CN106773991A - A kind of embedded deviation-rectifying system and its method for correcting error based on cmos sensor - Google Patents
A kind of embedded deviation-rectifying system and its method for correcting error based on cmos sensor Download PDFInfo
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- CN106773991A CN106773991A CN201611270904.1A CN201611270904A CN106773991A CN 106773991 A CN106773991 A CN 106773991A CN 201611270904 A CN201611270904 A CN 201611270904A CN 106773991 A CN106773991 A CN 106773991A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a kind of embedded deviation-rectifying system and its method for correcting error based on cmos sensor, wherein the embedded deviation-rectifying system based on cmos sensor includes correction instrument and control box；The correction instrument includes support, it is fixed on the annular light source module of frame bottom, it is fixed on frame upper and the housing being located above annular light source module, the main arithmetic and control units of STM32, the first bluetooth module and the WiFi module being arranged in housing, the cmos image sensor of the lower surface of housing is arranged on, the status display and key control module and TFT LCD MODULEs of the upper surface of housing is arranged on；Motor drive module and the second bluetooth module electrically connected with motor drive module are provided with the control box.The present invention can be first to band before correction edge carry out defects detection, effectively prevent mistake from entangling the phenomenon entangled by mistake, improve the accuracy and reliability of correction, can adapt to the composite request of actual band production.
Description
Technical field
The present invention relates to a kind of embedded deviation-rectifying system and its method for correcting error based on cmos sensor.
Background technology
At present, domestic deviation correction control system is used mainly visible light sensor, i.e. photoelectric sensor, although had
Research to infrared ray sensor and ccd sensor, but be applied to going in practice and few.Visible light sensor output be
The switching signal of side-play amount, whether it can only illustrate its direction for offseting and offseting, and cause control to there is vibration and precision not
Problem high；At the same time this sensor light interference causes applicable scope to compare always than larger, poor anti jamming capability
It is narrow；Finally unavoidably there is certain defect in view of actual industrial strip edge, if implementing to edge rejected region band
Correction, certainly will run counter to desire, and even result in the fracture of band.In sum, existing visible light sensor can not meet reality
The composite request of band production.
The content of the invention
It is an object of the invention to provide a kind of embedded deviation-rectifying system and its method for correcting error based on cmos sensor, can
Real time identification strip edge defect, accurately track correction.
Realizing the technical scheme of the object of the invention is：A kind of embedded deviation-rectifying system based on cmos sensor, including entangle
Inclined instrument and control box；The correction instrument includes support, is fixed on the annular light source module of frame bottom, is fixed on frame upper simultaneously
Housing above annular light source module, the main arithmetic and control units of STM32, the first bluetooth module and the WiFi being arranged in housing
Module, is arranged on the cmos image sensor of the lower surface of housing, is arranged on the status display of the upper surface of housing and by keying
Molding block and TFT LCD MODULEs；The annular light source module, the first bluetooth module, WiFi module, cmos image sensing
Device, status display are electrically connected with key control module and TFT LCD MODULEs with the main arithmetic and control units of STM32；The control
Motor drive module and the second bluetooth module electrically connected with motor drive module are provided with box processed；The motor drive module with
Electrically connected by the motor of correcting device；The main arithmetic and control units of STM32 of the correction instrument and the motor of control box drive mould
Communication is realized by the first bluetooth module and the second bluetooth module between block.
The annular light source module of the correction instrument is located at immediately below cmos image sensor camera lens at 10-15cm positions.
The main arithmetic and control units of STM32 of the correction instrument use STM32F4 family chips.
The cmos image sensor of the correction instrument is using OV series cameras.
The method for correcting error of the above-mentioned embedded deviation-rectifying system based on cmos sensor, comprises the following steps：
1., the main arithmetic and control units of STM32 first and cmos image sensor power-up initializing, the then main computing controls of STM32
Device processed captures field sync signal, line synchronising signal and the picture synchronizing signal of cmos image sensor, is realized to mesh by signal sequence
Mark effective collection of strip edge image；
2., the information of collection is saved in STM32 main arithmetic and control units the SRAM memory of itself in two-dimensional array form
In, and the display on TFT LCD MODULEs in real time；
3., the main arithmetic and control units of STM32 read WiFi instructions and button detection in real time, judge whether system enters manual
Adjustment state；If system enters manual adjustment state, the image information that the main arithmetic and control units of STM32 will be gathered passes through WiFi moulds
Block is uploaded to user mobile phone, and whether real-time detection enters line light source debugging and drive and control of electric machine；If otherwise system enters non-
Manual adjustment state, then the main arithmetic and control units of STM32 to gather image information carry out scan picture, then judge band
With the presence or absence of edge defect, IMAQ is returned to if defective, according to strip side along centroid position if zero defect, calculate phase
For the error of cmos image sensor field of view center, and fuzzy-adaptation PID control is used to error, finally by the first bluetooth module
Control result is sent to motor drive module, to implementing close-loop driven by the motor of correcting device so that strip side edge
Centroid position remains at the field of view center of cmos image sensor, to realize the precision correction to target material location.
1. the main arithmetic and control units of middle STM32 have the step by cmos image sensor to target strip edge image
Imitating the flow for gathering is：Enter every trade after cmos image sensor initialization successively and count clearing and column count clearing；Then STM32
Whether the field synchronization of main arithmetic and control unit detection cmos image sensor reaches trailing edge；After field synchronization reaches trailing edge, inspection
Survey whether linage-counter reaches 480, if then an image frame grabber terminates, if it is otherwise, the row of detection cmos image sensor is same
Whether step reaches rising edge；After row is synchronous reaches rising edge, detect whether the picture of cmos image sensor synchronously reaches decline
Edge；After as synchronously reaching trailing edge, a pixel value is gathered, and column counter adds 1；Then whether detection column counter reaches
To 640, whether the picture that detection cmos image sensor is returned if not up to 640 synchronously reaches trailing edge, is gone if reaching 640
Counter adds 1, is then back to whether detection linage-counter reaches 480.
3. middle system enters under non-manual adjustment state the step, and the main arithmetic and control units of STM32 are believed the image for gathering
Breath carries out the flow of scan picture：First image is pre-processed, then image border is extracted, then to image
Edge is fitted；Then image border is identified, if curve is then judged as the defect of strip edge, if straight line
Then object edge is positioned, the error at edge is obtained.
Above-mentioned technical proposal is employed, the present invention has following beneficial effect：(1) present invention can not only be captured in real time
The direction of strip edge skew, and the measurement (pixel unit) of skew can be obtained, while can also be before correction first to band
The edge of material carries out defects detection, only implements correction to detecting zero defect strip edge part, effectively prevents mistake from entangling what is entangled by mistake
Phenomenon, improves the accuracy and reliability of correction, can adapt to the composite request of actual band production.
(2) present invention sets annular light source module immediately below cmos image sensor camera lens, can be by button to it
Being modulated for light source, on the one hand improves the precision to strip edge image zooming-out and the degree of accuracy, on the other hand improves
Antijamming capability of the system to ambient light in the production of actual band.
(3) by the between the main arithmetic and control units of STM32 and the motor drive module of control box of correction instrument of the invention
One bluetooth module and the second bluetooth module realize communication so that the installation of two modules is no longer limited by industrial environment.
(4) present invention sets WiFi module so that user can directly pass through mobile phone A PP, realizes to system running state
Acquisition and the manual regulation to system, make system operatio more intelligence more facilitate.
Brief description of the drawings
In order that present disclosure is easier to be clearly understood, it is right below according to specific embodiment and with reference to accompanying drawing
The present invention is described in further detail, wherein
Fig. 1 is theory diagram of the invention.
Fig. 2 is the structural representation of correction instrument of the invention.
Fig. 3 is the top view of Fig. 2.
Fig. 4 is the flow chart of method for correcting error of the invention.
Fig. 5 is that the main arithmetic and control units of STM32 of the invention pass through cmos image sensor to target strip edge image
The flow chart for effectively gathering.
Fig. 6 enters under non-manual adjustment state for the present invention, and the main arithmetic and control units of STM32 are carried out to the image information for gathering
The flow chart of scan picture.
In accompanying drawing marked as：
Correction instrument 1, support 1-1, annular light source module 1-2, the main arithmetic and control unit 1-4 of housing 1-3, STM32, the first bluetooth
Module 1-5, WiFi module 1-6, cmos image sensor 1-7, status display and key control module 1-8, TFT liquid crystal display mode
Block 1-9；
Control box 2, motor drive module 2-1, the second bluetooth module 2-2.
Specific embodiment
(embodiment 1)
See Fig. 1 to Fig. 3, the embedded deviation-rectifying system based on cmos sensor of the present embodiment includes correction instrument 1 and control
Box 2.
Correction instrument 1 includes support 1-1, is fixed on the annular light source module 1-2 of support 1-1 bottoms, is fixed on support 1-1
Portion and the housing 1-3 being located above annular light source module 1-2, the main arithmetic and control unit 1-4 of STM32 being arranged in housing 1-3, the
One bluetooth module 1-5 and WiFi module 1-6, is arranged on the cmos image sensor 1-7 of the lower surface of housing 1-3, is arranged on shell
The status display of the upper surface of body 1-3 and key control module 1-8 and TFT LCD MODULE 1-9.Annular light source module 1-2,
First bluetooth module 1-5, WiFi module 1-6, cmos image sensor 1-7, status display and key control module 1-8 and TFT
LCD MODULE 1-9 arithmetic and control unit 1-4 main with STM32 are electrically connected.Annular light source module 1-2 is sensed positioned at cmos image
Immediately below device 1-7 camera lenses at 10-15cm positions.The main arithmetic and control unit 1-4 of STM32 use STM32F4 family chips.Cmos image
Sensor 1-7 is using OV series cameras.
Motor drive module 2-1 and the second bluetooth module 2- electrically connected with motor drive module 2-1 is provided with control box 2
2.Motor drive module 2-1 is electrically connected with by the motor of correcting device.Rectify a deviation instrument 1 the main arithmetic and control unit 1-4 of STM32 and
Communication is realized by the first bluetooth module 1-5 and the second bluetooth module 2-2 between the motor drive module 2-1 of control box 2.
See Fig. 4, the method for correcting error of the embedded deviation-rectifying system based on cmos sensor of the present embodiment, including following step
Suddenly：
1., the main arithmetic and control unit 1-4 of STM32 first and cmos image sensor 1-7 power-up initializings, then STM32 master
Arithmetic and control unit 1-4 captures field sync signal, line synchronising signal and the picture synchronizing signal of cmos image sensor 1-7, by signal
Sequential realizes the effective collection to target strip edge image.
2., the information of collection is saved in the SRAM of itself and stored by the main arithmetic and control unit 1-4 of STM32 in two-dimensional array form
In device, and the display on TFT LCD MODULEs 1-9 in real time.
3., the main arithmetic and control unit 1-4 of STM32 read WiFi instructions and button detection in real time, judge whether system enters
Manual adjustment state；If system enters manual adjustment state, the main arithmetic and control unit 1-4 of STM32 lead to the image information of collection
Cross WiFi module 1-6 and be uploaded to user mobile phone, and whether real-time detection enters line light source debugging and drive and control of electric machine；If otherwise
System enters non-manual adjustment state, then the main arithmetic and control unit 1-4 of STM32 are carried out at realtime graphic to the image information for gathering
Reason, then judges that band, with the presence or absence of edge defect, returns to IMAQ, according to strip side edge if zero defect if defective
Centroid position, calculates the error relative to cmos image sensor 1-7 field of view center, and uses fuzzy-adaptation PID control to error, most
Control result is sent to motor drive module 2-2 by the first bluetooth module 1-5 afterwards, to by the motor reality of correcting device
Apply close-loop driven so that strip side remains at the field of view center of cmos image sensor 1-7 along centroid position, it is right to realize
The accurate correction of target material location.
See Fig. 5,1. the main arithmetic and control unit 1-4 of middle STM32 pass through cmos image sensor 1-7 to target strip edge to step
The flow of effective collection of image is：Enter every trade counting clearing after cmos image sensor 1-7 initialization successively and column count is clear
Zero；Then whether the field synchronization of the main arithmetic and control unit 1-4 detection cmos image sensors 1-7 of STM32 reaches trailing edge；It is same on the spot
After step reaches trailing edge, whether detection linage-counter reaches 480, if then an image frame grabber terminates, if it is otherwise, detection
Whether the row of cmos image sensor 1-7 is synchronous reaches rising edge；After row is synchronous reaches rising edge, detection cmos image sensing
Whether the picture of device 1-7 synchronously reaches trailing edge；After as synchronously reaching trailing edge, a pixel value, and column counter are gathered
Plus 1；Then whether detection column counter reaches 640, and the picture that detection cmos image sensor 1-7 is returned if not up to 640 is same
Whether step reaches trailing edge, and linage-counter plus 1 if reaching 640, is then back to whether detection linage-counter reaches 480.
See Fig. 6,3. middle system enters under non-manual adjustment state step, figures of the main arithmetic and control unit 1-4 of STM32 to collection
As the flow that information carries out scan picture is：First image is pre-processed, then image border is extracted, then it is right
Image border is fitted；Then image border is identified, if curve is then judged as the defect of strip edge, if
Straight line is then positioned to object edge, obtains the error at edge.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, should be understood that and the foregoing is only specific embodiment of the invention, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., should be included in guarantor of the invention
Within the scope of shield.
Claims (7)
1. a kind of embedded deviation-rectifying system based on cmos sensor, it is characterised in that：Including correction instrument (1) and control box (2)；
Correction instrument (1) includes support (1-1), is fixed on the annular light source module (1-2) of support (1-1) bottom, is fixed on
Support (1-1) top and the housing (1-3) being located above annular light source module (1-2), are arranged on the STM32 in housing (1-3)
Main arithmetic and control unit (1-4), the first bluetooth module (1-5) and WiFi module (1-6), are arranged on the lower surface of housing (1-3)
Cmos image sensor (1-7), is arranged on the status display and key control module (1-8) and TFT of the upper surface of housing (1-3)
LCD MODULE (1-9)；The annular light source module (1-2), the first bluetooth module (1-5), WiFi module (1-6), CMOS
Imageing sensor (1-7), status display and key control module (1-8) and TFT LCD MODULEs (1-9) with STM32 master
Arithmetic and control unit (1-4) is electrically connected；
Motor drive module (2-1) and the second bluetooth electrically connected with motor drive module (2-1) are provided with the control box (2)
Module (2-2)；The motor drive module (2-1) electrically connects with by the motor of correcting device；Correction instrument (1)
Pass through the first bluetooth module (1-5) between the main arithmetic and control units of STM32 (1-4) and the motor drive module (2-1) of control box (2)
Realize communicating with the second bluetooth module (2-2).
2. a kind of embedded deviation-rectifying system based on cmos sensor according to claim 1, it is characterised in that：It is described to entangle
The annular light source module (1-2) of inclined instrument (1) is located at immediately below cmos image sensor (1-7) camera lens at 10-15cm positions.
3. a kind of embedded deviation-rectifying system based on cmos sensor according to claim 1, it is characterised in that：It is described to entangle
The main arithmetic and control units of the STM32 (1-4) of inclined instrument (1) uses STM32F4 family chips.
4. a kind of embedded deviation-rectifying system based on cmos sensor according to claim 1, it is characterised in that：It is described to entangle
The cmos image sensor (1-7) of inclined instrument (1) is using OV series cameras.
5. a kind of method for correcting error of embedded deviation-rectifying system based on cmos sensor according to claim 1, its feature
It is：Comprise the following steps：
1., the main arithmetic and control units of STM32 first (1-4) and cmos image sensor (1-7) power-up initializing, then STM32 master
Arithmetic and control unit (1-4) captures field sync signal, line synchronising signal and the picture synchronizing signal of cmos image sensor (1-7), presses
Signal sequence realizes the effective collection to target strip edge image；
2., the information of collection is saved in the main arithmetic and control units of STM32 (1-4) SRAM memory of itself in two-dimensional array form
In, and the display on TFT LCD MODULEs (1-9) in real time；
3., the main arithmetic and control units of STM32 (1-4) read WiFi instructions and button detection in real time, judge whether system is entered to start with
Dynamic adjustment state；If system enters manual adjustment state, the main arithmetic and control units of STM32 (1-4) leads to the image information of collection
Cross WiFi module (1-6) and be uploaded to user mobile phone, and whether real-time detection enters line light source debugging and drive and control of electric machine；Otherwise
If system enters non-manual adjustment state, the main arithmetic and control units of STM32 (1-4) carries out realtime graphic to the image information for gathering
Treatment, then judges that band, with the presence or absence of edge defect, returns to IMAQ, according to strip side if zero defect if defective
Along centroid position, the error relative to cmos image sensor (1-7) field of view center is calculated, and fuzzy control is used to error
System, sends to motor drive module (2-2), to by correcting device control result finally by the first bluetooth module (1-5)
Motor implements close-loop driven so that strip side remains at the visual field of cmos image sensor (1-7) along centroid position
Center, to realize the precision correction to target material location.
6. a kind of method for correcting error of embedded deviation-rectifying system based on cmos sensor according to claim 5, its feature
It is：1. the main arithmetic and control units of middle STM32 (1-4) pass through cmos image sensor (1-7) to target strip edge to the step
The flow of effective collection of image is：Enter every trade successively after cmos image sensor (1-7) initialization and count clearing and column count
Reset；Then whether the field synchronization of the main arithmetic and control units of STM32 (1-4) detection cmos image sensor (1-7) reaches trailing edge；
After field synchronization reaches trailing edge, whether detection linage-counter reaches 480, if then an image frame grabber terminates, if it is otherwise,
Whether the row of detection cmos image sensor (1-7) is synchronous reaches rising edge；After row is synchronous reaches rising edge, detection CMOS figures
As whether the picture of sensor (1-7) synchronously reaches trailing edge；After as synchronously reaching trailing edge, a pixel value is gathered, and
Column counter adds 1；Then whether detection column counter reaches 640, and detection cmos image sensor is returned if not up to 640
Whether the picture of (1-7) synchronously reaches trailing edge, and linage-counter plus 1 if reaching 640, is then back to whether detection linage-counter reaches
To 480.
7. a kind of method for correcting error of embedded deviation-rectifying system based on cmos sensor according to claim 5, its feature
It is：3. middle system enters under non-manual adjustment state the step, images of the main arithmetic and control units of the STM32 (1-4) to collection
The flow that information carries out scan picture is：First image is pre-processed, then image border is extracted, then to figure
As edge is fitted；Then image border is identified, if curve is then judged as the defect of strip edge, if directly
Line is then positioned to object edge, obtains the error at edge.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611270904.1A CN106773991B (en) | 2016-12-30 | 2016-12-30 | Embedded deviation rectifying system based on CMOS sensor and deviation rectifying method thereof |
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| CN201611270904.1A CN106773991B (en) | 2016-12-30 | 2016-12-30 | Embedded deviation rectifying system based on CMOS sensor and deviation rectifying method thereof |
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| CN106773991B CN106773991B (en) | 2023-08-22 |
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| CN109942036A (en) * | 2019-03-22 | 2019-06-28 | 桑尼环保（江苏）有限公司 | Adaptive waste water control device |
| CN112506106A (en) * | 2020-12-14 | 2021-03-16 | 重庆市新众誉科技有限公司 | Deviation correcting controller based on TOUCHGFX |
| CN112637451A (en) * | 2020-12-09 | 2021-04-09 | 武汉茂格科技有限公司 | Based on AI image recognition sensor probe mends limit control system |
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| Publication number | Publication date |
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| CN106773991B (en) | 2023-08-22 |
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