CN103323463A - Automatic detection method and system for characteristics of enhanced composite carbon fiber wire core - Google Patents
Automatic detection method and system for characteristics of enhanced composite carbon fiber wire core Download PDFInfo
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- CN103323463A CN103323463A CN2013102386628A CN201310238662A CN103323463A CN 103323463 A CN103323463 A CN 103323463A CN 2013102386628 A CN2013102386628 A CN 2013102386628A CN 201310238662 A CN201310238662 A CN 201310238662A CN 103323463 A CN103323463 A CN 103323463A
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Abstract
The invention is applicable to the field of automatic detection, and provides an automatic detection method and system for characteristics of an enhanced composite carbon fiber wire core. The system comprises a mechanical support device, a template projection and collection device and a calculation analysis device, wherein the template projection and collection device is movably arranged on the mechanical support device and is used for projecting a template on the surface of the wire core and collecting a template reflected by the surface of the wire core; the template projection and collection device is connected with the calculation analysis device through a data cable, the calculation analysis device is used for auctomatically determining and identifying the characteristics of the wire core in real time by analyzing the phase difference of the two templates according to the template projected by and the template collected by the template projection and collection device.
Description
Technical field
The invention belongs to the robotization detection field, relate in particular to automatic testing method and system that a kind of high purity carbon fiberreinforced composite conductor core characterizes.
Background technology
At present, mainly be based on the conventional art workman about the surface inspecting method of high purity carbon fiberreinforced compound cable core, rely on the years of work experience that the core surface is evaluated and tested with naked eyes and the quality identification.So no matter on the central factor of the modern enterprise such as the abundant utilization management of efficient, Effective product cost control and the human resources of the accuracy rate of continuous detecting, continuous detecting, can't satisfy the active demand in the actual production far away.
Summary of the invention
The object of the invention is to: the automatic checkout system that provides a kind of high purity carbon fiberreinforced composite conductor core to characterize, be intended to solve prior art and detect for the surface of high purity carbon fiberreinforced compound cable core and can only rely on manually, cause the problem that detection efficiency is low, accuracy rate is low.
The object of the present invention is achieved like this:
The automatic checkout system that a kind of high purity carbon fiberreinforced composite conductor core characterizes, described system comprises: mechanical support device, template projection harvester and computational analysis device; Described template projection harvester is movably arranged on the described mechanical support device, is used for the template of throwing template in described wire stylet surface and gathering the wire stylet surface reflection; Described template projection harvester is connected with described computational analysis device by data cable, described computational analysis device is used for according to the template of template projection harvester projection and the template of collection, by analyzing the phase differential of these two template same positions, wire stylet sign situation is made instant judgement and identification.
Described mechanical support device comprises two circular structure and two mechanical drive bars, the two ends of described mechanical drive bar are movably arranged on respectively on described two circular structure by numerical control pincers dynamic model piece, and described two mechanical drive bars remain relative sync bit.
Described template projection harvester comprises two cover template projectoscope and modulated burnt cameras, this two cover template projectoscope and modulated burnt camera relatively are placed in respectively on the described mechanical drive bar by numerical control pincers dynamic model piece, remain relative position between two complete equipments, the relative position between every cover template projectoscope and modulated burnt camera remains constant.
Described template adopts the high fault-tolerant template of continuous function phase differential.
Another object of the present invention is to: the automatic testing method that provides a kind of high purity carbon fiberreinforced composite conductor core to characterize comprises the steps:
Generation has the template image of periodic transformation and template image is projeced into the fibrous material surface;
The reflection template image that collection is returned by the wire stylet surface reflection;
Described reflection template image is further analyzed, drawn the characterization information of accurate fibrous material.
At least two all the time the projecting direction of relative positioning generate at least two template images, and above-mentioned two template images are projeced into the wire stylet surface simultaneously, wire stylet to be measured from described at least two all the time the intersection point of the projecting direction of relative positioning pass through; Wherein said at least two template images by at least two all the time the template projector of relative positioning form, gather image by at least two corresponding with these at least two template projector respectively image collecting devices, wire stylet to be measured passes through between two template projectoscopes.
Described at least two all the time the projecting direction of relative positioning can in certain space, do synchronous to-and-fro movement with respect to wire stylet.
Comprise the high fault-tolerant template of continuous function phase differential in the described template projector, the light intensity that the high fault-tolerant template of described continuous function phase differential is configured on any pixel is reference light intensity and strength function sum, strength function is the product of range of light intensities and continuous function, described continuous function is relevant with cycle and phase differential, namely on any point in the template, all can carry out unique coding by respective cycle and the phase differential in continuous function.
The step that template image after gathering is further analyzed comprises: change by the abnormal phase in the related function collection of illustrative plates of the described template image that generates and the described reflection template image that collects, the inverse operation of the function that coding and the cycle plate by known template image changes draws accurately defective regional location.
The method of calculating phase differential comprises, becomes polynomial expression by described continuous function is carried out fourier progression expanding method, and this, root was above-mentioned phase differential at polynomial zero point.
Outstanding advantages of the present invention is: the present invention is based on optical reflection space geometry principle and be equipped with advanced artificial intelligence technology and computer control ancillary technique and realize automatic detection for high purity carbon fiberreinforced composite cable core surface, have and detect accurately quality, higher and continuous detection speed, and accuracy of detection is controlled, realize with low costly, can realize slitless connection with the full automatic production line of modernization.
Description of drawings
Fig. 1 is the applied optical reflection space geometry schematic diagram that the embodiment of the invention provides;
Fig. 2 is the organigram of mechanical support and projection collecting part in the automatic checkout system that provides of the embodiment of the invention;
Fig. 3 is the cross sectional representation of the central portion of mechanical support part among Fig. 2;
Fig. 4 is the top plan view of central portion among Fig. 3;
Fig. 5 is the front structural map of the support bar of mechanical support part among Fig. 2;
Fig. 6 is the cross sectional representation of support bar among Fig. 5;
Fig. 7 is an embodiment of the high fault-tolerant template of the continuous function phase differential that provides of the embodiment of the invention.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
The present invention is based on optical reflection space geometry principle is equipped with advanced artificial intelligence technology and computer control ancillary technique and realizes automatic detection for high purity carbon fiberreinforced composite cable core surface.
Optical reflection space geometry principle mainly is a shop front to imitation and the expansion human eye detects and the vision identification has the artificial intelligence technology of full minute surface or partial mirror reflection characteristic body surface feature.It has advantages of for automatic detection object to be detected surface damage, curing situation inhomogeneous or that outward appearance can't reach quality standards detects quality, higher and continuous detection speed, the controllability of continuous detecting precision and cheaper realization cost accurately.It is the basic theory schematic diagram shown in Fig. 1, it is upper and be projeced on object under test (A5) surface that the template (B2) that generates via computing machine (B1) is presented at template projectoscope (A2), then immediately observes and do the picture signal collection by camera (A1).At last, the image (B3) after gathering is made intellectual analysis to draw the final conclusion about detected surface.This theory is based on the space geometry principle, and namely the coordinate position of any point is known and can measures with respect to global coordinate is first in the surveyed area.
Based on above-mentioned principle, the automatic checkout system that the high purity carbon fiberreinforced composite conductor core that the embodiment of the invention provides characterizes comprises mechanical support device, template projection harvester and computational analysis device.
According to the geometry appearance of detected composite conductor core, described mechanical support device overall shape is cylindrical, and Fig. 2 shows the schematic diagram of an embodiment of this device.The machinery supporting part is that two external diameters are that the R internal diameter is the circular structure (A7) of r, and core to be measured (A5) is equal to guarantee the core arbitrary surfaces to the distance of circular structure by the center of circle process of circular structure.Article two, the tie point (B6) of mechanical drive bar (A3) is bundled on the circular structure via numerical control pincers dynamic model pieces (A4), and these two drive links (A3) remain relative sync bit.Described template projection harvester comprises two cover template projectoscope (A2) and modulated burnt cameras (A1), this two cover relatively is placed in respectively on the mechanical drive bar, template projectoscope (A2) in every cover and the distance between modulated burnt camera (A1) are ds, and can numerical control horizontal direction synchronizing moving, when namely the position of two complete equipments is via numerical control pincers dynamic model pieces (A4) control and have a transverse direction symmetry, thus to guarantee between the sensing range of core to be measured by two groups of template projectoscopes and camera, be that the template projectoscope can throw template in the core surface, camera can be done effective collection for the reflection template simultaneously.In the embodiment of the invention, the object under test surface does not need to force to be positioned at the focus place of camera, only needs camera the reflection scene can be included and gets final product, and is lower to the hardware adjustment accuracy requirement.
Fig. 3 shows the detailed structural map of xsect of circular gearing part, by the sliding recess on the circular structure (C1), two numerical controls pincers dynamic model pieces (A4) the relatively center of circle (O) are made synchronous rotary to 90 °, the distance that the numerical control module partly goes up edge and lower edge apart from circular machinery is dRr, is da apart from the center of circle (O).Two the mechanical drive bars (A3) that link to each other with numerical control module (A4) via tie point (B6) equally are 90-degree rotation simultaneously, and by can weave into control module (A4) to gearing bar pincers fixed and location.The template projectoscope and camera moves or rotary course in, two complete equipments remain relative position.Fig. 4 shows the structural map of looking down of circular gearing part, and the thickness of this mechanical part is t, the position of numerical control pincers dynamic model pieces (A4) as shown in FIG., they are dRr apart from the distance of outer.The positive of mechanical drive bar (A3) constructed as shown in Figure 5 in detail, and its total length is l+2b (length that namely comprises tie point (B6)).Be convenient initial debugging, relatively tie point (B6) rotation of the main part of mechanical shaft (A3), the height of mechanical shaft is b, distance core to be measured (A5) can be defined as the focal distance f of camera.Main part in mechanical shaft is designed with slip raceway groove (C1) and numerical control pincers dynamic model piece (A4), makes synchronous slide and returns instant locus to guarantee template projectoscope (A2) and acquisition camera (A1) on the numerical control pincers dynamic model piece.In testing process, the relative position of template projectoscope (A2) and camera (A1) remains constant.The cross-sectional configuration of mechanical drive bar as shown in Figure 6, its width is that the width of w and the slip raceway groove (C1) that has is that dw highly is db, the opening length of reserving for numerical control pincers dynamic model piece is dx.
For improving stability and the accuracy that detects, reach the black out environment with using lightshade cover (A6) on the surveyed area, guarantee not to be subjected to external light influence via the reflection template of camera collection, its be of a size of the wide H of the long B of T high and in both sides designs two apertures (C2) so that the survey line core by lightshade cover, the diameter of aperture is Tr.
In the actual measurement process, at first, two templates and the projectoscope corresponding with it are remained relative positioning, and allow above-mentioned two templates and the projectoscope corresponding with it in the space, to move along the direction of two drive link A3, and can return at any time its instant locus.Next step, make composite conductor core to be measured between two template projectoscopes, pass through, conventional modulated burnt high-res camera is installed in template projectoscope side simultaneously, is utilized the partial mirror reflection characteristic on core surface, the template image that uses camera collection to return via the core surface reflection.As meet surface damage, curing is inhomogeneous or outward appearance can't reach quality standards product section situation, via the template feedback image after gathering is further analyzed, make precisely, locate fast and judge for core surface characteristics utilization spatial data as can be known.The core end can be even at a slow speed by surveyed area by wind traction, because speed is known, makes two template projectoscopes rotate simultaneously 90 degree, and detection and localization position forward again, to guarantee the whole test-acceptings of wire stylet surface 360 degree.After finishing, still use new detection position, same method periodic location.Template projectoscope, mechanical driving part and camera connect and control by data cable.Finally, all information are gathered effectively and process by analytical equipment, draw accurate core characterization information.
For realizing that necessary space geometry calculates, prior adjustment must be passed through in the each point position of whole system, this place uses the right cylinder coordinate system, and the center of circle of the circular structure of core upstream end to be measured is first point of coordinate system among definition Fig. 2, so the have a few in the surveyed area all has coordinate system position unique, that can predict with respect to this yuan point.Concrete adjustment process is divided into following step: at first, quickcam image focusing, " I-go board focusing model " will be applied on two cameras and determine their inside and external parameter; Then, the locus of template projectoscope calibration utilizes the inner parameter of the camera that draws in the previous step, determines on the template projectoscope any point really position, tangent space, i.e. displacement or rotation matrix between definite camera and the template projectoscope; At last, reflex reflection calibrates for error, and uses the flat object of ideal mirror reflecting surface, and the reflex reflection error amount between the template that the reflection template after determining to gather and computing machine generate makes that the reflex reflection error is minimum in the region-of-interest.
The template that the template transilluminator adopts is " the high fault-tolerant template of continuous function phase differential ", this template mainly adopts makes the poor coding of known phase to continuous function, here the phase place extent has determined the precision that detects, periodic transformation by template image, via behind the core surface reflection by the reflection template of camera collection, in the template of reflection, corresponding phase differential periodic transformation should be arranged so also.As running into the defective zone of product, the part in the related function collection of illustrative plates of known template and reflection template can produce abnormal phase and change, and by known template coding and the inverse operation of periodic function, can draw accurately defective regional location.The most significant advantage of the method is, by the Fourier expansion of continuous function root ground at polynomial zero point is considered, come to be had very high fault-tolerance so that loss of signal and the signal concussion in processing procedure suppresses effectively via the continuous function template after the reflection and computing machine.Simultaneously, the properties of specular reflection a little less than detected surface can't reach full mirror-reflection or only have, the method still can effectively and exactly draw testing result.Particularly, " the high fault-tolerant template of continuous function phase differential " that the template projectoscope adopts, this template is used for determining by the light intensity on the pixel measuring method of continuous signal phase differential.Can be understood as reference light intensity and strength function sum for the light intensity on any pixel.Strength function is the product of range of light intensities and continuous function, and continuous function is relevant with cycle and phase differential herein, and namely within some cycles of function, any point all has unique phase differential.So, on any point in template, all can carry out unique coding by respective cycle and the phase differential in continuous function.Equally, by camera collection to the reflection template in, by phase differential coding, can draw light through the diffraction amplitude behind the testee surface, the i.e. reverse feature that calculates the testee surface.The concrete grammar that calculates phase differential is as follows: consider that the arbitrary continuation function can be by fourier progression expanding method, be that continuous function can be decomposed into real part series expansion item and imaginary part series expansion item, so required phase differential is the arctan function of imaginary part series expansion item and real part series expansion item.But the function that this phase differential is relevant still be complex polynomial, and when phase differential was the integer equal portions value in cycle, corresponding polynomial value was zero, phase differential at this moment namely this at polynomial zero point root.When the testee surface has part or relatively poor properties of specular reflection, the reflection template strength that collects a little less than, but its, root still remained unchanged at corresponding polynomial zero point, this just the method the advantage place and can satisfy compound core is characterized the demand that detects.In actual computation, the method for calculating fast phase differential can be drawn by the embodiment among Fig. 4, and what provide among the figure is 4 grades " continuous function phase differential high fault-tolerant templates ", and this template range of light intensities is gray-scale value 0 to 255, and the phase differential between every grade of template is 90 degree.Then, the phase differential of any point is the merchant's that draws divided by the difference of the gray-scale value of the gray-scale value of this point of third level template and this point of first order template of the difference of the gray-scale value of the gray-scale value of this point of fourth stage template and this point of second level template arctan function in the template.Applied every grade of template phase differential also can be selected other numerical value, and such as 60 degree, corresponding template number is 6, by the phase place Split Method, also can draw the arctan function relation that phase differential is relevant to gray-scale value on each template relevant position.
Related function between calculation template after described computational analysis device gathers by calculating and the known generation template, variation by correlation, can orient very rapidly not existing together between the two, namely the phase differential on the same correspondence position of two templates is close, then correlation is less, otherwise then larger.Can make immediately again exactly identification to the sign situation of compound core like this.In addition, for effectively being reduced in the error of phase differential in the reflex reflection process, in actual testing process, the amount of cycles of template is at least 7, this be by fourier series zero point root number determine.
The automatic checkout system that the high purity carbon fiberreinforced composite conductor core that the embodiment of the invention provides characterizes can with the slitless connection of the full automatic production line of modernization; breakage for product surface can realize that automatic immediate is located, accuracy of detection is accurately controlled; and realize with low costly, this system is of great significance for modernization, industrialization, robotization, large-scale and scientific production tool.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the automatic checkout system that high purity carbon fiberreinforced composite conductor core characterizes is characterized in that, described system comprises:
Mechanical support device, template projection harvester and computational analysis device; Described template projection harvester is movably arranged on the described mechanical support device, is used for the template of throwing template in described wire stylet surface and gathering the wire stylet surface reflection; Described template projection harvester is connected with described computational analysis device by data cable, described computational analysis device is used for according to the template of template projection harvester projection and the template of collection, by analyzing the phase differential of these two template same positions, wire stylet sign situation is made instant judgement and identification.
2. the automatic checkout system that characterizes of high purity carbon fiberreinforced composite conductor core as claimed in claim 1, it is characterized in that, described mechanical support device comprises two circular structure and two mechanical drive bars, the two ends of described mechanical drive bar are movably arranged on respectively on described two circular structure by numerical control pincers dynamic model piece, and described two mechanical drive bars remain relative sync bit.
3. the automatic checkout system that characterizes of high purity carbon fiberreinforced composite conductor core as claimed in claim 1, it is characterized in that, described template projection harvester comprises two cover template projectoscope and modulated burnt cameras, this two cover template projectoscope and modulated burnt camera relatively are placed in respectively on the described mechanical drive bar by numerical control pincers dynamic model piece, remain relative position between two complete equipments, the relative position between every cover template projectoscope and modulated burnt camera remains constant.
4. the automatic checkout system of high purity carbon fiberreinforced composite conductor core sign as claimed in claim 1 is characterized in that, described template adopts the high fault-tolerant template of continuous function phase differential.
5. the automatic testing method that high purity carbon fiberreinforced composite conductor core characterizes is characterized in that, described method comprises the steps:
Generation has the template image of periodic transformation and template image is projeced into the fibrous material surface;
The reflection template image that collection is returned by the wire stylet surface reflection;
Described reflection template image is further analyzed, drawn the characterization information of accurate fibrous material.
6. method as claimed in claim 5, it is characterized in that: at least two all the time the projecting direction of relative positioning generate at least two template images, and above-mentioned two template images are projeced into the wire stylet surface simultaneously, wire stylet to be measured from described at least two all the time the intersection point of the projecting direction of relative positioning pass through; Wherein said at least two template images by at least two all the time the template projector of relative positioning form, gather image by at least two corresponding with these at least two template projector respectively image collecting devices, wire stylet to be measured passes through between two template projectoscopes.
7. method as claimed in claim 6 is characterized in that: described at least two all the time the projecting direction of relative positioning can in certain space, do synchronous to-and-fro movement with respect to wire stylet.
8. method as claimed in claim 6, it is characterized in that: comprise the high fault-tolerant template of continuous function phase differential in the described template projector, the light intensity that the high fault-tolerant template of described continuous function phase differential is configured on any pixel is reference light intensity and strength function sum, strength function is the product of range of light intensities and continuous function, described continuous function is relevant with cycle and phase differential, namely on any point in the template, all can carry out unique coding by respective cycle and the phase differential in continuous function.
9. method as claimed in claim 5, it is characterized in that: the step that the template image after gathering is further analyzed comprises: change by the abnormal phase in the related function collection of illustrative plates of the described template image that generates and the described reflection template image that collects, the inverse operation of the function that coding and the cycle plate by known template image changes draws accurately defective regional location.
10. method as claimed in claim 9 is characterized in that: the method for calculating phase differential comprises, becomes polynomial expression by described continuous function is carried out fourier progression expanding method, and this, root was above-mentioned phase differential at polynomial zero point.
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| CN201310238662.8A CN103323463B (en) | 2012-06-18 | 2013-06-17 | The automatic testing method that a kind of high purity carbon fiberreinforced composite conductor core characterizes and system |
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| CN201210200232.2 | 2012-06-18 | ||
| CN201310238662.8A CN103323463B (en) | 2012-06-18 | 2013-06-17 | The automatic testing method that a kind of high purity carbon fiberreinforced composite conductor core characterizes and system |
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| CN110009603A (en) * | 2019-03-14 | 2019-07-12 | 广州供电局有限公司 | High-voltage cable insulating detection method and high-tension cable maintaining method |
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