CN105841716B - A kind of the vision auxiliary control method and device of optical fiber coil winding machine winding displacement consistency - Google Patents
A kind of the vision auxiliary control method and device of optical fiber coil winding machine winding displacement consistency Download PDFInfo
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- CN105841716B CN105841716B CN201610328039.5A CN201610328039A CN105841716B CN 105841716 B CN105841716 B CN 105841716B CN 201610328039 A CN201610328039 A CN 201610328039A CN 105841716 B CN105841716 B CN 105841716B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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 present invention provides a kind of vision sub-controlling units of optical fiber coil winding machine winding displacement consistency, including base, rack and support beam, it further include the gear housing moved left and right being arranged on base, gear housing is equipped with coiling main shaft, coiling main shaft can be moved left and right with moving for gear housing, and it drives retarder to generate rotary motion progress take-up by the intracorporal first servo motor of gear-box；The support beam is equipped with the bracket that can be moved left and right and move up and down, and opposing stationary group line wheel and video camera are fixedly installed on bracket, and the lens location of the video camera is in the front for dialling line wheel.The present invention also provides a kind of vision auxiliary control methods of optical fiber coil winding machine winding displacement consistency.The present invention solves traditional fiber coil winding machine and is unable to adjust automatically group line amount of feeding defect, and real-time vision feedback is added, and adjustment optical fiber coil winding machine dials the line wheel amount of feeding, to make fiber optic loop coiling with better consistency.
Description
Technical field
The present invention relates to optical fiber winding technique field, the vision of especially a kind of optical fiber coil winding machine winding displacement consistency assists control
Method and device processed.
Background technique
Optical fibre gyro is mainly used for measuring the spatial movement posture of sensitive carrier, plays to the performance performance of navigation system non-
The effect of Chang Guanjian.Fiber optic loop in fibre optic gyroscope is phase between two-way propagation light wave caused by for measuring input angular velocity
The important component of potential difference is one of core component of optical fibre gyro.The canoe of fiber optic loop, optical fiber arrangement whether
Even, whether stress, which is evenly distributed, determines the precision of fiber optic loop.
Currently, both at home and abroad to the winding method of fiber optic loop mainly around servo-control system carry out accurate position control with
And speed control carries out, the precision of coiling of the optical fiber on axis is how, the full control accuracy guarantee for relying on servo-system.
With the development of machine vision technique, machine vision gradually replaces fine measuring instrument to carry out precise measurement.Currently, using
Machine vision technique above to optical fiber coil winding machine primarily serves offline or on-line fault diagnosis effect, and for light around
The scene of line precision, which corrects but to rarely have, to be related to.At present in optical fiber winding process, since the variation of optical fiber line footpath leads to SERVO CONTROL system
The error accumulation of system, and the amount of feeding of optical fiber coil winding machine main shaft can not be adjusted, the extruding between optical fiber is caused, even meeting when serious
There is folded silk phenomenon, so as to cause coiling failure.It is proposed by the present invention to improve light using machine vision auxiliary servo control system
The method and apparatus of fine winding displacement consistency seek to realize the closed-loop control during optical fiber winding displacement, guarantee the equal of optical fiber arrangement
It is even, the amount of feeding that line wheel is dialled in dynamic compensation is carried out according to the variation of optical fiber line footpath, has filled up the blank in the field.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of vision of optical fiber coil winding machine winding displacement consistency auxiliary
Control device and method, realizes the closed-loop control during optical fiber winding displacement, not only ensure that the uniform of optical fiber arrangement, can be with
The amount of feeding that line wheel is dialled in dynamic compensation is carried out according to the variation of optical fiber line footpath.
An object of the present invention is to solve traditional fiber coil winding machine to be unable to adjust automatically the defect for dialling the line amount of feeding, is added
Real-time vision feedback, adjustment optical fiber coil winding machine dials the line wheel amount of feeding, so that fiber optic loop coiling be made to have better consistency.
It is another object of the present invention to change Conventional visual monitoring scheme, propose that a kind of utilization machine vision improves fiber optic loop
The method of coiling consistency.
The technical solution adopted by the present invention to solve the technical problems is：
Present invention firstly provides a kind of vision sub-controlling units of optical fiber coil winding machine winding displacement consistency, including base, machine
Frame and support beam further include the gear housing moved left and right being arranged on base, and gear housing is equipped with coiling main shaft,
Coiling main shaft can be moved left and right with moving for gear housing, and it is driven by the intracorporal first servo motor of gear-box and is slowed down
Device and generate rotary motion carry out take-up；The support beam is equipped with the bracket that can move left and right and move up and down, on bracket
It is fixedly installed opposing stationary group line wheel and video camera, the lens location of the video camera is in the front for dialling line wheel.
Preferably, the gear housing is moved by its internal first servo motor along sliding rail being arranged on base or so
It is dynamic.
It preferably, further include a multi-diameter shaft measuring block, there are five circumference ladders for setting on the multi-diameter shaft measuring block, each
The thickness of circumference ladder is identical, and the height of circumference ladder constantly increases from left to right, and the difference in height phase of adjacent circumferential ladder
Together.
Preferably, the bracket is moved left and right by the realization of the second servo motor for being arranged in support beam, by the
The realization of three servo motors moves up and down.
The present invention also provides a kind of vision auxiliary control methods of optical fiber coil winding machine winding displacement consistency, including carry out in order
Following steps：
Step [1] selects suitable video camera：If fibre diameter is D, there is N circle optical fiber in image, the corresponding pixel of every circle
Length is Di, in order to reach the demand of measurement accuracy, the corresponding pixel number of every circle optical fiber should at least ten pixel, therefore image
Machine shoots the size of image on transverse axis at least more than 10*N, and reserves 20% surplus, and video camera is facilitated to adjust；
The production of step [2] demarcating module：Ladder shaft type measuring block is made, guarantee measuring block when installation and will be measured
Fiber optic loop is coaxial, and there are five ladder, each ladder thickness having the same, and two adjacent ladder heights for multi-diameter shaft tool
Difference it is identical (known stepped radius with shaft position variation have monotonicity, the distance between two steps do not have strict requirements,
Only need that video camera is facilitated to be shot, difficulty of processing can be reduced in this way), take the left and right sides of each ladder as angle
Point can be come to carry out Corner Detection by length in pixels shared in actual physical size between two angle points and image
Lateral equivalence factor matrix is sought, according to the actual physical size difference of the radius of the same side angle point of adjacent steps and image institute
The difference in height for accounting for pixel finds out the equivalence factor matrix of corresponding longitudinal direction；
Step [3] calibrating camera：Pixel value is corresponding several at difference in spatial distribution to establish for mobile camera
Equivalence factor between what distance, and equivalence factor value is fabricated to equivalence factor matrix, to complete camera calibration；
Step [4] extracts fiber optic loop feature：
A. feature determines：It chooses fiber optic loop edge and carries out feature extraction, choose the wave crest and trough of fiber optic loop profile ripple
As characteristic point, the corresponding pixel number of a circle fiber optic loop is conveniently found out；
B. non-linear median filtering processing is carried out to acquired image specifically to do effectively to get rid of picture noise
Method is the pixel window for taking length centered on choosing the pixel that needs are filtered as odd number L (such as 5pixels), right
The L grey scale pixel value is ranked up, and takes intermediate value as the pixel value of the point；
C. image segmentation is carried out using binarization method, background and optical fiber point be distinguished；
D. searching from top to bottom is carried out to image and pixel value trip point occurs, carried out region filtering, determine fiber optic loop
Edge.
E. it is equal to zero by solving fiber optic loop boundary curve first derivative, second dervative is extracted in fiber optic loop image less than zero
Wave crest characteristic point；The another boundary curve first derivative that solves is equal to zero, and point of the second dervative greater than zero is as in optical fiber image
Trough characteristic point.
Step [5] fiber optic loop winding displacement consistency analysis：Edge Wave crest and wave trough characteristic point based on fiber optic loop image, pass through by
The camera calibration result i.e. camera model solved in the difference of horizontal and vertical pixel and step [3] between characteristic point, solution
Actual fibre diameter is calculated, and obtains fiber optic loop arrangement consistency superiority and inferiority conclusion by fibre diameter data, specific method is such as
Under：
A. it sets by including N number of fiber optic loop in video camera in real time collected fiber optic loop image, wherein set i-th of wave crest
Coordinate be (Pui,Pvi)；(wave crest is followed by i-th of trough compared with the wave crest that trough quadrature lagging phase is and then serial number i
I-th of trough) coordinate be (Vui,Vvi)；According to camera calibration as a result, setting between i-th of wave crest and i-th of trough
Horizontal pixel coordinate difference is dui=Vui-Pui；According to position of the present position for video camera under world coordinate system, in query steps [3]
Camera calibration as a result, if the position where video camera not in table, then finding out the position by the method for linear interpolation
The lateral equivalence factor s at placei, so that it is determined that the radius of the i-th circle optical fiber is exactly ri=si·dui。
B. according to above-mentioned steps solve the 1st circle to N circle fiber optic loop radius r1,r2,...,rNTo estimate rN+1, specifically
Method is as follows:The first in first out radius data storage queue that a size is M is created, when radius data queue is underfilled with,
Take the previous circle fiber optic loop radius r of the fiber optic loop using current coilingNEstimate rN+1, it is set as gN+1；When radius data queue fills
When full, r is soughtNWith r1,r2,...,rN-1Seek the minimum value of absolute value of the bias, it is assumed here that rNWith riBetween differ minimum, at this time
rN+1Estimated value gN+1For ri+1, this method can well utilize optical fiber itself foozle stochastic behaviour.Later period is with big
The update repeatedly and accumulation, calculating error for measuring historical data will tend to be very small.
C. using the radius data for acquiring optical fiber in above-mentioned steps b, when data queue is less than, half acquired is found out
Maximum value and minimum value inside diameter value；Otherwise N circle coil radius data are divided into three groups, are averaged to each group line footpath
Obtain A1,A2,A3, find out A1,A2,A3Maximum value and minimum value are come, and the maximum value acquired in the above process and minimum value conduct are taken
rN+1Estimated value gN+1Maximum value and minimum threshold；As the r of estimationN+1When greater than maximum threshold, maximum threshold pair is taken
rN+1Estimated value gN+1Again assignment, winding displacement will have the tendency that becoming close at this time；As the r of estimationN+1When less than minimum threshold,
Take maximum threshold to rN+1Estimation gN+1Again assignment, winding displacement will have the tendency that becoming and dredge at this time；Otherwise by gN+1It remains unchanged.
Step [6] after around complete N+1 circle around next circle when, the radius iteration of original N+1 circle coil is the at this time
The radius of N circle coil can be determined in step [5] by the radius that present actual measurement obtains N circle coil to original N+1 circle
Whether the estimation of coil radius correct, thus at present will coiling coil radius estimation carry out dynamic compensation；Compensation side
Method is that the radius of present N+1 circle coil is subtracted to the estimated value of original N+1 circle coil plus the actual size value of N circle coil,
After dynamic compensates, more accurate r is obtainedN+1Estimated value gN+1。
Step [7] solves group line wheel by the diameter that step [6] solution obtains N+1 circle coil and needs move distance,
Realize that machine vision assists winding displacement, the line wheel amount of feeding is dialled in adjustment, and the specific method is as follows：
If one circle of servo motor rotation needs M pulse, corresponding group of line wheel moving distance is l, by calculating in step [5]
It obtains needing mobile distance being 2gN+1, motion controller just needs to issue when around N+1 circleA arteries and veins
Punching.
Preferably, the specific method is as follows for calibrating camera in step [3]：
1) installation of video camera：Optical fiber ring skeleton is mounted on coiling main shaft, camera installation locations is adjusted, protects as far as possible
It is mutually perpendicular between card camera light mandrel and coiling main shaft；Controlling the second servo motor moves right to video camera with bracket
It can see that installation site is advisable on the right side of optical fiber ring skeleton, read the second servo motor absolute value encoder positional value and be used as right side
Initial position；Control third servo motor move up video camera with bracket, until the upper edge of optical fiber ring skeleton in the picture
It is advisable above portion, reads the exhausted angle value encoder position of third servo motor, the start position as video camera longitudinal direction；
2) installation of demarcating module：The optical fiber ring skeleton being mounted on above coiling main shaft is removed, with multi-diameter shaft measuring block
Instead of installation, guarantee that the installation site of measuring block on the position that optical fiber ring skeleton is installed, carries out equivalent obtained by calibrating in this way
The factor just it is consistent with the equivalence factor that frame position obtains, can directly carry out using；
3) the second servo motor of control makes bracket move downward certain length, records locating for the second servo motor at this time
Absolute position, ladder on measuring block is calculated by Corner Detection Algorithm and correspond to the location of pixels of angle point, and it is left to pass through corner point
Side image border coordinate whether mutate reduce and determine whether be ladder left side angle point, pass through determine angle point right edge
Edge coordinate whether have occurred mutation reduce determine whether be ladder right side angle point；Pass through ladder or so side steps angle
Corresponding relationship solves the equivalence factor system of horizontal axis between the difference and actual physical size of pixel value abscissa between point
Number；By the pixel value of the angle point of ipsilateral (such as left side or right side) of adjacent steps longitudinal difference and actual physical size it
Between relationship solve the equivalence factor coefficient of the longitudinal axis, so far can solve video camera video camera mould under the absolute position
Type repeats the above steps, until video camera is able to observe that the leftward position of winding bobbin terminates, to obtain video camera at this
The lateral corresponding camera model in each position in certain height, for be located at the height without corresponding in the position of calibration point
Camera model can be determined by the method for linear interpolation；
4) when measuring block covers a line in the picture, the second servo motor of control makes video camera return to lateral start bit
It sets, then controlling third servo motor makes video camera run up certain step-length, repeats step 3), detection video camera is in should
The camera model of difference lateral position when longitudinal height；
5) step 3) and step 4) is repeated, until the image of video camera can take the top edge of optical fiber ring skeleton
Position, camera calibration are completed.
Preferably, in the step c of step [4] before determining binarization threshold, the intensity histogram of the image of statistics gatherer
Figure solves maximum likelihood probability and carries out automated graphics Threshold segmentation, and after this image threshold determines, subsequent image processing is just
Without solving the threshold value again, direct use has been saved due to the dynamic solution threshold value bring wasting of resources and ensure that
Environmental suitability.
Preferably, the concrete operations of the step d of step [4] are：
1) start from the middle column of image (for example image 2048 arranges, then just 1024 column of selection), find two from top to bottom
Value image pixel trip point (image border will appear pixel value jump), marks after finding, detects below the mark point
Whether the pixel value of (such as 3 pixels) is identical in certain pixel coverage, and identical, receiving the point is marginal point, and otherwise rejecting should
Mark point continues to find downwards；
2) find the image middle column adjacent left-hand first row and adjacent right side first row (such as middle column is 1024 column,
So adjacent left-hand first row is 1023 column, and adjacent right side first row is 1025 column) image binaryzation pixel jump point, method
It is as follows：Using the ordinate of the trip point searched out in 1) as initial value, in adjacent left-hand first row and adjacent right side first
Binary image pixel value trip point is searched in the ordinate position of column border up and down, and region filtering is carried out after finding, is looked for
It records after to marginal point, is carried out if not finding middle column trip point in 1) according to 1) the middle method for finding marginal point
Find marginal point；
3) according to the method in 2) in the binaryzation using adjacent left-hand first row and adjacent right side first row among image
The ordinate of image trip point, as the binary picture for finding image middle column adjacent left-hand secondary series and adjacent right side secondary series
As the starting point at edge, trip point is found, and carries out region filtering, when finding marginal point, is recorded；And so on, it asks
Solution whole image respectively arranges corresponding binary image pixel value trip point, to just acquire the fiber optic loop edge of whole image.
The positive effect of the present invention：The present invention realizes the closed-loop control during optical fiber winding displacement, not only guarantees optical fiber row
Cloth it is uniform, the amount of feeding that line wheel is dialled in dynamic compensation can also be carried out according to the variation of optical fiber line footpath, solve traditional fiber
Coil winding machine, which is unable to adjust automatically, dials line amount of feeding defect, and real-time vision feedback is added, and adjustment optical fiber coil winding machine dials line wheel feeding
Amount, to make fiber optic loop coiling that there is better consistency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of vision sub-controlling unit of the present invention；
Fig. 2 is the structural schematic diagram of multi-diameter shaft measuring block of the present invention；
Fig. 3 is the fiber optic loop image schematic diagram that video camera takes.
Specific embodiment
With reference to the accompanying drawing to a preferred embodiment of the present invention will be described in detail.
Referring to Figures 1 and 2, the preferred embodiment of the present invention provides a kind of vision auxiliary control of optical fiber coil winding machine winding displacement consistency
Device processed, including base 9, rack and support beam 1 further include the gear housing 7 moved left and right being arranged on base 9,
Gear housing 7 is equipped with coiling main shaft 6, coiling main shaft 6 can moving and move left and right with gear housing 7, and it passes through gear
First servo motor in cabinet 7 drives retarder and generates rotary motion and carry out take-up；The support beam 1 is equipped with can be left
The bracket 4 for moving right and moving up and down is fixedly installed on bracket 4 and opposing stationary dials line wheel 5 and video camera 8, the camera shooting
The lens location of machine 8 is in the front for dialling line wheel 5.
The gear housing 7 is moved left and right by its internal first servo motor along the sliding rail being arranged on base.Institute
It states bracket 4 to move left and right by the second servo motor 2 realization being arranged in support beam, passes through third servo motor 3 and realize
It moves up and down.
As shown in Fig. 2, there are five circumference for setting on the multi-diameter shaft measuring block the invention also includes a multi-diameter shaft measuring block
The thickness of ladder, each circumference ladder is identical, and the height of circumference ladder constantly increases from left to right, the height of adjacent circumferential ladder
Degree difference is identical.
As shown in Figure 1, the rotation of the second servo motor 2 drives 4 side-to-side movement of bracket, to dial line wheel as coiling carries out
5 also move left and right.Whenever coil winding machine is around a circle fiber optic loop, the mobile certain amount of feeding of group line wheel makes group line wheel side withstand light
Fine ring end, to reach, optical fiber arrangement is consistent, and density is proper.Optical fiber arrangement consistency proposed in this paper based on visual aids
Method is exactly the control problem for solving to dial the line wheel amount of feeding.Meanwhile when light is surrounded to the end face of roll skeleton, the
The rotation of three servo motors 3, drives synchronous pulley that bracket 4 is made to move up and down, so that group line wheel 5 be made to move up and down.Optical fiber ring skeleton
Be mounted on above coiling main shaft 6, coiling main shaft 6 can moving and move left and right with cabinet 7, and it passes through gear housing 7
Interior servo motor drives retarder and generates rotary motion and carry out take-up.Video camera 8 acquires optical fiber row during coiling
Cloth situation.
The present embodiment also provides a kind of vision auxiliary control method of optical fiber coil winding machine winding displacement consistency, including walks as follows
Suddenly：
Step 1：In order to extract the geometric parameter of image, it is necessary and important for carrying out parameter calibration to video camera
A step.The present embodiment uses a kind of simple easily operated scaling method, in the picture by subregion domain measurement gauge block
Corresponding pixel value is converted into the corresponding geometrical length of each pixel and is demarcated.Detailed step is as follows：
1. selecting suitable video camera.If fibre diameter is D (being set as 0.17mm here).There is N circle optical fiber in the picture, often
The corresponding length in pixels of circle is Di, in order to reach the demand of measurement accuracy, the corresponding pixel number of every circle optical fiber should at least ten
Pixel, the corresponding geometric distance of 1 pixel are less than 0.017mm.Therefore the size of video camera shooting image is on transverse axis at least
Greater than 10*N, and reserve 20% surplus, facilitate video camera to adjust.In order to facilitate the observation lesser optical fiber of diameter, cost is considered,
Appropriate can choosing, there is the camera lens of amplification to be acquired.
2. the production of demarcating module.In order to guarantee that measuring block is easily installed, measuring block will be with the fiber optic loop to be measured in the future
Coaxially, designed multi-diameter shaft guarantees precision of the corner point axial spacing precision at 10 microns.Such as Fig. 2, there are five ranks for axis tool
Ladder, each ladder thickness L having the same, and adjacent two ladders difference radius difference be all H (known stepped radius with
Shaft position variation have monotonicity, the distance between two steps do not have strict requirements, it is only necessary to facilitate video camera to carry out
Shooting can reduce difficulty of processing in this way), it takes the left and right sides of each ladder as angle point, carries out Corner Detection.Pass through
Length in pixels shared in actual physical size L and image between two angle points, to seek lateral equivalence factor matrix, according to
The difference in height of pixel shared by the actual physical size difference H and image of the radius of the same side angle point of adjacent steps finds out corresponding longitudinal
Equivalence factor matrix.This method is indifferent to the shoulder difficulty of processing of multi-diameter shaft, and selection lathe is avoided to be difficult to ensure precision
The shaft shoulder as characteristic point, reduce cost.
3. needing to demarcate video camera due to distortion of camera and error in mounting position etc..Tradition camera shooting
Machine scaling method has Zhang Zhengyou calibration method, two-step method etc., but since this system needs to detect size on circular shaft, gridiron pattern is inconvenient
In installation.The present invention takes using video camera in mechanical structure and dials the opposing stationary of line wheel, has movement characteristic up and down,
Mobile camera can establish the equivalence factor in spatial distribution at difference between the corresponding geometric distance of pixel value, will work as
Amount factor values are fabricated to equivalence factor matrix, to complete camera calibration.This method is simple easily operated and does not need stringent
It is required that optical center and optical fiber ring skeleton are vertical during the motion for video camera, the specific method is as follows：
1) installation of video camera.Fiber optic loop coiling skeleton is mounted on coiling main shaft, adjusts camera installation locations, to the greatest extent
Amount guarantees to be mutually perpendicular between camera light mandrel and coiling main shaft.Rotate the second servo motor move right to video camera can
To see, installation site is advisable on the right side of optical fiber ring skeleton, reads servo motor absolute value encoder positional value and is used as right side start bit
It sets；Rotation third servo motor moves up video camera, is advisable above the upper edge of optical fiber ring skeleton in the picture portion, reads
Take the exhausted angle value encoder position of servo motor, the start position as video camera longitudinal direction.The method of this selection initial position is examined
When having considered practical winding optical fiber ring, initial position be right side, guarantee calibration after the completion of, so that it may using calibration as a result,
It prevents from demarcating in vain and generate；Similarly, longitudinal initial position identical consideration really customized.
2) installation of demarcating module.When demarcating module is installed, the skeleton being mounted on above coiling main shaft 6 is removed, instead of
Installation is multi-diameter shaft measuring block, guarantees that the installation site of measuring block on the position that skeleton is installed, is demarcated to obtain in this way
Equivalence factor just it is consistent with the equivalence factor that frame position obtains, can directly carry out using.
3) the second servo motor of control moves downward certain length, records absolute position locating for servo motor at this time
It sets.The location of pixels that ladder corresponds to angle point is calculated by Corner Detection Algorithm, and is by corner point left-side images edge coordinate
It is no mutate reduce and determine whether be step left side angle point, by determine angle point right side edge coordinate be whether to occur
Mutation reduce determine whether be ladder right side angle point.By calculating the picture between a ladder left and right sides step angle point
Between the difference and actual physical size of plain value abscissa corresponding relationship solve horizontal axis equivalence factor coefficient (such as
12pixels/0.1mm)；By the pixel value longitudinal direction for solving the angle point of ipsilateral (such as left side or right side) of adjacent steps
Relationship between difference and actual physical size solves the equivalence factor coefficient (such as 12pixels/0.1mm) of the longitudinal axis.By this
Step can solve video camera camera model under the absolute position.The step is repeated, until video camera is able to observe that
The leftward position of winding bobbin terminates, to make to obtain video camera corresponding video camera in each position of transverse direction in the certain height
Model, for be located at the height without linear interpolation can be passed through in the corresponding camera model in the position of above-mentioned calibration point
Method is determined.
4) when measuring block covers a line in the picture, the second servo motor of control makes video camera return to lateral start bit
It sets, then controlling third servo motor makes video camera run up certain step-length.This step of repetition is 3) middle to be detected at video camera
The camera model of difference lateral position when the longitudinal direction height.3) and 4) this step is repeated, until the image of video camera
The upper marginal position of optical fiber winding bobbin can be taken, camera calibration is just completed.This method is simple and easy, and takes into account by taking the photograph
Bring error, the optical center for not needing video camera and coiling main shaft are mutually perpendicular to the features such as linearity error when camera moves.
Step 2：This step is completed to extract fiber optic loop feature, and the extraction of fiber optic loop feature is related to subsequent optical fiber ring size
Measurement, be the key that a step of the invention.Steps are as follows：
1. feature determines：The characteristics of investigating the fiber optic loop image that video camera takes is as shown in figure 3, be wound on skeleton
With distinct contrast between fiber optic loop and background, we choose fiber optic loop edge and carry out feature extraction, choose fiber optic loop profile ripple
Wave crest and trough conveniently find out the corresponding pixel number of a circle fiber optic loop as characteristic point.With the progress of subsequent step, it was demonstrated that the spy
Sign point, which can be convenient, effectively extracts optical fiber ring diameter.
2. pair acquired image carries out non-linear median filtering processing, this method can effectively get rid of image and make an uproar
Sound, and due to practical coiling during, about 60 circle of coiling or so per minute, when calculating consumed by median filtering algorithm
Between it is less, meet time requirement.Specific practice is to take length for odd number L centered on choosing the pixel that needs are filtered
The pixel window of (such as 5pixels) is ranked up the L grey scale pixel value, takes intermediate value as the pixel value of the point.
3. this method takes binarization method to carry out image segmentation, background and optical fiber point be distinguished.In determination
Before binarization threshold, the grey level histogram of the image of statistics gatherer, observation Fig. 3 can be seen that pixel value should be at polarization
State, solve maximum likelihood probability carry out automated graphics Threshold segmentation.After this image threshold determines, at subsequent image
Reason just without solving the threshold value again, saved due to the dynamic solution threshold value bring wasting of resources and guarantor by direct use
Environmental suitability is demonstrate,proved.
4. pair image, which carries out searching from top to bottom, occurs pixel value trip point, region filtering is carried out, determines fiber optic loop
Edge.Specific practice is as follows：
1) start from the middle column of image (for example image 2048 arranges, then just 1024 column of selection), find two from top to bottom
Value image pixel trip point (image border will appear pixel value jump), marks after finding.Since image has noise,
Therefore region filtering is carried out to the point marked, to judge that the point marks whether effectively.Specific method is：Detect the label
Whether the pixel value of (such as 3 pixels) is identical in the certain pixel coverage in point lower section, and identical, receiving the point is marginal point, otherwise
The mark point is rejected, continues to find downwards.
2) find the image middle column adjacent left-hand first row and adjacent right side first row (such as middle column is 1024 column,
So adjacent left-hand first row is 1023 column, and adjacent right side first row is 1025 column) image binaryzation pixel jump point, method
It is as follows：Using the ordinate of the trip point searched out in 1) as initial value, in adjacent left-hand first row and adjacent right side first
Binary image pixel value trip point is searched in the ordinate position of column border up and down, and region filtering is carried out after finding.It looks for
It is recorded after to marginal point.It is carried out if not finding middle column trip point in 1) according to 1) the middle method for finding marginal point
Find marginal point.
3) according to the method in 2) in the binaryzation using adjacent left-hand first row and adjacent right side first row among image
The ordinate of image trip point, as the binary picture for finding image middle column adjacent left-hand secondary series and adjacent right side secondary series
As the starting point at edge, trip point is found, and carries out region filtering.When finding marginal point, record.And so on, it asks
It has solved whole image and has respectively arranged corresponding binary image pixel value trip point, to just acquire the edge of whole image.
5. further, it is contemplated that fiber optic loop edge contour has the characteristics that fiber optic loop in continuity and Fig. 3, passes through solution
Fiber optic loop boundary curve first derivative is equal to zero, and second dervative extracts the wave crest characteristic point in fiber optic loop image less than zero；Separately ask
It solves boundary curve first derivative and is equal to zero, point of the second dervative greater than zero is as the trough characteristic point in optical fiber image.
Step 3：Fiber optic loop winding displacement consistency analysis.Edge Wave crest and wave trough characteristic point of this step based on fiber optic loop image,
By the way that the camera calibration result solved in the difference of the horizontal and vertical pixel of pixel between characteristic point and step 2 is imaged
Machine model calculates actual fibre diameter, and obtains fiber optic loop arrangement consistency superiority and inferiority conclusion, tool by fibre diameter data
Body method is as follows：
1. setting by including N number of fiber optic loop in video camera in real time collected fiber optic loop image, wherein set i-th of wave crest
Coordinate be (Pui,Pvi)；(wave crest is followed by i-th of trough compared with the wave crest that trough quadrature lagging phase is and then serial number i
I-th of trough) coordinate be (Vui,Vvi)；According to camera calibration as a result, setting between i-th of wave crest and i-th of trough
Horizontal pixel coordinate difference is dui=Vui-Pui；According to position of the present position for video camera under world coordinate system, in query steps one
Camera calibration as a result, if the position where video camera not in table, then finding out the position by the method for linear interpolation
The lateral equivalence factor s at placei, so that the radius of the i-th circle optical fiber is exactly ri=si·dui。
2. solving the 1st circle to N circle (the maximum value of anti-camcorder acquisition N is not 120 here) optical fiber according to upper step
The radius r of ring1,r2,...,rNTo estimate rN+1.The specific method is as follows:Creating a size is M (might as well set M here as 150)
First in first out radius data storage queue.When radius data queue is underfilled with, the fiber optic loop for utilizing current coiling is taken
Previous circle fiber optic loop radius rNEstimate rN+1, it is set as gN+1；When radius data queue is filled, r is soughtNWith r1,r2,...,rN-1It asks
The minimum value of absolute value of the bias, it is assumed here that rNWith riBetween differ minimum, just set r hereN+1Estimated value gN+1For ri+1, the party
Method can utilize the stochastic behaviour of optical fiber itself foozle well, but if the later period with a large amount of historical datas repeatedly more
Newly with accumulation, calculating error will tend to be very small.
3. the radius data for acquiring optical fiber using in above-mentioned steps 2 finds out half acquired when data queue is less than
Maximum value and minimum value inside diameter value；Otherwise N circle coil radius data are divided into three groups, are averaged to each group line footpath
Obtain A1,A2,A3, find out A1,A2,A3Maximum value and minimum value are come.Enable the maximum value acquired in the above process and minimum value conduct
rN+1Estimated value gN+1Maximum value and minimum threshold.As the r of estimationN+1When greater than maximum threshold, maximum threshold pair is taken
rN+1Estimated value gN+1Again assignment, winding displacement will have the tendency that becoming close at this time；As the r of estimationN+1When less than minimum threshold,
Take maximum threshold to rN+1Estimation gN+1Again assignment, winding displacement will have the tendency that becoming and dredge at this time；Otherwise by gN+1It remains unchanged.
Step 4：When around complete N+1 circle around next circle, the radius iteration of original N+1 circle coil at this time
For the radius of N circle coil.It can be determined in step 3 by the radius that present actual measurement obtains N circle coil to original N+
Whether the estimation of 1 circle coil radius correct, thus at present will coiling coil radius estimation carry out dynamic compensation.Compensation
Method is that the radius of present N+1 circle coil is subtracted to the estimation of original N+1 circle coil plus the actual size value of N circle coil
Value.After dynamic compensates, more accurate r is obtainedN+1Estimated value gN+1。
Step 5：This step is solved by the diameter that step 4 solves to obtain N+1 circle coil to be dialled line wheel and needs to move
Distance realizes that machine vision assists winding displacement, and the line wheel amount of feeding is dialled in adjustment, and the specific method is as follows：
If one circle of servo motor rotation needs M pulse, corresponding group of line wheel moving distance is l.Now by step 3
It is 2g that the distance that needs are walked about, which is calculated,N+1.Motion controller just needs to issue when around N+1 circle
A pulse.
The present invention realizes the closed-loop control during optical fiber winding displacement, not only guarantees the uniform of optical fiber arrangement, can be with root
The amount of feeding that line wheel is dialled in dynamic compensation is carried out according to the variation of optical fiber line footpath, traditional fiber coil winding machine is solved and is unable to adjust automatically
Line amount of feeding defect is dialled, real-time vision feedback is added, adjustment optical fiber coil winding machine dials the line wheel amount of feeding, to make fiber optic loop coiling
With better consistency.
It is above-described to be merely a preferred embodiment of the present invention, it should be understood that the explanation of above embodiments is only used
In facilitating the understanding of the method and its core concept of the invention, it is not intended to limit the scope of protection of the present invention, it is all of the invention
Any modification for being made within thought and principle, equivalent replacement etc., should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of vision auxiliary control method of optical fiber coil winding machine winding displacement consistency, which is characterized in that including what is carried out in order
Following steps：
Step [1] selects suitable video camera：If fibre diameter is D, there is N circle optical fiber in image, the corresponding length in pixels of every circle
It is Di, in order to reach the demand of measurement accuracy, the corresponding pixel number of every circle optical fiber should at least ten pixel, therefore video camera is clapped
The size of image is taken the photograph on transverse axis at least more than 10*N, and reserves 20% surplus, video camera is facilitated to adjust；
The production of step [2] demarcating module：Multi-diameter shaft measuring block is made, guarantees measuring block and the fiber optic loop that will be measured when installation
Coaxially, there are five ladder, each ladder thickness having the same, and two adjacent ladder heights for multi-diameter shaft measuring block tool
Difference is identical, takes the left and right sides of each ladder as angle point, can be by practical between two angle points to carry out Corner Detection
Shared length in pixels in physical size and image, to seek lateral equivalence factor matrix, according to the same side of adjacent steps
The difference in height of pixel shared by the actual physical size difference and image of the radius of angle point finds out the equivalence factor matrix of corresponding longitudinal direction；
Step [3] calibrating camera：Mobile camera with establish in spatial distribution at difference the corresponding geometry of pixel value away from
Equivalence factor between, and equivalence factor value is fabricated to equivalence factor matrix, to complete camera calibration；
Step [4] extracts fiber optic loop feature：
A. feature determines：It chooses fiber optic loop edge and carries out feature extraction, choose wave crest and the trough conduct of fiber optic loop profile ripple
Characteristic point conveniently finds out the corresponding pixel number of a circle fiber optic loop；
B. non-linear median filtering processing is carried out to acquired image, effectively to get rid of picture noise, specific practice is
Choosing and taking length centered on needing the pixel being filtered is the pixel window of odd number L=5pixels, to the L picture
Plain gray value is ranked up, and takes intermediate value as the pixel value of the point；
C. image segmentation is carried out using binarization method, background and optical fiber point be distinguished；
D. searching from top to bottom is carried out to image and pixel value trip point occurs, carried out region filtering, determine the edge of fiber optic loop；
E. it is equal to zero by solving fiber optic loop boundary curve first derivative, second dervative extracts the wave in fiber optic loop image less than zero
Peak characteristic point；The another boundary curve first derivative that solves is equal to zero, and point of the second dervative greater than zero is as the trough in optical fiber image
Characteristic point；
Step [5] fiber optic loop winding displacement consistency analysis：Edge Wave crest and wave trough characteristic point based on fiber optic loop image, by by feature
The camera calibration result i.e. camera model that solves in the difference of horizontal and vertical pixel and step [3], calculates between point
Actual fibre diameter, and fiber optic loop arrangement consistency superiority and inferiority conclusion is obtained by fibre diameter data, the specific method is as follows：
A. it sets by including N number of fiber optic loop in video camera in real time collected fiber optic loop image, wherein set the seat of i-th of wave crest
Mark is (Pui,Pvi)；Wave crest is compared with trough quadrature lagging phase, i.e., and then the wave crest of serial number i is followed by i-th of trough, and i-th
The coordinate of a trough is (Vui,Vvi)；According to camera calibration as a result, setting the transverse direction between i-th of wave crest and i-th of trough
Pixel coordinate difference is dui=Vui-Pui；According to position of the present position for video camera under world coordinate system, imaged in query steps [3]
Machine calibration as a result, if the position where video camera not in table, then being found out at the position by the method for linear interpolation
Lateral equivalence factor si, so that it is determined that the radius of the i-th circle optical fiber is exactly ri=si·dui；
B. according to above-mentioned steps solve the 1st circle to N circle fiber optic loop radius r1,r2,...,rNTo estimate rN+1, specific method
It is as follows:The first in first out radius data storage queue that a size is M is created to take when radius data queue is underfilled with
Utilize the previous circle fiber optic loop radius r of the fiber optic loop of current coilingNEstimate rN+1, it is set as gN+1；When radius data queue is filled
It waits, seeks rNWith r1,r2,...,rN-1Seek the minimum value of absolute value of the bias, it is assumed here that rNWith riBetween differ minimum, r at this timeN+1's
Estimated value gN+1For ri+1；
C. using the radius data for acquiring optical fiber in above-mentioned steps b, when data queue is less than, the radius value acquired is found out
The maximum value and minimum value of the inside；Otherwise N circle coil radius data are divided into three groups, each group line footpath is averaged to obtain
A1,A2,A3, find out A1,A2,A3Maximum value and minimum value are come, and take the maximum value acquired in the above process and minimum value as rN+1's
Estimated value gN+1Maximum value and minimum threshold；As the r of estimationN+1When greater than maximum threshold, take maximum threshold to rN+1's
Estimated value gN+1Again assignment, winding displacement will have the tendency that becoming close at this time；As the r of estimationN+1When less than minimum threshold, maximum is taken
Threshold value is to rN+1Estimation gN+1Again assignment, winding displacement will have the tendency that becoming and dredge at this time；Otherwise by gN+1It remains unchanged；
Step [6] after around complete N+1 circle around next circle when, at this time the radius iteration of original N+1 circle coil be N circle
The radius of coil can be determined in step [5] by the radius that present actual measurement obtains N circle coil to original N+1 circle line
Enclose radius estimation it is whether correct, thus at present will coiling coil radius estimation carry out dynamic compensation；Compensation method
It is the estimated value that the radius of present N+1 circle coil is subtracted to original N+1 circle coil plus the actual size value of N circle coil, warp
After crossing dynamic compensation, more accurate r is obtainedN+1Estimated value gN+1；
Step [7] solves group line wheel by the diameter that step [6] solution obtains N+1 circle coil and needs move distance, realizes
Machine vision assists winding displacement, and the line wheel amount of feeding is dialled in adjustment, and the specific method is as follows：
If one circle of servo motor rotation needs M pulse, corresponding group of line wheel moving distance is l, by being calculated in step [5]
Needing mobile distance is 2gN+1, motion controller just needs to issue when around N+1 circleA pulse.
2. a kind of vision auxiliary control method of optical fiber coil winding machine winding displacement consistency according to claim 1, feature exist
In：The specific method is as follows for calibrating camera in step [3]：
1) installation of video camera：Optical fiber ring skeleton is mounted on coiling main shaft, camera installation locations are adjusted, guarantees video camera
It is mutually perpendicular between optical center axis and coiling main shaft；Controlling the second servo motor and moving right to video camera with bracket can see that
Installation site is advisable on the right side of optical fiber ring skeleton, reads the second servo motor absolute value encoder positional value and is used as right side start bit
It sets；Control third servo motor moves up video camera with bracket, above the upper edge of optical fiber ring skeleton in the picture portion
It is advisable, reads the exhausted angle value encoder position of third servo motor, the start position as video camera longitudinal direction；
2) installation of demarcating module：The optical fiber ring skeleton being mounted on above coiling main shaft is removed, is replaced with multi-diameter shaft measuring block
Installation, guarantees that the installation site of measuring block on the position that optical fiber ring skeleton is installed, carries out equivalence factor obtained by calibrating in this way
Just it is consistent with the equivalence factor that frame position obtains, can directly carry out using；
3) the second servo motor of control makes bracket move downward certain length, records exhausted locating for the second servo motor at this time
To position, ladder on measuring block is calculated by Corner Detection Algorithm and corresponds to the location of pixels of angle point, and passes through corner point left hand view
As edge coordinate whether mutate reduce and determine whether be ladder left side angle point, pass through determine angle point right side edge sit
Mark whether have occurred mutation reduce determine whether be ladder right side angle point；By ladder or so side steps angle point it
Between pixel value abscissa difference and actual physical size between corresponding relationship solve the equivalence factor coefficient of horizontal axis；It is logical
Cross adjacent steps it is ipsilateral be all on the left of ladder or be all angle point on the right side of ladder the longitudinal difference of pixel value and practical object
Relationship between reason size solves the equivalence factor coefficient of the longitudinal axis, so far can solve video camera and take the photograph under the absolute position
Camera model repeats the above steps, until video camera is able to observe that the leftward position of winding bobbin terminates, to be imaged
Machine lateral corresponding camera model in each position in certain height, for be located at the height without in the position of calibration point
Corresponding camera model can be determined by the method for linear interpolation；
4) when measuring block covers a line in the picture, the second servo motor of control makes video camera return to lateral initial position,
Then control third servo motor makes video camera run up certain step-length, repeats step 3), and detection video camera is vertical in this
The camera model of difference lateral position when to height；
5) step 3) and step 4) is repeated, until the image of video camera can take the top edge position of optical fiber ring skeleton
It sets, camera calibration is completed.
3. a kind of vision auxiliary control method of optical fiber coil winding machine winding displacement consistency according to claim 1, feature exist
In：In the step c of step [4] before determining binarization threshold, the grey level histogram of the image of statistics gatherer solves maximum seemingly
Right probability carries out automated graphics Threshold segmentation, and after this image threshold determines, subsequent image processing just without solving again
The threshold value, direct use have saved due to the dynamic solution threshold value bring wasting of resources and ensure that environmental suitability.
4. a kind of vision auxiliary control method of optical fiber coil winding machine winding displacement consistency according to claim 1, feature exist
In：The concrete operations of the step d of step [4] are：
1) image border will appear pixel value jump, and from the middle column of image, i.e. image 2048 arranges, then just 1024 column of selection are opened
Begin, find binary image pixel jump point from top to bottom, marked after finding, detects below the point that the label gets off 3
Whether the pixel value in pixel coverage is identical, identical, and receiving the point that the label gets off is marginal point, otherwise rejects under the label
The point come continues to find downwards；
2) the image middle column adjacent left-hand first row and adjacent right side first row are found, i.e. middle column is 1024 column, then phase
Adjacent left side first row is 1023 column, and adjacent right side first row is the image binaryzation pixel jump point of 1025 column, and method is as follows：Benefit
Use the ordinate of the trip point searched out in 1) as initial value, in the first column border of adjacent left-hand first row and adjacent right side
Binary image pixel value trip point is searched in ordinate position up and down, and region filtering is carried out after finding, finds marginal point
After record, carry out searching edge according to the method for finding marginal point in 1) if not finding middle column trip point in 1)
Point；
3) according to the method in 2) in the binary image using adjacent left-hand first row and adjacent right side first row among image
The ordinate of trip point, as the binary image side for finding image middle column adjacent left-hand secondary series and adjacent right side secondary series
The starting point of edge finds trip point, and carries out region filtering, when finding marginal point, records；And so on, it solves whole
A image respectively arranges corresponding binary image pixel value trip point, to just acquire the fiber optic loop edge of whole image.
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| CN114910009A (en) * | 2022-05-12 | 2022-08-16 | 合肥综合性国家科学中心能源研究院(安徽省能源实验室) | Visual detection device and method for monitoring wire turn winding distance in real time |
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