CN116213960A - Intelligent calibration system and method for intelligent cutting equipment - Google Patents
Intelligent calibration system and method for intelligent cutting equipment Download PDFInfo
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Abstract
The invention relates to the technical field of data identification, in particular to an intelligent calibration system and method of intelligent cutting equipment, comprising the following steps: the control terminal is a main control terminal of the system and is used for sending out an execution command; the configuration module is used for configuring the system on the cutting equipment and acquiring the control authority of each station on the cutting equipment; the acquisition module is used for acquiring station operation data when the cutting equipment is operated or data when a user manually operates the cutting equipment; the electric control damping module is used for controlling the operation resistance of the manual operation position of the user on the cutting equipment in real time; the invention can collect the operation data of the cutting equipment, and further, the pressure sensor and the damper are configured, so that the cutting speed and the force of the cutting equipment on a cutting target can be calibrated and controlled in real time in the manual operation process of the cutting equipment by a worker, the cutting process of the cutting equipment on the cutting target is more stable, and the cutting process of the cutting target is ensured to be completed in a more balanced and safe state.
Description
Technical Field
The invention relates to the technical field of data identification, in particular to an intelligent calibration system and method of intelligent cutting equipment.
Background
The intelligent cutting equipment is that: cutting equipment for cutting articles, commonly called a cutting machine, is developed along with the development of the modern machining industry, the requirements on quality and precision of cutting are continuously improved, the requirements on production efficiency and production cost are improved, the requirements on high-intelligent automatic cutting function are also improved, the development of a numerical control cutting machine is required to be adapted to the requirements on the development of the modern machining industry, a series of manual, electric and full-automatic cutting equipment is generated, and the cutting equipment is favored by most workers and is manual and automatic, and can be controlled manually by a user and can also intelligently cut a cutting target by inputting parameters.
The invention patent application with the application number 201911207568.X provides laser cutting equipment and a calibration method, which are characterized by comprising the following steps: the cutting device comprises a workpiece table, a cutting carrier, a first gantry beam, a second gantry beam, a first connecting plate, a first vibrating mirror, a second vibrating mirror, a first laser and a second laser, wherein the cutting carrier, the first gantry beam, the second gantry beam, the first connecting plate, the first vibrating mirror, the second vibrating mirror, the first laser and the second laser are arranged on the workpiece table, and the first laser is used for emitting a first laser beam and is incident to a material to be cut through the first vibrating mirror; the second laser is used for emitting a second laser beam and is incident to the material to be cut through the second vibrating mirror; the cutting carrier is used for bearing the material to be cut;
the technical proposal provided by the utility model is that: in the OLED surface cutting process, the carbon dioxide laser and the ultraviolet laser are subjected to impact disturbance of physical environment or interference of other factors to cause errors, so that paths of carbon dioxide laser cutting and ultraviolet laser cutting are not overlapped, and materials cannot be completely cut.
However, with respect to the above-mentioned manual-automatic integrated cutting device, a technician inputs almost all efforts into the design improvement aspect of the cutting accuracy calibration of the cutting device, and when the cutting device is manually operated by a worker to cut the cutting target, the worker often cannot be in a proper and stable state in the cutting process due to the cutting speed and the force controlling the cutting end of the cutting device in the process of gradually cutting the cutting target by controlling the cutting end of the cutting device, so that the cutting surface accuracy of the cutting target is also affected to a certain extent when the conventional cutting device is manually operated, thereby reducing the quality of the cut product of the cutting target.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects in the prior art, the invention provides an intelligent calibration system and an intelligent calibration method of intelligent cutting equipment, which solve the technical problems in the background art.
Technical proposal
In order to achieve the above purpose, the invention is realized by the following technical scheme:
in a first aspect, an intelligent calibration system for an intelligent cutting apparatus, comprising:
the control terminal is a main control terminal of the system and is used for sending out an execution command;
the configuration module is used for configuring the system on the cutting equipment and acquiring the control authority of each station on the cutting equipment;
the acquisition module is used for acquiring station operation data when the cutting equipment is operated or data when a user manually operates the cutting equipment;
the electric control damping module is used for controlling the operation resistance of the manual operation position of the user on the cutting equipment in real time;
the design module is used for designing configuration logic for controlling the operation resistance of the manual operation position of the user on the cutting equipment and generating pressure when the manual operation position of the user on the cutting equipment is manually operated by the user;
the learning module is used for receiving configuration logic of the operation design of the design module and the pressure value monitored by a monitoring unit of a subordinate submodule of the design module, comparing whether the pressure value is consistent or not, and if so, applying the current configuration logic to continuously operate and control the electric control damping module;
when the learning module compares the pressure values, a system end user manually sets a comparison threshold value, the comparison threshold value is judged to be consistent when the pressure values are within the comparison threshold value range, and when the comparison result is negative, the system end user jumps to the configuration module to operate with the pressure sensor of the lower-level submodule of the acquisition module.
Still further, the configuration module and the acquisition module are provided with sub-modules at a lower level, including:
the pressure sensor is used for sensing the pressure value of the hand control cutting equipment position when the cutting equipment is manually operated by a user;
the camera module is used for collecting image data of an operation station on the cutting equipment in real time;
the pressure sensor and the camera module are deployed on the cutting equipment, control authority is obtained through the configuration module in the system, and the pressure sensor and the camera module synchronously start and stop along with the cutting equipment, wherein the sensing frequency of the pressure sensor is less than 0.3 s/time.
Further, the electric control damping module is deployed on the cutting equipment, and control authority is obtained in the system through the configuration module;
the electric control damping module synchronously operates along with the pressure sensor in the system, the pressure sensor feeds back the sensed pressure value to the electric control damping module in real time, and the electric control damping module provides the operation resistance of the manual operation position of the user on the cutting equipment according to the received pressure value.
Furthermore, the configuration logic designed in the design module is manually edited and set according to a user at the system end, and the lower level of the design module is provided with a sub-module, which comprises:
the storage unit is used for storing configuration logic of the operation design of the design module;
the identification unit is used for receiving the image data of the camera module when the cutting equipment receives the cutting target and identifying the attribute of the cutting target image in the image data;
the monitoring unit is used for monitoring the pressure value sensed by the operation of the pressure sensor for the first time, sending the monitored pressure value to the storage unit in real time and feeding back the monitored pressure value to the learning module;
wherein the identifying unit may identify the cutting target image attribute including: when the system is initially operated, a user at the system end stores a cutting target attribute identification example image in a storage unit, the identification unit identifies the attribute of the cutting target image in the surface gloss identification image data of the example image according to the cutting target attribute, the identification unit operates to synchronously acquire the cutting section of the cutting target image in the image data, and the cutting section contour is synchronously fed back to the design module according to the cutting section capturing cutting section contour.
Further, the design module refers to the cutting target image attribute and the cutting section outline when performing configuration logic design;
when the design module performs configuration logic design with reference to the cut section profile, the equidistant closed loop lines of the cut section profile are obtained, the cut section is divided into two partial areas according to the equidistant closed loop lines, the design module performs configuration logic design according to the two partial areas, the proportion of the cut section is set according to user definition of a system end, and the proportion of the cut section is set to 1/4 in an initial default mode.
Further, the pressure data feedback period of the monitoring unit and the feedback to the learning module is set to be three continuous operations of the pressure sensor;
the monitoring unit receives operation feedback of the learning module after sending the pressure value to the storage unit, stores the corresponding pressure value and comparison threshold value of which the comparison result of the operation of the learning module is yes, obtains the pressure value by the first induction of the operation of the pressure sensor through the monitoring unit when the next synchronous cutting equipment of the system operates, searches the obtained pressure value in the storage unit, and applies configuration logic corresponding to the pressure value to the currently operated electronic control damping module of the system when a matching item is searched.
Furthermore, the electric control damping module operates to calculate the self stiffness degradation coefficient and the strength degradation coefficient in real time, and a system end user manually resets the configuration logic designed by the design module by referring to the stiffness degradation coefficient and the strength degradation coefficient;
wherein, the calculation formulas of the rigidity degradation coefficient and the strength degradation coefficient are as follows:
wherein:
is the coefficient of stiffness degradation; />
The bending moment corresponding to the maximum corner point under the i-th loading working condition is given; />
The rotation angle corresponding to the maximum rotation angle point under the i-th loading working condition is set; />
Is the intensity degradation coefficient; />
The bending moment corresponding to the maximum corner point of the first circle under the loading working condition of the ith stage is obtained; />
The bending moment corresponding to the maximum corner point of the second circle under the loading working condition of the ith stage is obtained; the signs "+" and "—" are positive and negative loading phases, respectively.
Still further, the control terminal has configuration module and collection module through medium electric connection, configuration module and collection module subordinate have pressure sensor and camera module through medium electric connection, collection module has automatically controlled damping module through medium electric connection, automatically controlled damping module is connected with pressure sensor through the medium electric connection, automatically controlled damping module has design module through medium electric connection, design module subordinate has storage unit, identification unit and monitoring unit through medium electric connection, identification unit is connected with the camera module through medium electric connection, design module has learning module through medium electric connection, learning module is connected with the monitoring unit through medium electric connection.
In a second aspect, an intelligent calibration method for an intelligent cutting apparatus includes the steps of:
step 1: acquiring a functional station on the cutting equipment, and capturing the functional station applied when the cutting equipment is manually operated;
step 2: operating the captured functional station, collecting functional station operation image data, and analyzing a manual operation area and a functional station operation area on the functional station;
step 3: respectively picking up a group of points in the image data corresponding to the manual operation area and the functional station operation area, and analyzing whether the motion tracks of the two groups of points in the image data are intersected;
step 31: step 3, acquiring a manual operation area image and a functional station operation area image from the image data, capturing the moment of any position in the functional station operation area relative to any position in the manual operation area, and acquiring the position in the manual operation area corresponding to the maximum moment in the captured moment;
step 32: step 3, if the analysis result is negative, capturing a manual operation area image in the image data, feeding back the operation area image to a user side, and manually selecting a position deployment pressure sensor by the user side;
step 4: when the analysis result is yes, receiving the position in the manual operation area obtained in the step 31, deploying a pressure sensor at the position, and controlling the cutting equipment to trigger operation in real time by taking the pressure sensed by the pressure sensor as an operation condition;
step 5: configuring operation logic of the pressure sensor and the electric control damping module through a calibration system, recording operation data of the pressure sensor and the electric control damping module in real time when the cutting equipment operates, setting an evaluation threshold value, and evaluating the similarity of the operation data according to the evaluation threshold value;
step 6: setting three groups of operation data of a pressure sensor and an electric control damping module recorded in real time, analyzing whether the similarity of the operation data evaluated according to an evaluation threshold is not less than 80%, manually selecting whether to control automatic operation of the cutting equipment according to the current operation data by a user side when the similarity is not less than 80%, and manually operating the cutting equipment by the user side according to operation logic configured for the cutting equipment by a calibration system when the similarity is less than 80%;
and (3) synchronously deploying the electric control damping module when the step (3) and the step (4) are executed, so that the electric control damping module is deployed on an operation part in an operation area in the captured functional station, and ending after executing the step (32) when the judgment result is negative in the step (3).
Further, when the step 31 is executed, in the stage of acquiring the image of the manual operation area and the image of the operation area of the functional station, grid layer coverage is synchronously performed on the two groups of images, the images are divided into any number of image blocks with the same area size through the grid layer coverage, and the divided image blocks are any positions captured in the step 31 during execution;
the size and the number of the areas of the image blocks in the dividing process after the grid layer is covered are manually set according to the user side.
Advantageous effects
Compared with the known public technology, the technical scheme provided by the invention has the following beneficial effects:
1. the invention provides an intelligent calibration system of intelligent cutting equipment, which can collect operation data of the cutting equipment in the operation process, further enables the cutting speed and the force of the cutting equipment to be calibrated and controlled in real time in the manual operation process of a worker through the configuration of a pressure sensor and a damper, enables the cutting equipment to be more stable in the cutting process of the cutting equipment, ensures that the cutting process of the cutting equipment is completed in a more balanced and safe state, and improves the quality of a finished product cut by the cutting equipment.
2. In the invention, when the system is in operation, the cutting speed and the force of the cutting equipment are controlled by adopting a manual setting mode of a worker, so that the cutting equipment can sense the pressure value received by the cutting equipment when the cutting equipment is operated by the worker in real time, further control the damper to bring an operation resistance effect to the cutting equipment according to the pressure value, achieve the aim of controlling the cutting speed and the force of the cutting equipment to the cutting target, be beneficial to the stable forming of the cutting target cutting surface, provide a certain degree of learning ability of the cutting equipment through the data acquired in the process that the cutting equipment is controlled to operate, judge the force application degree of the worker by the pressure sensed by the pressure sensor in the initial operation state of the cutting equipment for the first time, facilitate the cutting equipment to further have a certain degree of user group analysis function, and intelligently match the operation configuration logic of the damper according to the different user groups, thereby effectively improving the applicability of the cutting equipment.
3. The invention provides an intelligent calibration method of intelligent cutting equipment, which can further maintain the stability of the operation of the system by executing the steps in the method, optimize the deployment position of a pressure sensor deployed on the cutting equipment in the executing process of the steps of the method, ensure that the cutting equipment is more labor-saving when operated manually by a worker, assist the analysis of the user group of the cutting equipment by the system in the method, ensure that the analysis result of the system is more accurate, and further control the cutting equipment by acquiring the operation data of the cutting equipment, so that the cutting equipment can simulate the operation according to the manual operation of the worker, and automatically execute the task of continuously cutting a cutting target.
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 evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of an intelligent calibration system of an intelligent cutting apparatus;
FIG. 2 is a flow chart of an intelligent calibration method of an intelligent cutting apparatus;
FIG. 3 is a schematic diagram showing a cutting section setting discrimination ratio of a cutting object of a cutting device according to the present invention;
reference numerals in the drawings represent respectively: 1. a control terminal; 2. a configuration module; 3. an acquisition module; 31. a pressure sensor; 32. a camera module; 4. an electric control damping module; 5. designing a module; 51. a storage unit; 511. an identification unit; 512. a monitoring unit; 6. and a learning module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is further described below with reference to examples.
Example 1
An intelligent calibration system of an intelligent cutting apparatus according to the embodiment, as shown in fig. 1, includes:
the control terminal 1 is a main control end of the system and is used for sending out an execution command;
the configuration module 2 is used for configuring the system on the cutting equipment and acquiring the control authority of each station on the cutting equipment;
the acquisition module 3 is used for acquiring station operation data when the cutting equipment is operated or data when a user manually operates the cutting equipment;
the electric control damping module 4 is used for controlling the operation resistance of the manual operation position of the user on the cutting equipment in real time;
the design module 5 is used for designing configuration logic for controlling the operation resistance of the manual operation position of the user on the cutting equipment and generating pressure when the manual operation position of the user on the cutting equipment is manually operated by the user by the electric control damping module 4;
the learning module 6 is configured to receive the configuration logic of the operation design of the design module 5 and the pressure value monitored by the monitoring unit 512 of the subordinate submodule of the design module 5, compare whether the pressure value is consistent, and if yes, apply the current configuration logic to continuously operate and control the electronic control damping module 4;
when the learning module 6 compares the pressure values, a system end user manually sets a comparison threshold, the comparison threshold is determined to be consistent when the pressure values are within the comparison threshold range, and when the comparison result is negative, the system end user jumps to the configuration module 2 to operate with the pressure sensor 31 of the lower-level submodule of the acquisition module 3.
In this embodiment, the control terminal 1 controls the configuration module 2 to operate the configuration system on the cutting device, acquires the control authority of each station on the cutting device, acquires the station operation data of the cutting device in real time or the data of the cutting device manually operated by the user through the acquisition module 3, further drives the electronic control damping module 4 to control the operation resistance of the manual operation position of the user on the cutting device in real time, finally designs the configuration logic of the electronic control damping module 4 on the cutting device by the design module 5, and generates pressure when the operation resistance of the manual operation position of the user on the cutting device is manually operated by the user, and the learning module 6 operates the configuration logic designed by the design module 5 and the pressure value monitored by the sub-module monitoring unit 512 at the lower level of the design module 5 later, compares whether the pressure value is consistent, and when the result is yes, continuously operates the control electronic control damping module 4 by applying the current configuration logic.
Example 2
As shown in fig. 1, the configuration module 2 and the acquisition module 3 are provided with sub-modules at a lower level, including:
a pressure sensor 31 for sensing a pressure value of a hand-controlled cutting device position when the cutting device is manually operated by a user;
a camera module 32 for collecting image data of an operation station on the cutting device in real time;
the pressure sensor 31 and the camera module 32 are deployed on the cutting device, control authority is obtained in the system through the configuration module 2, and the pressure sensor 31 is synchronously started and stopped along with the cutting device, and the sensing frequency of the pressure sensor 31 is less than 0.3 s/time.
Through the sub-modules arranged at the lower level of the configuration module 2 and the acquisition module 3, the operation pressure of the operation position of the cutting equipment when the cutting equipment is manually operated by a worker is acquired, and the functional station image data on the cutting equipment is acquired in real time, so that basic data support is provided for the operation of each module in the system, and the system operation stability is ensured.
As shown in fig. 1, an electric control damping module 4 is deployed on a cutting device, and obtains control authority through a configuration module 2 in a system;
the electric control damping module 4 synchronously runs along with the pressure sensor 31 in the system, the pressure sensor 31 feeds back the sensed pressure value to the electric control damping module 4 in real time, and the electric control damping module 4 provides the operation resistance of the manual operation position of the user on the cutting equipment according to the received pressure value.
As shown in fig. 1, the configuration logic designed in the design module 5 is manually edited and set according to a user at a system end, and the design module 5 is provided with sub-modules at a lower level, including:
a storage unit 51 for storing configuration logic of the operation design of the design module 5;
an identifying unit 511, configured to receive image data of the camera module 32 when the cutting device receives the cutting target, and identify an attribute of the cutting target image in the image data;
the monitoring unit 512 is configured to monitor the first sensed pressure value of the operation of the pressure sensor 31, send the monitored pressure value to the storage unit 51 in real time, and feed back the monitored pressure value to the learning module 6;
wherein the identifying unit 511 may identify that the cutting target image attribute includes: when the system is initially operated, a user at the system end stores a cutting target attribute identification example image in the storage unit 51, the identification unit 511 identifies the attribute of the cutting target image in the surface gloss identification image data of the example image according to the cutting target attribute, the identification unit 511 operates to synchronously acquire the cutting section of the cutting target image in the image data, and the cutting section profile is synchronously fed back to the design module 5 according to the cutting section capturing cutting section profile.
Through the arrangement of the lower sub-modules of the design module 5, design conditions are provided for the design of the configuration logic by the design module 5, so that the configuration logic of the pressure sensor 31 and the electric control damping module 4 is diversified, and the cutting equipment is ensured to be driven to operate more intelligently according to different configuration logic.
As shown in fig. 1, the electronic control damping module 4 operates to calculate its own stiffness degradation coefficient and strength degradation coefficient in real time, and a system end user manually resets configuration logic designed by the design module 5 by referring to the stiffness degradation coefficient and strength degradation coefficient;
wherein, the calculation formulas of the rigidity degradation coefficient and the strength degradation coefficient are as follows:
wherein:
is the coefficient of stiffness degradation; />
The bending moment corresponding to the maximum corner point under the i-th loading working condition is given; />
The rotation angle corresponding to the maximum rotation angle point under the i-th loading working condition is set; />
Is the intensity degradation coefficient; />
The bending moment corresponding to the maximum corner point of the first circle under the loading working condition of the ith stage is obtained; />
The bending moment corresponding to the maximum corner point of the second circle under the loading working condition of the ith stage is obtained; the signs "+" and "—" are positive and negative loading orders, respectively.
Example 3
As shown in fig. 1, the design module 5 refers to the cut target image attribute and the cut cross-sectional profile when performing the configuration logic design;
when the design module 5 performs configuration logic design with reference to the cut section profile, the equidistant closed loop line of the cut section profile is obtained, the cut section is divided into two partial areas according to the equidistant closed loop line, the design module 5 performs configuration logic design according to the two partial areas, the proportion of the cut section is set according to user definition of a system end, and the proportion of the cut section is set to 1/4 by default initially.
As shown in fig. 1, the pressure data feedback period of the monitoring unit 512 and feeding back to the learning module 6 is set to three consecutive runs of the pressure sensor 31;
the monitoring unit 512 receives feedback from the learning module 6 when the pressure value is sent to the storage unit 51, stores the corresponding pressure value and the comparison threshold value when the comparison result of the operation of the learning module 6 is yes, and when the next time the synchronous cutting device of the system is operated, acquires the pressure value sensed by the operation of the pressure sensor 31 for the first time through the monitoring unit 512, searches the acquired pressure value in the storage unit 51, and when a matching item is searched, applies the configuration logic corresponding to the pressure value to the electric control damping module 4 currently operated by the system.
As shown in fig. 1, the control terminal 1 is electrically connected with a configuration module 2 and an acquisition module 3 through a medium, the lower stages of the configuration module 2 and the acquisition module 3 are electrically connected with a pressure sensor 31 and a camera module 32 through a medium, the acquisition module 3 is electrically connected with an electric control damping module 4 through a medium, the electric control damping module 4 is connected with the pressure sensor 31 through a medium, the electric control damping module 4 is electrically connected with a design module 5 through a medium, the lower stage of the design module 5 is electrically connected with a storage unit 51, an identification unit 511 and a monitoring unit 512 through a medium, the identification unit 511 is electrically connected with the camera module 32 through a medium, the design module 5 is electrically connected with a learning module 6 through a medium, and the learning module 6 is electrically connected with the monitoring unit 512 through a medium.
Example 4
An intelligent calibration method of intelligent cutting equipment, comprising the following steps:
step 1: acquiring a functional station on the cutting equipment, and capturing the functional station applied when the cutting equipment is manually operated;
step 2: operating the captured functional station, collecting functional station operation image data, and analyzing a manual operation area and a functional station operation area on the functional station;
step 3: respectively picking up a group of points in the image data corresponding to the manual operation area and the functional station operation area, and analyzing whether the motion tracks of the two groups of points in the image data are intersected;
step 31: step 3, acquiring a manual operation area image and a functional station operation area image from the image data, capturing the moment of any position in the functional station operation area relative to any position in the manual operation area, and acquiring the position in the manual operation area corresponding to the maximum moment in the captured moment;
step 32: step 3, if the analysis result is negative, capturing a manual operation area image in the image data, feeding back the operation area image to a user side, and manually selecting a position deployment pressure sensor by the user side;
step 4: when the analysis result is yes, receiving the position in the manual operation area obtained in the step 31, deploying a pressure sensor at the position, and controlling the cutting equipment to trigger operation in real time by taking the pressure sensed by the pressure sensor as an operation condition;
step 5: configuring operation logic of the pressure sensor and the electric control damping module through a calibration system, recording operation data of the pressure sensor and the electric control damping module in real time when the cutting equipment operates, setting an evaluation threshold value, and evaluating the similarity of the operation data according to the evaluation threshold value;
step 6: setting three groups of operation data of a pressure sensor and an electric control damping module recorded in real time, analyzing whether the similarity of the operation data evaluated according to an evaluation threshold is not less than 80%, manually selecting whether to control automatic operation of the cutting equipment according to the current operation data by a user side when the similarity is not less than 80%, and manually operating the cutting equipment by the user side according to operation logic configured for the cutting equipment by a calibration system when the similarity is less than 80%;
and step 3 and step 4 are performed to deploy the electric control damping module synchronously when the electric control damping module is executed, so that the electric control damping module is deployed on an operation part in an operation area in the captured functional station, and when the judgment result is negative, the step 3 is finished after the step 32 is executed.
As shown in fig. 1, when step 31 is executed, in the stage of acquiring the manual operation region image and the functional station operation region image, grid layer coverage is synchronously performed on two groups of images, the images are divided into any number of image blocks with the same area size through the grid layer coverage, and the divided image blocks are any positions captured in the execution of step 31;
the size and the number of the areas of the image blocks in the dividing process after the grid layer is covered are manually set according to the user side.
As shown in fig. 3, the circular outer ring in the figure shows the cross section of the cutting target, the inner ring divides the cutting cross section into an inner area and an outer area, and the figure is marked with a proportional size, the diameter of the circular outer ring is set as x in the figure, when the circular outer ring is used as a design module 5 to run to perform configuration logic design on the cutting cross section profile, equidistant closed loop lines of the cutting cross section profile are obtained, and the cutting cross section is divided into two areas according to the equidistant closed loop lines to be displayed in a demonstration image.
In summary, through the system described in the above embodiment, operation data of the cutting device can be collected, and further through the configuration of the pressure sensor and the damper, the cutting speed and the force path of the cutting device on the cutting target can be calibrated and controlled in real time in the process that the cutting device is manually operated by a worker, so that the cutting process of the cutting device on the cutting target is more stable, the cutting process of the cutting target is ensured to be completed in a more balanced and safe state, and the quality of a finished product cut by the cutting target is improved;
in addition, in the running process of the system, when the cutting speed and the force of the cutting equipment are controlled, a manual setting mode of a worker is adopted, so that the cutting equipment can sense the pressure value received by the cutting equipment when the cutting equipment is operated by the worker in real time, further the damper is controlled according to the pressure value to bring an operation resistance effect to the cutting equipment, the aim of controlling the cutting speed and the force of the cutting equipment to the cutting target is fulfilled, the stable forming of the cutting target cutting surface is facilitated, the learning capacity of the cutting equipment to a certain degree is provided, the force application degree of the worker is judged by the pressure sensed by the pressure sensor in the initial running state of the cutting equipment for the first time, so that the cutting equipment further has a certain degree of user group analysis function, the running configuration logic of the damper is intelligently matched according to different user groups, and the applicability of the cutting equipment is effectively improved;
in addition, the method described in the embodiment further maintains the stability of the operation of the system, and in the step execution process of the method, the deployment position of the pressure sensor deployed on the cutting equipment can be optimized, so that the cutting equipment is more labor-saving when operated manually by a worker, and the analysis of the user group of the cutting equipment by the system is assisted, so that the analysis result of the system is more accurate, in addition, the cutting equipment is further controlled through the acquisition of the operation data of the cutting equipment, the cutting equipment can be operated in a simulated mode according to the manual operation of the worker, and the task execution of continuous cutting of the cutting target is automatically performed.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An intelligent calibration system for an intelligent cutting apparatus, comprising:
the control terminal (1) is a main control end of the system and is used for sending out an execution command;
the configuration module (2) is used for configuring the system on the cutting equipment and acquiring the control authority of each station on the cutting equipment;
the acquisition module (3) is used for acquiring station operation data when the cutting equipment is operated or data when a user manually operates the cutting equipment;
the electric control damping module (4) is used for controlling the operation resistance of the manual operation position of the user on the cutting equipment in real time;
the design module (5) is used for designing configuration logic for controlling the operation resistance of the manual operation position of the user on the cutting equipment and generating pressure when the manual operation position of the user on the cutting equipment is manually operated by the user by the electric control damping module (4);
the learning module (6) is used for receiving configuration logic of the operation design of the design module (5) and pressure values monitored by a monitoring unit (512) of a subordinate submodule of the design module (5), comparing whether the pressure values are consistent, and if so, applying the current configuration logic to continuously operate and control the electronic control damping module (4);
when the learning module (6) compares the pressure values, a system end user manually sets a comparison threshold, the comparison threshold is in a range of the comparison threshold, the comparison result is no, and the system end user jumps to the configuration module (2) to run with the pressure sensor (31) of the lower-level submodule of the acquisition module (3).
2. The intelligent calibration system of an intelligent cutting apparatus according to claim 1, wherein the configuration module (2) and the acquisition module (3) are provided with sub-modules at a lower level, comprising:
a pressure sensor (31) for sensing a pressure value of a hand-controlled cutting device position when the cutting device is manually operated by a user;
the camera module (32) is used for collecting image data of an operation station on the cutting equipment in real time;
the pressure sensor (31) and the camera module (32) are deployed on the cutting equipment, control authority is obtained in the system through the configuration module (2), and the pressure sensor (31) is synchronously started and stopped along with the cutting equipment, and the induction frequency of the pressure sensor (31) is less than 0.3 s/time.
3. The intelligent calibration system of an intelligent cutting apparatus according to claim 1 or 2, wherein the electronically controlled damping module (4) is deployed on the cutting apparatus, and control authority is obtained in the system by the configuration module (2);
the electric control damping module (4) synchronously runs along with the pressure sensor (31) in the system, the pressure sensor (31) feeds back the sensed pressure value to the electric control damping module (4) in real time, and the electric control damping module (4) provides operation resistance of a user on the cutting equipment in a manual operation position according to the received pressure value.
4. The intelligent calibration system of an intelligent cutting apparatus according to claim 1, wherein the configuration logic designed in the design module (5) is manually edited and set according to a system end user, and the design module (5) is provided with a sub-module at a lower stage, comprising:
a storage unit (51) for storing configuration logic of the operation design of the design module (5);
the identification unit (511) is used for receiving image data of the camera module (32) when the cutting equipment receives a cutting target, and identifying the attribute of the cutting target image in the image data;
the monitoring unit (512) is used for monitoring the operation of the pressure sensor (31) to sense the pressure value for the first time, sending the monitored pressure value to the storage unit (51) in real time and feeding back the monitored pressure value to the learning module (6);
wherein the identifying unit (511) can identify that the cutting target image attribute includes: when the system is initially operated, a user at the system end stores a cutting target attribute identification example image in a storage unit (51), the identification unit (511) identifies the attribute of the cutting target image in the image data according to the surface gloss of the cutting target attribute identification example image, the identification unit (511) operates to synchronously acquire the cutting section of the cutting target image in the image data, and the cutting section profile is synchronously fed back to the design module (5) according to the cutting section capturing cutting section profile.
5. The intelligent calibration system of an intelligent cutting apparatus according to claim 4, wherein the design module (5) refers to cutting target image attributes and cutting cross-sectional profiles when performing configuration logic design;
when the design module (5) performs configuration logic design by referring to the cut section outline, equidistant closed loop lines of the cut section outline are obtained, the cut section area is divided into two partial areas according to the equidistant closed loop lines, the design module (5) performs configuration logic design according to the two partial areas, the proportion of the cut section is set according to user definition of a system end, and the proportion of the cut section is set to 1/4 in an initial default mode.
6. An intelligent calibration system of an intelligent cutting apparatus according to claim 4, characterized in that the pressure data feedback period of the monitoring unit (512) and fed back to the learning module (6) is set to three consecutive runs of the pressure sensor (31);
the monitoring unit (512) receives operation feedback of the learning module (6) after sending the pressure value to the storage unit (51), stores the corresponding pressure value and the comparison threshold value of the comparison result of the operation of the learning module (6), acquires the pressure value sensed by the operation of the pressure sensor (31) for the first time through the monitoring unit (512) when the next time the synchronous cutting equipment of the system operates, searches the acquired pressure value in the storage unit (51), and applies configuration logic corresponding to the pressure value to the currently operated electronic control damping module (4) of the system when a matching item is searched.
7. The intelligent calibration system of the intelligent cutting equipment according to claim 1, wherein the electronic control damping module (4) operates to calculate the self stiffness degradation coefficient and the strength degradation coefficient in real time, and a system end user manually resets configuration logic designed by the design module (5) by referring to the stiffness degradation coefficient and the strength degradation coefficient;
wherein, the calculation formulas of the rigidity degradation coefficient and the strength degradation coefficient are as follows:
wherein:
is the coefficient of stiffness degradation; />
The bending moment corresponding to the maximum corner point under the i-th loading working condition is given; />
The rotation angle corresponding to the maximum rotation angle point under the i-th loading working condition is set; />
Is the intensity degradation coefficient; />
The bending moment corresponding to the maximum corner point of the first circle under the loading working condition of the ith stage is obtained; />
The bending moment corresponding to the maximum corner point of the second circle under the loading working condition of the ith stage is obtained; the signs "+" and "—" are positive and negative loading phases, respectively.
8. The intelligent calibration system of the intelligent cutting equipment according to claim 1, wherein the control terminal (1) is electrically connected with the configuration module (2) and the acquisition module (3) through a medium, the lower stage of the configuration module (2) and the acquisition module (3) is electrically connected with the pressure sensor (31) and the camera module (32) through the medium, the acquisition module (3) is electrically connected with the electric control damping module (4) through the medium, the electric control damping module (4) is electrically connected with the pressure sensor (31) through the medium, the electric control damping module (4) is electrically connected with the design module (5) through the medium, the lower stage of the design module (5) is electrically connected with the storage unit (51), the identification unit (511) and the monitoring unit (512) through the medium, the identification unit (511) is electrically connected with the camera module (32) through the medium, the design module (5) is electrically connected with the learning module (6) through the medium, and the learning module (6) is electrically connected with the monitoring unit (512) through the medium.
9. A method for implementing an intelligent calibration system for an intelligent cutting apparatus according to any one of claims 1-8, comprising the steps of:
step 1: acquiring a functional station on the cutting equipment, and capturing the functional station applied when the cutting equipment is manually operated;
step 2: operating the captured functional station, collecting functional station operation image data, and analyzing a manual operation area and a functional station operation area on the functional station;
step 3: respectively picking up a group of points in the image data corresponding to the manual operation area and the functional station operation area, and analyzing whether the motion tracks of the two groups of points in the image data are intersected;
step 31: step 3, acquiring a manual operation area image and a functional station operation area image from the image data, capturing the moment of any position in the functional station operation area relative to any position in the manual operation area, and acquiring the position in the manual operation area corresponding to the maximum moment in the captured moment;
step 32: step 3, if the analysis result is negative, capturing a manual operation area image in the image data, feeding back the operation area image to a user side, and manually selecting a position deployment pressure sensor by the user side;
step 4: when the analysis result is yes, receiving the position in the manual operation area obtained in the step 31, deploying a pressure sensor at the position, and controlling the cutting equipment to trigger operation in real time by taking the pressure sensed by the pressure sensor as an operation condition;
step 5: configuring operation logic of the pressure sensor and the electric control damping module through a calibration system, recording operation data of the pressure sensor and the electric control damping module in real time when the cutting equipment operates, setting an evaluation threshold value, and evaluating the similarity of the operation data according to the evaluation threshold value;
step 6: setting three groups of operation data of a pressure sensor and an electric control damping module recorded in real time, analyzing whether the similarity of the operation data evaluated according to an evaluation threshold is not less than 80%, manually selecting whether to control automatic operation of the cutting equipment according to the current operation data by a user side when the similarity is not less than 80%, and manually operating the cutting equipment by the user side according to operation logic configured for the cutting equipment by a calibration system when the similarity is less than 80%;
and (3) synchronously deploying the electric control damping module when the step (3) and the step (4) are executed, so that the electric control damping module is deployed on an operation part in an operation area in the captured functional station, and ending after executing the step (32) when the judgment result is negative in the step (3).
10. The method according to claim 9, wherein when the step 31 is executed, in the stage of acquiring the image of the manual operation area and the image of the operation area of the functional station, grid layer coverage is performed on the two groups of images synchronously, the images are divided into any number of tiles with the same area size through the grid layer coverage, and the divided tiles are any positions captured by the step 31 during execution;
the size and the number of the areas of the image blocks in the dividing process after the grid layer is covered are manually set according to the user side.
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