CN114690730B - Automatic control method and system for process parameters in composite material production process - Google Patents
Automatic control method and system for process parameters in composite material production process Download PDFInfo
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Abstract
The invention discloses an automatic control method and system for process parameters in a composite material production process, relates to the field of intelligent control, and enables an automatic control system to automatically adjust according to an obtained optimal control parameter combination based on image processing so as to enable the system to have optimal performance. The method comprises the following steps: acquiring a height image of the composite material product image, and performing region division on the height image of the composite material product to determine an adjusting node of a control parameter; acquiring all control parameter candidate values; calculating the consistency of the deformation degree corresponding to each adjusting node, and reserving a control parameter combination which meets the conditions according to the consistency of the deformation threshold and the deformation degree; analyzing the reserved control parameter combination to determine an optimal parameter combination; and automatically controlling the laying process of the composite material product according to the determined optimal control parameter combination. The invention reduces the calculation amount and the generation probability of defects by obtaining the optimal control parameter combination, and realizes the manufacture with lower cost.
Description
Technical Field
The application relates to the field of intelligent control, in particular to an automatic control method and system for process parameters in a composite material production process.
Background
The development of modern high technology cannot be separated from the development of composite materials, and the composite materials play an important role in the development of modern science and technology. The research depth and the application range of the composite material and the speed and the scale of the production development of the composite material become one of the important marks for measuring the advanced level of the national science and technology.
The high manufacturing process cost of the composite material becomes an increasingly outstanding technical problem, the process of automatically laying the reinforced material is considered to be one of effective ways for realizing high efficiency and low cost of the automatically laid composite material in the aviation industry, but for large-scale complex fiber composite material prefabricated members, particularly composite materials containing thermoplastic materials, during the laying process of the thermoplastic materials, due to the influence of factors such as temperature, pressure, laying speed and the like, the viscoplasticity defects such as fiber wrinkle distortion and the like are easily generated.
In the production process of composite material plate products at the present stage, the laying process is mostly carried out manually, which occupies a large amount of manpower and working time, the technology of laying by using a machine is not perfect, the laying is mostly carried out by using uniform empirical parameters, and the composite material can be defected in the process.
Disclosure of Invention
Aiming at the technical problems, the invention provides an automatic control method and system for process parameters in a composite material production process.
In a first aspect, an embodiment of the present invention provides an automatic control method for process parameters in a composite material production process, including:
acquiring a depth image of the composite product image, and acquiring a composite product height image according to the pixel value of each pixel point in the depth image;
performing multi-threshold segmentation on the height value of the composite material product in the height image laying direction to obtain different height levels, and performing region division on the composite material product height image according to the height levels;
dividing lines of all areas in the height image of the composite material product are used as adjusting nodes of control parameters, wherein the control parameters comprise processing temperature and laying speed;
calculating the gradient value of each adjusting node, determining the bending degree value of each adjusting node according to the gradient value, and acquiring all control parameter candidate value sets needing to be adjusted at each adjusting node according to the bending degree values;
calculating a discrete coefficient of the deformation degree corresponding to each adjustment node as the consistency of the deformation degree of the adjustment node, and reserving all adjustment control parameters which meet conditions and need to be adjusted at the adjustment node in all control parameter candidate value sets which need to be adjusted at each adjustment node according to the relation between the deformation threshold and the consistency of the deformation degree;
all the control parameter combinations which need to be adjusted at each adjusting node after the laying is finished are determined by using all the control parameter combinations which need to be adjusted at each adjusting node according to all the adjusting control parameters which need to be adjusted at each adjusting node in the sequence of the laying direction, and the dispersion sum of the control parameter combinations adopted in the laying process is calculated according to the parameter values in each group of the control parameter combinations;
extracting the minimum dispersion and the corresponding control parameter combination in all the control parameter combinations as the optimal control parameter combination which needs to be adjusted at each adjusting node in the laying process;
and automatically controlling the laying equipment according to the positions of all the adjusting nodes and the corresponding optimal control parameter combinations.
The process of calculating the dispersion sum of all combinations of control parameters that the laying process needs to be adjusted at each set point is as follows:
acquiring control parameters to be adjusted at the adjusting nodes of each adjusting node, and sequencing according to the laying direction to obtain a group of control parameter combinations corresponding to the laying process, namely sequencing according to the laying direction to obtain a control parameter sequence to be adjusted at each adjusting node;
because there are many pairs of control parameters corresponding to each adjusting node, all control parameter combinations needing to be adjusted at each adjusting node in the laying process are obtained according to the method;
extracting a processing temperature sequence in the control parameter sequence to be adjusted at each adjusting node in the laying process of each group of control parameter combination, and taking the sum of the difference values of adjacent elements in the processing temperature sequence as the dispersion of the processing temperature sequence corresponding to the laying process;
extracting a laying speed sequence of each group of control parameter combination in a control parameter sequence corresponding to the laying process, and taking the sum of the difference values of adjacent elements in the laying speed sequence as the dispersion of the laying speed sequence corresponding to the laying process;
taking the sum of the dispersion of the processing temperature sequence corresponding to each group of control parameter combination in the laying process and the dispersion of the laying speed sequence corresponding to the laying process as the dispersion sum corresponding to the group of control parameter combination in the laying process;
the dispersion sum of each set of control parameter combinations is calculated according to the method described above.
The method for reserving all the regulation control parameters which meet the conditions and need to be regulated at the regulation nodes in all the control parameter candidate value sets which need to be regulated at each regulation node comprises the following steps: presetting a deformation threshold value, and reserving control parameters of which the consistency of the deformation degree is greater than the preset threshold value;
and the deformation degree consistency is the ratio of the standard deviation of the deformation degree in all the control parameter combinations to the mean value of the deformation degree.
The method for determining the bending degree value of each adjusting node according to the gradient value comprises the following steps: and calculating the gradient value of each adjusting node, and taking the gradient value of each adjusting node as the bending degree value of the adjusting node.
The process of obtaining the height image of the composite material product according to the pixel value of each pixel point in the depth image comprises the following steps:
and obtaining a maximum pixel value in the depth image, and obtaining a difference between the maximum pixel value and the pixel value of each pixel point in the depth image, namely the pixel value of the pixel point at the corresponding position in the height image of the composite material product, so as to obtain the height image of the composite material product.
The process of obtaining the depth image of the extracted composite material product comprises the following steps:
and extracting information of the distance channel in the composite material product image to obtain depth information of different positions of the composite material product image, and constructing to obtain a depth image of the composite material product.
The method for calculating the gradient value of each adjusting node comprises the following steps: and sequencing the height levels of all the adjusting nodes according to the laying direction to obtain a height level sequence of the adjusting nodes, and taking the difference of adjacent height levels in the height level sequence of the adjusting nodes as the gradient value of the corresponding adjusting nodes.
In a second aspect, an embodiment of the present invention provides an automatic control system for process parameters in a composite material production process, including: the device comprises an image processing module, a memory, a data processing module and a parameter regulating and controlling module.
An image processing module: the height image of the composite material product is obtained by processing the obtained composite material product image, and the height image is further segmented;
a memory: a database for storing the corresponding relation between the control parameters and the bending degree and the deformation degree;
a data processor: acquiring control parameters according to the processed image and image data, analyzing and processing the control parameters to obtain all control parameters needing to be adjusted at each adjusting node in the laying process, screening the control parameters to obtain all control parameters meeting conditions and needing to be adjusted at each adjusting node, and further processing to obtain the final optimal control parameter combination needing to be adjusted at each adjusting node in the laying process;
a parameter regulation and control module: and regulating and controlling the process parameters in the composite material production process according to the obtained optimal control parameter combination required to be regulated at each regulation node in the laying process, so as to realize the automatic control of the process parameters.
Compared with the prior art, the embodiment of the invention has the beneficial effects that:
based on the technical problems, the invention provides a parameter control method and a parameter control system for an automatic laying process for composite material production, which can reduce the calculation amount and the generation probability of defects of a composite material product in the production process by obtaining the optimal processing process parameter combination of a continuous laying process under the control action of fewer parameters, and simultaneously realize the manufacture with lower cost.
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, and 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 these drawings without creative efforts.
FIG. 1 is a flow chart of a method for automatically controlling process parameters in a composite material manufacturing process according to an embodiment of the present invention;
FIG. 2 is a block diagram of an automatic control system for process parameters in a composite manufacturing process according to an embodiment of the present invention;
fig. 3 is a schematic diagram of curves of bending strength and deformation degree of an automatic control method for process parameters in a composite material production process according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. 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.
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of the present embodiment, "a plurality" means two or more unless otherwise specified.
Example 1
The embodiment of the invention provides an automatic control method of process parameters in a composite material production process, as shown in fig. 1 and 2, comprising the following steps:
s101, acquiring an image of a composite material product
The composite material product image is an image of the composite material before laying, and the composite material product image is obtained for further image processing and image data analysis.
S102, obtaining control parameter adjusting nodes
The adjusting nodes of the control parameters are used for processing the composite material product image to obtain a height image of the composite material product, dividing the height image into areas, obtaining the adjusting nodes of the control parameters according to each area, and obtaining the control parameters according to the information of the adjusting nodes.
S103, acquiring all control parameter candidate values
And obtaining adjustment nodes according to the gradient values of the pixel points in the height image, obtaining all control parameters corresponding to each adjustment node according to the bending degree values of the adjustment nodes, using the control parameters as candidate values of the control parameters, and combining the control parameter candidate values to obtain a control parameter combination for further analysis.
S104, reserving control parameters meeting the conditions
And calculating the deformation degree corresponding to the control parameter of each adjusting node to obtain the deformation degrees corresponding to different control parameters, calculating the discrete coefficient of the deformation degree sequence to be used as the deformation degree consistency of different control parameters, screening the control parameters according to the deformation degree consistency, and reserving the control parameters of each adjusting node which meet the conditions.
S105, obtaining the optimal control parameter combination
And calculating according to all the reserved control parameters meeting the conditions to be adjusted at each adjusting node in the laying process to obtain the optimal control parameter combination to be adjusted at each adjusting node in the laying process, and regulating and controlling the control parameters according to the optimal control parameter combination to be adjusted at each adjusting node in the laying process to finish the automatic control of the process parameters in the composite material production process.
Example 2
The embodiment of the invention provides an automatic control method of process parameters in a composite material production process, as shown in fig. 1 and 2, the specific contents comprise:
and in the processing process of the composite material product, the processing temperature, the laying speed and the laying pressure are used as control parameters. In the embodiment, the laying pressure is kept unchanged, the processing temperature and the laying speed are adjusted, parameters which enable the deformation degrees of different positions to be the most similar under different laying pressures are obtained, and therefore the defects are reduced.
S201, acquiring composite product image
The composite material product image is an image of the composite material before laying, and the composite material product image is obtained for further image processing and image data analysis.
Firstly, a depth image of the composite material product is acquired through a depth camera, then semantic segmentation is carried out on image data, and distance information can be obtained in the depth image.
The present embodiment adopts a DNN semantic segmentation manner to identify the target in the segmented image, and the relevant content of the DNN network is as follows:
1) the data set used is a product image data set acquired by looking down, and the product is in various styles.
2) The pixels needing to be segmented are divided into two types, namely the labeling process of the corresponding labels of the training set is as follows: and in the semantic label of the single channel, the label of the pixel at the corresponding position belonging to the background class is 0, and the label of the pixel belonging to the product is 1.
3) The task of the network is to classify, and all the used loss functions are cross entropy loss functions.
The 0-1 mask image obtained by semantic segmentation is multiplied by the original image to obtain a composite material product image only containing products, and background interference is removed.
S202, obtaining control parameter adjusting nodes
The adjusting nodes of the control parameters are used for processing the composite material product image to obtain a height image of the composite material product, dividing the height image into areas, obtaining the adjusting nodes of the control parameters according to each area, and obtaining the control parameters according to the information of the adjusting nodes.
1. Obtaining a height image of an image of a composite article
The image acquired with the RGB-D device contains four channels: an R data channel, a G data channel, a B data channel and a distance data channel; and extracting the distance information in the distance data channel to obtain depth information of different positions of the composite material product, and obtaining a depth image of the composite material product.
The process of obtaining a height image of a composite article with the article lowest point as the zero-value horizontal plane by depth image calculation is as follows:
in the formula (I), the compound is shown in the specification,
and each pixel value represents the vertical distance from the horizontal plane of the optical center of the camera to each position in the image of the surface of the composite material product.
An image of the same size as the composite article representing the largest pixel value component on the depth image,
the height image of different pixel positions of the product is shown when the lowest point of the composite material product is taken as the zero-value horizontal plane.
2. Adjusting node for obtaining control parameters
The laying direction is determined manually, and then the height sequence value along the laying direction (namely the pixel value of a pixel point in the height image along the laying direction) can be obtained. When the heights of different positions along the vertical line direction of the laying direction are close, calculating the height mean value of the vertical line direction as an element in the height sequence value, and adopting an automatic tape laying technology; and when the height value difference of different positions along the vertical line direction of the laying direction is large, the automatic wire laying technology is adopted.
And performing multi-threshold segmentation on the height values sequenced along the laying direction (performing multi-threshold segmentation on the height level sequence by using the principle of maximum inter-class variance and minimum intra-class variance according to the Fisher criterion) to obtain different height levels, wherein the height level of each pixel point is the mean value of the height values of the height levels of the original pixel points. The purpose of multi-threshold segmentation is to make the pixel values of similar heights to be at the same height level. Thereby obtaining a high level sequence. And obtaining a high-level sequence so as to realize the segmentation of the regions, and selecting the segmentation lines of different regions as control parameter adjustment nodes. Since the processing temperature and the laying speed in the control parameters cannot be reduced directly from a large value to a small value, a change process is required to select the regulating node to complete the regulation of the control parameters.
S203, obtaining all control parameter candidate values
And obtaining adjustment nodes according to the gradient values of the pixel points in the height image, obtaining all control parameters corresponding to each adjustment node according to the bending degree values of the adjustment nodes, using the control parameters as control parameter candidate values, and performing further analysis by using the control parameter candidate values.
As shown in fig. 3, (1) in fig. 3 represents the influence of the processing temperature on the bending strength and the degree of deformation, and (2) in fig. 3 represents the influence of the laying speed on the bending strength and the degree of deformation.
The curve of the effect of the processing temperature on the bending strength can be determined as a function of
Curves representing the processing temperature and the laying speed respectively for the bending strength and the degree of deformation can be represented by the functions.
The processing temperature and the laying speed influence the bending strength and the degree of deformation, the (processing temperature, laying speed) being represented by a (a, b) doublet, and the (bending strength, degree of deformation) being represented by a (c, d) doublet. The (a, b) and c are in one-to-one correspondence, that is, one (a, b) corresponds to one c, but one c may correspond to a plurality of (a, b).
One c may correspond to multiple proofs of (a, b):
curves a-c can be represented by said function, said curves a-c referring to the curve of the bending strength as a function of the processing temperature, curves b-c also referring to the curve of the bending strength as a function of the laying speed. One (a, b) corresponds to one value of c. Taking a as the abscissa and b as the ordinate, the resulting c-curve can be represented by the product of two said functions. The product is of the form:
in the formula (1), y represents c, x1 represents a, and x2 represents b, and the formula (2) can be obtained by multiplying these values.
Substituting X1X 2 in formula (2) with X to obtain formula (3)
Factoring equation (3) to obtain
It can be seen that there is more than one intersection of the corresponding curves with the x-axis, and that there is also more than one x1 and x2 for one x, then there may be more than one (a, b) for one c.
Similarly, one d may correspond to a plurality of (a, b).
And calculating gradients according to the height levels sorted according to the laying direction to obtain gradient values sorted according to the laying direction, taking the pixel points with the gradient values not being zero as adjustment nodes, taking the gradient values of the adjustment nodes as bending degree values corresponding to the adjustment nodes, and acquiring all control parameter candidate values corresponding to each adjustment node according to the bending degree values of each position.
For example, the following steps are carried out: as shown in FIG. 3, when the bending degree value is
When the corresponding processing temperature is
Three values corresponding to laying speeds of
Three values, the bending degree value is
When the control parameter candidate value includes (A), (B)
），（
），（
），（
），（
），（
），（
），（
），（
) The control parameters of the processing temperature and the laying speed to the deformation degree can be obtained in the same way.
S204, reserving control parameters meeting the conditions
And calculating the deformation degree corresponding to the control parameter of each adjusting node to obtain the deformation degrees corresponding to different control parameters, calculating the discrete coefficient of the deformation degree sequence to be used as the deformation degree consistency of different control parameters, screening the control parameters according to the deformation degree consistency, and reserving the control parameters of each adjusting node which meet the conditions.
The deformation degree refers to the width change of the prepreg tape under the influence of control parameters, the bending strength is tested according to GB/T1449-2005 test standard, and the short beam method interlaminar shear strength test is carried out according to JC/T773-2010 test standard.
Each adjusting node has a plurality of parameter candidate values, so that the corresponding control parameter combinations of the laying process have a plurality of kinds, and the optimal control parameter combinations of the laying process are selected by calculating the consistency and the minimum dispersion of the deformation degree.
The consistency of the deformation degree refers to that the heights of different adjustment nodes are consistent through parameter regulation, so that the probability of generating gap defects among different layers under the action of the same external pressure is lower.
Calculating the deformation degree corresponding to the control parameter of each adjusting node to obtain a deformation degree sequence of each adjusting node, and calculating the discrete coefficient of the deformation degree sequence as the deformation degree consistency of different control parameters, wherein the calculation formula of the deformation degree consistency is as follows:
in the formula (I), the compound is shown in the specification,
a standard deviation representing the degree of said deformation,
and (3) representing the mean value of the deformation degrees, s represents the consistency of the deformation degrees, and the control parameter combination corresponding to the deformation degree with s larger than 0.8 is selected for retention.
S205, obtaining the optimal control parameter combination
And calculating according to all the reserved control parameters meeting the conditions to be adjusted at each adjusting node in the laying process to obtain the optimal control parameter combination to be adjusted at each adjusting node in the laying process, and regulating and controlling the control parameters according to the optimal control parameter combination to be adjusted at each adjusting node in the laying process to finish the automatic control of the process parameters in the composite material production process.
The minimum dispersion sum refers to a sum value of the adjacent values of the processing temperature and the laying speed with minimum changes, and the process of determining the control parameter combination of the laying process according to the parameter value of the control parameter corresponding to each adjusting node is as follows:
obtaining a pair of control parameters (processing temperature and laying speed) to be adjusted at each adjusting node, and sequencing according to the laying direction to obtain a group of control parameter combinations to be adjusted at each control node in the laying process, namely a sequence (processing temperature and laying speed) sequenced according to the laying direction;
because each adjusting node has a plurality of pairs of control parameters to be adjusted, all control parameter combinations to be adjusted in the laying process of each adjusting node are obtained according to the method;
extracting a processing temperature sequence in a (processing temperature, laying speed) sequence corresponding to each group of control parameter combination to be adjusted at each adjusting node in the laying process, and taking the sum of difference values of adjacent elements in the processing temperature sequence as the dispersion of the processing temperature sequence corresponding to the group of control parameter combination in the laying process;
extracting a laying speed sequence of each group of control parameter combination in a (processing temperature, laying speed) sequence corresponding to the laying process, and taking the sum of the difference values of adjacent elements in the laying speed sequence as the dispersion of the laying speed sequence corresponding to the laying process;
taking the sum of the dispersion of the processing temperature sequence corresponding to each group of control parameter combination in the laying process and the dispersion of the laying speed sequence corresponding to the laying process as the dispersion sum corresponding to the group of control parameter combination in the laying process;
the minimum dispersion and the corresponding control parameter combination to be adjusted at each control node are selected as the optimum control parameter combination in the laying process.
For example, the following steps are carried out:
the control parameters in the laying process are obtained according to the laying direction and are as follows: in the combination of the following, the first and second,
which indicates the temperature of the process and is,
the laying speed is indicated.
Control parameter combination 1: [(
），（
），（
），（
）……]
Control parameter combination 2: [(
），（
），（
），（
）……]
Control parameter combination 3: [(
），（
），（
），（
）……]
Control parameter combination4：[（
），（
），（
），（
）……]
Extracting the processing temperature and the laying speed of the control parameter combination 1 to obtain a processing temperature sequence and a laying speed sequence, and calculating the processing temperature sequence of the control parameter combination 1
，
，
，
… …) as the dispersion of the corresponding processing temperature sequence of the control parameter combination 1 in the laying process, and calculating the laying speed sequence of the control parameter combination 1
，
，
，
… … } as a control parameter combination 1 during the laying processAdding the dispersion of the processing temperature sequence in the control parameter combination 1 and the dispersion in the laying speed sequence to form the dispersion sum of the control parameter combination 1;
and calculating the dispersion sum of each group of control parameter combination according to the method, and selecting the control parameter combination with the minimum dispersion sum as the optimal control parameter combination in the laying process.
And regulating and controlling the process parameters in the composite material production process according to the obtained optimal control parameter combination, realizing automatic control of the process parameters in the composite material production process, and achieving the purposes of reducing the probability of defect generation and reducing the manufacturing cost.
Based on the same inventive concept as the method, the embodiment also provides an automatic control system for the process parameters in the composite material production process, and the automatic control system for the process parameters in the composite material production process comprises an image processing module, a memory, a data processor and a parameter regulating and controlling module; processing the obtained composite material product image to obtain a height image of the composite material product, and further segmenting the height image; a database of the corresponding relation between the control parameters and the bending degree and the deformation degree is stored by a memory; acquiring control parameters according to the processed image data, analyzing and processing the control parameters to obtain all the control parameters corresponding to each adjusting node, screening the control parameters to obtain all the control parameters of the adjusting nodes meeting the conditions, and further processing to obtain the final optimal control parameter combination in the laying process; and regulating and controlling the technological parameters in the composite material production process according to the obtained optimal control parameter combination in the laying process, so as to realize the automatic control of the technological parameters.
In the automatic control method and system embodiment of the process parameters in the composite material production process, the obtained composite material product image is processed to obtain the height image of the composite material product, and the height image is further segmented; a database of the corresponding relation between the control parameters and the bending degree and the deformation degree is stored by a memory; acquiring control parameters according to the processed image data, analyzing and processing the control parameters to obtain all the control parameters corresponding to each adjusting node, screening the control parameters to obtain all the control parameters of the adjusting nodes meeting the conditions, and further processing to obtain the final optimal control parameter combination in the laying process; the method for regulating and controlling the process parameters in the composite material production process according to the obtained optimal control parameter combination in the laying process and realizing the automatic control of the process parameters is explained, and the details are not repeated herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A method for automatically controlling process parameters in a composite material production process is characterized by comprising the following steps:
acquiring a depth image of the composite product image, and acquiring a composite product height image according to the pixel value of each pixel point in the depth image;
performing multi-threshold segmentation on the height value of the composite material product in the height image laying direction to obtain different height levels, and performing region division on the composite material product height image according to the height levels;
dividing lines of all areas in the height image of the composite material product are used as adjusting nodes of control parameters, wherein the control parameters comprise processing temperature and laying speed;
calculating the gradient value of each adjusting node, determining the bending degree value of each adjusting node according to the gradient value, and acquiring all control parameter candidate value sets needing to be adjusted at each adjusting node according to the bending degree values;
calculating a discrete coefficient of the deformation degree corresponding to each adjustment node as the consistency of the deformation degree of the adjustment node, and reserving all adjustment control parameters which meet conditions and need to be adjusted at the adjustment node in all control parameter candidate value sets which need to be adjusted at each adjustment node according to the relation between the deformation threshold and the consistency of the deformation degree;
all the control parameter combinations which need to be adjusted at each adjusting node after the laying is finished are determined by using all the control parameter combinations which need to be adjusted at each adjusting node according to all the adjusting control parameters which need to be adjusted at each adjusting node in the sequence of the laying direction, and the dispersion sum of the control parameter combinations adopted in the laying process is calculated according to the parameter values in each group of the control parameter combinations;
extracting the minimum dispersion and the corresponding control parameter combination in all the control parameter combinations as the optimal control parameter combination which needs to be adjusted at each adjusting node in the laying process;
and automatically controlling the laying equipment according to the positions of all the adjusting nodes and the corresponding optimal control parameter combinations.
2. A method according to claim 1, wherein the step of calculating the dispersion sum of all combinations of control parameters to be adjusted at each adjustment node during the laying down process is performed by:
acquiring control parameters to be adjusted at the adjusting nodes of each adjusting node, and sequencing according to the laying direction to obtain a group of control parameter combinations corresponding to the laying process, namely sequencing according to the laying direction to obtain a control parameter sequence to be adjusted at each adjusting node;
because the control parameters corresponding to each adjusting node are in multiple pairs, all the control parameter sequences needing to be adjusted at each adjusting node in the laying process are obtained in multiple numbers, and multiple groups of control parameter combinations are formed;
extracting a processing temperature sequence in the control parameter sequence to be adjusted at each adjusting node in the laying process of each group of control parameter combination, and taking the sum of the difference values of adjacent elements in the processing temperature sequence as the dispersion of the processing temperature sequence corresponding to the laying process;
extracting a laying speed sequence of each group of control parameter combination in a control parameter sequence corresponding to the laying process, and taking the sum of the difference values of adjacent elements in the laying speed sequence as the dispersion of the laying speed sequence corresponding to the laying process;
taking the sum of the dispersion of the processing temperature sequence corresponding to each group of control parameter combination in the laying process and the dispersion of the laying speed sequence corresponding to the laying process as the dispersion sum corresponding to the group of control parameter combination in the laying process;
the dispersion sum of each set of control parameter combinations is calculated according to the method described above.
3. The method of claim 1, wherein the step of retaining all the tuning control parameters that are eligible to be tuned at the tuning nodes from the set of all the candidate values of the control parameters that are tuned at each tuning node comprises: presetting a deformation threshold value, and reserving control parameters of which the consistency of the deformation degree is greater than the preset threshold value;
and the deformation degree consistency is the ratio of the standard deviation of the deformation degree in all the control parameter combinations to the mean value of the deformation degree.
4. The method of claim 1, wherein the determining the bending degree value of each adjustment node according to the gradient value comprises: and calculating the gradient value of each adjusting node, and taking the gradient value of each adjusting node as the bending degree value of the adjusting node.
5. The method of claim 1, wherein the process of obtaining the height image of the composite product according to the pixel values of the pixels in the depth image comprises:
and obtaining a maximum pixel value in the depth image, and obtaining a difference between the maximum pixel value and the pixel value of each pixel point in the depth image, namely the pixel value of the pixel point at the corresponding position in the height image of the composite material product, so as to obtain the height image of the composite material product.
6. The method of claim 1, wherein the depth image of the composite article is obtained by:
and extracting information of the distance channel in the composite material product image to obtain depth information of different positions of the composite material product image, and constructing to obtain a depth image of the composite material product.
7. The method of claim 1, wherein the step of calculating the gradient value of each adjustment node comprises: and sequencing the height levels of all the adjusting nodes according to the laying direction to obtain a height level sequence of the adjusting nodes, and taking the difference of adjacent height levels in the height level sequence of the adjusting nodes as the gradient value of the corresponding adjusting nodes.
8. An automatic control system for process parameters in a composite material production process, comprising: image processing module, memory, data processor and parameter regulation and control module, its characterized in that:
an image processing module: the height image of the composite material product is obtained by processing the obtained composite material product image, and the height image is further segmented;
a memory: a database for storing the corresponding relation between the control parameters and the bending degree and the deformation degree;
a data processor: acquiring control parameters according to the processed image and image data, analyzing and processing the control parameters to obtain all control parameters needing to be adjusted at each adjusting node in the laying process, screening the control parameters to obtain all control parameters meeting conditions and needing to be adjusted at each adjusting node, and further processing to obtain the final optimal control parameter combination needing to be adjusted at each adjusting node in the laying process;
a parameter regulation and control module: and regulating and controlling the process parameters in the composite material production process according to the obtained optimal control parameter combination required to be regulated at each regulation node in the laying process, so as to realize the automatic control of the process parameters.
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