CN118357317A - Control method of bending equipment, electronic equipment and bending angle detection system - Google Patents
Control method of bending equipment, electronic equipment and bending angle detection system Download PDFInfo
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Abstract
The application relates to a control method of bending equipment, electronic equipment and a bending angle detection system. The control method comprises the following steps: bending the plate by using bending equipment; acquiring bending angle information of the bent plate by using angle acquisition equipment; acquiring a pressure compensation strategy of bending equipment according to the bending angle information and the design information; the method for acquiring the actual bending angle for any target area comprises the following steps: acquiring a corresponding relation between the image intensity of the target area when the target area is inclined compared with the standard surface and the image intensity when the target area is the standard surface; and acquiring the image intensity of the target area by using an angle acquisition device, and acquiring a bending angle corresponding to the image intensity of the target area by using a corresponding relation as an actual bending angle. According to the application, the information of the inclination angle is obtained by comparing the intensity of the target area in the image, so that the response can be faster, and the adjustment efficiency is further improved.
Description
Technical Field
The invention relates to the technical field of industrial measurement, in particular to a control method of bending equipment, electronic equipment and a bending angle detection system.
Background
Bending is a common cold working process for sheet metal to form the sheet into the desired shape. The bending is to place the plate on the working surface of the bending tool of the bending machine by utilizing the characteristic of plastic deformation of metal, and the workpiece with a specific angle is obtained by extrusion of the bending tool.
Modern bending equipment typically employs numerical control (CNC) techniques to achieve precise bending control. The numerical control system can adjust bending parameters according to programs input by technicians, and production efficiency and product quality are improved. However, according to the control method of the related bending equipment, the control parameters of the bending equipment are adjusted by a technician with abundant experience only during machine test, and in the subsequent production process, the operator performs periodical selective inspection of the bending angle of the bent plate through an angle measuring tool, so that quality control is realized. When the spot check finds that the bending angle effect of the bending equipment is not ideal, the equipment parameters are manually adjusted so as to achieve the required bending precision. However, the bending equipment control method relying on manual spot check post-intervention has the problems of long response time and low adjustment efficiency.
Therefore, there is a need for a control method of bending equipment, an electronic device and a bending angle detection system, which solve the above-mentioned technical problems.
Disclosure of Invention
The application provides a control method of bending equipment, electronic equipment and a bending angle detection system, which are used for solving the problems of long response time and low adjustment efficiency of the dependent operation staff of the bending angle spot check in the related technology.
In order to achieve the above purpose, the present application is realized by the following technical scheme:
the application provides a control method of bending equipment, which is used for bending a panel of a power distribution cabinet, and comprises the following steps:
Acquiring design information of a power distribution cabinet, and bending a plate by using a bending die of bending equipment according to the design information; the design information comprises target bending angles of the plates after each target area is bent and bending control information for controlling bending equipment to perform bending operation;
The method comprises the steps that bending angle information of a bent plate is obtained by using angle obtaining equipment, and the bending angle information is used for indicating actual bending conditions of all target areas;
Acquiring a pressure compensation strategy of the bending equipment according to the bending angle information and the design information, and updating the bending control information according to the pressure compensation strategy;
the method for acquiring the actual bending angle for any target area comprises the following steps:
Acquiring an angle corresponding relation, wherein the angle corresponding relation is a corresponding relation between the ratio of the image intensity of the target area when the target area is inclined compared with the standard surface to the image intensity of the target area when the target area is the standard surface and the inclination angle;
Acquiring the image intensity of a target area by using an angle acquisition device, and acquiring an inclination angle corresponding to the image intensity of the target area by using the angle corresponding relation as an actual inclination angle; acquiring an actual bending angle of the target area according to the actual inclination angle; the angle acquisition device includes an objective lens;
the angle correspondence conforms to the following formula:
Wherein L is the ratio of the image intensity of the target area when the target area is inclined relative to the standard plane to the image intensity when the target area is the standard plane, delta is the inclination angle, NA is the numerical aperture of the objective lens of the angle acquisition device, a is a first correction parameter, and b is a second correction parameter.
The technical scheme has the beneficial effects that the angle acquisition equipment is utilized to acquire the actual bending angle information of the bent plate, and the bending angle information is used for indicating the actual bending condition of each target area so as to facilitate the targeted processing of the subsequent steps. The actual bending angle of each target area can be calculated by acquiring the image intensity of the target area and according to the preset corresponding relation between the image intensity and the bending angle. And acquiring a pressure compensation strategy of the bending equipment according to the bending angle information and the design information, wherein the pressure compensation strategy is used for dynamically updating bending control information according to the actual bending condition so as to ensure that the bending precision of the plate is within an allowable range. For example, for any target area, the pressure of the hydraulic device can be adjusted according to the difference between the actual bending angle and the designed bending angle to compensate the bending error, so that accurate bending control is realized. Therefore, on one hand, by combining design information and actual bending angle information, accurate control of the folding equipment is realized through acquisition of the actual bending angle of each target area, and the efficiency and bending quality of the bending process are improved. On the other hand, by comparing the intensities of the target areas in the images, the information of the inclination angle and the bending angle is directly obtained, and the quick response can be performed, so that the adjustment efficiency is improved.
Preferably, the obtaining, by using the angle obtaining device, bending angle information of the bent plate includes:
For any target area, acquiring the actual inclination angle of the target area on bending equipment by using angle acquisition equipment; obtaining a bending angle corresponding to the actual inclination angle and taking the bending angle as a first bending angle;
And acquiring bending angle information of the bent plate according to the first bending angle obtained for each target area.
The technical scheme has the beneficial effects that the actual condition in the bending process can be timely monitored by acquiring the first bending angle of each target area, and the bending process is adjusted and optimized. According to the bending angle information of the bent plate, the bending flow can be optimized and improved, and the bending efficiency and the bending quality are improved. The automatic angle acquisition equipment is adopted to acquire the bending angle information, so that the dependence on manual intervention is reduced, and the possibility of human errors is reduced.
Preferably, the angle acquisition device comprises a first angle acquisition module and a second angle acquisition module;
the angle acquisition equipment is utilized to acquire bending angle information of the bent plate, and the method comprises the following steps:
For any target area, acquiring a first actual inclination angle of the target area on bending equipment by using first angle acquisition equipment, and acquiring a bending angle corresponding to the first actual inclination angle as a first bending angle; then, a second actual inclination angle of the target area on the discharging platform is obtained by using second angle obtaining equipment, and a bending angle corresponding to the second actual inclination angle is obtained as a second bending angle; the discharging platform is used for placing the plate bent by the bending equipment;
correcting the first bending angle according to the second bending angle; and acquiring bending angle information of the bent plate according to the corrected first bending angle obtained for each target area.
The technical scheme has the beneficial effects that the angle acquisition equipment comprises a first angle acquisition module and a second angle acquisition module which are respectively used for acquiring the actual bending angle (first bending angle) of the target area on the bending equipment and the actual bending angle (second bending angle) of the target area on the discharging platform. By correcting the first bending angle, the actual bending condition of the plate can be reflected more accurately. And according to the corrected first bending angle, summarizing and calculating bending angle information of the bent plate, and evaluating the accuracy and quality of bending. Therefore, the first bending angle is corrected by using the first angle acquisition module and the second angle acquisition module, and the actual bending angle information is acquired more accurately.
Preferably, the obtaining the pressure compensation strategy of the bending device according to the bending angle information and the design information includes:
Taking the region meeting the compensation standard as a characteristic target region according to the corrected first bending angle corresponding to each region, and taking the corrected first bending angle corresponding to the characteristic target region as a characteristic bending angle;
generating bending feedback information according to the characteristic bending angles of each characteristic target area and the distribution positions of each characteristic target area in the plate, and sending the bending feedback information to user equipment;
And acquiring a pressure compensation strategy sent by the user equipment, and updating the bending control information based on pressure compensation corresponding to the pressure compensation strategy.
The technical scheme has the advantages that firstly, according to the corrected first bending angles corresponding to the areas, the area meeting the compensation standard is determined to be used as the characteristic target area. Aiming at the characteristic target area, the corresponding corrected first bending angle is used as the characteristic bending angle for the subsequent formulation of the pressure compensation strategy. After receiving the pressure compensation strategy sent by the user equipment, the bending control information is updated, so that the bending equipment can adapt to the changes under different production conditions.
Preferably, the first angle acquisition module and the second angle acquisition module respectively include an objective lens; when a first bending angle is acquired, a target area of the plate is positioned in a field of view of an objective lens of the first angle acquisition module; when a second bending angle is acquired, the target area of the plate is positioned in the field of view of the objective lens of the second angle acquisition module;
the angle correspondence conforms to the following formula:
Wherein L is the ratio of the image intensity of the target area when the target area is inclined relative to the standard plane to the image intensity of the target area when the target area is the standard plane, delta is the inclination angle, NA is the numerical aperture of the objective lens, a is a first correction parameter, and b is a second correction parameter.
The technical scheme has the advantages that the angle corresponding relation is described by using a formula corresponding to the angle corresponding relation, the formula is obtained based on physical optics and imaging principles, and the light behavior and imaging characteristics can be described and predicted with mathematical accuracy. Through a unified formula, the angle corresponding relation obtained by measurement under different conditions can be ensured to be consistent, and the repeatability of the measurement result is improved. The need for human interpretation of the image and the estimation of the angle is reduced, thereby reducing errors due to human factors.
Preferably, before obtaining bending angle information of the bent plate, the method includes:
And aiming at each target area, acquiring a plurality of inclination angles of the target area on the bending equipment relative to the standard surface and corresponding image intensity ratios of the target area by using the first angle acquisition module, and performing fitting operation to obtain a first correction parameter and a second correction parameter.
The technical scheme has the beneficial effects that the first correction parameter and the second correction parameter can be obtained by carrying out fitting operation on a plurality of inclination angles of the target area on the bending equipment and corresponding image intensity ratios of the inclination angles, so that the measurement accuracy of the bending angles is improved. The fitting operation can identify and compensate measurement errors caused by factors such as optical distortion, system errors and the like, so that the accuracy of measurement results is improved.
To achieve the above object, the present application also provides an electronic device including a memory storing a computer program and a processor configured to implement the steps of the control method of the bending device of any one of the above when the computer program is executed.
In order to achieve the above object, the present application further provides a bending angle detection system, where the bending angle detection system includes the electronic device, and the bending angle detection system further includes:
The angle acquisition equipment is used for acquiring bending angle information of the bent plate, and the bending angle information is used for indicating actual bending conditions of each target area of the plate.
Preferably, the angle acquisition device comprises a first angle acquisition module and a second angle acquisition module;
The first angle acquisition module and the second angle acquisition module respectively comprise a light source assembly, an objective lens and an imaging detection assembly; the light source assembly is used for providing a light beam passing through the objective lens, and the imaging detection assembly is used for acquiring the image intensity of a target area; when a first bending angle is acquired, a target area of the plate is positioned in a field of view of an objective lens of the first angle acquisition module; and when the second bending angle is acquired, the target area of the plate is positioned in the field of view of the objective lens of the second angle acquisition module.
Preferably, the angle acquisition device comprises an angle acquisition module and a mobile module;
The angle acquisition module comprises a light source assembly, an objective lens and an imaging detection assembly; the light source assembly is used for providing a light beam passing through the objective lens, and the imaging detection assembly is used for acquiring the image intensity of a target area; when a first bending angle is acquired, the moving module is used for moving the angle acquisition module so that a target area of the plate is positioned in a field of view of an objective lens of the angle acquisition module; when the second bending angle is acquired, the moving module is used for moving the angle acquisition module so that the target area of the plate is located in the field of view of the objective lens of the angle acquisition module.
Drawings
Fig. 1 shows a flow chart of a control method of bending equipment according to an embodiment of the present application.
Fig. 2 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.
Fig. 3 is a block diagram illustrating a structure of a bending angle detecting system according to an embodiment of the present application.
Fig. 4 is a schematic diagram of acquiring an inclination angle by using an angle acquisition device according to an embodiment of the present application.
Fig. 5 shows a schematic diagram of another angle acquisition device for acquiring an inclination angle according to an embodiment of the present application.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many other different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The technical fields and related terms of the embodiments of the present application are briefly described as follows.
Vision measurement is a technique for measuring the size, shape, position or angle of an object using image processing and computer vision techniques, involving, for example, the following steps: capturing an image of the object using a camera or other image acquisition device; preprocessing such as filtering, enhancing and the like is carried out on the image so as to improve the image quality and facilitate the subsequent analysis; extracting features such as edges, angular points, textures and the like from the image as key information; the same characteristic points are searched and matched among different images, a geometric model of the object is established according to the matched characteristic points, and the size, shape, position or angle of the object is calculated by utilizing the geometric model and information such as internal parameters, external parameters and the like of the camera.
The working principle of the plate bending machine is that a feeding device is adopted to send a plate into the bending machine from a feeding platform until the front part of the plate is contacted with a limiting part of a bending platform of the bending machine (so as to finish positioning and enable the plate to be placed at a preset bending position), the expansion and contraction amount of a plurality of hydraulic rods in hydraulic equipment (a jacking hydraulic cylinder) is automatically adjusted, and the plurality of hydraulic rods drive a bending die to extrude and bend the plate according to set parameter settings. The bending operation can be combined with visual measurement to realize angle measurement. For example, after the plate is bent, the plate is subjected to image acquisition by a camera after the plate is bent, the acquired image is transmitted to a control device, and preprocessing such as graying, binarization, filtering, morphological operation, edge detection and the like is performed on the acquired image by image processing software in the control device, so that plate boundary contour information is obtained. And then performing curve fitting on the outer boundary of the plate by using camera calibration parameters and a least square method, so as to obtain the curvature radius and the bending angle of the plate after bending, and visually displaying the curvature radius and the bending angle to an operator through modeling. Specifically, when an operator considers that the detected radius precision exceeds the allowable error range, the expansion and contraction amount of the hydraulic rod in the pushing device can be adjusted, and the error of bending the plate is ensured to be always kept within the allowable range. When the bending angle of one end of the bent part of the bent plate is too large, an operator can perform further tool measurement and then correspondingly adjust the expansion and contraction amount of the one end. However, in the visual measurement mode, a geometric model of an object needs to be established and an angle needs to be calculated for the acquired image, the data processing process is complex, and the problems of long response time and low adjustment efficiency are not solved.
Based on the above, the application provides a control method of bending equipment, electronic equipment and a bending angle detection system, which take the problems of long response time and low adjustment efficiency in consideration of excessive dependence of bending angle measurement on operators. Meanwhile, the situation that a geometric model of an object needs to be built aiming at the acquired image and the data processing process is complex is considered in the plate bending machine based on visual measurement. According to the application, design information and actual bending angle information are comprehensively considered, accurate control of the double-bending equipment is realized through acquisition of the actual bending angle of each target area, and the efficiency and bending quality of the bending process are improved. Hereinafter, a method of controlling the bending apparatus will be described first, and then apparatuses, systems, and the like will be described.
Method embodiment.
Referring to fig. 1, the present embodiment provides a control method of a bending apparatus for bending a panel of a power distribution cabinet, the control method including S101 to S103.
S101, acquiring design information of a power distribution cabinet, and bending a plate by using a bending die of bending equipment according to the design information; the design information comprises target bending angles of the plates after each target area is bent, and bending control information for controlling bending operation of bending equipment.
After the plate is bent by the bending die, the portion which generates bending deformation by the bending die is used as a selection range of the target area. Each target area may be an area continuous within the above-described selection range. To improve the balance of the forces applied to the respective target areas during bending, a plurality of hydraulic devices may be provided to adjust the amount of extrusion of the contact portion of the bending die corresponding to each target area, respectively. In this case, the bending control information includes, for example, the amount of expansion and contraction of the hydraulic device acting on the bending die.
S102, obtaining bending angle information of the bent plate by using angle obtaining equipment, wherein the bending angle information is used for indicating actual bending conditions of each target area.
That is, the angle acquisition device is used for acquiring the actual bending angle corresponding to each target area, and the whole bending surface is segmented, so that the targeted processing of the subsequent steps is facilitated. The bending angle information may include identification information of each target area and the corresponding actual bending angle thereof, for example, "11# area, 45.1 °;12# region, 45.2 ° … … 19# region, 45.3 °and the like. Meanwhile, the design information also comprises a corresponding mark and a design bending angle (range) of each corresponding target area, so as to be used for judging the bending condition of each target area.
S103, acquiring a pressure compensation strategy of the bending equipment according to the bending angle information and the design information, and updating the bending control information according to the pressure compensation strategy.
The method for acquiring the actual bending angle for any target area comprises the following steps:
Acquiring an angle corresponding relation, wherein the angle corresponding relation is a corresponding relation between the ratio of the image intensity of the target area when the target area is inclined compared with the standard surface to the image intensity of the target area when the target area is the standard surface and the inclination angle;
Acquiring the image intensity of a target area by using an angle acquisition device, and acquiring an inclination angle corresponding to the image intensity of the target area by using the angle corresponding relation as an actual inclination angle; and acquiring the actual bending angle of the target area according to the actual inclination angle.
The standard surface is a plane where a target area of a plate material, which is a (bent) mass sample, is located when a technician places the mass sample at a predetermined bending position before the plate material is mass-processed. In a specific application, the angle acquisition device may be connected to a movement module, and the movement module may sequentially acquire the image intensity of each target area according to a preset line movement angle acquisition device. The movement module is, for example, a robotic arm, to effect movement of the angle acquisition device to a specified location.
According to the technical scheme of the embodiment, firstly, design information of the power distribution cabinet is obtained, and a target area in the design information can be a continuous area in a plate part intersecting with an original plane after bending according to bending deformation generated after the plate passes through a bending die so as to ensure balanced distribution of bending force during control of bending equipment. The bending control information may include the amount of expansion and contraction of the hydraulic device on the bending die, for controlling bending conditions of each target area. The angle acquisition equipment is utilized to acquire actual bending angle information of the bent plate, and the bending angle information is used for indicating actual bending conditions of all target areas, so that difference conditions of actual bending and planned bending of all target areas are indicated, and the targeted processing of subsequent steps is facilitated. The actual bending angle of each target area can be calculated by acquiring the image intensity of the target area and according to the preset angle corresponding relation. And acquiring a pressure compensation strategy of the bending equipment according to the bending angle information and the design information, wherein the pressure compensation strategy is used for dynamically updating bending control information according to the actual bending condition so as to ensure that the bending precision of the plate is within an allowable range. For example, for any target area, the pressure of the hydraulic device can be adjusted according to the difference between the actual bending angle and the designed bending angle to compensate the bending error, so that accurate bending control is realized.
In summary, on the one hand, by combining the design information and the actual bending angle information, the accurate control of the folding equipment is realized by acquiring the actual bending angle of each target area, and the efficiency and the bending quality of the bending process are improved. On the other hand, compared with the visual measurement method of feature extraction and geometric modeling in the related art, the technical scheme provided by the application is that the information of the inclination angle and the bending angle is directly obtained by comparing the intensity of the target area in the image, so that complex data processing and algorithm design are reduced. The qualitative angle measurement is required to be quickly and accurately performed on the bending of the plate of the power distribution cabinet, so that the technical scheme provided by the application is more suitable for industrial production scenes of bending the plate of the power distribution cabinet.
In some embodiments, the obtaining bending angle information of the bent plate (S102) by using the angle obtaining device includes:
For any target area, acquiring the actual inclination angle of the target area on bending equipment by using angle acquisition equipment; obtaining a bending angle corresponding to the actual inclination angle and taking the bending angle as a first bending angle;
And acquiring bending angle information of the bent plate according to the first bending angle obtained for each target area.
And after the bending is completed, acquiring the actual bending angle of each target area on the bending equipment by using angle acquisition equipment, wherein the actual bending angle is used as a first bending angle. The actual inclination angle of each target area can be obtained by scanning or measuring the plate after the bending is finished through the angle acquisition equipment, and then the actual bending angle is obtained. According to the first bending angle obtained from each target area, bending angle information of the bent plate can be summarized and calculated, and therefore accuracy and quality of bending are evaluated.
Therefore, the actual condition in the bending process can be timely monitored by acquiring the first bending angle of each target area, and the bending process is adjusted and optimized. According to the bending angle information of the bent plate, the bending flow can be optimized and improved, and the bending efficiency and the bending quality are improved. The automatic angle acquisition equipment is adopted to acquire the bending angle information, so that the dependence on manual intervention is reduced, and the possibility of human errors is reduced.
Specifically, a database table may be created by acquiring a bending angle corresponding to the actual inclination angle and using the bending angle as an implementation manner of the first bending angle, where one column in the database table is used for storing the actual inclination angle, and the other column is used for storing the corresponding bending angle. When the actual inclination angle is obtained, the corresponding first bending angle is obtained through inquiring and calling the table information. Meanwhile, a configuration file in JSON, XML or INI format can be considered to be used to realize the function of taking the bending angle corresponding to the actual inclination angle as the first bending angle. The manner of the second bending angle mentioned below is the same as that of the second bending angle, and a detailed description is omitted.
As an example, for the 3# target area, the actual inclination angle of the 3# target area on the bending apparatus is acquired to be 2 ° with the angle acquisition apparatus;
And acquiring a bending angle corresponding to the actual inclination angle as 82+2 degrees or 82-2 degrees through a pre-stored database table, and taking 84 degrees and 80 degrees as first bending angles. Since the compensation criteria for the target area is used to compare the difference between the actual bending angle and the target bending angle, the difference is large enough to be a characteristic target area, and thus the direction of the tilt is not a concern.
In some embodiments, the angle acquisition device includes a first angle acquisition module and a second angle acquisition module;
the angle acquisition equipment is utilized to acquire bending angle information of the bent plate, and the method comprises the following steps:
For any target area, acquiring a first actual inclination angle of the target area on bending equipment by using first angle acquisition equipment, and acquiring a bending angle corresponding to the first actual inclination angle as a first bending angle; then, a second actual inclination angle of the target area on the discharging platform is obtained by using second angle obtaining equipment, and a bending angle corresponding to the second actual inclination angle is obtained as a second bending angle; the discharging platform is used for placing the plate bent by the bending equipment;
Correcting the first bending angle according to the second bending angle;
and acquiring bending angle information of the bent plate according to the corrected first bending angle obtained for each target area.
The angle acquisition equipment comprises a first angle acquisition module and a second angle acquisition module which are respectively used for acquiring the actual bending angle (first bending angle) of the target area on the bending equipment and the actual bending angle (second bending angle) of the target area on the discharging platform. By correcting the first bending angle, the actual bending condition of the plate can be reflected more accurately. And according to the corrected first bending angle, summarizing and calculating bending angle information of the bent plate, and evaluating the accuracy and quality of bending.
Therefore, the first bending angle is corrected by using the first angle acquisition module and the second angle acquisition module, and the actual bending angle information is acquired more accurately.
In some embodiments, the obtaining the pressure compensation strategy of the bending apparatus according to the bending angle information and the design information (S103) includes:
Taking the region meeting the compensation standard as a characteristic target region according to the corrected first bending angle corresponding to each region, and taking the corrected first bending angle corresponding to the characteristic target region as a characteristic bending angle;
generating bending feedback information according to the characteristic bending angles of each characteristic target area and the distribution positions of each characteristic target area in the plate, and sending the bending feedback information to user equipment;
And acquiring a pressure compensation strategy sent by the user equipment, and updating the bending control information based on pressure compensation corresponding to the pressure compensation strategy.
Firstly, according to the corrected first bending angles corresponding to the areas, determining the area meeting the compensation standard as a characteristic target area. Aiming at the characteristic target area, the corresponding corrected first bending angle is used as the characteristic bending angle for the subsequent formulation of the pressure compensation strategy. Specifically, a pressure compensation strategy is formulated according to the characteristic bending angles of each characteristic target area and the distribution positions of the areas on the plate. The pressure compensation strategy can be formulated by an operator according to the distribution position and the angle condition of the characteristic target area displayed by the bending feedback information, and is used for adjusting the working parameters of the hydraulic equipment, such as the expansion and contraction amount of any hydraulic rod, so as to update the bending control information. The formulated pressure compensation strategy is sent to bending equipment to adjust the working parameters of the bending equipment, so that the updating of the bending control information and the improvement of bending precision are realized.
The pressure compensation strategy can be formulated by considering not only bending angles, but also distribution positions of different areas on the plate and bending conditions of different areas. Through the pressure adjustment to specific region, according to panel deformation condition adjustment hydraulic equipment's operating parameter, like hydraulic pressure and hydraulic stem's flexible volume, can make the panel receive the pressure more even in bending process to reduce the bending error of follow-up panel. The area meeting the compensation standard can be considered as the area with overlarge actual inclination angle, and the bending quality is influenced.
In some embodiments, the correcting the first bending angle according to the second bending angle includes:
Judging whether the difference value between the second bending angle and the first bending angle is in a correction difference value range or not;
When the difference value between the second bending angle and the first bending angle is in the correction difference value range, taking the average value of the second bending angle and the first bending angle as the corrected first bending angle.
Otherwise, the first bending angle is not corrected, namely the first bending angle is taken as the corrected first bending angle.
As an example, for the 3# target area, the actual inclination angle of the 3# target area on the bending apparatus is acquired to be 2 ° with the angle acquisition apparatus; and acquiring a bending angle corresponding to the actual inclination angle as 82+2 degrees or 82-2 degrees through a pre-stored database table, and taking the bending angle as a first bending angle. And obtaining the inclination angle corresponding to the second bending angle to be 2.4 degrees in a similar way, and obtaining the bending angle corresponding to the actual inclination angle to be 82+2.4 degrees or 82-2.4 degrees through a pre-stored database table, and taking the bending angle as the second bending angle. And calculating the difference between the maximum value in the first bending angle and the maximum value in the second bending angle, or calculating the difference between the minimum value of the first bending angle and the minimum value of the second bending angle to be 0.4 degrees, and within the correction difference range of more than 0.3 degrees. And correcting the first bending angle by using the second bending angle, calculating the average value (84.2) of the maximum value in the first bending angle and the maximum value in the second bending angle, and calculating the average value (79.8) of the minimum value of the first bending angle and the minimum value of the second bending angle to obtain a corrected second bending angle (84.2 degrees or 79.8 degrees).
As one example, each target area corresponds to a range of bend angles. In particular applications, the same value range can be used as the bending angle range of all the target areas for the convenience of calculation. The bending angle ranges are, for example, [78,85], [70,75], [88,89], etc. And when the corrected first bending angle is not in the bending angle range, the corresponding area is considered to meet the compensation standard.
Meanwhile, when the angle acquisition module acquires image intensity, the beam collection capacity depends on the numerical aperture (Numerical Aperture, NA) of the objective lens, which describes the capacity of the objective lens to collect light. The numerical aperture is related to the aperture angle (also called half-aperture angle) of the objective lens, which determines the range of rays that the objective lens can collect. The numerical aperture of the objective lens can be calculated by the following formula: na=nsin (θ), n is the refractive index of the medium, and θ is the half-aperture angle of the objective aperture. From this, it can be seen that the aperture angle θ=arcsin (NA/n) of the objective lens. Since the present application contemplates beam collection capability, the corresponding full aperture angle (i.e., 2 μ) can be expressed as: 2 μ=2 arcsin (NA/n). The refractive index of air can be regarded as1, so 2μ=2 arcsin (NA). 2 mu represents the total angular range of rays that the objective is capable of collecting, i.e. the angle covered by the rays from one side edge of the objective to the other.
When the area to be measured is in the same plane with the standard plane, only the light beam within the aperture angle 2 mu enters the objective lens, namely the energy of the light beam entering the objective lens is regarded as 4 pi sin 2 mu. When μ is small, e.g., less than 5 °, sin (2 μ) is approximately equal to 2 μ,4ρsin 2 μ is considered 4ρμ 2.
When the area to be measured has a certain inclination angle delta compared with the standard surface, taking the mirror reflection generated by the area to be measured as an example, the reflected light beam of the area to be measured generates 2 delta angle offset, so that the reflected light beam cannot be collected by the objective lens, and the energy of the light beam collected by the objective lens is regarded as 4 pi sin 2 (mu-delta). When μ - δ is small (e.g., μ is less than 5 °), 4πsin 2 (μ - δ) can be considered 4π (μ - δ) 2. Therefore, the ratio of the image intensity of the target area when the target area is inclined compared with the standard plane to the image intensity when the target area is the standard plane accords with the calculation formula:
And (3) decomposing to obtain:
Wherein L is the ratio of the image intensity of the target area when the target area is inclined relative to the standard plane to the image intensity when the target area is the standard plane, delta is the inclination angle, and NA is the numerical aperture of the objective lens.
Meanwhile, the functional relation between the image intensity ratio and the accurate inclination angle deviates from the calculation formula due to the influence of factors such as the reflectivity of the surface to be measured. The calculation formula may be modified, and the modified formula may be obtained by the modification parameters (a, b).
In some embodiments, the first and second angle acquisition modules include a light source assembly, an objective lens, and an imaging detection assembly, respectively; the light source assembly is used for providing a light beam passing through the objective lens, and the imaging detection assembly is used for acquiring the image intensity of a target area; when a first bending angle is acquired, a target area of the plate is positioned in a field of view of an objective lens of the first angle acquisition module; when a second bending angle is acquired, the target area of the plate is positioned in the field of view of the objective lens of the second angle acquisition module;
the corresponding formula of the angle corresponding relation is as follows:
Wherein L is the ratio of image intensity, delta is the inclination angle, NA is the numerical aperture of the objective lens, a is the first correction parameter, and b is the second correction parameter. The formula corresponding to the angle correspondence is regarded as an angle relation formula. Both the first correction parameter and the second correction parameter are not 0. The numerical apertures of the ocular of the first angle acquisition module and the ocular of the second angle acquisition module are the same, and the ocular of the same numerical aperture can introduce similar errors in quality control, so that the bending angles obtained by the first angle acquisition module and the second angle acquisition module are used for correcting the first bending angles more accurately.
Therefore, the angle corresponding relation is described by using a formula corresponding to the angle corresponding relation, the formula is obtained based on physical optics and imaging principles, and the light ray behavior and imaging characteristics can be described and predicted with mathematical accuracy. Through a unified formula, the angle corresponding relation obtained by measurement under different conditions can be ensured to be consistent, and the repeatability of the measurement result is improved. The need for human interpretation of the image and the estimation of the angle is reduced, thereby reducing errors due to human factors.
In some embodiments, before obtaining bending angle information of the bent sheet material, the method includes:
And aiming at each target area, acquiring a plurality of inclination angles of the target area on bending equipment and corresponding image intensity ratios thereof by using the first angle acquisition module, and performing fitting operation to obtain a first correction parameter and a second correction parameter.
Therefore, the first correction parameter and the second correction parameter can be obtained by fitting operation on a plurality of inclination angles of the target area on the bending equipment and corresponding image intensity ratios thereof, so that the measurement accuracy of the bending angle is improved. The fitting operation can identify and compensate measurement errors caused by factors such as optical distortion, system errors and the like, so that the accuracy of measurement results is improved.
For example, if the first correction parameter is 0.8 and the second correction parameter is 1.1, the corresponding angle relationship conforms to the formula:
specifically, the method for acquiring the first correction parameter and the second correction parameter includes:
Moving the bent first sample plate into the field of view of the objective lens, and acquiring the image intensity I0 when the target area of the plate is a horizontal plane;
moving the ith sample plate after bending into the field of view of the objective lens, and acquiring the image intensity Ii when the target area of the plate is inclined to a certain degree (the inclination angle is delta i compared with the standard surface); acquiring a ratio Li of the image intensity I0 when the target area of the plate is a horizontal plane to the image intensity Ii when the target area of the plate is inclined to a certain extent;
And performing fitting calculation on the acquired pairs of inclination angles delta i and corresponding image intensity ratios Li to obtain a first correction parameter and a second correction parameter, and further determining the corresponding relation between the ratio of the image intensity of the target area when the target area is inclined compared with the standard plane to the image intensity when the target area is the standard plane and the bending angle.
The first correction parameter and the second correction parameter are obtained by fitting operation, a mathematical model is used for describing the relation between a plurality of inclination angles of the target area on the bending equipment and corresponding image intensity ratios thereof, and then the first correction parameter and the second correction parameter are obtained, for example, a polynomial fitting mode is used.
As one example, a polynomial fit is used to obtain the first correction parameter a and the second correction parameter b. Let na=0.5°, and have the following data points:
Substituting the data points into an angle relation formula to obtain a linear equation set, taking a and b in the equation set as unknowns, and then using a least square method to find values of a first correction parameter a and a second correction parameter b so as to enable the found correction parameters to enable the polynomial to fit the data points as much as possible. This example is for illustration only, and in a particular application, the accuracy of the fit may be ensured by more data points. The method comprises the steps that before bending equipment bends plates of a current batch of power distribution cabinets in batches, target areas are divided, and correction parameters corresponding to each target area are obtained. When the bending equipment performs formal production, the inclination angle can be efficiently calculated through the angle corresponding relation obtained in advance. In a specific application, the first correction parameter and the second correction parameter of one typical target area may be taken as the first correction parameter and the second correction parameter of all target areas.
The contents stated in the embodiment of the method are applicable to single-side bending and are also applicable to multi-side bending application scenes of double-side or three-side bending in specific applications. Based on the foregoing description of the method embodiments, it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the electronic device and system described below may refer to the corresponding process in the foregoing method embodiments, which is not repeated.
An electronic device embodiment.
The present embodiment provides an electronic device including a memory storing a computer program and a processor configured to implement the steps of the method of controlling the bending device of any one of the method embodiments when the computer program is executed.
Referring to fig. 2, fig. 2 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.
The electronic device 200 comprises, for example, at least one memory 210, at least one processor 220, and a bus 230 connecting the different platform systems.
Memory 210 may include readable media in the form of volatile memory, such as Random Access Memory (RAM) 211 and/or cache memory 212, and may further include Read Only Memory (ROM) 213.
The memory 210 further stores a computer program, and the computer program may be executed by the processor 220, so that the processor 220 executes the steps of the real-time video processing method in the embodiment of the present application, and a specific implementation manner of the computer program is consistent with the implementation manner and the achieved technical effect described in the embodiment of the real-time video processing method, and some contents are not repeated.
Memory 210 may also include utility 214 having at least one program module 215, such program modules 215 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
Accordingly, the processor 220 may execute the computer programs described above, and may execute the utility 214.
Bus 230 may be a local bus representing one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or using any of a variety of bus architectures.
The electronic device 200 may also communicate with one or more external devices 240, such as a keyboard, pointing device, bluetooth device, etc., as well as one or more devices capable of interacting with the electronic device 200 and/or with any device (e.g., router, modem, etc.) that enables the electronic device 200 to communicate with one or more other computing devices. Such communication may occur through input-output interface 250. Also, the electronic device 200 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through a network adapter 260. Network adapter 260 may communicate with other modules of electronic device 200 via bus 230. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 200, including, but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data backup storage platforms, and the like.
System embodiments.
Referring to fig. 3, an embodiment of the present application provides a bending angle detection system, where the bending angle detection system includes the electronic device provided by the embodiment of the electronic device, and the bending angle detection system further includes:
The angle acquisition equipment is used for acquiring bending angle information of the bent plate, and the bending angle information is used for indicating actual bending conditions of each target area of the plate.
Referring to fig. 4 and 5, the principle of obtaining the inclination angle of the target area by the angle acquisition apparatus is set forth by way of one example. The angle acquisition device comprises an objective lens, an imaging detection assembly and a light source assembly. The light source assembly is used for generating a light beam and projecting the light beam to a target area after being reflected by the semi-reflective lens. The light beam is a line with arrows in the drawing. When the plane of the target area is a standard plane, as shown in fig. 4, the reflected light of the target area can be collected by the objective lens and then enter the imaging detection assembly. As shown in fig. 5, when the target area has a certain inclination angle with respect to the standard plane, only a part of the reflected light enters the objective lens, resulting in a decrease in light entering the imaging detection assembly, and a darkening of the image. The tilt angle of the target area can be calculated from the correspondence mentioned above, based on the light intensity of the image obtained by the imaging detection component.
In some embodiments, the angle acquisition device includes a first angle acquisition module and a second angle acquisition module;
The first angle acquisition module and the second angle acquisition module respectively comprise a light source assembly, an objective lens and an imaging detection assembly; the light source assembly is used for providing a light beam passing through the objective lens, and the imaging detection assembly is used for acquiring the image intensity of a target area; when a first bending angle is acquired, a target area of the plate is positioned in a field of view of an objective lens of the first angle acquisition module; and when the second bending angle is acquired, the target area of the plate is positioned in the field of view of the objective lens of the second angle acquisition module.
In some embodiments, the angle acquisition device comprises an angle acquisition module and a movement module;
The angle acquisition module comprises a light source assembly, an objective lens and an imaging detection assembly; the light source assembly is used for providing a light beam passing through the objective lens, and the imaging detection assembly is used for acquiring the image intensity of a target area; when a first bending angle is acquired, the moving module is used for moving the angle acquisition module so that a target area of the plate is positioned in a field of view of an objective lens of the angle acquisition module; when the second bending angle is acquired, the moving module is used for moving the angle acquisition module so that the target area of the plate is located in the field of view of the objective lens of the angle acquisition module.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. The control method of the bending equipment is characterized in that the bending equipment is used for bending the panel of the power distribution cabinet, and the control method comprises the following steps:
Acquiring design information of a power distribution cabinet, and bending a plate by using a bending die of bending equipment according to the design information; the design information comprises target bending angles of the plates after each target area is bent and bending control information for controlling bending equipment to perform bending operation;
The method comprises the steps that bending angle information of a bent plate is obtained by using angle obtaining equipment, and the bending angle information is used for indicating actual bending conditions of all target areas;
Acquiring a pressure compensation strategy of the bending equipment according to the bending angle information and the design information, and updating the bending control information according to the pressure compensation strategy;
the method for acquiring the actual bending angle for any target area comprises the following steps:
Acquiring an angle corresponding relation, wherein the angle corresponding relation is a corresponding relation between the ratio of the image intensity of the target area when the target area is inclined compared with the standard surface to the image intensity of the target area when the target area is the standard surface and the inclination angle;
Acquiring the image intensity of a target area by using an angle acquisition device, and acquiring an inclination angle corresponding to the image intensity of the target area by using the angle corresponding relation as an actual inclination angle; acquiring an actual bending angle of the target area according to the actual inclination angle; the angle acquisition device includes an objective lens;
the angle correspondence conforms to the following formula:
Wherein L is the ratio of the image intensity of the target area when the target area is inclined relative to the standard plane to the image intensity when the target area is the standard plane, delta is the inclination angle, NA is the numerical aperture of the objective lens of the angle acquisition device, a is a first correction parameter, and b is a second correction parameter.
2. The method for controlling a bending apparatus according to claim 1, wherein the obtaining bending angle information of the bent sheet material by the angle obtaining apparatus includes:
For any target area, acquiring the actual inclination angle of the target area on bending equipment by using angle acquisition equipment; obtaining a bending angle corresponding to the actual inclination angle and taking the bending angle as a first bending angle;
And acquiring bending angle information of the bent plate according to the first bending angle obtained for each target area.
3. The method for controlling a bending apparatus according to claim 2, wherein the angle acquisition apparatus includes a first angle acquisition module and a second angle acquisition module;
the angle acquisition equipment is utilized to acquire bending angle information of the bent plate, and the method comprises the following steps:
For any target area, acquiring a first actual inclination angle of the target area on bending equipment by using first angle acquisition equipment, and acquiring a bending angle corresponding to the first actual inclination angle as a first bending angle; then, a second actual inclination angle of the target area on the discharging platform is obtained by using second angle obtaining equipment, and a bending angle corresponding to the second actual inclination angle is obtained as a second bending angle; the discharging platform is used for placing the plate bent by the bending equipment;
correcting the first bending angle according to the second bending angle; and acquiring bending angle information of the bent plate according to the corrected first bending angle obtained for each target area.
4. The method for controlling a bending apparatus according to claim 3, wherein the obtaining a pressure compensation strategy of the bending apparatus according to the bending angle information and the design information comprises:
Taking the region meeting the compensation standard as a characteristic target region according to the corrected first bending angle corresponding to each region, and taking the corrected first bending angle corresponding to the characteristic target region as a characteristic bending angle;
generating bending feedback information according to the characteristic bending angles of each characteristic target area and the distribution positions of each characteristic target area in the plate, and sending the bending feedback information to user equipment;
And acquiring a pressure compensation strategy sent by the user equipment, and updating the bending control information based on pressure compensation corresponding to the pressure compensation strategy.
5. The method of controlling a bending apparatus according to claim 3, wherein the first angle acquisition module and the second angle acquisition module each include an objective lens; when a first bending angle is acquired, a target area of the plate is positioned in a field of view of an objective lens of the first angle acquisition module; and when the second bending angle is acquired, the target area of the plate is positioned in the field of view of the objective lens of the second angle acquisition module.
6. The method of controlling a bending apparatus according to claim 5, wherein before obtaining bending angle information of the bent sheet material, the method comprises:
And aiming at each target area, acquiring a plurality of inclination angles of the target area on the bending equipment relative to the standard surface and corresponding image intensity ratios of the target area by using the first angle acquisition module, and performing fitting operation to obtain a first correction parameter and a second correction parameter.
7. An electronic device comprising a memory storing a computer program and a processor configured to implement the steps of the method of controlling a bending device of any one of claims 1-6 when the computer program is executed.
8. A bending angle detection system, comprising the electronic device of claim 7, the bending angle detection system further comprising:
The angle acquisition equipment is used for acquiring bending angle information of the bent plate, and the bending angle information is used for indicating actual bending conditions of each target area of the plate.
9. The bending angle detection system of claim 8, wherein the angle acquisition device comprises a first angle acquisition module and a second angle acquisition module;
The first angle acquisition module and the second angle acquisition module respectively comprise a light source assembly, an objective lens and an imaging detection assembly; the light source assembly is used for providing a light beam passing through the objective lens, and the imaging detection assembly is used for acquiring the image intensity of a target area; when a first bending angle is acquired, a target area of the plate is positioned in a field of view of an objective lens of the first angle acquisition module; and when the second bending angle is acquired, the target area of the plate is positioned in the field of view of the objective lens of the second angle acquisition module.
10. The bending angle detection system of claim 8, wherein the angle acquisition device comprises an angle acquisition module and a movement module;
The angle acquisition module comprises a light source assembly, an objective lens and an imaging detection assembly; the light source assembly is used for providing a light beam passing through the objective lens, and the imaging detection assembly is used for acquiring the image intensity of a target area; when a first bending angle is acquired, the moving module is used for moving the angle acquisition module so that a target area of the plate is positioned in a field of view of an objective lens of the angle acquisition module; when the second bending angle is acquired, the moving module is used for moving the angle acquisition module so that the target area of the plate is located in the field of view of the objective lens of the angle acquisition module.
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