in the cross rod, a camera is embedded at the tail end of the support rod, and an electromagnetic device is embedded at the head end of the support rod; a first accommodating cavity and a second accommodating cavity are respectively arranged at the front end and the rear end of the supporting rod, an RFID sensor is installed in the first accommodating cavity, and a vibration sensor is installed in the second accommodating cavity; this horizontal pole anticollision detecting system based on RFID technique can effectually realize the only matching of end effector and mould, not only can replace artifical inspection completely, and the accuracy is high moreover, has thoroughly avoided the ram risk that the press line leads to because the end effector mistake with technical means.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a cross bar anti-collision detection system, a cross bar anti-collision detection method and a cross bar anti-collision detection terminal based on an RFID technology.
Background
The RFID is an English abbreviation of radio frequency identification, the RFID card reader is an automatic identification device capable of reading electronic tag data in a popular way, the FID radio frequency identification is a non-contact automatic identification technology, a target object is automatically identified and related data are obtained through radio frequency signals, manual intervention is not needed in identification work, the RFID technology can work in various severe environments, a high-speed moving object can be identified by the RFID technology, a plurality of tags can be identified at the same time, and the operation is rapid and convenient.
The stamping production line is a core device of a stamping workshop and can automatically complete stamping processes such as drawing, shaping, blanking and the like. The production line generally comprises a destacking area, a press area, and a tail area. The main forming process takes place in the press area. The plate is formed by different forming processes in each sequence of dies, the transmission work of the plate is completed by a mechanical arm between each sequence of dies, the tail end of the mechanical arm is a light carbon fiber cross rod, an end picking device is arranged on the cross rod, and the plate is sucked by a tail end sucking disc. Before changing production varieties, a lower sleeve die and an end picking device need to be preassembled, and the lower sleeve die and the end picking device are automatically changed in when the production varieties are changed, so that a production task is executed. The moving track of the manipulator is manufactured according to the interference of different molds, so that the one-to-one corresponding relation between the end effector and the molds is determined. If the wrong end effector is pre-loaded, it will interfere with the mold during operation, resulting in a carbon fiber beam that is subject to stress failure, which is expensive. The only way to avoid the risk is to check if it is correct. However, currently, only manual inspection is relied on, the efficiency is low, the risk cannot be completely avoided, and an automatic inspection scheme is lacked.
Disclosure of Invention
In order to overcome the problems in the related art, the disclosed embodiment of the invention provides a cross bar anti-collision detection system, a cross bar anti-collision detection method and a cross bar anti-collision detection terminal based on an RFID technology. The technical scheme is as follows:
the cross bar anti-collision detection system based on the RFID technology is provided with a base, wherein a support column is fixedly arranged at the upper end of the base, an installation shell is movably arranged at the upper end of the support column, a horizontally arranged cross bar is welded on the installation shell, a support bar is arranged in the cross bar, a camera is embedded at the tail end of the support bar, and an electromagnetic device is embedded at the head end of the support bar;
a first accommodating cavity and a second accommodating cavity are respectively arranged at the front end and the rear end of the supporting rod, an RFID sensor is installed in the first accommodating cavity, and a vibration sensor is installed in the second accommodating cavity; the middle part of the supporting rod is provided with a pressure sensor;
the camera, the electromagnetic device, the RFID sensor, the vibration sensor and the pressure sensor are respectively and electrically connected with a PLC (programmable logic controller) arranged outside the supporting column; the PLC controller is connected with the protocol conversion head module through the PC, and the protocol conversion head module is electrically connected with the RFID electronic tag through the terminal detection module.
In one embodiment, the support column comprises a telescopic outer shell and a telescopic inner rod which are sleeved together, and the telescopic outer shell is arranged at the lower part of the telescopic inner rod; the top welding of flexible interior pole has the fixed column, the outside parcel of fixed column has spacing spring, spacing spring's outside is provided with the installation shell.
In one embodiment, a plurality of mounting holes are arranged on the circumference of the base, and expansion bolts fixed on the ground are arranged in the mounting holes in a penetrating mode.
In one embodiment, the surface of the support rod is pasted with a buffer pad, and the surface of the buffer pad is coated with a reflective strip.
In one embodiment, a cross bar collision avoidance detection method based on RFID technology comprises the following steps:
step one, an RFID electronic tag containing identity information and position information is pasted at a fixed position of an end effector, a terminal detection module is arranged on an end effector clamping trolley and is communicated with a protocol conversion head module arranged in an electric cabinet through a special cable;
step two, the RFID electronic tag reads the data information of the RFID sensor, and communicates and compares the data information with the data of the PLC controller, the RFID electronic chip which is adhered on the end effector and integrated in the RFID electronic tag comprises the ID number, the work order number and the work station number of the end effector, and the ID of the end effector corresponds to the ID of the mould one by one;
step three, after the die and the end effector are preassembled, the PLC reads the ID of the die, sends a control signal to the protocol conversion head module after acquiring the ID of the die, acquires the information of the end effector, respectively matches the ID, the work order number and the station number of the end effector, allows automatic replacement if the matching is correct, and otherwise executes alarm reminding;
step four, carrying out anti-collision detection on the cross rod: the RFID sensor identifies an impactor provided with an RFID chip, the vibration sensor monitors the vibration intensity of the supporting rod in real time during impact, the pressure sensor monitors the pressure value in real time, and when the pressure is greater than a preset value, the impactor pushes the cross rod to rotate so as to prevent the cross rod from being damaged; after the pressure disappears, the limiting spring drives the cross rod to reset, and the electromagnetic devices attract each other to prevent dislocation; the position of horizontal pole is convenient for discern to the reflection of light strip, and the video data of striking is gathered to the camera.
Preferably, the step two of reading the data information of the RFID sensor by the RFID tag includes:
firstly, the RFID electronic tag periodically sends exploration carrier signals, and calculates the intensity RF of a return signal and the intensity RFe of an environment signal in each exploration period;
secondly, correcting the RF by using RFe to obtain the effective signal intensity RFr returned by the RFID sensor in the search period, and calculating the average value RFa of the effective signal intensities in a plurality of search periods as the returned signal intensity of the RFID sensor;
finally, according to the RFa obtained after the RFID electronic tag is stabilized, the distance between the RFID sensor and the RFID electronic tag is obtained through table lookup or calculation, and the accurate positioning of the RFID sensor is realized;
the exploration signal of the RFID sensor is a small segment of carrier signal periodically emitted by the RFID electronic tag, the number of carrier cycles of each small segment is N, the interval between every two small segments is T, and T and N can be determined by experiments: the value of N ensures that the RFID sensor antenna senses enough energy; the value of T is to ensure that a return signal of the RFID sensor in the previous exploration period does not interfere the calculation of the signal intensity signal in the period, namely the energy received by the RFID sensor in the previous period is completely attenuated;
firstly, measuring the strength RFe of an environmental signal by the RFID electronic tag; then emitting N periods of detective carrier signals, then measuring the intensity RF of the return signal, wherein the two measurement methods are the same and form an exploration period, and obtaining the effective signal intensity RFr of the exploration period according to RFe and RF;
the ambient signal strength RFe is conditionally subtracted from the signal strength RF obtained after transmission of the probe carrier, as shown in the formula:
taking the average value of RFr of N exploration periods as RFa to form a signal strength updating period, as the formula:
preferably, the step two of communicating and comparing data of the PLC controller includes:
firstly, establishing a comprehensive information safety evaluation system between safety factors of the impact objects and the cross bars, wherein the safety evaluation system is a system consisting of m indexes of n impact objects, and thus obtaining an initial information evaluation matrix:
wherein i is 1,2, …, n; j is 1,2, …, m;
normalizing indexes in delta':
normalized index:
wherein i is 1,2, …, n; j is 1,2, …, m;
xij-elements of the normative information matrix corresponding to the ith row and j column, where the normative information matrix a can be expressed as:
wherein i is 1,2, …, n; j is 1,2, …, m;
then, according to the normative information matrix, determining the safety proportion of the index value of the jth index under the ith striker:
wherein i is 1,2, …, n; j is 1,2, …, m;
finally, the entropy value of the ith impactor is calculated by an entropy weight method
Wherein L isi-information entropy defined as the ith striker;
yij-the proportion of the j index under the ith striker;
i＝1,2,…,n；j＝1,2,…,m；
similarly, the safety sub-information entropy can be obtained, namely:
wherein O isi-safety sub information entropy defined as the ith striker;
Zij-specific gravity of the j index under the ith striker;
uij-specific gravity of the j index under the ith striker;
i＝1,2,…,n；j＝1,2,…,m；
carrying out normalization processing on the information entropy value, wherein a normalization formula is as follows:
according to the relationship between the information entropy and the risk, the risk level standard based on the information entropy is divided into:
0.8≤Pcless than or equal to 1, and extremely low risk;
0.6≤Pcless than 0.8, low risk;
0.4≤Pcless than 0.6, moderate risk;
0.2≤Pc< 0.4, high risk;
0≤Pc< 0.2, extremely high risk.
Preferably, the step three of obtaining the information of the end effector, respectively matching the ID, the work order number, and the station number of the end effector, includes:
(1) acquiring an ID, a work number or a work station number image I (x, y) of an end effector with the size H x W, wherein H represents the height of the ID, the work number or the work station number image I (x, y) of the end effector, W represents the width of the ID, the work number or the work station number image I (x, y) of the end effector, and (x, y) represents the coordinates of the ID, the work number or the work station number image I (x, y) of the end effector;
(2) the ID, the work number or the work station number image I (x, y) of the end effector is processed in a partitioning mode and is divided into m multiplied by n ID, work number or work station number image blocks of the end effector, the ID, the work number or the work station number image blocks of two adjacent end effectors are mutually overlapped, the width of an overlapped area is num pixels, and the ID, the work number or the work station number image block I of the end effector is obtainedij(x, y) wherein i represents an end effectorID. Work number or station number image block Iij(x, y) in row I of the end-effector ID, work number or station number block array, j representing the end-effector ID, work number or station number block Iij(x, y) is located in the jth column of the end effector ID, work number or station number block array, m represents the number of blocks of the end effector ID, work number or station number image divided in the lateral direction, and n represents the number of blocks of the end effector ID, work number or station number image divided in the longitudinal direction;
(3) image block I for calculating ID, work order number or station number of end-effectorijThe average value avg of all pixels in (x, y) is constructed into a matrix V (m, n) with the size of m multiplied by n, the value of each point in the matrix V (m, n) represents the avg value of a corresponding block, and the matrix V (m, n) is used for aligning the ID, the work order number or the station number of an end effector to an image block Iij(x, y) removing the direct current component to obtain an image block D (x, y) with the direct current component removed;
(4) performing Fourier transform on the image block D (x, y) with the direct-current component removed to obtain a frequency spectrogram F (x, y), and squaring the pixel value of each point in the frequency spectrogram F (x, y) to obtain an energy map E (x, y);
(5) setting a threshold th, dividing the energy diagram according to th, and dividing the ID, the work serial number or the work station number image of the end effector into a foreground area and a background area, wherein the foreground area contains the ID, the work serial number or the work station number information of the end effector, and the background area does not contain the ID, the work serial number or the work station number information of the end effector;
(6) image block I for calculating ID, work order number or station number of all end-effectorsijDirection information O (i, j) and frequency information F (i, j) of (x, y);
(7) finding out all detail points in the ID, the work order number or the station number image I (x, y) of the end effector, and calculating the similarity between each detail point:
(8) taking the detail points with high resolution in the ID, work order number or station number template of the end pick-up as alignment points, calculating relative translation and rotation parameters, and converting the detail points to be aligned into the same reference system:
(9) setting a matching threshold Th, and calculating the matching score MS of the ID, the work order number or the station number image I (x, y) minutiae of the end effector according to the following formula:
wherein a isiI-th minutiae point representing an ID, work number or station number image of the end-effector to be matched, bjA jth minutia representing an ID, work order number, or station number image of the template end effector;
calculate the directional field matching scores OS for the mxn blocks:
wherein O (I, j) represents the ith row and j column image block I of the ID, work number or station number image of the end effector to be matchedij(x, y) direction field, O' (I, j) represents the image block I in row I and column j of the ID, job number or station number image of the template end effectorijA directional field of (x, y);
calculating the frequency field matching fraction FS of the m × n blocks:
wherein F (I, j) represents the ith row and j column image block I of the ID, work number or station number image of the end effector to be matchedijFrequency field of (x, y), F' (I, j) represents image block I of ith row and j column of ID, work number or station number image of template end pick-upijA frequency field of (x, y);
when the MS + OS + FS > Th pattern image matching is successful, and when the MS + OS + FS < Th, the matching is failed.
Preferably, the step (7) further comprises:
1) constructing a sampling point set by an extension operator by taking an ID (identity) of an end effector, a work order number or a detail point m in a station number image as a center; the reference directions of the operators are eight directions of extension of the detail point neighborhood, and the extension radius of the n extension layer is set to be LnConstructing a sampling point setPn，kN represents the number of layers of spreading, and k represents eight directions of the extended field; wherein the maximum number of spreading layers nmaxCan be adjusted according to ID, work number or station number image of the actual end pick-up, and the weight of the detail point in each extension layer is set as
2) Recording the direction information of the sampling point P
Calculating a sample point Pn，kDifference from direction of detail point m
3) Constructing a detail point similarity judgment function through a selective extension operator, and selecting a judgment parameter Tn，kTo selectively skip the calculation of the k-th directional sample point in the n-th extension layer in the extension operator; if the sampling point is located in the ID, work order number or station number foreground area of the end effector, T n，k1, if the sampling point is in the background area, T n，k0; the similarity decision function between minutiae a and b is as follows:
wherein
Denotes the similarity of the sampling points in the kth direction in the n-th extension layer corresponding to the minutiae points a and b, where s (x) e(-16x)When S (a, b) is 1, it indicates that the similarity between two corresponding sampling points is maximum;
the step (8) further comprises: a) sorting the similarity of the ID, the work order number or the work position number of the template end pick-up and the detail points in the ID, the work order number or the work position number of the end pick-up to be matched, selecting the template detail point corresponding to the value with the maximum similarity, and extending the maximum probability density valueAs the alignment point D (x)D，yD，θD)；
b) The reference formula for setting the rotational translation is as follows:
wherein, Deltax, Deltay, Deltatheta are respectively the translation and rotation parameters of the x-axis, the y-axis and the detail point direction theta, d (x)d，yd，θd) Representing the detail point with the maximum similarity to the alignment point D in the image to be matched, and carrying out coordinate and angle transformation after obtaining the rotation translation parameters;
c) detail point d (x) in image to be matchedi，yi，θi) The calculation method of the angle and coordinate transformation is as follows:
wherein the content of the first and second substances,
and (4) representing the aligned features, and after the above-mentioned formula transformation, the feature of the detail point to be registered can be in the same reference system with the reference feature.
In an embodiment, an information data processing terminal is provided, which includes a memory and a processor, the memory storing a computer program, which when executed by the processor, causes the processor to execute the RFID technology-based rail collision avoidance detection method.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
this horizontal pole anticollision detecting system based on RFID technique can effectually realize the only matching of end effector and mould, not only can replace artifical inspection completely, and the accuracy is high moreover, has thoroughly avoided the ram risk that the press line leads to because the end effector mistake with technical means.
This horizontal pole anticollision detecting system based on RFID technique can realize whether the automated inspection mould matches with the end effector after the pre-installation, if mismatch, issues the tip information, not only can replace manual work, realizes automatic inspection, has improved inspection efficiency and rate of accuracy moreover greatly, has filled the blank of the automatic inspection of punching production line end effector.
The invention provides a cross bar anti-collision detection method based on an RFID technology, wherein an RFID electronic tag containing identity information and position information is pasted at a fixed position of an end effector, a terminal detection module is arranged on an end effector clamping trolley and is communicated with a protocol conversion head module arranged in an electric cabinet through a special cable;
the RFID electronic tag reads data information of the RFID sensor, communicates and compares the data information with data of the PLC controller, and an RFID electronic chip which is adhered to the end effector and integrated in the RFID electronic tag comprises an ID number, a work order number and a work station number of the end effector, wherein the ID of the end effector corresponds to the ID of the mold one to one;
after the die and the end effector are preassembled, the PLC reads the ID of the die, sends a control signal to the protocol conversion head module after acquiring the ID of the die, acquires the information of the end effector, respectively matches the ID, the work order number and the work station number of the end effector, allows automatic replacement if the matching is correct, and otherwise executes alarm reminding;
carrying out anti-collision detection on the cross rod: the RFID sensor identifies an impactor provided with an RFID chip, the vibration sensor monitors the vibration intensity of the supporting rod in real time during impact, the pressure sensor monitors the pressure value in real time, and when the pressure is greater than a preset value, the impactor pushes the cross rod to rotate so as to prevent the cross rod from being damaged; after the pressure disappears, the limiting spring drives the cross rod to reset, and the electromagnetic devices attract each other to prevent dislocation; the position of horizontal pole is convenient for discern to the reflection of light strip, and the video data of striking is gathered to the camera. Accurate information technology detection is realized, and technical support is provided for actual production.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic structural diagram of a cross bar collision avoidance detection device based on RFID technology provided by the invention;
FIG. 2 is a schematic structural diagram of a first cross bar detection device provided by the present invention;
FIG. 3 is a schematic structural view of a support rod provided by the present invention;
FIG. 4 is a schematic structural diagram of a support column provided by the present invention;
reference numerals:
in fig. 1-4: 1. a base; 2. a support pillar; 3. mounting a shell; 4. a cross bar; 5. mounting holes; 6. a telescopic housing; 7. a telescopic inner rod; 8. a support bar; 9. a camera; 10. a cushion pad; 11. a light-reflecting strip; 12. an electromagnetic device; 13. a first accommodating cavity; 14. a second accommodating cavity; 15. an RFID sensor; 16. a shock sensor; 17. a pressure sensor; 18. fixing a column; 19. and a limiting spring.
Fig. 5 is a schematic diagram of data processing of a PLC controller according to the present invention.
Fig. 6 illustrates the operation principle of the collision avoidance detection system provided by the present invention.
Fig. 7 is a flow chart of a cross bar collision avoidance detection method based on the RFID technology provided in the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," and the like are for purposes of illustration only and are not intended to represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 to 4, the rail collision avoidance detection system based on RFID technology includes: the device comprises a base 1, a support column 2, an installation shell 3, a cross rod 4, an installation hole 5, a telescopic shell 6, a telescopic inner rod 7, a support rod 8, a camera 9, a cushion pad 10, a reflective strip 11, an electromagnetic device 12, a first accommodating cavity 13, a second accommodating cavity 14, an RFID sensor 15, a vibration sensor 16, a pressure sensor 17, a fixing column 18 and a limiting spring 19.
The upper end of the base 1 is fixedly provided with a support column 2, the upper end of the support column 2 is movably provided with an installation shell 3, a horizontally arranged cross rod 4 is welded on the installation shell, a support rod 8 is arranged in the cross rod, the tail end of the support rod is embedded with a camera 9, and the head end of the support rod is embedded with an electromagnetic device 12;
a first accommodating cavity 13 and a second accommodating cavity 14 are respectively arranged at the front end and the rear end of the supporting rod, an RFID sensor 15 is installed in the first accommodating cavity, and a vibration sensor 16 is installed in the second accommodating cavity; the middle part of the supporting rod is provided with a pressure sensor 17;
the camera, the electromagnetic device, the RFID sensor, the vibration sensor and the pressure sensor are respectively and electrically connected with a PLC (programmable logic controller) arranged outside the supporting column; the PLC controller is connected with the protocol conversion head module through the PC, and the protocol conversion head module is electrically connected with the RFID electronic tag through the terminal detection module.
The support column comprises a telescopic shell 6 and a telescopic inner rod 7 which are sleeved together, and the telescopic shell is arranged at the lower part of the telescopic inner rod; the top welding of flexible interior pole has fixed column 18, the outside parcel of fixed column has spacing spring 19, the outside of spacing spring is provided with installation shell 3.
A plurality of mounting holes 5 are formed in the circumference of the base, and expansion bolts fixed on the ground penetrate through the mounting holes.
The surface of the support rod is pasted with a cushion pad 10, and the surface of the cushion pad is coated with a reflective strip 11.
The technical solution of the present invention is further described below with reference to the detection method.
As shown in fig. 5 and 6, the detection method provided by the present invention includes:
the RFID electronic tag reads data information of the RFID sensor and communicates and compares the data information with data of the PLC controller, an RFID electronic chip is pasted on the end effector, the chip comprises an ID number, a work order number and a work station number of the end effector, and the ID of the end effector corresponds to the ID of the mold one to one. After the die and the end effector are preassembled, the PLC reads the ID of the die and the end effector, sends a control signal to the protocol conversion head module after the ID is obtained, obtains the information of the end effector, respectively matches the ID, the work order number and the work station number, allows automatic replacement if the matching is correct, and otherwise executes alarm reminding.
The RFID sensor can discern the rammer that is equipped with the RFID chip, and the vibrations intensity of bracing piece when vibrations sensor real-time supervision striking during the striking, simultaneously, pressure sensor real-time supervision pressure value, when pressure was greater than the default, the rammer promoted the horizontal pole and rotates, prevents that the horizontal pole from damaging. The limiting spring drives the cross rod to reset after the pressure disappears, and the electromagnetic devices attract each other to prevent dislocation. The position of horizontal pole is convenient for discern to the reflection of light strip, and the video data of striking can be gathered to the camera.
The technical solution of the present invention is further described with reference to the following specific examples.
The invention provides a cross bar anti-collision detection method based on an RFID technology, which comprises the following steps:
step one, an RFID electronic tag containing identity information and position information is pasted at a fixed position of an end effector, a terminal detection module is arranged on an end effector clamping trolley and is communicated with a protocol conversion head module arranged in an electric cabinet through a special cable;
step two, the RFID electronic tag reads the data information of the RFID sensor, and communicates and compares the data information with the data of the PLC controller, the RFID electronic chip which is adhered on the end effector and integrated in the RFID electronic tag comprises the ID number, the work order number and the work station number of the end effector, and the ID of the end effector corresponds to the ID of the mould one by one;
step three, after the die and the end effector are preassembled, the PLC reads the ID of the die, sends a control signal to the protocol conversion head module after acquiring the ID of the die, acquires the information of the end effector, respectively matches the ID, the work order number and the station number of the end effector, allows automatic replacement if the matching is correct, and otherwise executes alarm reminding;
step four, carrying out anti-collision detection on the cross rod: the RFID sensor identifies an impactor provided with an RFID chip, the vibration sensor monitors the vibration intensity of the supporting rod in real time during impact, the pressure sensor monitors the pressure value in real time, and when the pressure is greater than a preset value, the impactor pushes the cross rod to rotate so as to prevent the cross rod from being damaged; after the pressure disappears, the limiting spring drives the cross rod to reset, and the electromagnetic devices attract each other to prevent dislocation; the position of horizontal pole is convenient for discern to the reflection of light strip, and the video data of striking is gathered to the camera.
As a preferred embodiment, the step two of reading the data information of the RFID sensor by the RFID tag includes:
firstly, the RFID electronic tag periodically sends exploration carrier signals, and calculates the intensity RF of a return signal and the intensity RFe of an environment signal in each exploration period;
secondly, correcting the RF by using RFe to obtain the effective signal intensity RFr returned by the RFID sensor in the search period, and calculating the average value RFa of the effective signal intensities in a plurality of search periods as the returned signal intensity of the RFID sensor;
finally, according to the RFa obtained after the RFID electronic tag is stabilized, the distance between the RFID sensor and the RFID electronic tag is obtained through table lookup or calculation, and the accurate positioning of the RFID sensor is realized;
the exploration signal of the RFID sensor is a small segment of carrier signal periodically emitted by the RFID electronic tag, the number of carrier cycles of each small segment is N, the interval between every two small segments is T, and T and N can be determined by experiments: the value of N ensures that the RFID sensor antenna senses enough energy; the value of T is to ensure that a return signal of the RFID sensor in the previous exploration period does not interfere the calculation of the signal intensity signal in the period, namely the energy received by the RFID sensor in the previous period is completely attenuated;
firstly, measuring the strength RFe of an environmental signal by the RFID electronic tag; then emitting N periods of detective carrier signals, then measuring the intensity RF of the return signal, wherein the two measurement methods are the same and form an exploration period, and obtaining the effective signal intensity RFr of the exploration period according to RFe and RF;
the ambient signal strength RFe is conditionally subtracted from the signal strength RF obtained after transmission of the probe carrier, as shown in the formula:
taking the average value of RFr of N exploration periods as RFa to form a signal strength updating period, as the formula:
as a preferred embodiment, the step two of communicating and comparing the data of the PLC controller includes:
firstly, establishing a comprehensive information safety evaluation system between safety factors of the impact objects and the cross bars, wherein the safety evaluation system is a system consisting of m indexes of n impact objects, and thus obtaining an initial information evaluation matrix:
wherein i is 1,2, …, n; j is 1,2, …, m;
normalizing indexes in delta':
normalized index:
wherein i is 1,2, …, n; j is 1,2, …, m;
xij-elements of the normative information matrix corresponding to the ith row and j column, where the normative information matrix a can be expressed as:
wherein i is 1,2, …, n; j is 1,2, …, m;
then, according to the normative information matrix, determining the safety proportion of the index value of the jth index under the ith striker:
wherein i is 1,2, …, n; j is 1,2, …, m;
finally, the entropy value of the ith impactor is calculated by an entropy weight method
Wherein L isi-information entropy defined as the ith striker;
yij-the proportion of the j index under the ith striker;
i＝1,2,…,n；j＝1,2,…,m；
similarly, the safety sub-information entropy can be obtained, namely:
wherein O isi-safety sub information entropy defined as the ith striker;
Zij-specific gravity of the j index under the ith striker;
uij-specific gravity of the j index under the ith striker;
i＝1,2,…,n；j＝1,2,…,m；
carrying out normalization processing on the information entropy value, wherein a normalization formula is as follows:
according to the relationship between the information entropy and the risk, the risk level standard based on the information entropy is divided into:
0.8≤Pcless than or equal to 1, and extremely low risk;
0.6≤Pcless than 0.8, low risk;
0.4≤Pcless than 0.6, moderate risk;
0.2≤Pc< 0.4, high risk;
0≤Pc< 0.2, extremely high risk.
As a preferred embodiment, the step three of obtaining the end effector information, respectively matching the ID, the work serial number, and the station number of the end effector, includes:
(1) acquiring an ID, a work number or a work station number image I (x, y) of an end effector with the size H x W, wherein H represents the height of the ID, the work number or the work station number image I (x, y) of the end effector, W represents the width of the ID, the work number or the work station number image I (x, y) of the end effector, and (x, y) represents the coordinates of the ID, the work number or the work station number image I (x, y) of the end effector;
(2) the ID, the work number or the work station number image I (x, y) of the end effector is processed in a partitioning mode and is divided into m multiplied by n ID, work number or work station number image blocks of the end effector, the ID, the work number or the work station number image blocks of two adjacent end effectors are mutually overlapped, the width of an overlapped area is num pixels, and the ID, the work number or the work station number image block I of the end effector is obtainedij(x, y) where I represents the end-effector ID, job number or station number image block Iij(x, y) in row I of the end-effector ID, work number or station number block array, j representing the end-effector ID, work number or station number block Iij(x, y) is located in the jth column of the end effector ID, work number or station number block array, m represents the number of blocks of the end effector ID, work number or station number image divided in the lateral direction, and n represents the number of blocks of the end effector ID, work number or station number image divided in the longitudinal direction;
(3) image block I for calculating ID, work order number or station number of end-effectorijThe average value avg of all pixels in (x, y) is constructed into a matrix V (m, n) with the size of m multiplied by n, the value of each point in the matrix V (m, m) represents the avg value of a corresponding block, and the matrix V (m, n) is used for aligning the ID, the work order number or the station number of an end effector to an image block Iij(x, y) removing the direct current component to obtain an image block D (x, y) with the direct current component removed;
(4) performing Fourier transform on the image block D (x, y) with the direct-current component removed to obtain a frequency spectrogram F (x, y), and squaring the pixel value of each point in the frequency spectrogram F (x, y) to obtain an energy map E (x, y);
(5) setting a threshold th, dividing the energy diagram according to th, and dividing the ID, the work serial number or the work station number image of the end effector into a foreground area and a background area, wherein the foreground area contains the ID, the work serial number or the work station number information of the end effector, and the background area does not contain the ID, the work serial number or the work station number information of the end effector;
(6) image block I for calculating ID, work order number or station number of all end-effectorsij(x, y) direction informationO (i, j) and frequency information F (i, j);
(7) finding out all detail points in the ID, the work order number or the station number image I (x, y) of the end effector, and calculating the similarity between each detail point:
(8) taking the detail points with high resolution in the ID, work order number or station number template of the end pick-up as alignment points, calculating relative translation and rotation parameters, and converting the detail points to be aligned into the same reference system:
(9) setting a matching threshold Th, and calculating the matching score MS of the ID, the work order number or the station number image I (x, y) minutiae of the end effector according to the following formula:
wherein a isiI-th minutiae point representing an ID, work number or station number image of the end-effector to be matched, bjA jth minutia representing an ID, work order number, or station number image of the template end effector;
calculate the directional field matching scores OS for the mxn blocks:
wherein O (I, j) represents the ith row and j column image block I of the ID, work number or station number image of the end effector to be matchedij(x, y) direction field, O' (I, j) represents the image block I in row I and column j of the ID, job number or station number image of the template end effectorijA directional field of (x, y);
calculating the frequency field matching fraction FS of the m × n blocks:
wherein F (I, j) represents the ith row and j column image block I of the ID, work number or station number image of the end effector to be matchedijFrequency field of (x, y), F' (i, j) represents ID of template end pick-up, processIth row and j column image block I of image of station number or station numberijA frequency field of (x, y);
when the MS + OS + FS > Th pattern image matching is successful, and when the MS + OS + FS < Th, the matching is failed.
As a preferred embodiment, the step (7) further comprises:
1) constructing a sampling point set by an extension operator by taking an ID (identity) of an end effector, a work order number or a detail point m in a station number image as a center; the reference directions of the operators are eight directions of extension of the detail point neighborhood, and the extension radius of the n extension layer is set to be LnConstructing a sampling point set Pn，kN represents the number of layers of spreading, and k represents eight directions of the extended field; wherein the maximum number of spreading layers nmaxCan be adjusted according to ID, work number or station number image of the actual end pick-up, and the weight of the detail point in each extension layer is set as
2) Recording the direction information of the sampling point P
Calculating a sample point Pn，kDifference from direction of detail point m
3) Constructing a detail point similarity judgment function through a selective extension operator, and selecting a judgment parameter Tn，kTo selectively skip the calculation of the k-th directional sample point in the n-th extension layer in the extension operator; if the sampling point is located in the ID, work order number or station number foreground area of the end effector, T n，k1, if the sampling point is in the background area, T n，k0; the similarity decision function between minutiae a and b is as follows:
wherein
Denotes the similarity of the sampling points in the kth direction in the n-th extension layer corresponding to the minutiae points a and b, where s (x) e(-16x)When S (a, b) is 1, it indicates that the similarity between two corresponding sampling points is maximum;
the step (8) further comprises: a) sorting the similarity of the ID, the work order number or the work position number of the template end pick-up and the detail points in the ID, the work order number or the work position number of the end pick-up to be matched, selecting the template detail point corresponding to the value with the maximum similarity, and taking the detail point pair with the maximum extension probability density value as an alignment point D (x)D，yD，θD)；
b) The reference formula for setting the rotational translation is as follows:
wherein, Deltax, Deltay, Deltatheta are respectively the translation and rotation parameters of the x-axis, the y-axis and the detail point direction theta, d (x)d，yd，θd) Representing the detail point with the maximum similarity to the alignment point D in the image to be matched, and carrying out coordinate and angle transformation after obtaining the rotation translation parameters;
c) detail point d (x) in image to be matchedi，yi，θi) The calculation method of the angle and coordinate transformation is as follows:
wherein the content of the first and second substances,
and (4) representing the aligned features, and after the above-mentioned formula transformation, the feature of the detail point to be registered can be in the same reference system with the reference feature.
The effect of the present invention will be further described with reference to simulation experiments.
Simulation experiments show that:
the full automatic press line enables automatic die and tooling changes, which must be maintained in unique alignment, and if the wrong tooling is used, it will cause it to collide with the die and damage its carrier-carbon fiber cross bar. Therefore, before replacement, the end effector must be checked for accuracy. At present, the traditional manual inspection mode is relied on, the efficiency is low, and the loophole is large. Through the careful research to above problem, designed and developed horizontal pole collision avoidance system based on RFID technique and twincat technique, not only can replace artifical inspection completely, the accuracy is high moreover, has thoroughly avoided the ram risk that the press line leads to because the end effector mistake with technical means.
Non-contact detection: similar to the described application method, the automatic clamping and the part replacement can be completed in an industrial field, and the low-frequency RFID technology can be adopted to realize short-distance detection;
when the detected object needs to contain information such as ID, sequence and the like; the method interacts with industrial PLC production data to realize full-automatic storage; secure enclave rights and identification.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure should be limited only by the attached claims.
Claims (10)
1. The cross rod anti-collision detection system based on the RFID technology is characterized by being provided with a base, wherein a support column is fixedly mounted at the upper end of the base, an installation shell is movably mounted at the upper end of the support column, a horizontally arranged cross rod is welded on the installation shell, a support rod is arranged inside the cross rod, a camera is embedded at the tail end of the support rod, and an electromagnetic device is embedded at the head end of the support rod;
a first accommodating cavity and a second accommodating cavity are respectively arranged at the front end and the rear end of the supporting rod, an RFID sensor is installed in the first accommodating cavity, and a vibration sensor is installed in the second accommodating cavity; the middle part of the supporting rod is provided with a pressure sensor;
the camera, the electromagnetic device, the RFID sensor, the vibration sensor and the pressure sensor are respectively and electrically connected with a PLC (programmable logic controller) arranged outside the supporting column; the PLC controller is connected with the protocol conversion head module through the PC, and the protocol conversion head module is electrically connected with the RFID electronic tag through the terminal detection module.
2. The RFID technology-based rail collision avoidance detection system of claim 1, wherein the support column comprises a telescopic outer shell and a telescopic inner rod which are sleeved together, and the telescopic outer shell is arranged at the lower part of the telescopic inner rod; the top welding of flexible interior pole has the fixed column, the outside parcel of fixed column has spacing spring, spacing spring's outside is provided with the installation shell.
3. The RFID technology-based rail anti-collision detection system as claimed in claim 1, wherein a plurality of mounting holes are formed on the circumference of the base, and expansion bolts fixed on the ground are inserted into the mounting holes.
4. The RFID technology-based rail collision avoidance detection system of claim 1, wherein a cushion is adhered to the surface of the support bar, and a reflective strip is coated on the surface of the cushion.
5. A detection method for implementing the RFID technology-based rail collision avoidance detection system according to any one of claims 1 to 4, wherein the RFID technology-based rail collision avoidance detection method comprises the following steps:
step one, an RFID electronic tag containing identity information and position information is pasted at a fixed position of an end effector, a terminal detection module is arranged on an end effector clamping trolley and is communicated with a protocol conversion head module arranged in an electric cabinet through a special cable;
step two, the RFID electronic tag reads the data information of the RFID sensor, and communicates and compares the data information with the data of the PLC controller, the RFID electronic chip which is adhered on the end effector and integrated in the RFID electronic tag comprises the ID number, the work order number and the work station number of the end effector, and the ID of the end effector corresponds to the ID of the mould one by one;
step three, after the die and the end effector are preassembled, the PLC reads the ID of the die, sends a control signal to the protocol conversion head module after acquiring the ID of the die, acquires the information of the end effector, respectively matches the ID, the work order number and the station number of the end effector, allows automatic replacement if the matching is correct, and otherwise executes alarm reminding;
step four, carrying out anti-collision detection on the cross rod: the RFID sensor identifies an impactor provided with an RFID chip, the vibration sensor monitors the vibration intensity of the supporting rod in real time during impact, the pressure sensor monitors the pressure value in real time, and when the pressure is greater than a preset value, the impactor pushes the cross rod to rotate so as to prevent the cross rod from being damaged; after the pressure disappears, the limiting spring drives the cross rod to reset, and the electromagnetic devices attract each other to prevent dislocation; the position of horizontal pole is convenient for discern to the reflection of light strip, and the video data of striking is gathered to the camera.
6. The RFID technology-based rail collision avoidance detection method according to claim 5, wherein the step two of reading data information of the RFID sensor by the RFID electronic tag comprises:
firstly, the RFID electronic tag periodically sends exploration carrier signals, and calculates the intensity RF of a return signal and the intensity RFe of an environment signal in each exploration period;
secondly, correcting the RF by using RFe to obtain the effective signal intensity RFr returned by the RFID sensor in the search period, and calculating the average value RFa of the effective signal intensities in a plurality of search periods as the returned signal intensity of the RFID sensor;
finally, according to the RFa obtained after the RFID electronic tag is stabilized, the distance between the RFID sensor and the RFID electronic tag is obtained through table lookup or calculation, and the accurate positioning of the RFID sensor is realized;
the exploration signal of the RFID sensor is a small segment of carrier signal periodically emitted by the RFID electronic tag, the number of carrier cycles of each small segment is N, the interval between every two small segments is T, and T and N can be determined by experiments: the value of N ensures that the RFID sensor antenna senses enough energy; the value of T is to ensure that a return signal of the RFID sensor in the previous exploration period does not interfere the calculation of the signal intensity signal in the period, namely the energy received by the RFID sensor in the previous period is completely attenuated;
firstly, measuring the strength RFe of an environmental signal by the RFID electronic tag; then emitting N periods of detective carrier signals, then measuring the intensity RF of the return signal, wherein the two measurement methods are the same and form an exploration period, and obtaining the effective signal intensity RFr of the exploration period according to RFe and RF;
the ambient signal strength RFe is conditionally subtracted from the signal strength RF obtained after transmission of the probe carrier, as shown in the formula:
taking the average value of RFr of N exploration periods as RFa to form a signal strength updating period, as the formula:
7. the RFID technology based rail collision avoidance detection method of claim 5, wherein the step two of communicating and comparing with the PLC controller data comprises:
firstly, establishing a comprehensive information safety evaluation system between safety factors of the impact objects and the cross bars, wherein the safety evaluation system is a system consisting of m indexes of n impact objects, and thus obtaining an initial information evaluation matrix:
wherein i is 1,2, …, n; j is 1,2, …, m;
normalizing indexes in delta':
normalized index:
wherein i is 1,2, …, n; j is 1,2, …, m;
xij-elements of the normative information matrix corresponding to the ith row and j column, where the normative information matrix a can be expressed as:
wherein i is 1,2, …, n; j is 1,2, …, m;
then, according to the normative information matrix, determining the safety proportion of the index value of the jth index under the ith striker:
wherein i is 1,2, …, n; j is 1,2, …, m;
finally, the entropy value of the ith impactor is calculated by an entropy weight method
Wherein L isi-information entropy defined as the ith striker;
yij-the proportion of the j index under the ith striker;
i＝1,2,…,n；j＝1,2,…,m；
similarly, the safety sub-information entropy can be obtained, namely:
wherein O isi-safety sub information entropy defined as the ith striker;
Zij-specific gravity of the j index under the ith striker;
uij-specific gravity of the j index under the ith striker;
i＝1,2,…,n；j＝1,2,…,m；
carrying out normalization processing on the information entropy value, wherein a normalization formula is as follows:
according to the relationship between the information entropy and the risk, the risk level standard based on the information entropy is divided into:
0.8≤Pcless than or equal to 1, and extremely low risk;
0.6≤Pcless than 0.8, low risk;
0.4≤Pcless than 0.6, moderate risk;
0.2≤Pc< 0.4, high risk;
0≤Pc< 0.2, extremely high risk.
8. The RFID technology-based cross bar anti-collision detection method according to claim 5, wherein the step three of obtaining end effector information to match the ID, work order number, and station number of the end effector respectively comprises:
(1) acquiring an ID, a work number or a work station number image I (x, y) of an end effector with the size H x W, wherein H represents the height of the ID, the work number or the work station number image I (x, y) of the end effector, W represents the width of the ID, the work number or the work station number image I (x, y) of the end effector, and (x, y) represents the coordinates of the ID, the work number or the work station number image I (x, y) of the end effector;
(2) the ID, the work number or the work station number image I (x, y) of the end effector is processed in a partitioning mode and is divided into m multiplied by n ID, work number or work station number image blocks of the end effector, the ID, the work number or the work station number image blocks of two adjacent end effectors are mutually overlapped, the width of an overlapped area is num pixels, and the ID, the work number or the work station number image block I of the end effector is obtainedij(x, y) where I represents the end-effector ID, job number or station number image block Iij(x, y) in row I of the end-effector ID, work number or station number block array, j representing the end-effector ID, work number or station number block Iij(x, y) is located in the jth column of the end effector ID, work number or station number block array, m represents the number of blocks of the end effector ID, work number or station number image divided in the lateral direction, and n represents the number of blocks of the end effector ID, work number or station number image divided in the longitudinal direction;
(3) image block I for calculating ID, work order number or station number of end-effectorijThe average value avg of all pixels in (x, y) is constructed into a matrix V (m, n) with the size of m multiplied by n, the value of each point in the matrix V (m, n) represents the avg value of a corresponding block, and the matrix V (m, n) is used for aligning the ID, the work order number or the station number of an end effector to an image block Iij(x, y) removing the direct current component to obtain an image block D (x, y) with the direct current component removed;
(4) performing Fourier transform on the image block D (x, y) with the direct-current component removed to obtain a frequency spectrogram F (x, y), and squaring the pixel value of each point in the frequency spectrogram F (x, y) to obtain an energy map E (x, y);
(5) setting a threshold th, dividing the energy diagram according to th, and dividing the ID, the work serial number or the work station number image of the end effector into a foreground area and a background area, wherein the foreground area contains the ID, the work serial number or the work station number information of the end effector, and the background area does not contain the ID, the work serial number or the work station number information of the end effector;
(6) image block I for calculating ID, work order number or station number of all end-effectorsijDirection information O (x, y) and frequency information F (x, y) of (x, y);
(7) finding out all detail points in the ID, the work order number or the station number image I (x, y) of the end effector, and calculating the similarity between each detail point:
(8) taking the detail points with high resolution in the ID, work order number or station number template of the end pick-up as alignment points, calculating relative translation and rotation parameters, and converting the detail points to be aligned into the same reference system:
(9) setting a matching threshold Th, and calculating the matching score MS of the ID, the work order number or the station number image I (x, y) minutiae of the end effector according to the following formula:
wherein a isiI-th minutiae point representing an ID, work number or station number image of the end-effector to be matched, bjA jth minutia representing an ID, work order number, or station number image of the template end effector;
calculate the directional field matching scores OS for the mxn blocks:
wherein O (I, j) represents the ith row and j column image block I of the ID, work number or station number image of the end effector to be matchedij(x, y) and O' (i, j) represents the ID of the template end effector, the work number or the second of the station number imagesI rows and j columns of image blocks IijA directional field of (x, y);
calculating the frequency field matching fraction FS of the m × n blocks:
wherein F (I, j) represents the ith row and j column image block I of the ID, work number or station number image of the end effector to be matchedijFrequency field of (x, y), F' (I, j) represents image block I of ith row and j column of ID, work number or station number image of template end pick-upijA frequency field of (x, y);
when the MS + OS + FS > Th pattern image matching is successful, and when the MS + OS + FS < Th, the matching is failed.
9. The RFID technology based rail collision avoidance detection method of claim 8, wherein the step (7) further comprises:
1) constructing a sampling point set by an extension operator by taking an ID (identity) of an end effector, a work order number or a detail point m in a station number image as a center; the reference directions of the operators are eight directions of extension of the detail point neighborhood, and the extension radius of the n extension layer is set to be LnConstructing a sampling point set Pn，kN represents the number of layers of spreading, and k represents eight directions of the extended field; wherein the maximum number of spreading layers nmaxCan be adjusted according to ID, work number or station number image of the actual end pick-up, and the weight of the detail point in each extension layer is set as
2) Recording the direction information of the sampling point P
Calculating a sample point Pn，kDifference from direction of detail point m
3) Constructing a detail point similarity judgment function through a selective extension operator, and selecting a judgment parameter Tn，kTo selectively skip the calculation of the k-th directional sample point in the n-th extension layer in the extension operator; if the sampling point is located in the ID, work order number or station number foreground area of the end effector, Tn，k1, if the sampling point is in the background area, Tn，k0; the similarity decision function between minutiae a and b is as follows:
wherein
Denotes the similarity of the sampling points in the kth direction in the n-th extension layer corresponding to the minutiae points a and b, where s (x) e(-16x)When S (a, b) is 1, it indicates that the similarity between two corresponding sampling points is maximum;
the step (8) further comprises: a) sorting the similarity of the ID, the work order number or the work position number of the template end pick-up and the detail points in the ID, the work order number or the work position number of the end pick-up to be matched, selecting the template detail point corresponding to the value with the maximum similarity, and taking the detail point pair with the maximum extension probability density value as an alignment point D (x)D，yD，θD)；
b) The reference formula for setting the rotational translation is as follows:
wherein, Deltax, Deltay, Deltatheta are respectively the translation and rotation parameters of the x-axis, the y-axis and the detail point direction theta, d (x)d，yd，θd) Representing the detail point with the maximum similarity to the alignment point D in the image to be matched, and carrying out coordinate and angle transformation after obtaining the rotation translation parameters;
c) detail point d (x) in image to be matchedi，yi，θi) The calculation method of the angle and coordinate transformation is as follows:
wherein the content of the first and second substances,
and (4) representing the aligned features, and after the above-mentioned formula transformation, the feature of the detail point to be registered can be in the same reference system with the reference feature.
10. An information data processing terminal, characterized in that the information data processing terminal comprises a memory and a processor, the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the cross bar collision avoidance detection method based on the RFID technology according to any one of claims 5 to 9.
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Application publication date: 20210806 |