CN116320308A - Use visual monitoring to realize crystal bar flow control - Google Patents
Use visual monitoring to realize crystal bar flow control Download PDFInfo
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- CN116320308A CN116320308A CN202310258463.7A CN202310258463A CN116320308A CN 116320308 A CN116320308 A CN 116320308A CN 202310258463 A CN202310258463 A CN 202310258463A CN 116320308 A CN116320308 A CN 116320308A
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- monitoring
- crystal bar
- judging
- transmission line
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- 239000013078 crystal Substances 0.000 title claims abstract description 72
- 238000012544 monitoring process Methods 0.000 title claims abstract description 64
- 230000000007 visual effect Effects 0.000 title claims abstract description 41
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims description 24
- 238000012806 monitoring device Methods 0.000 claims description 21
- 210000000078 claw Anatomy 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 238000007726 management method Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 238000007689 inspection Methods 0.000 description 6
- 230000005622 photoelectricity Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention belongs to the technical field of visual monitoring, and discloses a crystal bar circulation control method, which comprises a monitoring module for monitoring the whole process on a transmission line, a pre-detection module for pre-judging and controlling the back in advance on the transmission line, a judging module for preventing empty grabbing or repeated feeding, and an alarm module for finding out problems of the length and the position of the crystal bar, wherein the visual monitoring comprises the monitoring module, the pre-detection module, the judging module and the alarm module, the monitoring module, the pre-detection module, the judging module and the alarm module are mutually connected, the visual system monitors the whole process of each crystal bar, the reliability is high, visual monitoring information is richer, complex control can be realized, and the visual monitoring can avoid repeated impact of the crystal bar during the loading or the empty grabbing.
Description
Technical Field
The invention belongs to the technical field of visual monitoring, and particularly relates to a crystal bar flow control method realized by visual monitoring.
Background
The existing transmission line controls the circulation of crystal bars by using photoelectric switches, and a plurality of photoelectric switches are arranged at two sides of the transmission line to detect edge signals of the crystal bars;
however, the photoelectric monitoring method has a number of defects:
1. the photoelectric switching value signal carries little information, and is difficult to meet the complex control requirement.
2. If the control PLC needs to know the central position of the crystal bar, photoelectricity is difficult to detect. Cannot meet the current increasingly complex logic control requirements.
3. The installation and debugging workload is large, the time is long and the cost is high. Some systems can use hundreds of sets of photoelectricity, the mechanical installation workload is large, the bridge frame laying and wiring workload is large, the photoelectricity position needs to be adjusted repeatedly during debugging, the PLC program parameters are related to the photoelectricity position, and a large amount of time can be consumed during debugging.
4. The flexibility is poor, the diameter and the length of the crystal bar are changed, and the crystal bar is debugged again.
5. Photoelectric is difficult to control the spacing between crystal bars because of detection errors caused by position deviation, the length of the detection bars is troublesome, and a plurality of crystal bars connected at the first position cannot be judged.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides the method for realizing the flow control of the crystal bar by using visual monitoring, and solves the problems.
(II) technical scheme
In order to achieve the above purpose, the present invention provides the following technical solutions: the control of crystal bar flow is realized by using visual monitoring, which comprises a monitoring module for monitoring the whole process on a transmission line, a pre-detection module for pre-judging and controlling the later process in advance on the transmission line, a judging module for preventing empty grabbing or repeated feeding and an alarm module for finding out problems of the length and the position of the crystal bar, wherein the visual monitoring comprises the monitoring module, the pre-detection module, the judging module, the alarm module and a planning module, and the monitoring module, the pre-detection module, the judging module, the alarm module and the planning module are mutually connected.
Preferably, the monitoring module comprises a PLC control, a first monitoring device, and a second monitoring device … … nth monitoring device, and the PLC control is in information connection with the first monitoring device, the second monitoring device … … nth monitoring device.
Preferably, the PLC control includes a device control portion, a device communication portion, an input device, an output device, and a device storage portion, the device control portion is mutually communicated with the device communication portion, the input device, the output device, and the device storage portion, and the monitoring device includes a camera, a photographing portion, a camera communication portion, and a camera storage portion, and the camera is mutually communicated with the photographing portion, the camera communication portion, and the camera storage portion, and information communication between the camera communication portion and the device communication portion is in the same.
Preferably, the pre-detection module comprises a pre-detection analysis server and a control module, the pre-detection analysis server and the control module are connected together through signals, the pre-detection analysis server comprises a length detector and an inertia detector, and the pre-detection analysis server is in communication connection with the length detector and the inertia detector.
Preferably, the judging module comprises a detecting mechanism, a speed measuring mechanism and a mechanical mechanism, wherein the detecting mechanism and the speed measuring mechanism are all in mutual information connection with the mechanical mechanism, the detecting mechanism comprises a start part, a video file reading part and a judgment part, the detecting mechanism sequentially starts, reads the video file and judges the mutual connection together, the judging part comprises a feeding position, a feeding rod and a mechanical claw, the feeding position, the feeding rod and the mechanical claw are all provided with yes and no, the yes and no correspond to the mechanical movement and the end respectively, and the mechanical movement and the mechanical mechanism are mutually communicated and connected together.
Preferably, the speed measuring mechanism comprises a start part, a video file reading part and a judgment part, wherein the judgment part comprises whether the conveying line is clamped or not and whether the conveying line and the roller slide or not, whether the conveying line is clamped or not and whether the conveying line and the roller slide or not all contain yes or not, whether the conveying line and the roller slide or not correspond to the mechanical movement and the end respectively, and the mechanical movement and the mechanical mechanism are in communication connection with each other.
Preferably, the alarm module comprises a self-checking module and an alarm detector, the self-checking module and the alarm detector are mutually communicated, the alarm detector is connected with the extension module, the extension module is connected with the management module, the extension module comprises a receiving circuit and a transmitting end, the receiving circuit is communicated with the alarm detector, and the transmitting end is connected with the management module through an instruction.
Preferably, the planning module comprises data processing, a cloud platform, an intelligent terminal and a planning line, wherein the data processing is connected with the cloud platform through data, the cloud platform is connected with the intelligent terminal through information, and the intelligent terminal is connected with the intelligent information of the planning line.
(III) beneficial effects
Compared with the prior art, the invention provides the flow control of the crystal bar by using visual monitoring, and has the following beneficial effects:
1. the visual system in the circulation control of the crystal bars is realized by the visual monitoring, the full-flow monitoring of each crystal bar is realized, the reliability is high, the visual monitoring software is provided with deep learning, the visual monitoring software can be self-optimized, and the effect is better when the running time is longer.
2. The visual monitoring information in the circulation control of the crystal bar is richer by using the visual monitoring, the complex control can be realized, the hardware cost of the visual monitoring system is lower than that of the photoelectric monitoring by more than 30%, and the cost can be reduced to be lower in the future.
3. The visual monitoring in the circulation control of the crystal bar is realized by the application of the visual monitoring, so that the repeated feeding collision or empty grabbing of the crystal bar can be avoided.
4. The debugging process of the vision system mainly comprises the steps of setting parameters, and has low requirement on the installation precision of the lens, and the lens can automatically track the crystal bar and the frame of the transmission line, so that the monitoring is basically not influenced even if the lens is subjected to position deviation, and the situation that the position and the program are irrelevant is realized; the photoelectric position of the photoelectric monitoring is directly related to the PLC program, and the PLC program has to be modified when the photoelectric position changes, which is very troublesome.
5. The vision system can be used for planning the whole flow of the crystal bar when the crystal bar enters the entrance of the conveying line, and re-planning the path of the crystal bar according to the unexpected fault position on the current conveying line, so that the time is saved.
Drawings
FIG. 1 is a flow chart of the visual monitoring of the present invention;
FIG. 2 is a flow chart of a monitoring module according to the present invention;
FIG. 3 is a second order flow chart of the monitoring module of the present invention
FIG. 4 is a flow chart of a pre-inspection module according to the present invention;
FIG. 5 is a flow chart of a judging module according to the present invention;
FIG. 6 is a flow chart of an alarm module of the present invention;
FIG. 7 is a flow chart of the speed measuring mechanism of the present invention;
FIG. 8 is a flow chart of a planning module according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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.
Referring to fig. 1-8, the flow control of the ingot is realized by using visual monitoring, which comprises a monitoring module for monitoring the whole process on a transmission line, a pre-detection module for pre-judging and controlling the later process in advance on the transmission line, a judging module for preventing empty grabbing or repeated feeding, and an alarm module for finding problems in the length and the position of the ingot, wherein the visual monitoring comprises a monitoring module, a pre-detection module, a judging module, an alarm module and a planning module, and the monitoring module, the pre-detection module, the judging module, the alarm module and the planning module are mutually connected.
Further, the monitoring module comprises a PLC control, a first monitoring device, and a second monitoring device … … nth monitoring device, and the PLC control is in information connection with the first monitoring device, the second monitoring device … … nth monitoring device.
Further, the PLC control includes device control portion, device communication portion, input device, output device and device storage portion, device control portion and device communication portion, input device, output device and device storage portion communicate each other, and monitoring device all includes the camera, shooting portion, camera communication portion and camera storage portion, and camera and shooting portion, camera communication portion and camera storage portion communicate each other, and information communication is in the same place between camera communication portion and the device communication portion, with photoelectric single-point position control is different, can monitor the position and the state of crystal bar in succession, the crystal bar all is under the control at the transmission line overall process, form the world wide web, the control is more reliable, can not lose data. The photoelectric monitoring needs to judge the crystal code by using a two-dimensional code scanner at each branch point, if the code scanning error circulation stops the line clamping, the visual monitoring does not need to scan the code, the crystal code and the crystal bar image are bound together and cannot be lost, and the crystal code can be directly transferred or switched at the branch point.
Further, the pre-inspection module comprises a pre-inspection analysis server and a control module, the pre-inspection analysis server is connected with the control module through signals, the pre-inspection analysis server comprises a length detector and an inertia detector, the pre-inspection analysis server is connected with the length detector and the inertia detector through communication, photoelectric monitoring can only detect the edge of the crystal bar, the position of the center of the crystal bar is very difficult to calculate through edge signals, visual monitoring can easily capture the center of the crystal bar, prediction is made on the future position of the crystal bar, and pre-control is performed. For example, in order to facilitate the manipulator to grasp the crystal bar, the center of the crystal bar needs to be overlapped with the center of the manipulator for positioning. The vision system can detect the length of the crystal bar in advance, calculate the inertial front impulse of the crystal bar, stop the conveying line in advance, and add the inertial front impulse to stop the center of the crystal bar at the center of the manipulator, so that the manipulator can conveniently grasp the crystal bar, and the collision between the manipulator and the crystal bar is reduced. The center of the robot may be marked on the rim of the conveyor line.
Further, the judging module comprises a detecting mechanism, a speed measuring mechanism and a mechanical mechanism, wherein the detecting mechanism and the speed measuring mechanism are connected with the mechanical mechanism through mutual information, the detecting mechanism comprises a start part, a video file reading part and a judgment part, the detecting mechanism sequentially starts, reads the video file and judges the mutual connection, judges whether a material is contained in a material loading position and whether a crystal bar is contained in a mechanical claw or not, whether the material loading position and the crystal bar is contained in the mechanical claw or not and correspond to the mechanical movement and the end respectively, the mechanical movement and the mechanical mechanism are mutually communicated and connected, the material loading is repeated at certain specific positions of a conveying line or a processing machine tool, namely, the crystal bar is already arranged at the current position, but due to photoelectric position offset or other reasons, the system does not receive signals of crystal bar occupation, the crystal bar is placed at the position, and the manipulator collides, so that the manipulator is damaged. The crystal bar information on the station is obtained through visual monitoring most directly and accurately, so that misjudgment is avoided, and collision is effectively prevented; compared with repeated discharging, when the system is wrong, the manipulator can be emptied to grasp, the crystal bar manipulator is not needed to grasp or is not needed to grasp, an alarm is generated, and the process is stopped. Visual monitoring can effectively prevent this phenomenon.
Further, the speed measuring mechanism comprises a start part, a video file reading part and a judgment part, wherein the judgment part comprises whether the transmission line is clamped and whether the transmission line and the roller slide, whether the transmission line is clamped and whether the transmission line and the roller slide respectively comprise yes and no, the yes and no correspond to the mechanical movement and the end respectively, the mechanical movement and the mechanical mechanism are mutually communicated and connected together, the traditional photoelectric device can only detect the arrival and departure of the crystal bar, and the moving speed of the crystal bar cannot be detected. The vision can calculate the speed of the crystal bar, judge whether the crystal bar is clamped on the conveying line, and whether the rollers between the conveying lines slip, and give an alarm. If necessary, the conveying line can be reversed, and the clamping stagnation and the slipping can be eliminated.
Further, alarm module includes self-checking module and alarm detector, and communicates together between self-checking module and the alarm detector, and alarm detector links together with extension module, and extension module links together with management module, and extension module includes receiving circuit and transmitting end, and circuit intercommunication together between receiving circuit and the alarm detector, and transmitting end links together with management module instruction, all do not have the tray on the transmission line is carried to the present crystal bar, sometimes have 2 crystal bars end to end, not only lead to the crystal bar to damage easily, the system can also regard 2 crystal bars as a crystal bar, lead to the problem to the follow-up process to appear. The visual monitoring controls the spacing between the crystal bars from the beginning, so that the crystal bars are not connected end to end, and even if unexpected factors lead to the end to end connection, the monitoring system can also find abnormality in the length of the crystal bars and give an alarm in time.
Further, the planning module comprises data processing, a cloud platform, an intelligent terminal and a planning line, the data processing is connected with the cloud platform through data, the cloud platform is connected with the intelligent terminal through information, the intelligent terminal is connected with the intelligent information of the planning line, in practical application, a plurality of transmission lines are connected end to end, a plurality of forking is formed, and sometimes a pair of forking is formed, and logic control is complex. The visual system can be used for planning the whole flow of the crystal bars when the crystal bars enter the inlet of the conveying line, and re-planning the path of the crystal bars according to the unexpected fault position on the current conveying line, so that time is saved, reasonable spacing among a plurality of crystal bars can be ensured by visual intelligent control on the conveying line connected end to end, reasonable temporary storage can be realized by controlling forward rotation and reverse rotation of the conveying line, and the situation that the crystal bars span between two conveying lines can be avoided.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The flow control of the crystal bar is realized by visual monitoring, and the method is characterized in that: the automatic feeding device comprises a monitoring module for monitoring the whole process on a transmission line, a pre-detection module for pre-judging and controlling the later in advance on the transmission line, a judging module for preventing empty grabbing or repeated feeding and an alarm module for finding problems in the length and the position of the crystal bar, wherein the visual monitoring comprises the monitoring module, the pre-detection module, the judging module, the alarm module and a planning module, and the monitoring module, the pre-detection module, the judging module, the alarm module and the planning module are mutually connected.
2. The flow control of the ingot by applying visual monitoring according to claim 1, wherein: the monitoring module comprises a PLC control, a first monitoring device and a second monitoring device … … Nth monitoring device, and the PLC control is connected with the first monitoring device and the second monitoring device … … Nth monitoring device through mutual information.
3. The flow control of the ingot by applying visual monitoring according to claim 2, wherein: the PLC control comprises a device control part, a device communication part, an input device, an output device and a device storage part, wherein the device control part is communicated with the device communication part, the input device, the output device and the device storage part, the monitoring device comprises a camera, a shooting part, a camera communication part and a camera storage part, the camera is communicated with the shooting part, the camera communication part and the camera storage part, and the camera communication part and the device communication part are communicated with each other.
4. The flow control of the ingot by applying visual monitoring according to claim 1, wherein: the pre-detection module comprises a pre-detection analysis server and a control module, wherein the pre-detection analysis server and the control module are connected together through signals, the pre-detection analysis server comprises a length detector and an inertia detector, and the pre-detection analysis server is in communication connection with the length detector and the inertia detector.
5. The flow control of the ingot by applying visual monitoring according to claim 1, wherein: the judging module comprises a detecting mechanism, a speed measuring mechanism and a mechanical mechanism, wherein the detecting mechanism and the speed measuring mechanism are connected with the mechanical mechanism through mutual information, the detecting mechanism comprises a start part, a video file reading part and a judging part, the detecting mechanism sequentially starts, reads the video file and judges the mutual connection, the judging part comprises a feeding part and a mechanical claw, whether the feeding part is provided with a material or not and whether the mechanical claw is provided with a crystal bar or not, whether the feeding part is provided with the material or not and whether the mechanical claw is provided with the crystal bar or not is judged, the detecting part and the speed measuring mechanism are respectively corresponding to the mechanical movement and the mechanical mechanism, and the mechanical movement and the mechanical mechanism are mutually communicated and connected together.
6. The method for controlling the flow of the ingot by using visual monitoring according to claim 5, wherein: the speed measuring mechanism comprises a start part, a video file reading part and a judgment part, wherein the judgment part comprises whether the transmission line is clamped or not and whether the transmission line and the roller slide or not, whether the transmission line is clamped or not and whether the transmission line and the roller slide or not all contain yes or not, whether the transmission line and the roller slide or not correspond to the mechanical movement and the end part respectively, and the mechanical movement and the mechanical mechanism are mutually communicated and connected together.
7. The flow control of the ingot by applying visual monitoring according to claim 1, wherein: the alarm module comprises a self-checking module and an alarm detector, the self-checking module and the alarm detector are mutually communicated, the alarm detector is connected with the extension module, the extension module is connected with the management module, the extension module comprises a receiving circuit and a transmitting end, the receiving circuit is communicated with the alarm detector, and the transmitting end is connected with the management module through an instruction.
8. The flow control of the ingot by applying visual monitoring according to claim 1, wherein: the planning module comprises data processing, a cloud platform, an intelligent terminal and a planning line, wherein the data processing is connected with the cloud platform through data, the cloud platform is connected with the intelligent terminal through information, and the intelligent terminal is connected with the intelligent information of the planning line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310258463.7A CN116320308A (en) | 2023-03-17 | 2023-03-17 | Use visual monitoring to realize crystal bar flow control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310258463.7A CN116320308A (en) | 2023-03-17 | 2023-03-17 | Use visual monitoring to realize crystal bar flow control |
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| Publication Number | Publication Date |
|---|---|
| CN116320308A true CN116320308A (en) | 2023-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310258463.7A Pending CN116320308A (en) | 2023-03-17 | 2023-03-17 | Use visual monitoring to realize crystal bar flow control |
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| Country | Link |
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| CN (1) | CN116320308A (en) |
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- 2023-03-17 CN CN202310258463.7A patent/CN116320308A/en active Pending
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