CN105841716A - Vision auxiliary control method and device for wire arrangement consistency of optical fiber winding machine - Google Patents
Vision auxiliary control method and device for wire arrangement consistency of optical fiber winding machine Download PDFInfo
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- CN105841716A CN105841716A CN201610328039.5A CN201610328039A CN105841716A CN 105841716 A CN105841716 A CN 105841716A CN 201610328039 A CN201610328039 A CN 201610328039A CN 105841716 A CN105841716 A CN 105841716A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/28—Traversing devices; Package-shaping arrangements
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Abstract
The invention provides a vision auxiliary control device for wire arrangement consistency of an optical fiber winding machine. The vision auxiliary control device comprises a machine seat, a rack and a supporting cross beam, and further comprises a gear box body which is arranged on the machine seat and can move left and right; a winding main shaft is arranged on the gear box body and can move left and right along with the movement of the gear box body; a first servo motor in the gear box body drives a speed reducer to generate rotating motion so as to realize winding; a bracket capable of moving left and right as well as up and down is arranged on the supporting cross beam; a wire shifting wheel and a camera which are static relatively are fixedly arranged on the bracket; a lens of the camera is positioned in front of the winding wheel. The invention further provides a vision auxiliary control device for wire arrangement consistency of the optical fiber winding machine. According to the vision auxiliary control device and the vision auxiliary control device, the shortcoming that the conventional optical fiber winding machine cannot automatically adjust the wire shifting feeding amount is overcome; real-time vision feedback is added, and the feeding amount of the wire shifting wheel of the optical fiber winding machine is adjusted, so that optical fiber ring winding is higher in consistency.
Description
Technical field
The present invention relates to optical fiber winding technique field, particularly a kind of optical fiber coil winding machine winding displacement is consistent
The vision auxiliary control method of property and device.
Background technology
Optical fibre gyro is mainly used in measuring the space motion attitude of sensitive carrier, to navigation system
Performance plays the most crucial effect.Fiber optic loop in fibre optic gyroscope is defeated for measuring
Enter the vitals of phase contrast between the two-way propagation light wave that angular velocity causes, be optical fibre gyro
One of core component.The canoe of fiber optic loop, optical fiber arrangement whether uniform, stress
Whether it is evenly distributed and determines the precision of fiber optic loop.
At present, both at home and abroad the winding method of fiber optic loop is carried out essence mainly around servo-control system
True position control and speed controlling are carried out, and the precision of optical fiber coiling on axle how, entirely
Control accuracy by servosystem ensures.
Along with the development of machine vision technique, machine vision gradually replaces fine measuring instrument to carry out accurately
Measure.At present, be applied to the machine vision technique above optical fiber coil winding machine primarily serve off-line or
The effect of person's on-line fault diagnosis, and light coiling precision on-the-spot is corrected to rarely have relate to
And.At present in optical fiber winding process, owing to the change of optical fiber cable footpath causes the mistake of servo-control system
Difference accumulation, and the amount of feeding of optical fiber coil winding machine main shaft cannot be adjusted, cause the extruding between optical fiber,
Even there will be folded silk phenomenon time serious, thus cause coiling failure.The utilization that the present invention proposes
Machine vision auxiliary servo control system improves the conforming method and apparatus of optical fiber winding displacement
Closed loop control during optical fiber winding displacement to be realized, it is ensured that optical fiber arrangement uniform, according to optical fiber
The change in line footpath compensates the amount of feeding dialling line wheel dynamically, has filled up the blank in this field.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of optical fiber coil winding machine winding displacement one
The vision sub controlling unit of cause property and method, it is achieved that the closed loop control during optical fiber winding displacement
System, not only ensure that the uniform of optical fiber arrangement, it is also possible to move according to the change in optical fiber cable footpath
The amount of feeding that line is taken turns is dialled in compensating of state.
An object of the present invention be solve traditional fiber coil winding machine cannot be automatically adjusted dial line enter
Giving the defect of amount, add real-time vision feedback, adjust optical fiber coil winding machine dials the line wheel amount of feeding,
So that fiber optic loop coiling has more preferable concordance.
It is another object of the present invention to change Conventional visual monitoring scheme, propose one and utilize machine
Vision improves the conforming method of fiber optic loop coiling.
The technical solution adopted for the present invention to solve the technical problems is:
Present invention firstly provides a kind of optical fiber coil winding machine winding displacement conforming vision assist control dress
Put, including support, frame and support crossbeam, also include that be arranged on support moves left and right
Gear housing, gear housing is provided with coiling main shaft, and coiling main shaft can be with the shifting of gear housing
Move and move left and right, and it drives decelerator to produce by the first servomotor in gear housing
Raw rotary motion carries out take-up；Described support crossbeam is provided with and can move left and right and move up and down
Support, what support was fixedly installed geo-stationary dials line wheel and video camera, described video camera
Lens location is in the dead ahead dialling line wheel.
Preferably, described gear housing is arranged on support by its first internal servomotor edge
On slide rail move left and right.
Preferably, also include a multidiameter survey mass, described multidiameter survey mass is provided with five
Individual circumference ladder, the thickness of each circumference ladder is identical, and the height of circumference ladder from left to right
Constantly increase, and the difference in height of adjacent circumferential ladder is identical.
Preferably, described support realizes a left side by being arranged on the second servomotor supported on crossbeam
Move right, realize moving up and down by the 3rd servomotor.
The present invention also provides for a kind of optical fiber coil winding machine winding displacement conforming vision auxiliary control method,
Following steps including carrying out in order:
Step [1] selects suitable video camera: sets fibre diameter as D, has N circle light in image
Fibre, the length in pixels that every circle is corresponding is Di, in order to reach the demand of certainty of measurement, every circle light
Fine corresponding pixel count should at least 10 pixels, therefore the size of video camera shooting image exists
At least above 10*N on transverse axis, and reserve 20% surplus, facilitate video camera to adjust；
The making of step [2] demarcating module: make ladder shaft type survey mass, it is ensured that survey during installation
Gauge block and the fiber optic loop that will measure are coaxial, and this multidiameter has five ladders, each ladder
There is identical thickness, and adjacent two ladder height differences identical (known stepped radius along with
Shaft position change has monotonicity, and the distance between two steps does not has strict requirements, only needs
Video camera to be facilitated carries out shooting, and so can reduce difficulty of processing), take each ladder
The left and right sides as angle point, in order to carry out Corner Detection, can be by real between two angle points
Length in pixels shared in border physical size and image, asks for horizontal equivalence factor matrix,
Picture shared by the actual physical size difference of the radius of the same side angle point according to adjacent steps and image
The difference in height of element obtains corresponding longitudinal equivalence factor matrix；
Step [3] calibrating camera: mobile camera is to set up in spatial distribution at difference
Equivalence factor between the geometric distance that pixel value is corresponding, and equivalence factor value is fabricated to equivalent
Factor matrix, thus complete camera calibration；
Step [4] extraction fiber optic loop feature:
A. feature determines: chooses fiber optic loop edge and carries out feature extraction, chooses fiber optic loop profile
The crest of ripple and trough, as characteristic point, conveniently obtain the pixel count that a circle fiber optic loop is corresponding；
B. the image collected is carried out non-linear median Filtering Processing, effectively to get rid of
Picture noise, specific practice is to choose centered by needs are filtered the pixel processed to take length
For the pixel window of odd number L (such as 5pixels), this L grey scale pixel value is ranked up,
Take the intermediate value pixel value as this point；
C. utilize binarization method to carry out image segmentation, carry out background and optical fiber point differentiating
Come；
D. image is carried out searching generation pixel value trip point from top to bottom, carries out region filter
Ripple, determines the edge of fiber optic loop.
E. by solving fiber optic loop boundary curve first derivative equal to zero, second dervative is less than zero
Extract the crest characteristic point in fiber optic loop image；Separately solve boundary curve first derivative and be equal to zero,
The second dervative point more than zero is as the trough characteristic point in optical fiber image.
Step [5] fiber optic loop winding displacement consistency analysis: edge wave spike based on fiber optic loop image
Paddy characteristic point, by solving the difference of pixel horizontal and vertical between characteristic point in step [3]
The camera calibration result i.e. camera model gone out, calculates the fibre diameter of reality, and passes through
Fibre diameter data draw fiber optic loop arrangement concordance quality conclusion, and concrete grammar is as follows:
A. set by video camera Real-time Collection to fiber optic loop image include N number of fiber optic loop, its
In, if the coordinate of i-th crest is (Pui,Pvi)；I-th trough (crest delayed compared with trough 90
Degree phase place the most and then serial number i crest be followed by i-th trough) coordinate be (Vui,Vvi)；
According to the result of camera calibration, if the pixels across between i-th crest and i-th trough is sat
Mark difference is dui=Vui-Pui；According to position under world coordinate system, the present position for video camera, inquiry
The result of camera calibration in step [3], if the position at video camera place is not in table, then
The horizontal equivalence factor s of this position is obtained by the method for linear interpolationi, so that it is determined that i-th
The radius of circle optical fiber is exactly ri=si·dui。
B. the 1st circle radius r to N circle fiber optic loop is solved according to above-mentioned steps1,r2,...,rNCome
Estimate rN+1, concrete grammar is as follows: creates the first in first out radius data that size is M and deposits
Storage queue, when radius data queue is underfilled with time, takes to utilize the fiber optic loop of current coiling
Previous circle fiber optic loop radius rNEstimate rN+1, it is set to gN+1；When radius data queue is filled time,
Seek rNWith r1,r2,...,rN-1Seek the minima of absolute value of the bias, it is assumed here that rNWith riBetween differ
Little, now rN+1Estimated value gN+1For ri+1, the method can utilize optical fiber self to make well
Make the stochastic behaviour of error.Later stage is along with the renewal repeatedly of a large amount of historical datas and accumulation, estimation
Deviation will tend to the least.
C. utilize in above-mentioned steps b the radius data trying to achieve optical fiber, when data queue less than time,
Obtain the maximum inside the radius value tried to achieve and minima；Otherwise by N circle coil half
Footpath data are divided into three groups, and averaging each group of line footpath obtains A1,A2,A3, obtain A1,A2,A3
Maximum and minima are come, and take the maximum and minima tried to achieve in said process as rN+1's
Estimated value gN+1Maximum and minimum threshold；As the r estimatedN+1Time more than maximum threshold,
Take maximum threshold to rN+1Estimated value gN+1Again assignment, now winding displacement will have close the becoming of change
Gesture；As the r estimatedN+1Time less than minimum threshold, take maximum threshold to rN+1Estimation gN+1
Again assignment, now winding displacement becomes, by having, the trend dredged；Otherwise by gN+1Keep constant.
Step [6] is when after complete N+1 circle, around next circle when, and the most former N+1 circle
The radius that radius iteration is N circle coil of coil, obtains N circle by actual measurement
The radius of coil to the estimation of former N+1 circle coil radius the most just may determine that in step [5]
Really, thus to the estimation of coil radius of coiling carrying out dynamic compensation at present；Compensation method
It is that the radius of present N+1 circle coil is deducted former the plus the actual size value of N circle coil
The estimated value of N+1 circle coil, after dynamic compensation, obtains more accurate rN+1Estimated value
gN+1。
Step [7] is solved by step [6] and obtains the diameter of N+1 circle coil and solve and dial line and take turns
Need move distance, it is achieved machine vision auxiliary winding displacement, adjust and dial the line wheel amount of feeding, specifically side
Method is as follows:
If servomotor rotates a circle needs M pulse, corresponding line wheel displacement of dialling is l,
It is 2 g by step [5] is calculated the distance needing movementN+1, motion controller is around
Just need to send the when of N+1 circleIndividual pulse.
Preferably, in step [3], the concrete grammar of calibrating camera is as follows:
1) installation of video camera: fiber optic loop skeleton is arranged on coiling main shaft, regulation shooting
Machine installation site, ensures to be mutually perpendicular between camera light mandrel and coiling main shaft as far as possible；Control
Second servomotor makes video camera move right to can see that on the right side of fiber optic loop skeleton with support
Installation site is advisable, and reads the second servomotor absolute value encoder positional value and initiates as right side
Position；Controlling the 3rd servomotor makes video camera move up with support, until fiber optic loop skeleton
Portion in the picture, upper edge above be advisable, read the 3rd servomotor exhausted angle value encoder position,
As the start position that video camera is longitudinal；
2) installation of demarcating module: remove being arranged on the fiber optic loop skeleton above coiling main shaft,
Replace installing with multidiameter survey mass, it is ensured that the installation site of survey mass is installed at fiber optic loop skeleton
Position on, so carry out demarcating the equivalence factor obtained just and the equivalent that obtains of frame position because of
Son is consistent, can directly use；
3) controlling the second servomotor makes support to the certain length of left movement, records now
Absolute position residing for second servomotor, by ladder on Corner Detection Algorithm computation and measurement block
The location of pixels of corresponding angle point, and whether undergone mutation by corner point left-side images edge coordinate
Reducing and determine whether it is the left side angle point of ladder, the right side edge coordinate being determined by angle point is
No there occurs that sudden change reduces and determine whether it is the right side angle point of ladder；By a ladder left side
Correspondence between difference and the physical size of reality of the pixel value abscissa between the ladder angle point of right side
Relation solve the equivalence factor coefficient of transverse axis；By homonymy (the such as left side of adjacent steps
Or right side) angle point longitudinal difference and the actual physical size of pixel value between relation solve
Go out the equivalence factor coefficient of the longitudinal axis, so far can solve video camera and image under this absolute position
Machine model, repeat the above steps, until video camera is able to observe that the leftward position of bobbin
Terminate, thus obtain the video camera video camera mould that each position horizontal is corresponding in this certain height
Type, for be positioned at this height and not corresponding in the position of fixed point camera model can lead to
The method crossing linear interpolation is determined；
4) when survey mass covers a line in the picture, control the second servomotor and make video camera
Return to horizontal original position, then control the 3rd servomotor and make video camera run up necessarily
Step-length, repeat step 3), detection video camera be in this longitudinal direction highly time difference lateral attitude
Camera model；
5) step 3 is repeated) and step 4), until the image of video camera can photograph
The upper marginal position of fiber optic loop skeleton, camera calibration completes.
Preferably, in step c of step [4] before determining binary-state threshold, statistics gatherer
The grey level histogram of image, solves maximum likelihood probability and carries out automated graphics Threshold segmentation, passes through
After this time image threshold determines, successive image processes and is no need for again solving this threshold value, directly makes
With, save the wasting of resources brought due to dynamic solution threshold value and ensure that environment adapts to
Property.
Preferably, the concrete operations of step d of step [4] are:
1) from the middle column (such as image 2048 arranges, then just select 1024 row) of image
Starting, (image border there will be pixel value to find binary image pixel jump point from top to bottom
Saltus step), find rear labelling to get off, detect certain pixel coverage below this labelling point interior (such as 3
Individual pixels) pixel value the most identical, identical, accepting this point is marginal point, otherwise picks
Except this labelling point, continue to find downwards；
2) this image middle column adjacent left-hand first row and adjacent right side first row are found (such as
Middle column is 1024 row, then adjacent left-hand first row is 1023 row, adjacent right side first row
1025 row) image binaryzation pixel jump point, method is as follows: utilize 1) in find
The vertical coordinate of the trip point arrived is as initial value, at adjacent left-hand first row and adjacent right side first
The vertical coordinate position of column border searches for binary image pixel value trip point up and down, finds
After carry out region filtering, record after finding marginal point, if 1) in do not find centre
Row trip point is then according to 1) in find marginal point method carry out find marginal point；
3) according to 2) in method utilizing adjacent left-hand first row and the adjacent right side in the middle of image
The vertical coordinate of the binary image trip point of side first row, as finding the adjacent left side of image middle column
The starting point at the binary image edge of side secondary series and adjacent right side secondary series, finds saltus step
Point, and carry out region filtering, when finding marginal point, record；The like, solve
Whole image respectively arranges the binary image pixel value trip point of correspondence, thus has just tried to achieve whole figure
The fiber optic loop edge of picture.
The positive effect of the present invention: present invention achieves the closed loop control during optical fiber winding displacement,
Not only ensure the uniform of optical fiber arrangement, it is also possible to mend dynamically according to the change in optical fiber cable footpath
Repay the amount of feeding dialling line wheel, solve traditional fiber coil winding machine and cannot be automatically adjusted group line amount of feeding
Defect, adds real-time vision feedback, and adjust optical fiber coil winding machine dials the line wheel amount of feeding, so that
Fiber optic loop coiling has more preferable concordance.
Accompanying drawing explanation
Fig. 1 is the structural representation of vision sub controlling unit of the present invention；
Fig. 2 is the structural representation of multidiameter survey mass of the present invention；
Fig. 3 is the fiber optic loop image schematic diagram that video camera photographs.
Detailed description of the invention
Below in conjunction with the accompanying drawings to a preferred embodiment of the present invention will be described in detail.
Seeing figures.1.and.2, the preferred embodiment of the present invention provides a kind of optical fiber coil winding machine winding displacement one
The vision sub controlling unit of cause property, including support 9, frame and support crossbeam 1, also includes
The gear housing 7 moved left and right being arranged on support 9, gear housing 7 is provided with coiling
Main shaft 6, coiling main shaft 6 can moving and move left and right with gear housing 7, and it passes through tooth
The first servomotor in wheel casing 7 drives decelerator to produce rotary motion and carry out take-up；Institute
State support crossbeam 1 and be provided with the support 4 that can move left and right and move up and down, fixing on support 4
Be provided with geo-stationary dials line wheel 5 and video camera 8, at the lens location of described video camera 8
In the dead ahead dialling line wheel 5.
Described gear housing 7 is arranged on support by its first internal servomotor edge
Slide rail moves left and right.Described support 4 is by being arranged on the second servomotor 2 supported on crossbeam
Realization moves left and right, and realizes moving up and down by the 3rd servomotor 3.
As in figure 2 it is shown, present invention additionally comprises a multidiameter survey mass, described multidiameter survey mass
On be provided with five circumference ladders, the thickness of each circumference ladder is identical, and circumference from left to right
The height of ladder constantly increases, and the difference in height of adjacent circumferential ladder is identical.
As it is shown in figure 1, along with coiling is carried out, the second servomotor 2 rotates, drive support 4
Side-to-side movement, thus dial line wheel 5 and also move left and right.Whenever coil winding machine is around a circle fiber optic loop, dial
The mobile certain amount of feeding of line wheel, makes to dial line wheel side and withstands fiber optic loop end, thus reach light
Fine arrangement is consistent, and density is proper.Optical fiber arrangement concordance based on image auxiliary in this paper
Method is exactly the control problem solving to dial the line wheel amount of feeding.Meanwhile, it is around to roll when light
The when of the end face of skeleton, the 3rd servomotor 3 rotates, and drives synchronous pulley to make on support 4
Lower motion, moves up and down so that dialling line wheel 5.Fiber optic loop skeleton is arranged on coiling main shaft 6
Face, coiling main shaft 6 can move left and right along with moving of casing 7, and it passes through gear-box
Servomotor in body 7 drives decelerator to produce rotary motion and carry out take-up.Video camera 8 exists
Optical fiber arrangement situation is gathered during coiling.
The present embodiment also provides for a kind of optical fiber coil winding machine winding displacement conforming vision assist control side
Method, comprises the steps:
Step one: in order to be extracted by the geometric parameter of image, video camera is carried out parameter calibration
It it is a necessary and important step.The present embodiment have employed the most easily operated a kind of demarcation side
Method, measures gauge block corresponding pixel value in the picture by subregion, is converted into each picture
The geometrical length that element is corresponding is demarcated.Detailed step is as follows:
1. select suitable video camera.If fibre diameter is D (being set to 0.17mm here).?
Having N circle optical fiber in image, the length in pixels that every circle is corresponding is Di, in order to reach certainty of measurement
Demand, pixel count corresponding to every circle optical fiber should at least 10 pixels, 1 pixel is corresponding
Geometric distance is less than 0.017mm.Therefore video camera shooting image size on transverse axis at least
More than 10*N, and reserve 20% surplus, facilitate video camera to adjust.Observe diameter for convenience
Less optical fiber, it is considered to cost, can be suitable choose has the camera lens of amplification and is acquired.
2. the making of demarcating module.In order to ensure that survey mass is easily installed, survey mass is wanted and will
Carrying out fiber optic loop to be measured coaxial, designed multidiameter ensures that corner point axial spacing precision exists
The precision of 10 microns.Such as Fig. 2, this axle has five ladders, and each ladder has identical
Thickness L, and adjacent two ladders difference radiuses difference be all H (known stepped radius along with
Shaft position change has monotonicity, and the distance between two steps does not has strict requirements, only needs
Video camera to be facilitated carries out shooting, and so can reduce difficulty of processing), take each ladder
The left and right sides as angle point, carry out Corner Detection.By actual physics chi between two angle points
Length in pixels shared in very little L and image, asks for horizontal equivalence factor matrix, according to phase
Pixel shared by actual physical size difference H of the radius of the same side angle point of adjacent ladder and image
Difference in height obtains corresponding longitudinal equivalence factor matrix.The method is indifferent to the shaft shoulder portion of multidiameter
Divide difficulty of processing, it is to avoid select lathe to be difficult to ensure that the shaft shoulder of precision, as characteristic point, reduces into
This.
3., due to the reason such as distortion of camera and error in mounting position, need video camera is entered
Rower is fixed.Traditional cameras scaling method has a Zhang Zhengyou standardizition, two-step method etc., but due to
Native system needs to detect size on circular shaft, and gridiron pattern is not easy to install.The present invention takes to utilize machine
In tool structure, video camera and the geo-stationary of group line wheel, possess movement characteristic up and down, mobile
Video camera just can be set up between the geometric distance that in spatial distribution, at difference, pixel value is corresponding
Equivalence factor, equivalence factor value is fabricated to equivalence factor matrix, thus completes video camera mark
Fixed.The method is the most easily operated and need not be strict with video camera photocentre in motor process
Vertical with fiber optic loop skeleton, concrete grammar is as follows:
1) installation of video camera.Fiber optic loop coiling skeleton is arranged on coiling main shaft, regulation
Camera installation locations, ensures to be mutually perpendicular between camera light mandrel and coiling main shaft as far as possible.
Rotating the second servomotor makes video camera move right to can see that peace on the right side of fiber optic loop skeleton
Holding position is advisable, and reads servomotor absolute value encoder positional value as right side original position；
Rotating the 3rd servomotor makes video camera move up, until the upper edge of fiber optic loop skeleton is at image
It is advisable above Zhong Bu, reads servomotor exhausted angle value encoder position, as video camera longitudinal direction
Start position.The when that the method for this selection original position considering actual winding optical fiber ring,
Original position is right side, it is ensured that after having demarcated, it is possible to uses the result demarcated, prevents nothing
Criterion fixed output quota is raw；In like manner, longitudinal original position identical consideration the most customized.
2) installation of demarcating module.When demarcating module is installed, will be arranged on coiling main shaft 6
The skeleton in face removes, and replace installation is multidiameter survey mass, it is ensured that the installation site of survey mass
On the position that skeleton is installed, so carry out demarcating the equivalence factor obtained and just obtain with frame position
The equivalence factor arrived is consistent, can directly use.
3) control the second servomotor to the certain length of left movement, record now servo electricity
Absolute position residing for machine.The pixel position of ladder correspondence angle point is calculated by Corner Detection Algorithm
Put, and by corner point left-side images edge coordinate whether undergo mutation reduction and determine whether be
The left side angle point of step, the right side edge coordinate being determined by angle point is whether to there occurs that sudden change subtracts
Little determining whether is the right side angle point of ladder.By calculating a ladder left and right sides step angle
Relation corresponding between difference and the physical size of reality of the pixel value abscissa between point solves
Go out the equivalence factor coefficient (such as 12pixels/0.1mm) of transverse axis；By solving adjacent steps
The longitudinal difference of pixel value of angle point of homonymy (such as left side or right side) and actual physics chi
Relation between very little solves the equivalence factor coefficient (such as 12pixels/0.1mm) of the longitudinal axis.
Video camera camera model under this absolute position just can be solved by this step.Repeat this step
Suddenly, until video camera is able to observe that the leftward position of bobbin terminates, to taking the photograph
The camera camera model that each position horizontal is corresponding in this certain height, for being positioned at this height
Degree and not corresponding in the position of above-mentioned fixed point camera model can pass through linear interpolation
Method be determined.
4) when survey mass covers a line in the picture, control the second servomotor and make video camera
Return to horizontal original position, then control the 3rd servomotor and make video camera run up necessarily
Step-length.Repeat this step 3) in detection video camera be in different horizontal positions during this longitudinal direction height
The camera model put.This step 3 is repeated) and 4), until the image of video camera is permissible
Photographing the upper marginal position of optical fiber bobbin, camera calibration just completes.The method letter
Single the most easy, and take into account brought by features such as linearity errors during camera motion error, be not required to
Photocentre and the coiling main shaft of wanting video camera are mutually perpendicular to.
Step 2: this step completes to extract fiber optic loop feature, and the extraction of fiber optic loop feature is related to
The measurement of follow-up optical fiber ring size, is key one step of the present invention.Step is as follows:
1. feature determines: investigate the feature such as Fig. 3 of the fiber optic loop image photographed to video camera
Shown in, it is wound between the fiber optic loop on skeleton and background with distinct contrast, we choose fiber optic loop limit
Edge carries out feature extraction, chooses the crest of fiber optic loop profile ripple and trough as characteristic point, side
Just the pixel count that a circle fiber optic loop is corresponding is obtained.Carrying out with subsequent step, it was demonstrated that this feature point
Fiber optic loop diameter can be extracted easily and effectively.
2. pair image collected carries out non-linear median Filtering Processing, and the method can be effective
Get rid of picture noise, and due to actual coiling during, about coiling 60 per minute
About circle, the calculating time that median filtering algorithm is consumed is less, meets time requirement.Specifically
Way is to choose centered by needs are filtered the pixel processed to take a length of odd number L (such as
Pixel window 5pixels), is ranked up this L grey scale pixel value, takes intermediate value as this
The pixel value of point.
3. this method takes binarization method to carry out image segmentation, and background and optical fiber are carried out subregion
Do not come.Before determining binary-state threshold, the grey level histogram of the image of statistics gatherer, see
Examine Fig. 3 and can be seen that pixel value should become the state of polarization, solve maximum likelihood probability and enter
Row automated graphics Threshold segmentation.After this image threshold determines, successive image processes with regard to nothing
Need to again solve this threshold value, directly use, save owing to dynamic solution threshold value is brought
The wasting of resources and ensure that environmental suitability.
4. pair image carries out searching generation pixel value trip point from top to bottom, carries out region filter
Ripple, determines the edge of fiber optic loop.Specific practice is as follows:
1) open from the middle column (such as image 2048 arranges, then just select 1024 row) of image
Beginning, (image border there will be pixel value and jumps to find binary image pixel jump point from top to bottom
Become), find rear labelling to get off.Owing to image has noise, that therefore gets off labelling clicks on
Row region filters, thus judges that this point marks whether effectively.Concrete grammar is: detect this labelling
Below Dian, the pixel value of (such as 3 pixels) is the most identical in certain pixel coverage, identical then
Accepting this point is marginal point, otherwise rejects this labelling point, continues to find downwards.
2) this image middle column adjacent left-hand first row and adjacent right side first row are found (in such as
Between row be 1024 row, then adjacent left-hand first row is 1023 row, and adjacent right side first row is
1025 row) image binaryzation pixel jump point, method is as follows: utilize 1) in search out
The vertical coordinate of trip point is as initial value, on adjacent left-hand first row and adjacent right side first row limit
The vertical coordinate position of edge searches for binary image pixel value trip point up and down, finds laggard
Row region filters.Record after finding marginal point.If not finding middle column to jump in 1)
Height is then according to 1) in find marginal point method carry out find marginal point.
3) according to 2) in method utilizing adjacent left-hand first row and adjacent right side in the middle of image
The vertical coordinate of the binary image trip point of first row, as finding image middle column adjacent left-hand
The starting point at the binary image edge of secondary series and adjacent right side secondary series, finds trip point,
And carry out region filtering.When finding marginal point, record.The like, solve complete
Individual image respectively arranges the binary image pixel value trip point of correspondence, thus has just tried to achieve whole image
Edge.
Further, it is contemplated that fiber optic loop edge contour has fiber optic loop in seriality and Fig. 3
Feature, by solving fiber optic loop boundary curve first derivative equal to zero, second dervative is less than zero
Extract the crest characteristic point in fiber optic loop image；Separately solve boundary curve first derivative and be equal to zero,
The second dervative point more than zero is as the trough characteristic point in optical fiber image.
Step 3: fiber optic loop winding displacement consistency analysis.This step edge based on fiber optic loop image
Wave crest and wave trough characteristic point, by by the difference of horizontal and vertical for pixel between characteristic point pixel and step
The camera calibration result i.e. camera model solved in two, the optical fiber calculating reality is straight
Footpath, and draw fiber optic loop arrangement concordance quality conclusion, concrete grammar by fibre diameter data
As follows:
1. set by video camera Real-time Collection to fiber optic loop image include N number of fiber optic loop, its
In, if the coordinate of i-th crest is (Pui,Pvi)；I-th trough (crest delayed compared with trough 90
Degree phase place the most and then serial number i crest be followed by i-th trough) coordinate be (Vui,Vvi)；
According to the result of camera calibration, if the pixels across between i-th crest and i-th trough is sat
Mark difference is dui=Vui-Pui；According to position under world coordinate system, the present position for video camera, inquiry step
The result of camera calibration in rapid one, if the position at video camera place is not in table, then pass through
The method of linear interpolation obtains the horizontal equivalence factor s of this positioni, thus the i-th circle optical fiber
Radius is exactly ri=si·dui。
2. (the most anti-camcorder does not gathers N's to N circle to solve the 1st circle according to upper step
Maximum is 120) the radius r of fiber optic loop1,r2,...,rNEstimate rN+1.Concrete grammar is as follows: wound
The first in first out radius data storage team building that size is M (might as well set M here as 150)
Row.When radius data queue is underfilled with time, take to utilize fiber optic loop previous of current coiling
Circle fiber optic loop radius rNEstimate rN+1, it is set to gN+1；When radius data queue is filled time, seek rN
With r1,r2,...,rN-1Seek the minima of absolute value of the bias, it is assumed here that rNWith riBetween difference minimum,
The most just set rN+1Estimated value gN+1For ri+1, the method can utilize optical fiber self to make well
Make the stochastic behaviour of error, if but the later stage along with the renewal repeatedly of a large amount of historical datas is with long-pending
Tired, calculating error will tend to the least.
3. utilize in above-mentioned steps 2 to try to achieve the radius data of optical fiber, when data queue less than time,
Obtain the maximum inside the radius value tried to achieve and minima；Otherwise by N circle coil half
Footpath data are divided into three groups, and averaging each group of line footpath obtains A1,A2,A3, obtain A1,A2,A3
Maximum and minima are come.Make the maximum tried to achieve in said process and minima as rN+1's
Estimated value gN+1Maximum and minimum threshold.As the r estimatedN+1Time more than maximum threshold,
Take maximum threshold to rN+1Estimated value gN+1Again assignment, now winding displacement will have close the becoming of change
Gesture；As the r estimatedN+1Time less than minimum threshold, take maximum threshold to rN+1Estimation gN+1
Again assignment, now winding displacement becomes, by having, the trend dredged；Otherwise by gN+1Keep constant.
Step 4: when around complete N+1 circle when, around next circle when, the most former N+1
The radius that radius iteration is N circle coil of circle coil.N is obtained by actual measurement
To the estimation of former N+1 circle coil radius whether the radius of circle coil may determine that in step 3
Correctly, thus to the estimation of coil radius of coiling carrying out dynamic compensation at present.Compensation side
Method is that the radius of present N+1 circle coil being added, the actual size value of N circle coil deducts former
The estimated value of N+1 circle coil.After dynamic compensation, obtain more accurate rN+1Estimate
Value gN+1。
Step 5: this step is solved by step 4 and obtains the diameter of N+1 circle coil and solve
Dial line wheel and need move distance, it is achieved machine vision auxiliary winding displacement, adjust and dial the line wheel amount of feeding,
Concrete grammar is as follows:
If servomotor rotates a circle needs M pulse, the line wheel displacement of dialling of correspondence is
l.Present is 2 g by being calculated the distance needing to walk about in step 3N+1.Motion controller
Just need to send around N+1 circle whenIndividual pulse.
Present invention achieves the closed loop control during optical fiber winding displacement, not only ensure optical fiber arrangement
Uniformly, it is also possible to compensate the amount of feeding dialling line wheel dynamically according to the change in optical fiber cable footpath,
Solve traditional fiber coil winding machine and cannot be automatically adjusted group line amount of feeding defect, add real-time vision
Feedback, adjust optical fiber coil winding machine dials the line wheel amount of feeding, so that fiber optic loop coiling has more preferably
Concordance.
Above-described only the preferred embodiments of the present invention, be it should be understood that above enforcement
The explanation of example is only intended to help to understand method and the core concept thereof of the present invention, is not used to limit
Determining protection scope of the present invention, that is done within all thought in the present invention and principle any repaiies
Change, equivalent etc., should be included within the scope of the present invention.
Claims (8)
1. an optical fiber coil winding machine winding displacement conforming vision sub controlling unit, including support,
Frame and support crossbeam, it is characterised in that: also include being arranged on support moves left and right
Gear housing, gear housing is provided with coiling main shaft, and coiling main shaft can be with the movement of gear housing
And move left and right, and it drives decelerator to produce by the first servomotor in gear housing
Rotary motion carries out take-up；Described support crossbeam be provided with can move left and right and move up and down
Frame, what support was fixedly installed geo-stationary dials line wheel and video camera, the mirror of described video camera
Head position is in the dead ahead dialling line wheel.
A kind of optical fiber conforming vision of coil winding machine winding displacement the most according to claim 1 is auxiliary
Help control device, it is characterised in that: described gear housing is by its first internal servomotor
Move left and right along the slide rail being arranged on support.
A kind of optical fiber conforming vision of coil winding machine winding displacement the most according to claim 1 is auxiliary
Help control device, it is characterised in that: also including a multidiameter survey mass, described multidiameter is measured
Being provided with five circumference ladders on block, the thickness of each circumference ladder is identical, and justifies from left to right
The height of all ladders constantly increases, and the difference in height of adjacent circumferential ladder is identical.
A kind of optical fiber conforming vision of coil winding machine winding displacement the most according to claim 1 is auxiliary
Help control device, it is characterised in that: described support is watched by being arranged on second supported on crossbeam
Take motor to realize moving left and right, realize moving up and down by the 3rd servomotor.
5. an optical fiber coil winding machine winding displacement conforming vision auxiliary control method, its feature exists
In, the following steps including carrying out in order:
Step [1] selects suitable video camera: sets fibre diameter as D, has N circle light in image
Fibre, the length in pixels that every circle is corresponding is Di, in order to reach the demand of certainty of measurement, every circle light
Fine corresponding pixel count should at least 10 pixels, therefore the size of video camera shooting image exists
At least above 10*N on transverse axis, and reserve 20% surplus, facilitate video camera to adjust；
The making of step [2] demarcating module: make ladder shaft type survey mass, it is ensured that survey during installation
Gauge block and the fiber optic loop that will measure are coaxial, and this multidiameter has five ladders, each ladder
There is identical thickness, and adjacent two ladder height differences are identical, take the left and right of each ladder
Both sides are as angle point, in order to carry out Corner Detection, can be by actual physics between two angle points
Length in pixels shared in size and image, asks for horizontal equivalence factor matrix, according to phase
The height of pixel shared by the actual physical size difference of the radius of the same side angle point of adjacent ladder and image
Degree difference obtains corresponding longitudinal equivalence factor matrix；
Step [3] calibrating camera: mobile camera is to set up in spatial distribution at difference
Equivalence factor between the geometric distance that pixel value is corresponding, and equivalence factor value is fabricated to equivalent
Factor matrix, thus complete camera calibration；
Step [4] extraction fiber optic loop feature:
A. feature determines: chooses fiber optic loop edge and carries out feature extraction, chooses fiber optic loop profile
The crest of ripple and trough, as characteristic point, conveniently obtain the pixel count that a circle fiber optic loop is corresponding；
B. the image collected is carried out non-linear median Filtering Processing, effectively to get rid of
Picture noise, specific practice is to choose centered by needs are filtered the pixel processed to take length
For the pixel window of odd number L (such as 5pixels), this L grey scale pixel value is ranked up,
Take the intermediate value pixel value as this point；
C. utilize binarization method to carry out image segmentation, carry out background and optical fiber point differentiating
Come；
D. image is carried out searching generation pixel value trip point from top to bottom, carries out region filter
Ripple, determines the edge of fiber optic loop.
E. by solving fiber optic loop boundary curve first derivative equal to zero, second dervative is less than zero
Extract the crest characteristic point in fiber optic loop image；Separately solve boundary curve first derivative and be equal to zero,
The second dervative point more than zero is as the trough characteristic point in optical fiber image.
Step [5] fiber optic loop winding displacement consistency analysis: edge wave spike based on fiber optic loop image
Paddy characteristic point, by solving the difference of pixel horizontal and vertical between characteristic point in step [3]
The camera calibration result i.e. camera model gone out, calculates the fibre diameter of reality, and passes through
Fibre diameter data draw fiber optic loop arrangement concordance quality conclusion, and concrete grammar is as follows:
A. set by video camera Real-time Collection to fiber optic loop image include N number of fiber optic loop, its
In, if the coordinate of i-th crest is (Pui,Pvi)；I-th trough (crest delayed compared with trough 90
Degree phase place the most and then serial number i crest be followed by i-th trough) coordinate be (Vui,Vvi)；
According to the result of camera calibration, if the pixels across between i-th crest and i-th trough is sat
Mark difference is dui=Vui-Pui；According to position under world coordinate system, the present position for video camera, inquiry
The result of camera calibration in step [3], if the position at video camera place is not in table, then
The horizontal equivalence factor s of this position is obtained by the method for linear interpolationi, so that it is determined that i-th
The radius of circle optical fiber is exactly ri=si·dui。
B. the 1st circle radius r to N circle fiber optic loop is solved according to above-mentioned steps1,r2,...,rNCome
Estimate rN+1, concrete grammar is as follows: creates the first in first out radius data that size is M and deposits
Storage queue, when radius data queue is underfilled with time, takes to utilize the fiber optic loop of current coiling
Previous circle fiber optic loop radius rNEstimate rN+1, it is set to gN+1；When radius data queue is filled time,
Seek rNWith r1,r2,…,rN-1Seek the minima of absolute value of the bias, it is assumed here that rNWith riBetween differ
Little, now rN+1Estimated value gN+1For ri+1, the method can utilize optical fiber self to make well
Making the stochastic behaviour of error, the later stage is along with the renewal repeatedly of a large amount of historical datas and accumulation, estimation
Deviation will tend to the least.
C. utilize in above-mentioned steps b the radius data trying to achieve optical fiber, when data queue less than time,
Obtain the maximum inside the radius value tried to achieve and minima；Otherwise by N circle coil half
Footpath data are divided into three groups, and averaging each group of line footpath obtains A1,A2,A3, obtain A1,A2,A3
Maximum and minima are come, and take the maximum and minima tried to achieve in said process as rN+1's
Estimated value gN+1Maximum and minimum threshold；As the r estimatedN+1Time more than maximum threshold,
Take maximum threshold to rN+1Estimated value gN+1Again assignment, now winding displacement will have close the becoming of change
Gesture；As the r estimatedN+1Time less than minimum threshold, take maximum threshold to rN+1Estimation gN+1
Again assignment, now winding displacement becomes, by having, the trend dredged；Otherwise by gN+1Keep constant.
Step [6] is when after complete N+1 circle, around next circle when, and the most former N+1 circle
The radius that radius iteration is N circle coil of coil, obtains N circle by actual measurement
The radius of coil to the estimation of former N+1 circle coil radius the most just may determine that in step [5]
Really, thus to the estimation of coil radius of coiling carrying out dynamic compensation at present；Compensation method
It is that the radius of present N+1 circle coil is deducted former the plus the actual size value of N circle coil
The estimated value of N+1 circle coil, after dynamic compensation, obtains more accurate rN+1Estimated value
gN+1。
Step [7] is solved by step [6] and obtains the diameter of N+1 circle coil and solve and dial line and take turns
Need move distance, it is achieved machine vision auxiliary winding displacement, adjust and dial the line wheel amount of feeding, specifically side
Method is as follows:
If servomotor rotates a circle needs M pulse, corresponding line wheel displacement of dialling is l,
It is 2 g by step [5] is calculated the distance needing movementN+1, motion controller is around
Just need to send the when of N+1 circleIndividual pulse.
A kind of optical fiber conforming vision of coil winding machine winding displacement the most according to claim 5 is auxiliary
Help control method, it is characterised in that: in step [3], the concrete grammar of calibrating camera is as follows:
1) installation of video camera: fiber optic loop skeleton is arranged on coiling main shaft, regulation shooting
Machine installation site, it is ensured that be mutually perpendicular between camera light mandrel and coiling main shaft；Control second
Servomotor makes video camera move right to can see that installation on the right side of fiber optic loop skeleton with support
Being advisable in position, reads the second servomotor absolute value encoder positional value as right side start bit
Put；Controlling the 3rd servomotor makes video camera move up with support, until fiber optic loop skeleton
Being advisable above portion in the picture in upper edge, reads the 3rd servomotor exhausted angle value encoder position, makees
For the start position that video camera is longitudinal；
2) installation of demarcating module: remove being arranged on the fiber optic loop skeleton above coiling main shaft,
Replace installing with multidiameter survey mass, it is ensured that the installation site of survey mass is installed at fiber optic loop skeleton
Position on, so carry out demarcating the equivalence factor obtained just and the equivalent that obtains of frame position because of
Son is consistent, can directly use；
3) controlling the second servomotor makes support to the certain length of left movement, records now
Absolute position residing for second servomotor, by ladder on Corner Detection Algorithm computation and measurement block
The location of pixels of corresponding angle point, and whether undergone mutation by corner point left-side images edge coordinate
Reducing and determine whether it is the left side angle point of ladder, the right side edge coordinate being determined by angle point is
No there occurs that sudden change reduces and determine whether it is the right side angle point of ladder；By a ladder left side
Correspondence between difference and the physical size of reality of the pixel value abscissa between the ladder angle point of right side
Relation solve the equivalence factor coefficient of transverse axis；By homonymy (the such as left side of adjacent steps
Or right side) angle point longitudinal difference and the actual physical size of pixel value between relation solve
Go out the equivalence factor coefficient of the longitudinal axis, so far can solve video camera and image under this absolute position
Machine model, repeat the above steps, until video camera is able to observe that the leftward position of bobbin
Terminate, thus obtain the video camera video camera mould that each position horizontal is corresponding in this certain height
Type, for be positioned at this height and not corresponding in the position of fixed point camera model can lead to
The method crossing linear interpolation is determined；
4) when survey mass covers a line in the picture, control the second servomotor and make video camera
Return to horizontal original position, then control the 3rd servomotor and make video camera run up necessarily
Step-length, repeat step 3), detection video camera be in this longitudinal direction highly time difference lateral attitude
Camera model；
5) step 3 is repeated) and step 4), until the image of video camera can photograph
The upper marginal position of fiber optic loop skeleton, camera calibration completes.
A kind of optical fiber conforming vision of coil winding machine winding displacement the most according to claim 5 is auxiliary
Help control method, it is characterised in that: in step c of step [4] before determining binary-state threshold,
The grey level histogram of the image of statistics gatherer, solves maximum likelihood probability and carries out automated graphics threshold value
Segmentation, after this image threshold determines, successive image processes and is no need for again solving this threshold
Value, directly uses, has saved the wasting of resources and guarantee brought due to dynamic solution threshold value
Environmental suitability.
A kind of optical fiber conforming vision of coil winding machine winding displacement the most according to claim 5 is auxiliary
Help control method, it is characterised in that: the concrete operations of step d of step [4] are:
1) from the middle column (such as image 2048 arranges, then just select 1024 row) of image
Starting, (image border there will be pixel value to find binary image pixel jump point from top to bottom
Saltus step), find rear labelling to get off, detect certain pixel coverage below this labelling point interior (such as 3
Individual pixels) pixel value the most identical, identical, accepting this point is marginal point, otherwise picks
Except this labelling point, continue to find downwards；
2) this image middle column adjacent left-hand first row and adjacent right side first row are found (such as
Middle column is 1024 row, then adjacent left-hand first row is 1023 row, adjacent right side first row
1025 row) image binaryzation pixel jump point, method is as follows: utilize 1) in find
The vertical coordinate of the trip point arrived is as initial value, at adjacent left-hand first row and adjacent right side first
The vertical coordinate position of column border searches for binary image pixel value trip point up and down, finds
After carry out region filtering, record after finding marginal point, if 1) in do not find centre
Row trip point is then according to 1) in find marginal point method carry out find marginal point；
3) according to 2) in method utilizing adjacent left-hand first row and the adjacent right side in the middle of image
The vertical coordinate of the binary image trip point of side first row, as finding the adjacent left side of image middle column
The starting point at the binary image edge of side secondary series and adjacent right side secondary series, finds saltus step
Point, and carry out region filtering, when finding marginal point, record；The like, solve
Whole image respectively arranges the binary image pixel value trip point of correspondence, thus has just tried to achieve whole figure
The fiber optic loop edge of picture.
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| CN116110711B (en) * | 2023-02-14 | 2023-09-19 | 重庆市敏城电子有限公司 | Network transformer coil alternating winding equipment |
| CN116912201A (en) * | 2023-07-13 | 2023-10-20 | 上海频准激光科技有限公司 | Optical fiber fusion quality prediction system |
| CN116912201B (en) * | 2023-07-13 | 2024-03-08 | 上海频准激光科技有限公司 | Optical fiber fusion quality prediction system |
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