CN109443220A - Based on the coil winding machine Stitch length measuring system with digital for surveying stroke sensor and machine vision - Google Patents
Based on the coil winding machine Stitch length measuring system with digital for surveying stroke sensor and machine vision Download PDFInfo
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- CN109443220A CN109443220A CN201811354934.XA CN201811354934A CN109443220A CN 109443220 A CN109443220 A CN 109443220A CN 201811354934 A CN201811354934 A CN 201811354934A CN 109443220 A CN109443220 A CN 109443220A
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- camera
- stroke sensor
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- coil winding
- length measuring
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Based on the coil winding machine Stitch length measuring system with digital for surveying stroke sensor and machine vision, the reading head and industrial camera of grating scale are installed on coil winding machine strand oscillator, grating scale is for measuring strand oscillator stroke, to determine offset vector S of the camera coordinates system with respect to lathe coordinate system, it detects by industrial camera and using hough edge algorithm into line edge, judge then to calculate coil length by coordinate transform into line position in the picture.
Description
Technical field
The present invention relates to based on the coil winding machine Stitch length measuring system with digital for surveying stroke sensor and machine vision.
Background technique
Coil winding machine is the special lathe for all kinds of magnetic induction loops of coiling, and structure includes main shaft, collet, translation stage, row
Line device, collet drive rotation to carry out enameled wire winding for clamping coil rack, collet by main shaft, and strand oscillator is with certain tension
Extraction enameled wire is rolled on from material, and is walked as the coiling of coil is driven by translation stage, makes to keep suitable phase to coiling and skeleton
To position, guarantee solenoid row around it is relatively uniform, the movement velocity of translation stage and the revolving speed of main shaft need different according to line footpath
It is preset.
The automatic improving of coil winding machine, it is necessary first to solve the problems, such as to be the length for measuring coiling, to execute control
Commutation, many are also required to measuring coil length with the product of secondary coil, and existing production technology is still by coiling
Stop, by the manual measurement length, and manually by the contact type measurement of slide calliper rule, there are low efficiency, error are big, non-in difficulties such as rings
With the defect overcome, it is therefore desirable to a method of fast and accurately on-line measurement is just in the coil axial length of coiling.
Summary of the invention
Technology of the invention solves the problems, such as:
It overcomes the deficiencies of existing technologies, proposes that carry out measuring coil coiling with the sensors such as grating scale and industrial camera long
The method of degree, effectively solves that manual measurement error is big, the random height of interpretation, and speed is slow, it is difficult to the shortcomings that online feedback, can reduce
Labor intensity, Improving The Quality of Products.
The technical solution of the invention is as follows:
Based on the coil winding machine Stitch length measuring system with digital for surveying stroke sensor and machine vision, comprising:
S1, the camera coordinates system O for determining lathe coordinate system OXYZ, the camera being mounted on strand oscillatorcXcYcZcAnd camera
The image coordinate system O of captured imagepXpYp；
S2, camera coordinates system O is determined by surveying stroke sensorcXcYcZcRelative to offseting to for lathe coordinate system OXYZ
Measure S；
S3, the line position that enters on coil rack is identified by the camera being mounted on strand oscillator, and enter line described in determining
Position is in described image coordinate system OpXpYpIn coordinate (x1,y1)；
S4, by described image coordinate system OpXpYpIn coordinate (x1,y1) be converted to camera coordinates system OcXcYcZcIn coordinate
(x2, y2, z2)；
S5, by the camera coordinates system OcXcYcZcIn coordinate (x2, y2, z2) be converted to seat in lathe coordinate system OXYZ
It marks (x, y, z), wherein y is coil length.
According to one embodiment of present invention, the survey stroke sensor is increment type grating scale, wherein increment type grating
The reading head of ruler is mounted on strand oscillator, and the zero graduation and coil of increment type grating scale originate point alignment.
According to one embodiment of present invention, the camera is industrial camera.
According to one embodiment of present invention, lathe coordinate system OXYZ is using machine tool chuck vertex as origin O, perpendicular to ground
The direction in face is X, is Y with coil axial direction, is Z with the direction perpendicular to X and Y formed plane.
According to one embodiment of present invention, image coordinate system OpXpYpUsing picture element matrix central point as origin Op, along picture
Plain column direction is Xp, it is Y with pixel row directionp。
According to one embodiment of present invention, camera coordinates system OcXcYcZcUsing camera photocentre position as origin Oc, XcSide
To with XpUnanimously, YcDirection and YpUnanimously, and perpendicular to XcAnd YcThe direction of formed plane is Zc。
According to one embodiment of present invention, in step s3, it is identified using hough edge Straight edge inspection method
It is described enter line position, and determine described in enter line position in described image coordinate system OpXpYpIn coordinate (x1,y1)。
According to one embodiment of present invention, in step s 4, pass through equationBy image coordinate system
OpXpYpIn coordinate (x1,y1) be converted to camera coordinates system OcXcYcZcIn coordinate (x2, y2, z2), wherein M is camera internal reference
Matrix.
According to one embodiment of present invention, in step s 5, pass through equationWherein, R is logical
Cross the installation error for measuring the camera and camera coordinates system OcXcYcZcOpposite offset direction is obtained with lathe coordinate system OXYZ's
The spin matrix obtained.
The advantages of the present invention over the prior art are that:
(1) present invention can automatic measurement and control coiling length, can be used for the production of random length coil, produced
Cheng Wuxu manual intervention；
(2) measurement accuracy of the present invention is high, eliminates the randomness of manual measurement, improves production efficiency；
(3) present invention is non-cpntact measurement, avoids injury product surface；
(4) present invention is on-line measurement, can support the realization of automatic reverse function, and then promote automatization level, saves
Manually.
Detailed description of the invention
Fig. 1 is being surveyed based on the coil winding machine coil length for surveying stroke sensor and machine vision for embodiment according to the present invention
The schematic diagram of amount method.
Specific embodiment
Referring to the drawings, detailed description of the present invention embodiment.
In an embodiment of the present invention, based on the coil winding machine Stitch length measuring system with digital for surveying stroke sensor and machine vision
The following steps are included:
S1, the camera coordinates system O for determining lathe coordinate system OXYZ, the camera being mounted on strand oscillatorcXcYcZcAnd camera
The image coordinate system O of captured imagepXpYp。
In an embodiment of the present invention, lathe coordinate system OXYZ is using machine tool chuck vertex as origin O, perpendicular to ground
Direction is X, is Y with coil axial direction, is Z with the direction perpendicular to X and Y formed plane.Image coordinate system OpXpYpWith pixel
Matrix central point is origin Op, to be X along pixel column directionp, it is Y with pixel row directionp.Camera coordinates system OcXcYcZcWith camera
Optical center position is origin Oc, XcDirection and XpUnanimously, YcDirection and YpUnanimously, and perpendicular to XcAnd YcThe side of formed plane
To for Zc.In this example, camera can be industrial camera, it is preferable that the industrial camera can be Charged Couple (Charged
Coupe Device, CCD) industrial camera.
S2, camera coordinates system O is determined by surveying stroke sensorcXcYcZcRelative to offseting to for lathe coordinate system OXYZ
Measure S.
In an embodiment of the present invention, surveying stroke sensor is increment type grating scale, the reading head peace of increment type grating scale
On strand oscillator, the zero graduation and coil of increment type grating scale originate point alignment.In this example, the method can pass through grating
The reading of ruler determines camera coordinates system OcXcYcZcThe offset vector of coil axial direction relative to lathe coordinate system OXYZ, and
Determine offset vector S.
S3, the line position that enters on coil rack is identified by the camera being mounted on strand oscillator, and enter line described in determining
Position described image coordinate system OpXpYpIn coordinate (x1,y1)。
In an embodiment of the present invention, the method enters line using described in the identification of hough edge Straight edge inspection method
Position, and enter line position described image coordinate system O described in determinationpXpYpIn coordinate (x1,y1).The inspection of hough edge linear edge
Survey method calculating speed is fast, strong robustness, and this method detects the gray scale difference of the enameled wire being straightened and background, can fit closest
The enameled wire edge of straight line, prevents from judging by accident.
S4, by image coordinate system OpXpYpIn coordinate (x1,y1) be converted to camera coordinates system OcXcYcZcIn coordinate (x2,
y2, z2)。
In an embodiment of the present invention, the method passes through following equation 1 for image coordinate system OpXpYpIn coordinate (x1,
y1) be converted to camera coordinates system OcXcYcZcIn coordinate (x2, y2, z2):
Wherein, M is camera internal reference matrix, can be determined according to the imaging of camera.
S5, by camera coordinates system OcXcYcZcIn coordinate (x2, y2, z2) be converted to coordinate in lathe coordinate system OXYZ
(x, y, z), wherein y is coil length.
In an embodiment of the present invention, the method passes through following equation 2 for camera coordinates system OcXcYcZcIn coordinate
(x2, y2, z2) be converted to coordinate (x, y, z) in lathe coordinate system OXYZ:
Wherein, R is spin matrix, can pass through the installation error and camera coordinates system O of the measurement cameracXcYcZcWith
The opposite offset direction of lathe coordinate system OXYZ obtains.
Embodiment
In an embodiment of the present invention, coiling 20mm coil carries out 7 measurements, measurement using slide calliper rule by conventional method
Data and time of measuring are as shown in the table.It carries out 7 measurements according to the technical solution of the present invention simultaneously, is captured using industrial camera
Enter line position, and coordinate of the line position in lathe coordinate system OXYZ, 7 groups of coils of acquisition are calculated by coordinate transform twice
The processing time needed for length data and 7 measurements is as shown in the table:
The result shows that smaller using the error that technical solution of the present invention measures, precision is higher, and the used time is shorter, and marks
Quasi- difference is smaller, eliminates the randomness of manual measurement, improves production efficiency, and promote automatization level.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (9)
1. based on the coil winding machine Stitch length measuring system with digital for surveying stroke sensor and machine vision characterized by comprising
S1, the camera coordinates system O for determining lathe coordinate system OXYZ, the camera being mounted on strand oscillatorcXcYcZcAnd camera capture
Image image coordinate system OpXpYp；
S2, camera coordinates system O is determined by surveying stroke sensorcXcYcZcOffset vector S relative to lathe coordinate system OXYZ；
S3, the line position that enters on coil rack is identified by the camera being mounted on strand oscillator, and enter line position described in determining
In described image coordinate system OpXpYpIn coordinate (x1,y1)；
S4, by described image coordinate system OpXpYpIn coordinate (x1,y1) be converted to camera coordinates system OcXcYcZcIn coordinate (x2,
y2, z2)；
S5, by the camera coordinates system OcXcYcZcIn coordinate (x2, y2, z2) be converted in lathe coordinate system OXYZ coordinate (x,
Y, z), wherein y is coil length.
2. the coil winding machine Stitch length measuring system with digital according to claim 1 based on survey stroke sensor and machine vision,
It is characterized in that, the survey stroke sensor is increment type grating scale, wherein the reading head of increment type grating scale is mounted on winding displacement
On device, the zero graduation and coil of increment type grating scale originate point alignment.
3. the coil winding machine Stitch length measuring system with digital according to claim 1 based on survey stroke sensor and machine vision,
It is characterized in that, the camera is industrial camera.
4. the coil winding machine Stitch length measuring system with digital according to claim 1 based on survey stroke sensor and machine vision,
It is characterized in that, lathe coordinate system OXYZ is using machine tool chuck vertex as origin O, it is X with the direction perpendicular to ground, with coil axis
It is Y to direction, is Z with the direction perpendicular to X and Y formed plane.
5. the coil winding machine Stitch length measuring system with digital according to claim 1 based on survey stroke sensor and machine vision,
It is characterized in that, image coordinate system OpXpYpUsing picture element matrix central point as origin Op, to be X along pixel column directionp, with pixel column
Direction is Yp。
6. the coil winding machine Stitch length measuring system with digital according to claim 5 based on survey stroke sensor and machine vision,
It is characterized in that, camera coordinates system OcXcYcZcUsing camera photocentre position as origin Oc, XcDirection and XpUnanimously, YcDirection with
YpUnanimously, and perpendicular to XcAnd YcThe direction of formed plane is Zc。
7. the coil winding machine Stitch length measuring system with digital according to claim 1 based on survey stroke sensor and machine vision,
It is characterized in that, in step s3, using entering line position described in the identification of hough edge Straight edge inspection method, and institute is determined
It states into line position in described image coordinate system OpXpYpIn coordinate (x1,y1)。
8. the coil winding machine Stitch length measuring system with digital according to claim 1 based on survey stroke sensor and machine vision,
It is characterized in that, in step s 4, passing through equationBy image coordinate system OpXpYpIn coordinate (x1,y1) turn
It is changed to camera coordinates system OcXcYcZcIn coordinate (x2, y2, z2), wherein M is camera internal reference matrix.
9. the coil winding machine Stitch length measuring system with digital according to claim 1 based on survey stroke sensor and machine vision,
It is characterized in that, in step s 5, passing through equationWherein, R is the installation by measuring the camera
Error and camera coordinates system OcXcYcZcThe spin matrix that opposite offset direction obtains with lathe coordinate system OXYZ's.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811354934.XA CN109443220B (en) | 2018-11-14 | 2018-11-14 | Coil length measuring method of winding machine based on stroke measuring sensor and machine vision |
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|---|---|---|---|
| CN201811354934.XA CN109443220B (en) | 2018-11-14 | 2018-11-14 | Coil length measuring method of winding machine based on stroke measuring sensor and machine vision |
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| CN109443220B CN109443220B (en) | 2021-09-07 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110132155A (en) * | 2019-06-20 | 2019-08-16 | 遵义医科大学 | A kind of bark crack degree and roughness measuring instrument |
| CN112678614A (en) * | 2020-12-30 | 2021-04-20 | 陕西东方航空仪表有限责任公司 | Intelligent wire arranging device and control method thereof |
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Cited By (3)
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| CN112678614A (en) * | 2020-12-30 | 2021-04-20 | 陕西东方航空仪表有限责任公司 | Intelligent wire arranging device and control method thereof |
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| CN109443220B (en) | 2021-09-07 |
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