CN113324998B - Production quality inspection supervision system for titanium alloy bars - Google Patents
Production quality inspection supervision system for titanium alloy bars Download PDFInfo
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- CN113324998B CN113324998B CN202110522459.8A CN202110522459A CN113324998B CN 113324998 B CN113324998 B CN 113324998B CN 202110522459 A CN202110522459 A CN 202110522459A CN 113324998 B CN113324998 B CN 113324998B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
The invention discloses a production quality inspection supervisory system for titanium alloy bars, which comprises the following steps of firstly, acquiring the occupation boundary of each titanium alloy bar production device in a production area; generating an offset boundary of each titanium alloy rod production device based on the occupation boundary and the corresponding offset distance; then generating a routing inspection scheme comprising routing inspection nodes and routing inspection paths based on the offset boundary; then controlling the inspection robot to sequentially reach each inspection node based on the inspection scheme; controlling the inspection robot to move for a circle along the offset boundary; shooting titanium alloy bar production equipment; distributing the collected inspection images to corresponding quality inspector terminals; the invention can acquire the images of the production equipment in all directions during operation, further analyze the images, and conveniently select different technicians to perform remote quality inspection according to different equipment without the need of the technicians to perform inspection on site, thereby effectively reducing the labor cost, the inspection efficiency and the technical difficulty.
Description
Technical Field
The invention relates to the technical field of production quality inspection supervision, in particular to a production quality inspection supervision system for titanium alloy bars.
Background
In the production process of the titanium alloy bar, various production and processing devices are required to be matched with each other, so that the produced titanium alloy bar can meet the standard; the stable operation of each production and processing device plays a key role in the quality of the titanium alloy bar, so that the regular inspection of the production and processing devices is very necessary.
The conventional inspection of the production and processing equipment of the titanium alloy bar generally requires technicians of each equipment to go to a field for inspection.
However, the equipment involved in the whole production process of the titanium alloy bar is numerous, the difficulty of mastering the inspection standards of all the equipment by a single technician is high, the labor cost is increased by the increased inspection technicians, and the inspection efficiency is low.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a production quality inspection supervision system for a titanium alloy bar, which solves the problem of low quality inspection efficiency of the existing titanium alloy bar production equipment.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
a production quality inspection supervisory system for titanium alloy bars, comprising: the system comprises a polling robot, a quality inspector terminal and a control terminal;
the inspection robot includes:
the inspection image acquisition module is used for shooting the titanium alloy bar production equipment when the titanium alloy bar moves for a circle along the offset boundary to obtain an inspection image;
the quality inspector terminal includes:
the playing module is used for displaying the patrol image;
the quality inspection report generating module is used for generating a quality inspection report based on the input information;
the control terminal includes:
the occupied land boundary acquisition module is used for acquiring the occupied land boundary of each titanium alloy bar production device in the production area;
the offset boundary generating module is used for generating offset boundaries of each titanium alloy rod production device based on the floor space boundaries and the corresponding offset distances;
the routing inspection scheme generation module is used for generating a routing inspection scheme comprising routing inspection nodes and routing inspection paths based on the offset boundary;
the inspection control module is used for controlling the inspection robot to sequentially reach each inspection node based on the inspection scheme; after the inspection robot reaches the inspection node, controlling the inspection robot to move for a circle along the offset boundary;
the inspection image distribution module is used for distributing the acquired inspection image to the corresponding quality inspector terminal;
and the quality inspection report summarizing module is used for acquiring a quality inspection report from the quality inspector terminal.
Further, the occupation boundary acquiring module includes:
the discrete point generating unit is used for acquiring a two-dimensional map of the size information of the titanium-containing alloy rod production equipment in the production area; discretizing the two-dimensional map to obtain discrete points;
the bounding box calculation unit is used for acquiring discrete points corresponding to the titanium alloy rod production equipment and calculating an OBB bounding box of the titanium alloy rod production equipment;
and the mapping unit is used for mapping the OBB bounding box to the occupied area boundary of the corresponding titanium alloy rod production equipment.
Further, the offset boundary generating module includes:
the offset distance acquisition unit is used for acquiring the offset distance of the titanium alloy rod production equipment, and the offset distance is the distance between the video acquisition equipment and the titanium alloy rod production equipment when the titanium alloy rod production equipment can be completely covered in the inspection image;
and the offset amplification unit is used for carrying out offset amplification on the floor occupation boundary according to the offset distance to obtain an offset boundary.
Further, the patrol scheme generation module includes:
the alternative inspection node acquisition unit is used for acquiring discrete points of the offset boundary of the titanium alloy rod production equipment and taking the discrete points as alternative inspection nodes of the titanium alloy rod production equipment;
and the path planning unit is used for screening one of the alternative inspection nodes of each titanium alloy rod production device to serve as an inspection node, generating an inspection path based on the inspection node, and taking the inspection node and the inspection path as an inspection scheme.
Further, the inspection control module comprises:
the inspection robot speed control unit is used for controlling the inspection robot to move at a first speed when the inspection robot moves among the inspection nodes; the inspection robot is also used for controlling the inspection robot to move at a second speed when the inspection robot moves on the offset boundary;
the data acquisition control unit is used for controlling the inspection robot to move for a circle along the offset boundary after the inspection robot reaches the inspection node;
further, the first speed movement is greater than the second speed movement.
Further, the inspection robot further includes: and the near field communication module is used for acquiring the operation data of the titanium alloy bar production equipment after the inspection robot reaches the inspection node.
(III) advantageous effects
Firstly, acquiring the occupation boundary of each titanium alloy bar production device in a production area; generating an offset boundary of each titanium alloy rod production device based on the occupation boundary and the corresponding offset distance; then generating a routing inspection scheme comprising routing inspection nodes and routing inspection paths based on the offset boundary; then controlling the inspection robot to sequentially reach each inspection node based on the inspection scheme; after the inspection robot reaches the inspection node, controlling the inspection robot to move for a circle along the offset boundary; shooting titanium alloy bar production equipment to obtain a patrol image; distributing the collected inspection images to corresponding quality inspector terminals; after the quality inspector checks the inspection image, a quality inspection report is generated; and obtaining a quality inspection report from a quality inspector terminal. The images of all directions of production equipment in operation can be obtained, the images are analyzed, a quality inspection report is obtained, technicians do not need to patrol and examine the production equipment on site, different technicians can be conveniently selected according to different equipment to carry out remote quality inspection, and the labor cost, the patrol and examine efficiency and the technical difficulty are effectively reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a system block diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a two-dimensional map according to an embodiment of the invention;
FIG. 3 is a schematic diagram of an enclosure of an embodiment of the present invention;
fig. 4 is a schematic diagram of a footprint boundary and an offset boundary according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the application solves the problem of low quality inspection efficiency of the existing titanium alloy bar production equipment by providing the production quality inspection supervisory system for the titanium alloy bars.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example 1:
the embodiment of the invention provides a production quality inspection supervision system for a titanium alloy bar, which is shown in fig. 1 and comprises: the system comprises a polling robot, a quality inspector terminal and a control terminal;
patrol and examine robot includes:
the inspection image acquisition module is used for shooting the titanium alloy bar production equipment when the titanium alloy bar moves for a circle along the offset boundary to obtain an inspection image;
the quality inspector terminal includes:
the playing module is used for displaying the patrol image;
the quality inspection report generating module is used for generating a quality inspection report based on the input information;
the control terminal includes:
the occupied land boundary acquisition module is used for acquiring the occupied land boundary of each titanium alloy bar production device in the production area;
the offset boundary generating module is used for generating offset boundaries of each titanium alloy rod production device based on the floor space boundaries and the corresponding offset distances;
the routing inspection scheme generation module is used for generating a routing inspection scheme comprising routing inspection nodes and routing inspection paths based on the offset boundary;
the inspection control module is used for controlling the inspection robot to sequentially reach each inspection node based on the inspection scheme; after the inspection robot reaches the inspection node, controlling the inspection robot to move for a circle along the offset boundary;
the inspection image distribution module is used for distributing the acquired inspection image to the corresponding quality inspector terminal;
and the quality inspection report summarizing module is used for acquiring a quality inspection report from the quality inspector terminal.
The embodiment of the invention has the following beneficial effects:
the method comprises the steps of firstly, acquiring the occupation boundary of each titanium alloy bar production device in a production area; generating an offset boundary of each titanium alloy rod production device based on the occupation boundary and the corresponding offset distance; then generating a routing inspection scheme comprising routing inspection nodes and routing inspection paths based on the offset boundary; then controlling the inspection robot to sequentially reach each inspection node based on the inspection scheme; after the inspection robot reaches the inspection node, controlling the inspection robot to move for a circle along the offset boundary; shooting titanium alloy bar production equipment to obtain a patrol image; distributing the collected inspection images to corresponding quality inspector terminals; after the quality inspector checks the inspection image, a quality inspection report is generated; and obtaining a quality inspection report from a quality inspector terminal. The images of all directions of production equipment in operation can be obtained, the images are analyzed, a quality inspection report is obtained, technicians do not need to patrol and examine the production equipment on site, different technicians can be conveniently selected according to different equipment to carry out remote quality inspection, and the labor cost, the patrol and examine efficiency and the technical difficulty are effectively reduced.
The following describes the implementation process of the embodiment of the present invention in detail:
for inspection robot, include:
the inspection image acquisition module is used for shooting the titanium alloy bar production equipment when the titanium alloy bar moves for a circle along the offset boundary to obtain an inspection image;
and the near field communication module is used for acquiring the operation data of the titanium alloy bar production equipment after the inspection robot reaches the inspection node.
In order to realize the functions, the inspection robot can adopt the existing unmanned intelligent vehicle to realize control through a wireless network, the inspection image acquisition module can adopt the existing camera device, such as a high-resolution color camera, and the acquired inspection image can further comprise video data and audio data so as to be analyzed by a quality inspector. And the near field communication module can adopt a Bluetooth 5.0 module, and can realize the short-distance transmission of data.
For a quality inspector terminal, comprising:
the playing module is used for displaying the patrol image;
the quality inspection report generating module is used for generating a quality inspection report based on the input information;
in order to implement the above functions, an existing intelligent terminal having a communication function, such as a smart phone, a computer, etc., in which a program of the corresponding function is installed, may be used. Input information can be acquired through an input device of the intelligent terminal, such as a keyboard, a touch screen and the like; then, semantic recognition is carried out to obtain the evaluation of the quality inspector on the inspection image; for example, the evaluation of the inspection image can be classified as normal, abnormal, and to be further confirmed. And the evaluation of the inspection image is used as a quality inspection report.
The quality inspector can be a technician of a titanium alloy bar production enterprise and can also be directly accessed to an after-sales technician of a corresponding equipment manufacturer so as to analyze the running state of the equipment more professionally and accurately.
For the control terminal, the method comprises the following steps:
and the occupied land boundary acquisition module is used for acquiring the occupied land boundary of each titanium alloy bar production device in the production area.
Specifically, the occupation boundary of the titanium alloy rod production equipment may be marked and drawn manually, or may be generated by using a two-dimensional map of a production area as shown in fig. 2, and the occupation boundary acquiring module specifically includes:
the discrete point generating unit is used for acquiring a two-dimensional map of the size information of the titanium-containing alloy rod production equipment in the production area; and discretizing the two-dimensional map to obtain discrete points.
The two-dimensional map includes the positions and sizes of all production devices in the production area (represented by a closed box formed by dots and lines in fig. 2), and the two-dimensional map can be manually imported, the density of discrete dots can be set according to actual needs, and the higher the density is, the higher the precision is.
The bounding box calculating unit is used for acquiring discrete points corresponding to the titanium alloy rod production equipment and calculating to obtain an OBB bounding box (shown by a solid line) of the titanium alloy rod production equipment shown in FIG. 3;
because the shapes of various titanium alloy rod production equipment are greatly different, in order to reduce the calculation complexity, an OBB bounding box with a direction is adopted, and compared with a sphere and An AABB (AABB), the OBB bounding box is closer to the shape of the titanium alloy rod production equipment.
And the mapping unit is used for mapping the OBB bounding box to the occupied area boundary of the corresponding titanium alloy rod production equipment. Namely, the occupation boundary of the titanium alloy rod production equipment is represented by an OBB bounding box.
When the occupied area boundary of the titanium alloy bar production equipment is obtained, the non-shooting area of the inspection robot is determined according to the actual size and the shooting range of each equipment.
And the offset boundary generating module is used for generating the offset boundary of each titanium alloy rod production device based on the floor space boundary and the corresponding offset distance. The offset boundary generating module specifically includes:
and the offset distance acquisition unit is used for acquiring the offset distance of the titanium alloy bar production equipment.
In order to ensure that the image of the whole equipment can be acquired, the offset distance is the distance between the video acquisition equipment and the titanium alloy rod production equipment when the titanium alloy rod production equipment can be completely contained in the inspection image; and the offset distance is as accurate as the pitch of the discrete dots.
The offset amplification unit, exemplified by the production equipment d, as shown in fig. 4, is used for performing offset amplification on the occupation space boundary (indicated by a solid line) according to the offset distance, and obtaining an offset boundary (indicated by a dotted line).
The routing inspection scheme generation module is used for generating a routing inspection scheme comprising routing inspection nodes and routing inspection paths based on the offset boundary; a feasible routing inspection scheme generation module is provided below, including:
the alternative inspection node acquisition unit is used for acquiring discrete points of the offset boundary of the titanium alloy rod production equipment and taking the discrete points as alternative inspection nodes of the titanium alloy rod production equipment; if the number of the discrete points on the offset boundary is small, the nearest discrete point which is positioned outside the offset boundary and is an endpoint of the offset boundary can be obtained to be used as the alternative routing inspection node.
And the path planning unit is used for screening one of the alternative inspection nodes of each titanium alloy rod production device to serve as an inspection node, generating an inspection path based on the inspection node, and taking the inspection node and the inspection path as an inspection scheme.
The routing inspection nodes can be selected by adopting random screening, all routing inspection routes can be traversed by adopting the existing multi-target path specification algorithm under the condition of low processing performance pressure, the total moving cost of the routing inspection routes is calculated, and the route with the minimum total moving cost is selected as the optimal routing inspection node and routing inspection route.
The inspection control module is used for controlling the inspection robot to sequentially reach each inspection node based on the inspection scheme; and after the inspection robot reaches the inspection node, the inspection robot is controlled to move for a circle along the offset boundary, so that images of the production equipment at all angles can be obtained.
The inspection control module comprises:
the inspection robot speed control unit is used for controlling the inspection robot to move at a first speed when the inspection robot moves among the inspection nodes; the inspection robot is also used for controlling the inspection robot to move at a second speed when the inspection robot moves on the offset boundary;
the data acquisition control unit is used for controlling the inspection robot to move for a circle along the offset boundary after the inspection robot reaches the inspection node; in order to improve the routing inspection efficiency, the first speed movement is larger than the second speed movement.
And the inspection image distribution module is used for distributing the acquired inspection image to the corresponding quality inspector terminal.
And the quality inspection report summarizing module is used for acquiring a quality inspection report from the quality inspector terminal, and the quality inspection report summarizing module can further acquire operation data from the near field communication module, so that equipment which does not meet the standard can be further accurately extracted, and the control on the operation state of the equipment is realized.
Compared with the prior art, the method has the following beneficial effects:
firstly, acquiring the occupation boundary of each titanium alloy bar production device in a production area; generating an offset boundary of each titanium alloy rod production device based on the occupation boundary and the corresponding offset distance; then generating a routing inspection scheme comprising routing inspection nodes and routing inspection paths based on the offset boundary; then controlling the inspection robot to sequentially reach each inspection node based on the inspection scheme; after the inspection robot reaches the inspection node, controlling the inspection robot to move for a circle along the offset boundary;
shooting titanium alloy bar production equipment to obtain a patrol image; distributing the collected inspection images to corresponding quality inspector terminals; after the quality inspector checks the inspection image, a quality inspection report is generated; and obtaining a quality inspection report from a quality inspector terminal. The images of all directions of production equipment in operation can be obtained, the images are analyzed, a quality inspection report is obtained, technicians do not need to patrol and examine the production equipment on site, different technicians can be conveniently selected according to different equipment to carry out remote quality inspection, and the labor cost, the patrol and examine efficiency and the technical difficulty are effectively reduced.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (4)
1. A production quality inspection supervisory systems for titanium alloy rod, characterized by includes: the system comprises a polling robot, a quality inspector terminal and a control terminal;
the inspection robot includes:
the inspection image acquisition module is used for shooting the titanium alloy bar production equipment when the titanium alloy bar moves for a circle along the offset boundary to obtain an inspection image;
the quality inspector terminal includes:
the playing module is used for displaying the patrol image;
the quality inspection report generating module is used for generating a quality inspection report based on the input information;
the control terminal includes:
the occupied land boundary acquisition module is used for acquiring the occupied land boundary of each titanium alloy bar production device in the production area;
the offset boundary generating module is used for generating offset boundaries of each titanium alloy rod production device based on the floor space boundaries and the corresponding offset distances;
the routing inspection scheme generation module is used for generating a routing inspection scheme comprising routing inspection nodes and routing inspection paths based on the offset boundary;
the inspection control module is used for controlling the inspection robot to sequentially reach each inspection node based on the inspection scheme; after the inspection robot reaches the inspection node, controlling the inspection robot to move for a circle along the offset boundary;
the inspection image distribution module is used for distributing the acquired inspection image to the corresponding quality inspector terminal;
the quality inspection report summarizing module is used for acquiring a quality inspection report from a quality inspector terminal;
the floor space boundary acquisition module comprises:
the discrete point generating unit is used for acquiring a two-dimensional map of the size information of the titanium-containing alloy rod production equipment in the production area; discretizing the two-dimensional map to obtain discrete points;
the bounding box calculation unit is used for acquiring discrete points corresponding to the titanium alloy rod production equipment and calculating an OBB bounding box of the titanium alloy rod production equipment;
the mapping unit is used for mapping the OBB bounding box to an occupied area boundary of corresponding titanium alloy bar production equipment;
the offset boundary generation module includes:
the offset distance acquisition unit is used for acquiring the offset distance of the titanium alloy rod production equipment, and the offset distance is the distance between the video acquisition equipment and the titanium alloy rod production equipment when the titanium alloy rod production equipment can be completely covered in the inspection image;
the offset amplification unit is used for carrying out offset amplification on the floor occupation boundary according to the offset distance to obtain an offset boundary;
the patrol scheme generation module comprises:
the alternative inspection node acquisition unit is used for acquiring discrete points of the offset boundary of the titanium alloy rod production equipment and taking the discrete points as alternative inspection nodes of the titanium alloy rod production equipment;
and the path planning unit is used for screening one of the alternative inspection nodes of each titanium alloy rod production device to serve as an inspection node, generating an inspection path based on the inspection node, and taking the inspection node and the inspection path as an inspection scheme.
2. The production quality inspection and supervision system for titanium alloy bars according to claim 1, wherein the inspection control module comprises:
the inspection robot speed control unit is used for controlling the inspection robot to move at a first speed when the inspection robot moves among the inspection nodes; the inspection robot is also used for controlling the inspection robot to move at a second speed when the inspection robot moves on the offset boundary;
and the data acquisition control unit is used for controlling the inspection robot to move for a circle along the offset boundary after the inspection robot reaches the inspection node.
3. The production quality inspection and supervision system for titanium alloy bars as set forth in claim 2 wherein the first speed movement is greater than the second speed movement.
4. The production quality inspection and supervision system for titanium alloy bars according to claim 1, wherein the inspection robot further comprises:
and the near field communication module is used for acquiring the operation data of the titanium alloy bar production equipment after the inspection robot reaches the inspection node.
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