CN109862256B - Device and method for visually positioning belt fiber - Google Patents
Device and method for visually positioning belt fiber Download PDFInfo
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- CN109862256B CN109862256B CN201811588870.XA CN201811588870A CN109862256B CN 109862256 B CN109862256 B CN 109862256B CN 201811588870 A CN201811588870 A CN 201811588870A CN 109862256 B CN109862256 B CN 109862256B
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Abstract
The invention discloses a device for visually positioning a belt fiber and a positioning method. The device comprises a low-magnification camera and a high-magnification camera, wherein the high-magnification camera is used for photographing the fiber under different light and shade according to a photographing control signal to obtain an image and sending the image to a control module; the camera moving shaft is used for driving the low-magnification camera and the high-magnification camera to do linear motion along the shaft direction according to the position control signal; the light source is used for changing the light and shade of images shot by the low-magnification camera and the high-magnification camera; the control module is used for sending photographing control signals to the low-magnification camera and the high-magnification camera, sending position control signals to a moving axis of the camera, controlling the brightness of a light source, storing photographed images and positioning and identifying optical fibers in the field of view of the high-magnification camera according to the stored photographed images; and (7) carrying a platform. The invention does not need to extract the characteristic information of the optical fiber, has better practicability for the optical fiber with the same specification, and is simple and convenient to operate.
Description
Technical Field
The invention belongs to the technical field of optical fiber processing, and particularly relates to a device and a method for visually positioning a ribbon fiber.
Background
In optical fiber processing technologies such as optical fiber cutting and optical fiber fusion splicing, positioning and identification of optical fibers are the first and most important steps. The existing positioning and identification method usually uses a visual camera to realize the positioning of the optical fiber, and the process is as follows: firstly, a camera is used for photographing an optical fiber, and on the basis of clear imaging, a region with characteristics is selected as a reference region or a template region of the optical fiber; then, using the optical fiber with the same optical fiber specification as the photographing object to search a region similar to the template region in the formed optical fiber image; and finally, the center coordinates of the searched or matched area are used as a reference coordinate to realize the positioning and identification of the optical fiber. The existing locating and identification methods are not well suited for the detection of a ribbon fiber for the following reasons: the ribbon fiber is formed by arranging and combining a plurality of optical fibers at intervals, the physical factors such as the length, the diameter and the like of each optical fiber are the same, and the only difference is that the outer skins of the optical fibers are different in color; the different colors are displayed in different gray value forms after being processed by the camera, if the optical fibers in the fiber are identified by taking the gray as the characteristic, the gray areas corresponding to the two optical fibers need to have the difference similar to black and white, or the weak difference of the gray areas corresponding to the two optical fibers is amplified so as to be more accurately detected; of course, a camera with high magnification can be used to shoot the optical fibers and amplify the gray scale difference between the optical fibers, but the high-magnification camera has a narrow visual field, cannot obtain a global image of the optical fibers, and cannot confirm which optical fiber in the current visual field is the optical fiber; in summary, the tape fiber cannot be well positioned and identified by using the gray scale as the feature, and a new positioning and identification method for positioning and identifying the tape fiber is urgently needed.
Disclosure of Invention
The invention aims to solve the problem that the existing positioning and identifying methods in the background technology cannot be well applied to the fiber, and provides a device and a positioning method for visually positioning the fiber.
The technical scheme adopted by the invention is as follows: a device for visually localizing a ribbon fiber, comprising:
the low-magnification camera is used for photographing the fiber under different light and shade according to the photographing control signal to obtain an image and sending the image to the control module; high magnification camera for
Photographing the fiber under different light and shade according to the photographing control signal to obtain an image and sending the image to the control module; camera motion axis for
Driving the low-magnification camera and the high-magnification camera to do linear motion along the axial direction according to the position control signal; light source for changing low magnification photographing
Light and dark rays of images shot by a camera and a high-magnification camera;
the control module is used for sending photographing control signals to the low-magnification camera and the high-magnification camera, sending position control signals to a moving axis of the camera, adjusting the proportion synthesis of RGB (red, green and blue) to control the brightness of a light source, storing photographed images and positioning and identifying optical fibers in the field of view of the high-magnification camera according to the stored photographed images;
and the carrying platform is used for containing and fixing the optical fiber device. Further, the low magnification
The camera is fixed with the high-magnification camera, and the center distance between the low-magnification camera and the high-magnification camera is L1; the light source is respectively connected with the low-magnification camera and the high-magnification camera; the low-magnification camera and the high-magnification camera are hung on a camera moving shaft; the working distance of the low-magnification camera is H1, and the working distance of the high-magnification camera is H2; the low-magnification camera and the high-magnification camera can move in the XYZ three directions relative to the carrying platform.
Further, the working distance H2 of the high-magnification camera is less than the working distance H1 of the low-magnification camera.
Further, the operating position H1 of the low-magnification camera should satisfy a height at which clear photographing is possible. The visual field range of the low-magnification camera should cover the area where the belt fiber is positioned on the carrying platform; the relative movement of the low-magnification camera and the carrier can be the movement of the low-magnification camera and the fixation of the carrier, or the movement of the carrier and the fixation of the low-magnification camera or the respective movement of the carrier and the low-magnification camera, and the movement implementation mode of the low-magnification camera and the carrier has no influence on the method.
Further, the working position H2 of the high-magnification camera should satisfy the height for clear photographing; the high-magnification camera is used for shooting a local image with the fiber, and the visual field range of the high-magnification camera is required to be capable of only covering a partial area where the fiber is arranged on the carrying platform; the relative movement of the high-magnification camera and the carrier can be the movement of the high-magnification camera with the carrier fixed, or the movement of the carrier and the high-magnification camera or the respective movements of the high-magnification camera and the carrier, and the movement implementation mode of the high-magnification camera and the carrier has no influence on the method.
A method of visually positioning a fiber-bearing device, comprising the steps of:
(1) determining the working distance H1 of the low-magnification camera and the working distance H2 of the high-magnification camera;
(2) adjusting the relative position of the carrier and the low-magnification camera to enable the carrier to be positioned below the low-magnification camera and enable the carrier to enter the visual field of the low-magnification camera, ensuring the low-magnification camera to image clearly, then using light sources with different color lights as the light sources of the low-magnification camera, and using the low-magnification camera to take pictures of the carrier in sequence to obtain the final image of the low-magnification camera;
(3) and adjusting the relative position of the high-magnification camera and the carrier to enable the carrier to be positioned below the high-magnification camera, wherein the local part with the optical fiber can occupy the global visual field of the high-magnification camera and can form clear images, the offset L2 of the carrier relative to the low-magnification camera along the x direction is obtained, and the optical fiber in the visual field of the high-magnification camera is positioned and identified.
In the step (3), the process of positioning the optical fiber in the field of view of the high-magnification camera includes: the offset of the stage relative to the low-magnification camera along the x direction is L2, the offset L3 between the center O1 of the image formed by the low-magnification camera after being translated by L2 and the center P of the image formed by the high-magnification camera is obtained, the offset L3 is the difference between L1 and L2, and the position of the center O1 of the image formed by the low-magnification camera after being translated by L2 may be left or right of the center P of the image formed by the high-magnification camera according to the sizes of L1 and L2.
In the step (3), the process of identifying the optical fiber in the field of view of the high-magnification camera includes: according to the size relation between the distance L3 between the two image centers O1 and P and the view field or the image size of the high-magnification camera, whether the image center O1 of the image formed by the low-magnification camera after being translated by L2 is positioned on the image formed by the high-magnification camera can be determined; when the distance L3 between the centers O1 and P of the two images is smaller than half of the visual field or the image size of the high-magnification camera, the center O1 of the image formed by the low-magnification camera after the image is translated by L2 is on the image formed by the high-magnification camera, the position O2 of the image formed by the high-magnification camera is acquired at the moment, and the positions P and O2 are marked by marks; on the image formed by the high-magnification camera, the first optical fiber positioned on the left of the point O2 corresponds to the first optical fiber positioned on the left of the center O of the image formed by the low-magnification camera; when the image center O1 of the translated image formed by the low-magnification camera through L2 is not on the image formed by the high-magnification camera, it needs to determine which optical fiber is in the field of view according to the difference L4 between the distance L3 between the two centers O1 and P and the field of view or image size of half of the high-magnification camera, and find the first optical fiber with the physical length from the image center O larger than L4, that is, the first optical fiber on the left side or right side in the field of view of the high-magnification camera, in the image formed by the low-magnification camera, and determine whether the left side or right side is according to the relative position of the two centers P, O1.
The invention takes pictures of the fiber by the camera with high and low multiplying power, extracts the obtained global and local information of the fiber, and positions and identifies the fiber according to the information. Compared with the prior art, the method does not need to extract the characteristic information of the optical fiber, has better practicability for the optical fiber with the same specification, is simple and convenient to operate, only needs to use two cameras to take pictures of the strip line in sequence, and then identifies and positions the optical fiber through the image processing technology.
Drawings
FIG. 1 is a schematic view of a fiber positioning device;
FIG. 2 is a schematic view of camera imaging under different light sources;
FIG. 3 is a schematic view of a camera imaging composite;
FIG. 4 is a schematic diagram of the position offset of the stage;
FIG. 5 is a schematic view of the positioning of the ribbon fibers at a small image heart distance;
fig. 6 is a schematic view of the positioning of the ribbon fibers under the macro image heart distance.
In the figure: 1-low magnification camera; 2-high magnification camera; 3-carrying platform; 4-camera motion axis; 5-a light source; 6-a control module.
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
As shown in fig. 1, the present invention is composed of a low-magnification camera 1, a high-magnification camera 2, a stage 3, a camera movement axis 4, and a light source 5.
The invention takes pictures of the fiber by a camera with high and low multiplying power to obtain the global and local information of the fiber, and realizes the positioning and identification of the fiber by combining the image processing technology. The method for positioning and identifying the belt fiber is carried out according to the following steps:
the first step is as follows: the relationship between the pixels of the images formed by the low-magnification camera 1 and the high-magnification camera 2 and the physical length, i.e., how many millimeters a pixel corresponds to, is determined.
Depending on the model of the camera, a number of parameters of the camera may be obtained. For example, the pixel size x1 × y1 of the low-magnification camera 1, the size d1 × d2 of the low-magnification camera 1, the optical magnification α of the low-magnification camera 1, the focal length r1 of the low-magnification camera 1, the pixel size x2 × y2 of the high-magnification camera 2, the size d3 × d4 of the high-magnification camera 2, the optical magnification β of the high-magnification camera 2, and the focal length r2 of the high-magnification camera 2 according to the present invention may be found. Placing the belt fiber on a carrier 3 and fixing the belt fiber, and adjusting the relative position of the carrier 3 and the low-magnification camera 1 to ensure that the carrier 3 is positioned below the low-magnification camera 1 and the image is clear, so as to obtain the height difference between the low-magnification camera 1 and the carrier 3, wherein the height difference is the working distance H1 of the low-magnification camera 1; next, the relative position of the stage 3 and the high-magnification camera 2 is adjusted so that the stage 3 is located below the high-magnification camera 2, the high-magnification camera 2 is adjusted so that the fiber image is clear, and the height difference between the high-magnification camera 2 and the stage 3 at this time, which is the working distance of the high-magnification camera 2, is obtained. And combining the first formula and the second formula to obtain the physical length of the unit pixel.
It should be noted here that the camera size and the pixel have x and y values, and if the physical length of the x unit pixel is known, the x value is used, and the y value is the same. In this way, the lengths X1, Y1, X2, and Y2 of the unit pixels in the X and Y directions of the low-magnification camera 1 and the high-magnification camera 2 described in this patent are obtained.
The second step is that: adjusting the relative position of the carrier 3 and the low-magnification camera 1 to ensure that the carrier 3 is positioned below the low-magnification camera 1 and the band fiber enters the visual field of the low-magnification camera 1, so as to ensure that the low-magnification camera 1 can clearly image; then, the light source 5 of different color light is used as the light source of the low-magnification camera 1, and the fiber is photographed in sequence by using the low-magnification camera 1. Due to the tape fiber
The optical fiber image area is formed by arranging a plurality of optical fibers with different sheath colors, and the optical fibers with the same color as the color light of the light source 5 are shot by the low-magnification camera 1 under the irradiation of the light source 5, and the formed optical fiber image area is the brightest part of the whole image area. The low-magnification camera 1 selects a black and white processing mode, the optical fiber with the same color with the light source 5 presents a white area on the image, and the optical fibers with other colors present different gray areas from white to black on the image. By changing the color light of the light source 5, the low-magnification camera 1 according to the present invention can obtain a plurality of fiber-carrying images (as shown in fig. 2) having different bright and dark regions. By combining the images, a fiber image with alternate light and shade (as shown in fig. 3) can be obtained, that is, the imaging area of each fiber is changed into a bright area, and the other areas are dark, so that one image is used as the final image of the low-magnification camera 1.
The integration process of the images is such that: the present invention obtains a plurality of fiber images having different bright regions due to the change of the color light of the light source 5, extracts the brightest region in each image, and combines the extracted brightest regions to form a final image. In order to synthesize the fiber-carrying images with alternate light and shade, the invention adopts a two-dimensional discrete Fourier transform method. For each image, the invention establishes a mathematical expression of a pixel point and a gray value thereof, namely f (x, y), wherein x and y are respectively the horizontal and vertical coordinates of the pixel point on the image. By using the formula three, the situation of each image in the frequency domain can be obtained. The frequency domain means, in the present invention, the degree of steepness of the change in the gray level in the image, and the most sharply changed portion (high frequency portion) represents the region of the image having the largest difference in brightness and darkness.
Where M, N is the size of the image formed by the low-magnification camera 1, and u and v are the frequencies of the gray scale of the pixel point on the image in the x and y directions.
The third step: by adjusting the relative positions of the high-magnification camera 2 and the stage 3 so that the stage 3 is positioned below the high-magnification camera 2, the local part of the ribbon fiber can occupy the global field of view of the high-magnification camera 2 and image clearly, and the offset L2 (shown in fig. 4) of the stage 3 with respect to the low-magnification camera 1 in the x direction is obtained.
As shown in fig. 4, the high-magnification camera 2 according to the present invention has a smaller field of view and fewer optical fibers than the low-magnification camera 1, but can magnify the local information of the optical fibers, and can obtain the center coordinates Pn of each optical fiber and the center coordinates P of the image in the field of view of the high-magnification camera 2 by computer technology. For the light and shade alternate fiber-carrying image synthesized in the second step, the central coordinate Pm of each optical fiber in the fiber-carrying image and the central coordinate O of the formed image can be easily obtained due to the prominent light and shade limit. Next, it is necessary to confirm which optical fiber or fibers in the field of view of the high-magnification camera 2 is/are in the black-and-white fiber-carrying image integrated by the low-magnification camera 1.
The process of locating and identifying the optical fiber in the field of view of the high-magnification camera 2 is as follows: the offset of the stage 3 relative to the low-magnification camera 1 along the x direction is L2, which can be regarded as the offset L2 of the image formed by the low-magnification camera 1 along the x direction, so that the offset L3 of the image center O1 after the image formed by the low-magnification camera 1 is translated by L2 and the offset L3 of the image center P formed by the high-magnification camera 2 can be obtained, the offset L3 is the difference between L1 and L2, and according to the sizes of L1 and L2, the position of the image center O1 after the image formed by the low-magnification camera 1 is translated by L2 may be located on the left or right of the image center P formed by the high-magnification camera 2; in addition to paying attention to the displacement of the center points of the two images, it is more important to consider whether the image center O1 of the image formed by the low-magnification camera 1 is located on the image formed by the high-magnification camera 2 after the image is displaced by a distance of L2; according to the size relation between the distance L3 between the two image centers O1 and P and the view field or the image size of the high-magnification camera 2, whether the image center O1 after the image translation L2 by the low-magnification camera 1 is positioned on the image formed by the high-magnification camera 2 can be determined; as shown in fig. 5, when the distance L3 between the centers O1 and P of the two images is smaller than half the field of view or the image size of the high-magnification camera 2, the center O1 of the image formed by the low-magnification camera 1 after the image is shifted by L2 is on the image formed by the high-magnification camera 2, and at this time, the position O2 of the image formed by the high-magnification camera 2 is acquired, and two positions P and O2 are marked with marks; on the image formed by the high-magnification camera 2, the first optical fiber on the left of the point O2 corresponds to the first optical fiber on the left of the image center O formed by the low-magnification camera 1; as shown in fig. 6, when the image center O1 of the translated image L2 formed by the low-magnification camera 1 is not on the image formed by the high-magnification camera 2, it is necessary to determine which optical fiber is in the field of view according to the difference L4 between the distance L3 between the O1 and the P center and half of the field of view or the image size of the high-magnification camera 2, and to find the first optical fiber having a physical length from the image center O greater than L4 in the image formed by the low-magnification camera 1, that is, the first optical fiber on the left or right side in the field of view of the high-magnification camera 2, and to determine whether the left or right side is determined according to the relative position of the two centers P, O1.
Those not described in detail in this specification are within the skill of the art.
Claims (6)
1. A visual positioning device for ribbon fiber is characterized in that: the method comprises the following steps: the low-magnification camera is used for photographing the fiber under different light and shade according to the photographing control signal to obtain an image and sending the image to the control module; the high-magnification camera is used for photographing the fiber under different light and shade according to the photographing control signal to obtain an image and sending the image to the control module; the camera moving shaft is used for driving the low-magnification camera and the high-magnification camera to do linear motion along the shaft direction according to the position control signal; the light source is used for changing the light and shade of images shot by the low-magnification camera and the high-magnification camera;
the control module is used for sending photographing control signals to the low-magnification camera and the high-magnification camera, sending position control signals to a moving axis of the camera, controlling the brightness of a light source, storing photographed images and positioning and identifying optical fibers in the field of view of the high-magnification camera according to the stored photographed images;
and the carrying platform is used for containing and fixing the optical fiber device.
2. The apparatus for visually aligning a ribbon fiber of claim 1, wherein: the low-magnification camera and the high-magnification camera are fixed, and the center distance between the low-magnification camera and the high-magnification camera is L1; the light source is respectively connected with the low-magnification camera and the high-magnification camera; the low-magnification camera and the high-magnification camera are hung on a camera moving shaft; the working distance of the low-magnification camera is H1, and the working distance of the high-magnification camera is H2; the low-magnification camera and the high-magnification camera can move in the XYZ three directions relative to the carrying platform.
3. The apparatus for visually aligning a ribbon fiber of claim 2, wherein: the working distance H2 of the high-magnification camera is less than the working distance H1 of the low-magnification camera.
4. A positioning method of a device for visually positioning a tape fiber is characterized in that: the method comprises the following steps:
(1) determining the working distance H1 of the low-magnification camera and the working distance H2 of the high-magnification camera;
(2) adjusting the relative position of the carrier and the low-magnification camera to enable the carrier to be positioned below the low-magnification camera and enable the carrier to enter the visual field of the low-magnification camera, ensuring the low-magnification camera to image clearly, then using light sources with different color lights as the light sources of the low-magnification camera, and using the low-magnification camera to take pictures of the carrier in sequence to obtain the final image of the low-magnification camera;
(3) and adjusting the relative position of the high-magnification camera and the carrier to enable the carrier to be positioned below the high-magnification camera, wherein the local part with the optical fiber can occupy the global visual field of the high-magnification camera and can form clear images, the offset L2 of the carrier relative to the low-magnification camera along the x direction is obtained, and the optical fiber in the visual field of the high-magnification camera is positioned and identified.
5. The method of claim 4, wherein the step of visually positioning the device with fiber comprises: in the step (3), the process of positioning the optical fiber in the field of view of the high-magnification camera includes: the center distance between the low-magnification camera and the high-magnification camera is L1, the offset of the carrier relative to the low-magnification camera along the x direction is L2, the offset L3 of the image center O1 after the image formed by the low-magnification camera is translated by L2 and the image center P formed by the high-magnification camera is obtained, the offset L3 is the difference between L1 and L2, and according to the sizes of L1 and L2, the position of the image center O1 after the image formed by the low-magnification camera is translated by L2 may be located on the left or right of the image center P formed by the high-magnification camera.
6. The method of claim 5, wherein the step of visually positioning the device with fiber comprises: in the step (3), the process of identifying the optical fiber in the field of view of the high-magnification camera includes: according to the size relation between the distance L3 between the two image centers O1 and P and the view field or the image size of the high-magnification camera, whether the image center O1 of the image formed by the low-magnification camera after being translated by L2 is positioned on the image formed by the high-magnification camera can be determined; when the distance L3 between the centers O1 and P of the two images is smaller than half of the visual field or the image size of the high-magnification camera, the center O1 of the image formed by the low-magnification camera after the image is translated by L2 is on the image formed by the high-magnification camera, the position O2 of the image formed by the high-magnification camera is acquired at the moment, and the positions P and O2 are marked by marks; on the image formed by the high-magnification camera, the first optical fiber positioned on the left of the point O2 corresponds to the first optical fiber positioned on the left of the center O of the image formed by the low-magnification camera; when the image center O1 of the translated image formed by the low-magnification camera through L2 is not on the image formed by the high-magnification camera, it needs to determine which optical fiber is in the field of view according to the difference L4 between the distance L3 between the two centers O1 and P and the field of view or image size of half of the high-magnification camera, and find the first optical fiber with the physical length from the image center O larger than L4, that is, the first optical fiber on the left side or right side in the field of view of the high-magnification camera, in the image formed by the low-magnification camera, and determine whether the left side or right side is according to the relative position of the two centers P, O1.
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