CN116397462A - Adsorption control method and system for pulp molding, storage medium and electronic equipment - Google Patents
Adsorption control method and system for pulp molding, storage medium and electronic equipment Download PDFInfo
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- CN116397462A CN116397462A CN202310331424.5A CN202310331424A CN116397462A CN 116397462 A CN116397462 A CN 116397462A CN 202310331424 A CN202310331424 A CN 202310331424A CN 116397462 A CN116397462 A CN 116397462A
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 257
- 238000000465 moulding Methods 0.000 title claims abstract description 170
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000003860 storage Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 260
- 229920001131 Pulp (paper) Polymers 0.000 claims abstract description 25
- 238000007599 discharging Methods 0.000 claims description 25
- 238000001514 detection method Methods 0.000 claims description 24
- 238000007689 inspection Methods 0.000 claims description 15
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 6
- 238000013507 mapping Methods 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 235000013305 food Nutrition 0.000 description 3
- 230000007723 transport mechanism Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000004566 building material Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 235000013410 fast food Nutrition 0.000 description 1
- 239000003721 gunpowder Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000005022 packaging material Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000004537 pulping Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- D—TEXTILES; PAPER
- D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
- D21J—FIBREBOARD; MANUFACTURE OF ARTICLES FROM CELLULOSIC FIBROUS SUSPENSIONS OR FROM PAPIER-MACHE
- D21J5/00—Manufacture of hollow articles by transferring sheets, produced from fibres suspensions or papier-mâché by suction on wire-net moulds, to couch-moulds
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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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Abstract
The application discloses a pulp molding adsorption control method, a system, a storage medium and electronic equipment, wherein the method comprises the following steps: when the discharge position of any one adsorption mechanism is a preset initial discharge position, the paper pulp molding without adsorption is positioned at a preset initial adsorption ready position, detecting whether the transmitted paper pulp molding exists on the conveying mechanism in real time, wherein the adsorption mechanism can stretch in the horizontal direction; determining a spatial position of the pulp moulding when the pulp moulding is detected; calculating the rotation angle of the turntable mechanism and the telescopic distance of the adsorption mechanism in the horizontal direction according to the space position; and controlling the adsorption mechanism to absorb the pulp molding to be tracked according to the rotation angle and the telescopic distance. Because the adsorption mechanism can stretch out and draw back in the horizontal direction, rotation angle and flexible distance are calculated in real time based on the spatial position of the paper pulp mould that detects simultaneously, consequently through this rotation angle and flexible distance steerable adsorption mechanism to the accurate absorption of paper pulp mould to the letter sorting accuracy has been promoted.
Description
Technical Field
The present disclosure relates to the field of automation control technologies, and in particular, to an adsorption control method and system for pulp molding, a storage medium, and an electronic device.
Background
The pulp molding is to use wood pulp, bamboo pulp and the like as raw materials, and to press paper products with certain shapes at high temperature by a customized mold on a molding machine, and the pulp molding product has the characteristics of wide sources of raw materials, no harm to the environment in the manufacturing process, recycling and reutilization, and is widely applied to the fields of food, medical treatment, industrial building materials, military industry, agriculture and the like. The food field is mainly used for food external packaging, bowl and cup cover and other fast food products; the medical field is mainly used for manufacturing disposable medical appliances such as body pads, splints and the like; the industrial building material field is mainly used for packaging materials, including transportation packages, industrial product liners, spacers, environment-friendly ceilings and the like; the field of military industry is mainly applied to package linings of ammunition, explosive, gunpowder and other objects; the agricultural field is mainly applied to flowerpots, cultivation cups and the like.
The qualified pulp molding needs to strictly control the working procedures such as pulping, and the introduction of oil stains, impurities and other foreign matters can lead the manufactured pulp molding to be substandard for pulp molding products, so that molding quality inspection equipment can be adopted, full-automatic quality inspection of pulp molding can be realized by utilizing a turntable mechanism of the molding quality inspection equipment, and the problem of full-automatic sorting is solved by utilizing the turntable mechanism.
The current sorting flow is shown in fig. 1, the time for sensing the adsorption of the material is T1, the turntable mechanism is started to act until the adsorption of the material is used for T2, and when the two times are synchronous, the core turntable mechanism rotates to a fixed angle position to perform descending adsorption lifting action, so that the adsorption is completed. But when the beat is disordered (for example, the situation that the conveying mechanism slips occurs), the problem of adsorption offset occurs, so that displacement disorder can occur in all follow-up conveying and conveying, and therefore, the phenomenon that the sucking disc on the turntable mechanism sucks the material and sends the material inaccurately can occur under the condition that the beat is inconsistent due to the occurrence of clamping, the sorting precision of the conveyed material is not up to standard, and the sorting precision is reduced.
Disclosure of Invention
The embodiment of the application provides an adsorption control method and system for pulp molding, a storage medium and electronic equipment. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
In a first aspect, an embodiment of the present application provides an adsorption control method for pulp molding, applied to a molding quality inspection apparatus, where the molding quality inspection apparatus includes a turntable mechanism, and the turntable mechanism is provided with at least one adsorption mechanism that stretches in a horizontal direction, the method including:
detecting whether the transmitted pulp molding exists on the conveying mechanism in real time under the condition that the discharging position of any one adsorption mechanism is a preset initial discharging position, the adsorption mechanism does not adsorb the pulp molding and the adsorption mechanism is at a preset initial adsorption ready position;
when the pulp molding to be tracked is detected, determining the spatial position of the pulp molding to be tracked in real time;
calculating the rotation angle of the turntable mechanism and the telescopic distance of the adsorption mechanism in the horizontal direction according to the space position;
and controlling the adsorption mechanism to absorb the pulp molding to be tracked according to the rotation angle and the telescopic distance.
Optionally, before detecting in real time whether the transferred pulp mold exists on the conveying mechanism, the method further comprises:
acquiring a state parameter of any one adsorption mechanism;
judging the discharging position of the adsorption mechanism according to the state parameters;
judging whether the adsorption mechanism has adsorbed pulp molding according to the state parameters;
judging whether the adsorption mechanism is positioned at a preset initial adsorption ready position according to the state parameters.
Optionally, the method further comprises:
and controlling the turntable mechanism to rotate by a preset fixed angle under the condition that the discharging position of any one adsorption mechanism is not a preset initial discharging position or the adsorption mechanism has pulp molding adsorbed or the adsorption mechanism is not at a preset initial adsorption ready position, and continuously executing the step of acquiring the state parameter of any one adsorption mechanism under the condition that the adsorption system does not reach the designated discharging position.
Optionally, calculating the rotation angle of the turntable mechanism and the telescopic distance of the adsorption mechanism in the horizontal direction according to the spatial position includes:
determining points of tangency at the edges of the turntable mechanism and at the non-edge line of the conveyor belt of the conveyor mechanism;
calculating a first distance between the spatial location and the tangent point;
calculating a second distance between the center point of the turntable mechanism and the tangent point;
calculating a first included angle between the spatial position and the tangent point according to the first distance and the second distance;
acquiring a total included angle between a pre-calibrated preset initial adsorption ready position and a tangent point;
determining a difference value between the total included angle and the first included angle as a second included angle for presetting an initial adsorption ready position and a space position, and obtaining a rotating angle of the turntable mechanism;
according to the Pythagorean theorem, calculating the total distance between the center point of the turntable mechanism and the space position by combining the first distance and the second distance;
the difference between the total distance and the second distance is determined as the telescopic distance of the adsorption mechanism in the horizontal direction.
Optionally, the rotation angle of the turntable mechanism
And the telescopic distance of the adsorption mechanism in the horizontal direction +.>
The calculation formula of (2) is as follows:
Optionally, controlling the adsorption mechanism to absorb the pulp molding to be tracked according to the rotation angle and the telescopic distance, including:
the servo motor is controlled to rotate based on the rotation angle, so that the servo motor drives the adsorption mechanism to rotate to a direction consistent with the spatial position;
controlling the adsorption mechanism to slide along the axial direction according to the telescopic distance so that the adsorption mechanism reaches the space position;
controlling the adsorption mechanism to sink and adsorb along the vertical direction, and controlling the adsorption mechanism to rise to a designated position under the condition that negative pressure adsorption is successful on pulp molding to be tracked;
the step of acquiring the state parameter of any one of the adsorption mechanisms is continued.
Optionally, the method further comprises:
when the pulp molding to be tracked is detected, photographing the pulp molding to be tracked through a camera triggering a detection station to obtain a target image;
detecting a target image and generating a target detection mark according to a detection result;
and determining the discharge position corresponding to the target detection mark in the pre-constructed mapping relation between the detection mark and the discharge position to obtain the specified discharge position of the pulp molding to be tracked.
In a second aspect, embodiments of the present application provide an adsorption control system for pulp molding, applied to a molding quality inspection apparatus, the molding quality inspection apparatus including a turntable mechanism provided with at least one adsorption mechanism extending in a horizontal direction, the system comprising:
the paper pulp molding detection module is used for detecting whether the transmitted paper pulp molding exists on the conveying mechanism in real time under the condition that the discharging position of any one adsorption mechanism is a preset initial discharging position, the adsorption mechanism does not adsorb the paper pulp molding and the adsorption mechanism is at a preset initial adsorption ready position;
the space position determining module is used for determining the space position of the pulp molding to be tracked in real time when the pulp molding to be tracked is detected;
the parameter calculation module is used for calculating the rotation angle of the turntable mechanism and the telescopic distance of the adsorption mechanism in the horizontal direction according to the space position;
and the adsorption control module is used for controlling the adsorption mechanism to absorb the pulp molding to be tracked according to the rotation angle and the telescopic distance.
In a third aspect, embodiments of the present application provide a computer storage medium having stored thereon a plurality of instructions adapted to be loaded by a processor and to perform the above-described method steps.
In a fourth aspect, embodiments of the present application provide an electronic device, which may include: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps described above.
The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:
in the embodiment of the application, the adsorption control system for pulp molding detects whether the transmitted pulp molding exists on the conveying mechanism in real time when the discharge position of any one adsorption mechanism is a preset initial discharge position, the pulp molding without adsorption and the adsorption control system is positioned at a preset initial adsorption ready position, and the adsorption mechanism can stretch in the horizontal direction; and then when the pulp molding is detected, determining the space position of the pulp molding, calculating the rotation angle of the turntable mechanism and the telescopic distance of the adsorption mechanism in the horizontal direction according to the space position, and finally controlling the adsorption mechanism to absorb the pulp molding to be tracked according to the rotation angle and the telescopic distance. Because the adsorption mechanism can stretch out and draw back in the horizontal direction, rotation angle and flexible distance are calculated in real time based on the spatial position of the paper pulp mould that detects simultaneously, consequently through this rotation angle and flexible distance steerable adsorption mechanism to the accurate absorption of paper pulp mould to the letter sorting accuracy has been promoted.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
FIG. 1 is a process schematic block diagram of a prior art adsorption control process for pulp molding provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart of an adsorption control method for pulp molding according to an embodiment of the present application;
FIG. 3 is a schematic view of a molding quality inspection apparatus according to an embodiment of the present application;
FIG. 4 is a schematic diagram of parameter calibration required for calculating a rotation angle and a telescopic distance according to an embodiment of the present application;
FIG. 5 is a schematic block diagram of an adsorption control flow for pulp molding provided in an embodiment of the present application;
FIG. 6 is a schematic block diagram of a sorting flow for pulp molding provided in an embodiment of the present application;
FIG. 7 is a schematic diagram of a pulp molded adsorption control system according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description and the drawings illustrate specific embodiments of the application sufficiently to enable those skilled in the art to practice them.
It should be understood that the described embodiments are merely some, but not all, of the embodiments of the present application. All other embodiments, based on the embodiments herein, which would be apparent to one of ordinary skill in the art without making any inventive effort, are intended to be within the scope of the present application.
When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of systems and methods that are consistent with aspects of the present application, as detailed in the accompanying claims.
In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context. Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
The application provides an adsorption control method, an adsorption control system, a storage medium and electronic equipment for pulp molding, which are used for solving the problems in the related technical problems. Among the technical scheme that this application provided, because this application is because adsorption equipment can stretch out and draw back in the horizontal direction, rotation angle and flexible distance are calculated in real time based on the space position of the paper pulp molding that detects simultaneously, consequently through this rotation angle and flexible distance steerable adsorption equipment to the accurate absorption of paper pulp molding to promoted the letter sorting accuracy, adopted exemplary embodiment to explain in detail below.
The adsorption control method for pulp molding according to the embodiment of the present application will be described in detail with reference to fig. 2 to 6. The method may be implemented in dependence on a computer program and may be run on an adsorption control system for pulp moulding based on von neumann systems. The computer program may be integrated in the application or may run as a stand-alone tool class application.
Referring to fig. 2, a flow chart of an adsorption control method for pulp molding is provided for a molding quality inspection device, wherein the molding quality inspection device comprises a turntable mechanism, and the turntable mechanism is provided with at least one adsorption mechanism stretching in a horizontal direction. As shown in fig. 1, the method of the embodiment of the present application may include the following steps:
s101, detecting whether the transmitted pulp molding exists on the conveying mechanism in real time under the condition that the discharging position of any one adsorption mechanism is a preset initial discharging position, the adsorption mechanism does not adsorb the pulp molding and the adsorption mechanism is at a preset initial adsorption ready position;
wherein, molding quality inspection equipment such as that shown in fig. 3, the equipment includes transport mechanism and carousel mechanism, carousel mechanism sets up at transport belt end preset height department of transport mechanism, and this carousel mechanism is provided with at least one absorption mechanism that stretches out and draws back in the horizontal direction, and this absorption mechanism is perpendicular to transport belt end and is located between transport belt and the absorption mechanism.
In this embodiment of the application, before detecting in real time whether there is pulp molding that the transmission had been had on the transport mechanism, firstly obtain the state parameter of arbitrary one adsorption mechanism, then judge the ejection of compact position of this adsorption mechanism according to state parameter, secondly judge whether this adsorption mechanism has the pulp molding of absorption according to state parameter, finally judge whether this adsorption mechanism exists and be in the initial ready position of adsorbing of predetermineeing according to state parameter.
In one possible implementation manner, in the case that the discharge position of any one adsorption mechanism is a preset initial discharge position, and the adsorption mechanism is not adsorbing pulp molding, and the adsorption mechanism is at a preset initial adsorption ready position, whether the transmitted pulp molding exists on the conveying mechanism is detected in real time. For example, in the case where the discharge position of the suction mechanism a is a preset initial discharge position and a is not pulp molding by suction and a is at a preset initial suction ready position, it is explained that a waits for pulp molding on the suction conveyor.
In another possible implementation manner, when the discharge position of any one adsorption mechanism is not a preset initial discharge position or the adsorption mechanism has pulp molding adsorbed or the adsorption mechanism is not at a preset initial adsorption ready position, the turntable mechanism is controlled to rotate by a preset fixed angle, and when the adsorption system does not reach a specified discharge position, the step of acquiring the state parameter of any one adsorption mechanism is continuously performed. For example, when the discharge position of the adsorption mechanism B is not the preset initial discharge position or the pulp mold with adsorption is not at the preset initial adsorption ready position, it is indicated that the pulp mold is required to be discharged to the designated discharge position by the adsorption mechanism B, or the pulp mold on the adsorption conveying mechanism is required to be returned to the ready position after the discharge is completed.
Further, if the turn table mechanism is controlled to rotate by a predetermined fixed angle at this time, the discharge position at this time is equal to the discharge position of the pulp mold to be tracked, and the discharge operation is performed at this time. If the adsorption system does not reach the designated discharging position, the step of refreshing and executing the step of acquiring the state parameter of any one adsorption mechanism is continuously performed, and the turntable mechanism is continuously controlled to rotate by a preset fixed angle at the moment for further judgment.
It should be noted that the preset fixed angle may be 45 degrees or 90 degrees, and may be specifically set according to an actual application scenario.
Specifically, detecting the presence or absence of a transferred pulp mold on the conveyor may be sensed by a photoelectric sensor.
S102, determining the space position of the pulp molding to be tracked in real time when the pulp molding to be tracked is detected;
in the embodiment of the application, after the pulp molding is perceived, the fact that the pulp molding enters a pre-calibrated adsorption range is indicated, the discharge position of the pulp molding needs to be determined while the space position of the pulp molding to be tracked is determined, firstly, when the pulp molding to be tracked is detected, a camera of a detection station is triggered to photograph the pulp molding to be tracked to obtain a target image, then the target image is detected, a target detection mark is generated according to a detection result, and finally, the discharge position corresponding to the target detection mark is determined in a mapping relation between the pre-built detection mark and the discharge position, so that the designated discharge position of the pulp molding to be tracked is obtained.
In one possible implementation, when a pulp mould to be tracked is detected, a specified outfeed position of the pulp mould to be tracked is first determined, and then the spatial position of the pulp mould to be tracked is determined in real time.
It should be noted that the spatial position is determined by the movement of the pulp mould to be tracked with the conveyor belt.
S103, calculating the rotation angle of the turntable mechanism and the telescopic distance of the adsorption mechanism in the horizontal direction according to the space position;
in the embodiment of the application, when calculating the rotation angle of the turntable mechanism and the telescopic distance of the adsorption mechanism in the horizontal direction according to the space position, firstly determining the tangent point between the edge of the turntable mechanism and the non-edge line of the conveyor belt of the conveyor mechanism, then calculating the first distance between the space position and the tangent point, then calculating the second distance between the center point of the turntable mechanism and the tangent point, secondly calculating the first included angle between the space position and the tangent point according to the first distance and the second distance, then obtaining the total included angle between the pre-calibrated preset initial adsorption ready position and the tangent point, determining the difference value between the total included angle and the first included angle as the second included angle between the preset initial adsorption ready position and the space position, obtaining the rotation angle of the turntable mechanism, finally calculating the total distance between the center point of the turntable mechanism and the space position according to the Pythagorean theorem and combining the first distance and the second distance, and determining the difference value between the total distance and the second distance as the telescopic distance of the adsorption mechanism in the horizontal direction.
Specifically, the rotation angle of the turntable mechanism
And the telescopic distance of the adsorption mechanism in the horizontal direction +.>
The calculation formula of (2) is as follows:
For example, as shown in fig. 4, the circle is a turntable mechanism, the rectangle is a conveying mechanism, O is a center of the turntable mechanism, AB is a direction of movement of an object of the conveying mechanism, a, X, Y, Z, B are positions where pulp molding is likely to be adsorbed, in practical operation, an adsorption range does not exceed an AOB range, that is, the AOB range is a pre-calibrated adsorption range, OX, OY, OZ lengths are distances from a currently determined space position P of pulp molding to be tracked to a center O of the turntable mechanism, OP is a variable length, and each adsorption adjusts a sucking disc mechanism on the telescopic core turntable mechanism according to a target position P, so that a sucking disc is just adsorbed to the center position of pulp molding.
In determining the rotation angle and the telescopic distance, taking X in fig. 4 as an example for explanation, when the space position of the pulp molding to be tracked is X point, S is the ready waiting position for adsorption construction, OS is equal to OY, AOB sector is the dynamic variable adsorption range calibrated in advance for pulp molding, because O is the fixed position of the motor center of the turntable mechanism, AB conveying mechanism direction is the pulp molding moving direction, AB axis is kept fixed relative to the core motor center O, OY is perpendicular to AB, so is equal to
And is a known quantity, XY is the transfer mechanism direction mapping distance at the current time of image capture and is a known quantity. Let X be the spatial position of the current pulp mould on the conveyor, the variables to be calculated are the rotation angle θ and the telescopic distance +.>
θ is the dynamic angle of rotation required by the turntable mechanism, +.>
The distance that the suction cup device needs to dynamically move in the horizontal direction is expressed as follows:
in the above formula, OS is a known quantity, and OS equals OY, which equals
According to the pulp molding real-time space position on the current conveying mechanism, the image distance D1 between the X distance core turntable mechanism and the drop foot Y point between the conveying mechanism can be calculated, and then converted into the physical distance XY according to the image distance D1, then the angle XOY, namely beta, can be calculated according to an arctangent function, and then the angle theta of the core motor, which needs to be rotated, is obtained by subtracting beta from gamma. Similarly, XOY is a right triangle, and according to Pythagorean theorem, given OY and XY, OX can be calculated as +.>
Is of known quantity, so->
Equal to OX minus +.>
The length of the sucker device required to move horizontally along the axial direction is obtained.
S104, controlling the adsorption mechanism to absorb the pulp molding to be tracked according to the rotation angle and the telescopic distance.
In this application embodiment, when controlling adsorption mechanism to absorb and wait to track paper pulp moulding according to rotation angle and flexible distance, at first based on rotation angle control servo motor rotates for servo motor drives adsorption mechanism and rotates to the direction unanimous with spatial position, then control adsorption mechanism according to flexible distance and slide along axial direction, make adsorption mechanism arrive spatial position department, secondly control adsorption mechanism along vertical direction sinking absorption, under the condition that wait to track paper pulp moulding carries out negative pressure absorption success, finally control adsorption mechanism goes up to appointed position, continue to carry out the step of obtaining the state parameter of arbitrary adsorption mechanism.
It should be noted that, after the device rises to the designated position, the step of acquiring the state parameter of any one adsorption mechanism can be continuously executed to refresh the state of the adsorption mechanism, at this time, the adsorption mechanism adsorbs the paper pulp molding to be tracked, and the designated discharge position determined by photographing exists and is not located at the preset initial adsorption ready position, at this time, the turntable mechanism is controlled to rotate, and then the discharge is completed.
For example, as shown in fig. 5, fig. 5 is a schematic block diagram of an adsorption control flow of pulp molding provided in the present application, firstly, after detecting pulp molding conveyed by a conveying mechanism, an upper station photographs to determine a discharge position, then, image dynamic positioning is performed to determine a specific spatial position of the pulp molding to be tracked, secondly, a rotating variable angle and a horizontal extending distance are calculated according to the spatial position, and finally, carrying sorting is performed based on the variable angle and the horizontal extending distance.
For example, as shown in fig. 6, fig. 6 is a schematic block diagram of a sorting flow of pulp molding in the present application, firstly, a step of acquiring a state of a turntable mechanism, in which a discharge position of any one adsorption mechanism is determined to be a preset initial discharge position, and pulp molding which is not adsorbed is detected and is in a preset initial adsorption ready position, if yes, whether the transmitted pulp molding exists on a conveying mechanism is detected, a camera of an upper station is triggered to take a picture when the transmitted pulp molding is detected, then an included angle and an extension distance are calculated according to a spatial position of the pulp molding, after the adsorption is completed, a step of acquiring the state of the turntable mechanism is continuously performed, at the moment, when the adsorption mechanism adsorbs and is not ready, the turntable mechanism is controlled to rotate, then, a step of acquiring the state of the turntable mechanism is continuously performed, if the lower station is reached, the photographing is continuously performed, and then a step of acquiring the state of the turntable mechanism is continuously performed, if the pulp molding reaches a specified discharge port, and if not, the rotation is continuously performed until the pulp molding reaches the specified discharge port.
In the embodiment of the application, the adsorption control system for pulp molding detects whether the transmitted pulp molding exists on the conveying mechanism in real time when the discharge position of any one adsorption mechanism is a preset initial discharge position, the pulp molding without adsorption and the adsorption control system is positioned at a preset initial adsorption ready position, and the adsorption mechanism can stretch in the horizontal direction; and then when the pulp molding is detected, determining the space position of the pulp molding, calculating the rotation angle of the turntable mechanism and the telescopic distance of the adsorption mechanism in the horizontal direction according to the space position, and finally controlling the adsorption mechanism to absorb the pulp molding to be tracked according to the rotation angle and the telescopic distance. Because the adsorption mechanism can stretch out and draw back in the horizontal direction, rotation angle and flexible distance are calculated in real time based on the spatial position of the paper pulp mould that detects simultaneously, consequently through this rotation angle and flexible distance steerable adsorption mechanism to the accurate absorption of paper pulp mould to the letter sorting accuracy has been promoted.
The following are system embodiments of the present application, which may be used to perform method embodiments of the present application. For details not disclosed in the system embodiments of the present application, please refer to the method embodiments of the present application.
Referring to fig. 7, a schematic structural diagram of an adsorption control system for pulp molding according to an exemplary embodiment of the present application is shown, and the adsorption control system is applied to a molding quality inspection apparatus, where the molding quality inspection apparatus includes a turntable mechanism, and the turntable mechanism is provided with at least one adsorption mechanism that stretches in a horizontal direction. The pulp-molded adsorption control system may be implemented as all or part of an electronic device by software, hardware, or a combination of both. The system 1 comprises a pulp moulding detection module 10, a spatial position determination module 20, a parameter calculation module 30, an adsorption control module 40.
The pulp molding detection module 10 is configured to detect, in real time, whether or not there is a pulp molding transmitted from the transmission mechanism, when the discharge position of any one of the adsorption mechanisms is a preset initial discharge position, and the adsorption mechanism is not adsorbing the pulp molding and the adsorption mechanism is at a preset initial adsorption ready position;
a spatial position determination module 20 for determining in real time the spatial position of the pulp mould to be tracked when the pulp mould to be tracked is detected;
a parameter calculation module 30 for calculating a rotation angle of the turntable mechanism and a telescopic distance of the adsorption mechanism in a horizontal direction according to the spatial position;
and the adsorption control module 40 is used for controlling the adsorption mechanism to absorb the pulp molding to be tracked according to the rotation angle and the telescopic distance.
It should be noted that, in executing the adsorption control method of pulp molding, the adsorption control system of pulp molding provided in the foregoing embodiment is only exemplified by the division of the foregoing functional modules, and in practical application, the foregoing functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the adsorption control system for pulp molding provided in the above embodiment belongs to the same concept as the adsorption control method embodiment for pulp molding, which represents a detailed implementation process, and is not described herein.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
In the embodiment of the application, the adsorption control system for pulp molding detects whether the transmitted pulp molding exists on the conveying mechanism in real time when the discharge position of any one adsorption mechanism is a preset initial discharge position, the pulp molding without adsorption and the adsorption control system is positioned at a preset initial adsorption ready position, and the adsorption mechanism can stretch in the horizontal direction; and then when the pulp molding is detected, determining the space position of the pulp molding, calculating the rotation angle of the turntable mechanism and the telescopic distance of the adsorption mechanism in the horizontal direction according to the space position, and finally controlling the adsorption mechanism to absorb the pulp molding to be tracked according to the rotation angle and the telescopic distance. Because the adsorption mechanism can stretch out and draw back in the horizontal direction, rotation angle and flexible distance are calculated in real time based on the spatial position of the paper pulp mould that detects simultaneously, consequently through this rotation angle and flexible distance steerable adsorption mechanism to the accurate absorption of paper pulp mould to the letter sorting accuracy has been promoted.
The present application also provides a computer-readable medium having stored thereon program instructions which, when executed by a processor, implement the adsorption control method of pulp molding provided by the above-described respective method embodiments.
The present application also provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the adsorption control method of pulp molding of the various method embodiments described above.
Referring to fig. 8, a schematic structural diagram of an electronic device is provided in an embodiment of the present application. As shown in fig. 8, the electronic device 1000 may include: at least one processor 1001, at least one network interface 1004, a user interface 1003, a memory 1005, at least one communication bus 1002.
Wherein the communication bus 1002 is used to enable connected communication between these components.
The user interface 1003 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 1003 may further include a standard wired interface and a wireless interface.
The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
Wherein the processor 1001 may include one or more processing cores. The processor 1001 connects various parts within the overall electronic device 1000 using various interfaces and lines, performs various functions of the electronic device 1000 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 1005, and invoking data stored in the memory 1005. Alternatively, the processor 1001 may be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 1001 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 1001 and may be implemented by a single chip.
The Memory 1005 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). The memory 1005 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 1005 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-described respective method embodiments, etc.; the storage data area may store data or the like referred to in the above respective method embodiments. The memory 1005 may also optionally be at least one storage system located remotely from the processor 1001. As shown in fig. 8, an operating system, a network communication module, a user interface module, and a pulp-molded adsorption control application may be included in a memory 1005 as one type of computer storage medium.
In the electronic device 1000 shown in fig. 8, the user interface 1003 is mainly used for providing an input interface for a user, and acquiring data input by the user; and the processor 1001 may be configured to call a pulp-molded adsorption control application stored in the memory 1005 and specifically perform the following operations:
detecting whether the transmitted pulp molding exists on the conveying mechanism in real time under the condition that the discharging position of any one adsorption mechanism is a preset initial discharging position, the adsorption mechanism does not adsorb the pulp molding and the adsorption mechanism is at a preset initial adsorption ready position;
when the pulp molding to be tracked is detected, determining the spatial position of the pulp molding to be tracked in real time;
calculating the rotation angle of the turntable mechanism and the telescopic distance of the adsorption mechanism in the horizontal direction according to the space position;
and controlling the adsorption mechanism to absorb the pulp molding to be tracked according to the rotation angle and the telescopic distance.
In one embodiment, the processor 1001, prior to detecting in real time whether there is a transferred pulp moulding on the conveyor, also performs the following operations:
acquiring a state parameter of any one adsorption mechanism;
judging the discharging position of the adsorption mechanism according to the state parameters;
judging whether the adsorption mechanism has adsorbed pulp molding according to the state parameters;
judging whether the adsorption mechanism is positioned at a preset initial adsorption ready position according to the state parameters.
In one embodiment, the processor 1001 also performs the following:
and controlling the turntable mechanism to rotate by a preset fixed angle under the condition that the discharging position of any one adsorption mechanism is not a preset initial discharging position or the adsorption mechanism has pulp molding adsorbed or the adsorption mechanism is not at a preset initial adsorption ready position, and continuously executing the step of acquiring the state parameter of any one adsorption mechanism under the condition that the adsorption system does not reach the designated discharging position.
In one embodiment, the processor 1001 specifically performs the following operations when performing calculation of the rotation angle of the turntable mechanism and the telescopic distance of the suction mechanism in the horizontal direction from the spatial position:
determining points of tangency at the edges of the turntable mechanism and at the non-edge line of the conveyor belt of the conveyor mechanism;
calculating a first distance between the spatial location and the tangent point;
calculating a second distance between the center point of the turntable mechanism and the tangent point;
calculating a first included angle between the spatial position and the tangent point according to the first distance and the second distance;
acquiring a total included angle between a pre-calibrated preset initial adsorption ready position and a tangent point;
determining a difference value between the total included angle and the first included angle as a second included angle for presetting an initial adsorption ready position and a space position, and obtaining a rotating angle of the turntable mechanism;
according to the Pythagorean theorem, calculating the total distance between the center point of the turntable mechanism and the space position by combining the first distance and the second distance;
the difference between the total distance and the second distance is determined as the telescopic distance of the adsorption mechanism in the horizontal direction.
In one embodiment, the processor 1001, when executing the control of the suction mechanism to suck the pulp molding to be tracked according to the rotation angle and the telescopic distance, specifically executes the following operations:
the servo motor is controlled to rotate based on the rotation angle, so that the servo motor drives the adsorption mechanism to rotate to a direction consistent with the spatial position;
controlling the adsorption mechanism to slide along the axial direction according to the telescopic distance so that the adsorption mechanism reaches the space position;
controlling the adsorption mechanism to sink and adsorb along the vertical direction, and controlling the adsorption mechanism to rise to a designated position under the condition that negative pressure adsorption is successful on pulp molding to be tracked;
the step of acquiring the state parameter of any one of the adsorption mechanisms is continued.
In one embodiment, the processor 1001 also performs the following:
when the pulp molding to be tracked is detected, photographing the pulp molding to be tracked through a camera triggering a detection station to obtain a target image;
detecting a target image and generating a target detection mark according to a detection result;
and determining the discharge position corresponding to the target detection mark in the pre-constructed mapping relation between the detection mark and the discharge position to obtain the specified discharge position of the pulp molding to be tracked.
In the embodiment of the application, the adsorption control system for pulp molding detects whether the transmitted pulp molding exists on the conveying mechanism in real time when the discharge position of any one adsorption mechanism is a preset initial discharge position, the pulp molding without adsorption and the adsorption control system is positioned at a preset initial adsorption ready position, and the adsorption mechanism can stretch in the horizontal direction; and then when the pulp molding is detected, determining the space position of the pulp molding, calculating the rotation angle of the turntable mechanism and the telescopic distance of the adsorption mechanism in the horizontal direction according to the space position, and finally controlling the adsorption mechanism to absorb the pulp molding to be tracked according to the rotation angle and the telescopic distance. Because the adsorption mechanism can stretch out and draw back in the horizontal direction, rotation angle and flexible distance are calculated in real time based on the spatial position of the paper pulp mould that detects simultaneously, consequently through this rotation angle and flexible distance steerable adsorption mechanism to the accurate absorption of paper pulp mould to the letter sorting accuracy has been promoted.
Those skilled in the art will appreciate that implementing all or part of the processes of the methods of the above embodiments may be accomplished by a computer program for instructing the relevant hardware, and that the program for controlling the adsorption of pulp molding may be stored in a computer readable storage medium, which program, when executed, may comprise the processes of the embodiments of the methods as described above. The storage medium of the pulp molded adsorption control program can be a magnetic disk, an optical disk, a read-only memory, a random access memory, or the like.
The foregoing disclosure is only illustrative of the preferred embodiments of the present application and is not intended to limit the scope of the claims herein, as the equivalent of the claims herein shall be construed to fall within the scope of the claims herein.
Claims (10)
1. A pulp molding adsorption control method, characterized by being applied to a molding quality inspection apparatus including a turntable mechanism provided with at least one adsorption mechanism that stretches in a horizontal direction, the method comprising:
detecting whether the transmitted pulp molding exists on the conveying mechanism in real time under the condition that the discharging position of any one adsorption mechanism is a preset initial discharging position, the adsorption mechanism does not adsorb the pulp molding and the adsorption mechanism is at a preset initial adsorption ready position;
when detecting the pulp molding to be tracked, determining the space position of the pulp molding to be tracked in real time;
calculating the rotation angle of the turntable mechanism and the telescopic distance of the adsorption mechanism in the horizontal direction according to the space position;
and controlling the adsorption mechanism to absorb the pulp molding to be tracked according to the rotation angle and the telescopic distance.
2. The method of claim 1, wherein prior to detecting in real time whether the transferred pulp mold is present on the conveyor, further comprising:
acquiring a state parameter of any one adsorption mechanism;
judging the discharging position of the adsorption mechanism according to the state parameters;
judging whether the adsorption mechanism has adsorbed pulp molding or not according to the state parameters;
judging whether the adsorption mechanism is positioned at a preset initial adsorption ready position or not according to the state parameters.
3. The method according to claim 2, wherein the method further comprises:
and controlling the turntable mechanism to rotate by a preset fixed angle under the condition that the discharging position of any one adsorption mechanism is not a preset initial discharging position or the adsorption mechanism has pulp molding adsorbed or the adsorption mechanism is not at a preset initial adsorption ready position, and continuously executing the step of acquiring the state parameter of any one adsorption mechanism under the condition that the adsorption system does not reach the designated discharging position.
4. The method of claim 1, wherein calculating the rotation angle of the turntable mechanism and the telescopic distance of the adsorption mechanism in the horizontal direction from the spatial position comprises:
determining a point of tangency at an edge of the turntable mechanism and at a non-edge line of a conveyor belt of the conveyor mechanism;
calculating a first distance between the spatial location and the tangent point;
calculating a second distance between the center point of the turntable mechanism and the tangent point;
calculating a first included angle between the space position and the tangent point according to the first distance and the second distance;
acquiring a total included angle between a pre-calibrated preset initial adsorption ready position and the tangent point;
determining the difference value between the total included angle and the first included angle as a second included angle between a preset initial adsorption ready position and the space position, and obtaining the rotation angle of the turntable mechanism;
according to Pythagorean theorem, calculating the total distance between the center point of the turntable mechanism and the space position by combining the first distance and the second distance;
and determining the difference value between the total distance and the second distance as the telescopic distance of the adsorption mechanism in the horizontal direction.
5. The method of claim 4, wherein the angle of rotation of the turntable mechanism
And the telescopic distance of the adsorption mechanism in the horizontal direction +.>
The calculation formula of (2) is as follows:
6. The method according to claim 1, wherein controlling the suction mechanism to suck the pulp molding to be tracked according to the rotation angle and the telescopic distance comprises:
controlling a servo motor to rotate based on the rotation angle, so that the servo motor drives the adsorption mechanism to rotate to a direction consistent with the spatial position;
controlling the adsorption mechanism to slide along the axial direction according to the telescopic distance so that the adsorption mechanism reaches the space position;
controlling the adsorption mechanism to sink and adsorb along the vertical direction, and controlling the adsorption mechanism to rise to a designated position under the condition that negative pressure adsorption on the paper pulp molding to be tracked is successful;
and continuing to execute the step of acquiring the state parameter of any one adsorption mechanism.
7. The method according to claim 1, wherein the method further comprises:
when the pulp molding to be tracked is detected, a camera of a detection station is triggered to shoot the pulp molding to be tracked, so that a target image is obtained;
detecting the target image and generating a target detection mark according to the detection result;
and determining the discharge position corresponding to the target detection mark in a pre-constructed mapping relation between the detection mark and the discharge position to obtain a specified discharge position of the pulp molding to be tracked.
8. An adsorption control system for pulp molding, characterized by being applied to a molding quality inspection apparatus including a turntable mechanism provided with at least one adsorption mechanism that stretches in a horizontal direction, the system comprising:
the paper pulp molding detection module is used for detecting whether the transmitted paper pulp molding exists on the conveying mechanism in real time under the condition that the discharging position of any one adsorption mechanism is a preset initial discharging position, the adsorption mechanism does not adsorb the paper pulp molding and the adsorption mechanism is at a preset initial adsorption ready position;
the space position determining module is used for determining the space position of the pulp molding to be tracked in real time when the pulp molding to be tracked is detected;
the parameter calculation module is used for calculating the rotation angle of the turntable mechanism and the telescopic distance of the adsorption mechanism in the horizontal direction according to the space position;
and the adsorption control module is used for controlling the adsorption mechanism to absorb the pulp molding to be tracked according to the rotation angle and the telescopic distance.
9. A computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method of any of claims 1-7.
10. An electronic device, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method according to any of claims 1-7.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116552012A (en) * | 2023-07-12 | 2023-08-08 | 固安林科特生物工程有限公司 | Operation detection method, system, equipment and medium for paper pulp molding compound mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116552012A (en) * | 2023-07-12 | 2023-08-08 | 固安林科特生物工程有限公司 | Operation detection method, system, equipment and medium for paper pulp molding compound mechanism |
| CN116552012B (en) * | 2023-07-12 | 2023-09-19 | 固安林科特生物工程有限公司 | Operation detection method, system, equipment and medium for paper pulp molding compound mechanism |
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