CN101603268B - Guide line seam position identifying system based on one-dimensional position sensor - Google Patents
Guide line seam position identifying system based on one-dimensional position sensor Download PDFInfo
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- CN101603268B CN101603268B CN2009101003148A CN200910100314A CN101603268B CN 101603268 B CN101603268 B CN 101603268B CN 2009101003148 A CN2009101003148 A CN 2009101003148A CN 200910100314 A CN200910100314 A CN 200910100314A CN 101603268 B CN101603268 B CN 101603268B
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- guide line
- line seam
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- cloth
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Abstract
The invention discloses a guide line seam position identifying system based on a one-dimensional position sensor. The identifying system comprises a cylinder knitted fabric cutting mechanical device, a light source generating device, a guide line seam signal identifying unit and a signal processing unit, wherein the light source generating device is horizontally arranged inside muslin tubing right above a fabric cutting blade, and a light beam generated by the light source generating device rightly faces a guide line seam on the fabric; the guide line seam signal identifying unit is horizontally arranged outside the muslin tubing to ensure that light emitted by a light source rightly faces the surface of the one-dimensional position sensor; and the signal processing unit is connected with a main controller. The guide line seam position identifying system makes use of the photoeffect of the one-dimensional position sensor, thereby having high detection precision; moreover, the system can detect a guide line seam within shorter time and calculate the position of the guide line seam to ensure quick response and ideal accuracy; a plurality of PSDs are inserted in a fixed socket, thereby ensuring a wide visual angle range and no dead zone; in addition, the system also has simple processing circuits and program flow.
Description
Technical field
The present invention relates to tubular fabric and vertically open the system of sanction, especially a kind of guide line seam position-recognizing system based on the one dimension position sensitive detector.
Background technology
In the textile industry, knitted cloth is made into a tin web-like usually.CIRCULAR KNIT needs to cut cloth open spread then before dyeing and finishing.So just can carry out a series of dyeing and finishing work flows of back.When cuing open cloth, to cut open cloth,, when weaving cotton cloth, can knit a warp less on the tubular knitted cloth, on cloth, form guide line seam in order to realize the requirement of automated production in strict accordance with certain path.When cuing open cloth, blade is preferably cut along this guide line seam all the time, and it is controlled to realize cuing open the cloth path.
In automated production, the speed of cuing open cloth is very fast, can reach 60-120m/min, in the process of cutting open, to guarantee to cut open that guide line seam of cloth alignment blade fabric constantly, owing to dying cloth and taking off and do in the untwisting process that tubular fabric becomes rope form or other uncertain factors such as machine vibration in course of conveying, therefore linear slit usually departs from blade, needs to add a cover automatic control system this guide line seam of rectifying a deviation, and rectify a deviation and at first will discern automatically guide line seam.
At present the domestic cloth machine that cuts open mainly is by operator's human eye observation guide line seam, manual adjustments cloth deflection burring machine then, and to plant labour intensity bigger cuing open for a long time at a high speed, people's fatiguability.Aspect automation control, the high speed of external as Italian CORINO company is cutd open the cloth machine, and the recognition system of guide line seam is to utilize high-speed CCD equipment to come guide line seam is discerned, and is characterized in that reaction speed is fast, the accuracy of identification height, but this parts price is very expensive.And common CCD on the present domestic market, one can only be handled 25 frame pictures second, does not reach the requirement that this high speed is cutd open the cloth machine far away.
At home, also the someone proposes to utilize the photodetector array sensor to realize the purpose that guide line seam is followed the tracks of.In patent ZL200610027140 " fabric guide line tracking device ", the author proposes to adopt photodetector, a plurality of photodetector parallel arranged are formed a photodetector array, by gathering the output signal of each photodetector, judge which piece photodetector the hot spot that sees through linear slit is radiated on, obtains the position of linear slit.This method has following characteristics: 1, precision equals the distance at phase two detector centers also.2, the displacement of its identification is a centrifugal pump, is not continuous displacement.3, simple in structure, treatment circuit is simple, and the processing of data is simple.Because the restriction of photodetector width, general its spacing is 5mm, so the precision that adopts this method to reach also is 5mm, and the about 1-2mm of linear slit width, the precision here is not high enough.If hot spot sees through linear slit and has impinged upon between two photodetectors, just discern the position of the linear slit that do not come out so by this method, that is to say that there is the detection dead band in this method, and do not see as yet that so far the corresponding commercially available cloth machine product that cuts open is automatically arranged.
This shows, develop a kind of can be quick, accurately and angular field of view not have the linear slit position-recognizing system in dead band just necessary.
Summary of the invention
It is not high to use precision at domestic already present patent in the guide line seam tracking, and there are deficiencies such as dead band in the visual angle, purpose of the present invention proposes a kind of guide line seam position-recognizing system based on the one dimension position sensitive detector based on the photoelectric effect of one dimension position sensitive detector PSD.
The technical solution adopted for the present invention to solve the technical problems is:
The present invention includes CIRCULAR KNIT and cut open the cloth mechanical device; Also comprise light-source generation device, guide line seam signal recognition unit with and signal processing unit; Wherein light-source generation device lies in a horizontal plane in the TUBULAR FABRIC, cut open the cloth blade directly over, the guide line seam of the light beam that light-source generation device is sent on the cloth; Guide line seam signal recognition unit is placed on the outside of TUBULAR FABRIC, and also horizontal positioned makes light positive that light source the sends surface to the one dimension position sensitive detector, and signal processing unit is connected with master controller.
Described light-source generation device is the near-infrared LED lamp to be installed and in the front portion of light pipe lens to be installed at the parallel light tube moveable part.
Described guide line seam signal recognition unit is connected in series from beginning to end and is installed on the PSD fixed socket according to the sensitization linear zone by polylith one dimension position sensitive detector PSD.
Described signal processing circuit is to be made of a plurality of identical electronic circuits, and wherein two of each electronic circuit inputs are connected by lead by fixed socket with the output stage of sensor respectively; An electronic circuit of signal processing circuit is by two preamplifiers, two RC wave filters, and two rearmounted phase inverters and two sampling holders are formed; Two output stages of one dimension position sensitive detector are connected to the input of two preamplifiers respectively by lead through fixed socket, be connected to after the voltage of preamplifier conversion is through the RC filter filtering that to be used for negative voltage transition be on the input of rearmounted phase inverter of positive voltage, the output of rearmounted phase inverter is connected with the input of sampling holder, and the signal behind sampling hold circuit directly is linked in the interface of master controller.
The beneficial effect that the present invention has is:
The present invention utilizes the photoelectric effect of one dimension position sensitive detector, and accuracy of detection height, and can detect guide line seam in the short period of time calculates the position of guide line seam, accomplishes that fast-response follows good accuracy.The method that the present invention's proposition combines the polylith position sensitive detector to use patches polylith PSD on the fixed socket of design voluntarily, makes and discerns angular field of view broadness, no dead band.Treatment circuit is simple with program circuit, has improved the operating efficiency of identification linear slit.The present invention can also be used to detect the workpiece that has aperture or slit or the position of other materials.
Description of drawings
Fig. 1 is an overall construction drawing of the present invention.
Fig. 2 is the structure chart of PSD composite module of the present invention.
Fig. 3 is a PSD fixed socket sketch of the present invention.
Fig. 4 is that signal of the present invention is handled the electronic circuit schematic diagram.
Fig. 5 is a handling procedure flow chart of the present invention.
Among the figure: 1, cloth deflection burring machine drive motors, 2, cloth deflection burring machine, 3, CIRCULAR KNIT, 4, selvage guide cage, 5, parallel light tube, 6, the near-infrared LED lamp, 7, lens, 8, cut open the cloth blade, 9, PSD combination array, 10, the PSD fixed socket, 11, the PSD signal processing circuit, 12, master controller, 13, the selvage guide roller.
The specific embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
As shown in Figure 1, this invention comprises that CIRCULAR KNIT cuts open the cloth mechanical device; Also comprise light-source generation device, guide line seam signal recognition unit with and signal processing unit; Wherein light-source generation device lies in a horizontal plane in the TUBULAR FABRIC, cut open the cloth blade directly over the 10cm place, the front end of light-source generation device is apart from cloth 10cm, the guide line seam of the light beam that light-source generation device is sent on the cloth; Guide line seam signal recognition unit is placed on the outer distance cloth 10cm place of TUBULAR FABRIC, and also horizontal positioned makes light positive that light source the sends surface to the one dimension position sensitive detector, and the output signal of guide line seam signal recognition unit links to each other with signal processing unit by lead; Signal processing unit is connected with master controller.
Described light-source generation device is near-infrared LED lamp 6 to be installed and in the front portion of light pipe lens 7 to be installed at the moveable part of parallel light tube 5.Because the spectral characteristic of PSD, the light of wavelength 600nm-900nm is better to the ligh-induced effect of PSD, and it is the high-powered LED lamp of 900nm that the used near-infrared LED lamp 6 of the present invention adopts wavelength.The light on and off of near-infrared LED lamp 6 are subjected to the control of master controller 12, make the infrared LED lamp be positioned at the focal position of lens 7 by regulating parallel light tube 5, and the light transmission lens 7 that spot light sends can obtain uniform collimated light beam.
Described guide line seam signal recognition unit is connected in series the PSD combination array of being formed 9 by polylith one dimension position sensitive detector PSD from beginning to end according to the sensitization linear zone and is installed on the PSD fixed socket 10 and forms, and wherein the respective pins of PSD combination array 9 is inserted to be embedded in the PSD fixed socket 10 and by screw and is fixed on the socket.The photoelectric effect principle of application site sensitive sensor PSD of the present invention realizes the identifying of guide line seam.One dimension PSD is a kind of based on horizontal photoelectric photoelectric position sensor spare, and it is equivalent to a large-area PN junction.It is a kind of non-Splittable device, light spot position on the photosurface can be converted into the signal of telecommunication, when a branch of light incides on the PSD, to have electric current and flow through between the different electrodes on the same one side, the phenomenon that this voltage or electric current change along with the light spot position variation is called semi-conductive lateral light electrical effect.When light spot on the photosurface of one dimension PSD, to between incidence point and extraction electrode, produce transverse potential, and the resistivity between incidence point and the extraction electrode equates, so the photoelectric current size of extraction electrode output is inversely proportional to the distance of incidence point to extraction electrode.The position that can calculate the spot distance electrode according to the electric current and the electrode spacing of two electrodes output.When the bar shaped laser spot that sees through guide line seam is radiated at certain position of position sensitive detector, its two poles of the earth can produce corresponding photogenerated current, by obtaining the big or small I of bipolar current
1, I
2With the photosensitive area length L of PSD, by formula
Just available hot spot is from the distance X at PSD center.PSD has response speed fast (can reach the microsecond level), and resolving accuracy height (can reach micron order) can be exported the position signalling data of continuous current signal and position sensitive detector and the characteristics that the shape of luminous point on detector has nothing to do.That adopt in the embodiment of the invention is the one dimension PSD that Japanese shore loose photon Co., Ltd produces, and model is S3270, and its photosensitive area length is that 37mm is the longest one dimension PSD of this series length.Owing to need the big identification range of width here, so a PSD not enough, the present invention gets up three one dimension position sensitive detectors of same model according to the end to end principle combinations of linear zone, as Fig. 2, constituted PSD combination array 9.By PSD fixed socket 10 PSD combination array 9 is fixed up, and realizes the connection of its circuit.As Fig. 3, present embodiment adopts the PSD fixed socket 10 of design voluntarily, can fix three PSD above, and the bottom edge copper of aperture is also continuous with the corresponding binding post of socket back in socket inside.Screwed hole is used for fixing the two ends of one dimension PSD.With the pin bores of the corresponding pin insertion of PSD correspondence and with screw PSD is fixed on the socket.In order to obtain accuracy preferably, the position of pin bores is also determined by accurate measurement.The photosensitive area of one dimension position sensitive detector exists linear zone with the inelastic region.Hot spot is more accurate by the result that formula draws when linear zone, and the inelastic region exists nonlinearity erron by the result that formula draws.In order to overcome this point, three PSD, a slice below, other two up, the original position of the linear photosensitive area of each sheet is mutually neat with the end position of the linear photosensitive area of other a slice, can cover large-scale measurement category like this and can remedy the deficiency that every PSD goes up the inelastic region again.PSD combination array horizontal positioned, the guide line seam on the cloth is vertical, just has a hot spot that 1mm is wide on the PSD so the light transmission cloth is radiated at, and calculates the position of guide line seam by this.
As shown in Figure 4, two preamplifiers of this processing electronic circuit are made up of two operational amplification circuits, be respectively that photogenerated current with two output stages of a PSD is converted to the voltage that can be changed by AD, wherein chip IC 1 is amplified in computing, IC3 adopts has lower bias current characteristic, and the amplifier chip that input noise voltage and drift voltage are all smaller, for example OP07.Amplify feedback resistance R1, the size of R4 is taken as 100K ohm, resistance R 2, and R5 and capacitor C 1, C4 constitutes two RC wave filters and is used for filtering HF noise signal.Pre-amplification circuit is with faint photoelectric current I
1, I
2Be converted to the voltage value in the AD sample range, i.e. U '
1=-R
1I
1, U '
2=-R
2I
2Because voltage value output here is a negative voltage, can not directly be sampled by AD, so need add phase inverter.The voltage that finally obtains is U
1=-U '
1=R
1I
1, U
2=-U '
2=R
2I
2Here directly with the signals collecting of conversion in single-chip microcomputer, utilize software to realize the process of addition, subtraction and division.So not only can save cost makes circuit simple more but also avoid amplifier too much to cause unnecessary error.Because used three PSD among the embodiment,, therefore need add to keep sampler S/H again in the phase inverter back so these three PSD sampling times must be consistent.The voltage of output is directly changed by AD.In the embodiment circuit diagram, be used for realizing that the amplifier chip of enlarging function mainly is made up of OP07, sampling hold circuit mainly is made up of chip LF398.Two output stages of a position sensitive detector PSD are connected to two preamplifier IC 1 through fixed socket respectively by lead, the input of IC3, preamplifier IC 1, with rearmounted inverter ic 2, the input of IC4 links to each other behind the output output voltage process RC filter filtering of IC3.Rearmounted inverter ic 2, the output of IC4 links to each other with the input of sampling holder S/H.Signal behind sampling holder directly is linked in the interface of master controller.
As Fig. 1, master controller 12 mainly is made up of single chip circuit.What import is the voltage analog of PSD behind signal conditioning circuit, is converted to digital quantity after the collection of the AD of single-chip microcomputer inside modular converter.The single-chip microcomputer of using among the embodiment is 16 single-chip microcomputer MC9S12XDP512 that Freescale company produces, and its bus speed can reach 40MHz, has the flash of 512K and the EEPROM memory space of 64K, and is very easy to use.Master controller 12 is used for obtaining the position of guide line seam and cloth deflection burring machine is controlled, and makes to cut open the guide line seam that the cloth blade is aimed at CIRCULAR KNIT all the time.Described CIRCULAR KNIT is cutd open the cloth mechanical device by selvage guide cage 4, cuts open cloth blade 8, electronic cloth deflection burring machine 2, and electronic cloth deflection burring machine drive motors 1, selvage guide roller 13 constitutes.Selvage guide cage 4 mainly is to strut into cylindric cloth and to guide cloth to move downward through the rope form cloth of dying cloth and dry, and the size of selvage guide cage 4 can reach the working size of TUBULAR FABRIC through hand wheel adjustment.Cuing open cloth blade 8 is fixed on PSD recognition device center below and cuts open cloth along guide line seam.The planar cloth that roller selvage guide 13 will be cut open is smooth and by frictional force tubular cloth is moved downward.Electronic cloth deflection burring machine drive motors 1 is subjected to the control of single-chip microcomputer, position according to guide line seam changes rotating speed, drive electronic cloth deflection burring machine 2 runnings, thereby adjust the yaw displacement size of CIRCULAR KNIT, make guide line seam can aim at blade.When hot spot in PSD assembly center when the right, adjust cloth deflection burring machine, make cloth deflection left; When hot spot during on the left side, PSD assembly center, adjust cloth deflection burring machine, make cloth deflection to the right.
The whole process of cuing open cloth is as follows: the CIRCULAR KNIT 3 that selvage guide cage 4 will twine into rope form struts, and the rotation of selvage guide roller 13 makes the CIRCULAR KNIT 3 that struts move downward by frictional force.Cuing open cloth blade 8 is fixed on the below and cuts open cloth.The cloth of cutting open is delivered to the other end through selvage guide roller 13 and carries out smooth.When guide line is sewed with the trend that departs from blade, the light beam that this moment, light source sent sees through the strip light spots that cloth produced also can produce skew on one dimension position sensitive detector 9.Thereby sensor will be discerned the position that the position of strip light spots directly reflects guide line seam.The faint current signal of the output electrode of one dimension position sensitive detector 9 output obtains the voltage signals that can directly be gathered by master controller 12 after by signal processing circuit 11.These signals are gathered and are handled the position that obtains strip light spots by master controller 12 and finally obtain the position of guide line seam.Thereby the rotation that drives cloth deflection burring machine drive motors 1 make cloth deflection burring machine with angle of cloth deflection so that cut open cloth blade 8 alignment guidance linear slit all the time.
Fig. 5 is the programmed algorithm step, receive the PSD output signal after, need earlier to judge it is which piece PSD has received the hot spot signal, three PSD are numbered from left to right, be respectively 1,2, No. 3.That the PSD light sensation head of district is L, and linear zone length is L
1Detect in two kinds of situation: one, hot spot is radiated at the non-point midway of certain piece PSD; Two, hot spot is radiated at the middle of certain piece PSD.Situation two is after comparing, and each piece PSD the two poles of the earth output current all equates, at this moment then need to the bipolar current of different PSD and compare, that piece that electric current is bigger is the PSD that hot spot shines, and writes down its numbering, if be numbered 2, then hot spot need not to adjust in centre.If number 1 PSD, then the displacement apart from the center left avertence is L
1If number 2 PSD, then apart from the displacement of aristocardia be L
1Need more every PSD the two poles of the earth output current size respectively first for situation, that piece PSD that differs in size is the PSD that hot spot shines, write down its numbering, the voltage value of changing by the bipolar current of irradiated PSD calculates the hot spot this moment of the particular location on this piece PSD then, apart from the position at that piece PSD center is
The comprehensive position that gets glossing up in position and the position of hot spot on PSD by PSD.And then take suitable control algolithm to drive electronic cloth deflection burring machine and come the tubular knitted cloth is adjusted, guarantee to cut open cloth alignment blade guide line seam.
Claims (3)
1. based on the guide line seam position-recognizing system of one dimension position sensitive detector, comprise that CIRCULAR KNIT cuts open the cloth mechanical device, it is characterized in that: also comprise light-source generation device, guide line seam signal recognition unit and signal processing unit; Wherein light-source generation device lies in a horizontal plane in the CIRCULAR KNIT, cut open the cloth blade directly over, the guide line seam of the light beam that light-source generation device is sent on the CIRCULAR KNIT; Guide line seam signal recognition unit is placed on the outside of CIRCULAR KNIT, and also horizontal positioned makes light beam that light-source generation device the sends surface over against the one dimension position sensitive detector, and signal processing unit is connected with master controller;
Described guide line seam signal recognition unit is connected in series from beginning to end and is installed on the PSD fixed socket (10) according to the sensitization linear zone by polylith one dimension position sensitive detector.
2. the guide line seam position-recognizing system based on the one dimension position sensitive detector according to claim 1 is characterized in that: described light-source generation device is near-infrared LED lamp (6) to be installed and in the front portion of light pipe lens (7) to be installed at parallel light tube (5) moveable part.
3. the guide line seam position-recognizing system based on the one dimension position sensitive detector according to claim 1, it is characterized in that: described signal processing circuit is to be made of a plurality of identical electronic circuits, and wherein two of each electronic circuit inputs are connected by lead by fixed socket with the output stage of one dimension position sensitive detector respectively; An electronic circuit of signal processing circuit is by two preamplifiers, two RC wave filters, and two rearmounted phase inverters and two sampling holders are formed; Two output stages of one dimension position sensitive detector are connected to the input of two preamplifiers respectively by lead through fixed socket, be connected to after the voltage of preamplifier conversion is through the RC filter filtering that to be used for negative voltage transition be on the input of rearmounted phase inverter of positive voltage, the output of rearmounted phase inverter is connected with the input of sampling holder, and the signal behind sampling hold circuit directly is linked in the interface of master controller.
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| CN2009101003148A CN101603268B (en) | 2009-07-02 | 2009-07-02 | Guide line seam position identifying system based on one-dimensional position sensor |
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| CN2009101003148A CN101603268B (en) | 2009-07-02 | 2009-07-02 | Guide line seam position identifying system based on one-dimensional position sensor |
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| CN101603268B true CN101603268B (en) | 2011-01-05 |
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| CN103132233B (en) * | 2013-02-21 | 2014-08-06 | 湖北工业大学 | Automatic visual aligning and scutching method for scutcher |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3710663A (en) * | 1970-02-02 | 1973-01-16 | C Ekelund | Hosiery slitter |
| US5442842A (en) * | 1993-10-25 | 1995-08-22 | _Guilford Mills, Inc. | Apparatus for guiding longitudinal travel of tubular fabric |
| CN1851106A (en) * | 2006-05-31 | 2006-10-25 | 中国科学院上海光学精密机械研究所 | Fabric guide line tracking device |
| CN200961214Y (en) * | 2006-05-31 | 2007-10-17 | 上海增尔适科技发展有限公司 | Photoelectric cloth seam detector |
| CN201459488U (en) * | 2009-07-02 | 2010-05-12 | 浙江大学 | Identification device for guided stitch position based on one-dimension position sensitive transducer |
-
2009
- 2009-07-02 CN CN2009101003148A patent/CN101603268B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3710663A (en) * | 1970-02-02 | 1973-01-16 | C Ekelund | Hosiery slitter |
| US5442842A (en) * | 1993-10-25 | 1995-08-22 | _Guilford Mills, Inc. | Apparatus for guiding longitudinal travel of tubular fabric |
| CN1851106A (en) * | 2006-05-31 | 2006-10-25 | 中国科学院上海光学精密机械研究所 | Fabric guide line tracking device |
| CN200961214Y (en) * | 2006-05-31 | 2007-10-17 | 上海增尔适科技发展有限公司 | Photoelectric cloth seam detector |
| CN201459488U (en) * | 2009-07-02 | 2010-05-12 | 浙江大学 | Identification device for guided stitch position based on one-dimension position sensitive transducer |
Non-Patent Citations (2)
| Title |
|---|
| JP平2-145852A 1990.06.05 |
| JP平4-73260A 1992.03.09 |
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