CN110488312A - The target prediction method of foreign matter device is removed based on reflection-type laser - Google Patents
The target prediction method of foreign matter device is removed based on reflection-type laser Download PDFInfo
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- CN110488312A CN110488312A CN201810624641.2A CN201810624641A CN110488312A CN 110488312 A CN110488312 A CN 110488312A CN 201810624641 A CN201810624641 A CN 201810624641A CN 110488312 A CN110488312 A CN 110488312A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of target prediction methods that foreign matter device is removed based on reflection-type laser.Kinematic Model is carried out, the unfixed motion profile of parameter is obtained by dynamic analysis for the high voltage cable；And project in camera plane coordinate system, obtain corresponding track in camera plane coordinate system.The foreign matter position data collected by data, finds out model parameter, is fitted to track of the current time foreign matter winding point in camera plane, carries out predicting tracing to tracking object within the time of image recognition, compensate the time delay of image recognition.The method of the present invention can be improved reflection-type laser and remove the real-time that tracks in foreign matter device operation process, make to track it is more accurate in time, keep the cut point of laser more accurate, effectively improve equipment cutting efficiency.
Description
Technical field
The invention belongs to power transmission cable foreign matters to remove tracking field, and in particular to one kind removes foreign matter based on reflection-type laser
The target prediction method of device.
Background technique
In actual vision servo system, since the sample rate of most video cameras is lower, video camera to image processing equipment
Image transmitting exist delay；And the complexity due to this sense organ of vision, so that the extraction of visual information needs complexity
Algorithm is supported, and the treatment process of these image algorithms usually requires more operation time, so that system real time is difficult
To meet, that is to say, that the acquisition of visual information can generate time delay, this will cause large effect to Visual servoing control task,
Such as the precision of control is reduced, or even cause the failure of control task.
Solving the most direct method of delay problem is exactly to improve hardware cost, image processing equipment for example, by using high speed or
Person uses the video camera of high sample frequency.But the cost of these methods is all costly, so people usually select to set by software
The method of meter solves.
Nakadokoro et al. estimates characteristics of image using the average value of former and later two moment joint positions, and then compensates
Time delay.Nashio et al. is then used on the basis of this method and is compensated to the evaluated error of estimated characteristics of image.This two
Kind method needs to assume that the velocity and acceleration of moving object is fixed and invariable.Chaumette et al.] by Kalman filtering
Method estimates the position of characteristics of image, thus delay compensation.Kim et al. is using ARM model prediction target object in image space
Position reduce the error generated by time delay.Both methods also requires that the velocity and acceleration of moving object is constant
's.
Summary of the invention
The present invention proposes a kind of target prediction method that foreign matter device is removed based on reflection-type laser, and reflection-type can be improved
Laser removes the real-time that tracks in foreign matter device operation process, make to track it is more accurate in time, keep the cut point of laser more smart
Standard effectively improves equipment cutting efficiency.
Realize the Technical Solving of the object of the invention are as follows: one kind removes foreign matter device target prediction based on reflection-type laser
Method, steps are as follows:
Step 1: visual sensor acquires the current image frame including target, and is transmitted to control system, in display screen
Upper real-time display image；
Step 2: after control system receives the incoming trace command of input unit, into tracking mode；
Step 3: visual sensor acquires the current image frame including target, and is transmitted to master system, is showing
Real-time display image on screen；Control system carries out image procossing to current picture frame and foreign matter identifies, obtains foreign matter winding point
Image coordinate；
Step 4: image coordinate information is resolved angled coordinate by control system, and time and angle coordinate are stored in
In one group of reserved array；Angle coordinate solution is counted as turntable order simultaneously, turntable is sent to and is tracked.Repetition step 3~
After four n times, step 5 is executed.
Step 5: by the n group data of storage, pitch angle in the turntable angle coordinate system obtained according to Kinematic Model
Anticipation function v (t), data are fitted to curve, obtain specific function parameter.
Step 6: control system carries out image procossing to present image and foreign matter identifies, obtains the image of foreign matter winding point
Coordinate information resolves angled coordinate, the current t with prediction0Angle coordinate v (the t at moment0) compare, it is missed when error is greater than setting
When poor k, return step three；Otherwise continue.
Step 7: angle coordinate solution is counted as turntable order, turntable is sent to and is tracked.
Step 8: control system judges whether visual sensor receives new picture frame, arrives if so, repeating step 6
Eight；If not, executing step 9.
Step 9: predict that foreign matter winds angle coordinate existing for point subsequent time according to v (t), after solution is counted as turntable order
It is sent to turntable, repeating step 8 until input unit is incoming terminates order.
Compared with prior art, the present invention its remarkable advantage is:
(1) present invention is compensated using the time delay that predicting tracing generates image procossing, can greatly improve tracking
Real-time and accuracy；
(2) present invention carries out kinematics analysis to cable foreign matter point using Pendulum Model, and model is simple, in majority of case
Under can satisfy Fast Fitting formed predicted motion track, meet track demand.
Detailed description of the invention
Fig. 1 is the general assembly structural schematic diagram that reflection-type laser of the present invention removes foreign matter device.
Fig. 2 is that reflection-type laser of the invention removes the orientation component of foreign matter device and the side view of pitch components
Fig. 3 is the sectional view and side view for the turntable that reflection-type laser of the invention removes foreign matter device.
Fig. 4 is the top view and sectional view for the orientation component that reflection-type laser of the invention removes foreign matter device.
Fig. 5 is the front view and side view for the pitch components that reflection-type laser of the invention removes foreign matter device.
Fig. 6 is the control system operation schematic diagram that reflection-type laser of the invention removes foreign matter device.
Fig. 7 is model foundation and the tracking flow chart containing target prediction.
Fig. 8 is the schematic diagram that amplitude h is projected in camera plane.
Fig. 9 is cable foreign matter form schematic diagram.
Figure 10 is wound around a cable cross-sections Pendulum Model schematic diagram.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1, the reflection-type laser that is based on of target prediction method of the present invention remove foreign matter device include turntable 22,
Dust proof member 3, laser part 4, fixed frame 5 (preferably tripod), power-supply system, input/output unit, control system, communication mould
Block, visual sensor 10 (preferably high definition industrial camera), wherein turntable 22 includes orientation component 1, pitch components 2.Orientation component
1 is mounted on 5 top of tripod；Pitch components 2 are mounted on 1 top of orientation component；17 sets of dust cover in dust proof member 3 are in pitching
Outside component 2, dust-proof mirror 31 is mounted in orientation component 1；Laser part 4 includes laser beam emitting head 19, reflection mirror component 1, anti-
Mirror element 2 21 is penetrated, laser beam emitting head 19 is mounted in orientation component 1, and reflection mirror component 1, reflection mirror component 2 21 are installed
In pitch components 2, by this strapdown structure, optical path can pass through reflection mirror component 1 and reflection mirror component 2 21
After successive reflex, it is parallel to the sending of 10 optical axis of visual sensor, therefore only need to adjust the angle of reflecting mirror, without making laser
Emitting head 19 follows turntable 22 to rotate；Visual sensor 10 is mounted in pitch components 2.
In control system, industrial personal computer 35 is connect with visual sensor 10, adjusts 10 focal length of visual sensor and wide-angle parameter,
Make to get a clear view；Visual sensor 10 and industrial personal computer 35 connect, and after capturing foreign matter point, image are transmitted to industrial personal computer 35 and carries out image
Identification；Industrial personal computer 35 is connected by controlling driving part 38 with orientation component 1, pitch components 2, can carry out orientation and pitching two
The rotation of freedom degree, so that laser part 4 and visual sensor 10 be driven to rotate；Industrial personal computer 35 is by the result treatment of image recognition
Afterwards, it is transmitted to control driving part 38, orientation component 1 is adjusted and pitch components 2 is tracked, and drive laser part 4 to foreign matter
It is cut；Control system and the connection of communication module 9 are for obtaining remote control information；Power-supply system is control system, vision
Sensor 10, orientation component 1, pitch components 2, laser part 4, communication module 9 are powered.
As shown in Figure 2-5, orientation component 1 includes orientation torque motor 11, (rotation becomes transmitter to orientation angles measuring device
Or Lineside encoding unit) 12, orientation limiting lock components 23, laser installation joint unit 24, pedestal 25 and orientation bracket 26.Its
In, pedestal 25 is fixed on 5 top of tripod；Orientation bracket 26 is mounted on pedestal 25 and pitch components 2 connect.Laser installation
Joint unit 24 for connecting laser part 4, and passes through laser in the circular hole in 25 center of pedestal；Orientation angles measurement
Device (rotation becomes transmitter or Lineside encoding unit) 12 is placed in inside pedestal 25, is obtained the angle of true bearing rotation by it, is led to
It crosses electric signal and is sent to control driving part 38；Orientation torque motor 11 be located at orientation angles measuring device (rotation become transmitter or
Person's Lineside encoding unit) 12 top, it can be achieved that orientation component 1 in orientation -180~180 degree rotation；Orientation limiting lock components
23 are located on 26 edge of orientation bracket, and the order by controlling driving part 38 makes it fall into a circular hole at 25 edge of pedestal
In, for locking orientation, constant bearing bracket 26.
Pitch components 2 include bearing block 1, bearing block 2 14, pitching moment motor 15, pitch axis 1, connection parts
28, pitch axis 2 29, pitch angle measuring device (rotation becomes transmitter or Lineside encoding unit) 16, pitching limiting lock components
30.Wherein, bearing block 1 and bearing block 2 14 are fixedly mounted on the orientation bracket 26 of orientation component 1, one 13 He of bearing block
Bearing block 2 14 is parallel to each other, and orientation component 1 is followed to rotate；Pitching moment motor 15 is located in bearing block 1, it can be achieved that 0~
90 degree of pitching rotations.Pitch axis 1 is located in bearing block 1, pitching moment motor 15 is connected, as pitching moment motor 15
Drive mechanism；28 crossbearer of connection parts is connected, as biography among pitch axis 1 and pitch axis 2 29 with pitch axis 1
Dynamic structure, and be connected with visual sensor 10, it rotates together；Pitch axis 2 29 is located in bearing block 2 14, connects connection parts
28, as driven structure；Pitch angle measuring device (rotation becomes transmitter or Lineside encoding unit) 16 is placed in bearing block 2 14,
Pitch angle measuring device (rotation becomes transmitter or Lineside encoding unit) 16 is able to detect the angle of the rotation of pitch axis 2 29, passes through
Electric signal is sent to control driving part 38, is further transmitted to control system 8；Pitching limiting lock components 30 are located at pitch axis
2 29 outside, the pitch angle for mechanical retention pitching moment motor 15.Orientation bracket 26 is fixed on pedestal 25, is used for
Pitch components 2 are connected, it is driven to rotate in orientation.
Dust proof member 3 includes dust cover 17, laser work window 18, dust-proof mirror 31.Dust cover 17 is covered in pitch components 2
Outside, for internal dust-proof；Laser work window 18 is used to pass through dust cover 17 when laser work in dust cover 17；It is dust-proof
Mirror 31 is located at 1 lower section of orientation component, at the circular hole that laser installation joint unit 24 connects, prevents impurity from entering.
Laser part 4 includes laser beam emitting head 19, reflection mirror component 1, reflection mirror component 2 21, laser controlling case 32.
Wherein, laser beam emitting head 19 is connect by optical fiber with laser controlling case 32, is emitted laser, is at laser light source；Laser beam emitting head
19 are connected with laser installation joint unit 24, together in the circular hole in 25 center of the pedestal of orientation component 1, make laser beam emitting head
19 straight up, laser by emitting head issue after straight up；Reflection mirror component 2 21 installs 24 phase of joint unit with laser
Even, it is located at right above laser beam emitting head 19, laser after emitting head sending on reflection mirror component 2 21 by straight up, passing through
45 ° of reflected illuminations are on reflection mirror component 1；Reflection mirror component 1 is mounted on the interior of the pitch axis 2 29 of pitch components 2
Side, after laser reflects away on reflection mirror component 1, light beam is parallel with 10 optical axis of visual sensor, also, mirror part
Part 1 is rotated together with pitch axis 2 29 and visual sensor 10, can reflect the laser light to 10 observation area of visual sensor
In required position, to alleviate the burden of motor improve motor without rotating the biggish laser beam emitting head of weight
The precision of rotation.
Power-supply system includes laser battery 33 and DC power supply 34.DC power supply 34 is mainly used for negative to entire motor
It carries, input/output unit and visual sensor 10 are powered.Laser battery 33 is mainly used for the laser controlling in laser part 4
Case 32 is powered.
Input/output unit includes display 36 and input unit 37.Display 36 receives industrial personal computer 35 by HDMI interface
Signal, 8 control interface of display control program；Input unit 37 is used to input the operation information of operator, is sent to industrial personal computer
35。
As shown in fig. 6, control system includes industrial personal computer 35 and control driving part 38.Industrial personal computer 35 passes through RS485 serial ports
Visual sensor 10 is sent commands to, is changed for realizing focal length, the narrow angle of wide-angle, presetting bit image parameter；Industrial personal computer 35 passes through
Coaxial cable receives 10 image of visual sensor and information, identifies route and foreign matter, obtains foreign matter location information and feed back to control
Driving part 38；Industrial personal computer 35 is connect with control driving part 38 by RS422 serial ports and realizes that the rotation of turntable 22 is cut；Industrial personal computer
35 connect realization human-computer interaction with input/output unit；Control driving part 38 is located in the pedestal 25 in orientation component 1, passes through
Orientation angles measuring device (rotation become transmitter or Lineside encoding unit) 12, pitch angle measuring device (rotation become transmitter or
Lineside encoding unit) 16 angle informations for receiving orientation component 1 and pitch components 2 respectively, and industrial personal computer is transmitted to by RS422 serial ports
35, while 35 information of industrial personal computer, control azimuth component 1 and pitch components 2 are received, carry out two-freedom movement.
Communication module includes wireless transmitter module and wireless receiving module, is mainly used for realizing 35 wireless monitor function of industrial personal computer
Energy；Communication module has the function of wireless awakening and networking function.
Visual sensor 10 is fixedly mounted on 28 lower section of connection parts of pitch components 2, with rotating therewith, and in real time
It acquires image information in front and control system 8 is sent to by coaxial cable, and receive 35 signal instruction of industrial personal computer.
Tripod 5 is located at the bottommost of device, by changing the length adjustment device height of three feet, provides and stablizes properly
Shooting state.
As shown in fig. 7, the present invention is based on the target prediction methods that reflection-type laser removes foreign matter device, including in detail below
Step:
Step 1: high definition industrial camera acquires the current image frame including target in real time, and is transmitted to control system, In
Real-time display image on display screen；
Step 2: after control system receives the incoming trace command of input unit, into tracking mode；
Step 3: control system carries out target alien material identification to current picture frame, and the image for obtaining foreign matter winding point is sat
Mark；
Step 4: image coordinate information is resolved angled coordinate by control system, and time and angle coordinate are stored in
In one group of reserved array；Angle coordinate solution is counted as turntable order simultaneously, turntable is sent to and is tracked；Repetition step 3~
After four n times, step 5 is continued to execute；
Step 5: it by the n group data of storage, establishes kinematics model and obtains pitch angle in turntable angle coordinate system
Data are fitted to curve by anticipation function v (t), obtain specific function parameter；
Step 6: control system carries out image procossing to present image and foreign matter identifies, obtains the image of foreign matter winding point
Coordinate information resolves angled coordinate, the current t with prediction0The pitch angle coordinate v (t at moment0) compare, it is set when error is greater than
When determining error k, k=0.02 ° of error is set, return step three；Otherwise it continues to execute in next step；
Step 7: being counted as turntable order for the angle coordinate solution that step 6 image recognition obtains, be sent to turntable carry out with
Track；
Step 8: control system judges whether high definition industrial camera receives new picture frame, if so, repeating step 6
To eight；If not, continuing to execute step 9；
Step 9: predict that foreign matter winds angle coordinate existing for point subsequent time according to anticipation function v (t), solution is counted as turning
It is sent to turntable after platform order, repeats step 8 until input unit is incoming to terminate order.
Target alien material recognition methods described in step 3 and step 6 are as follows:
1) pixel value that control system arrives cameras capture is the gray processing of n*m image；
2) image is converted to the form of byte array, obtains the image array of a n*m, wherein each elements AijIt is right
Should pixel gray value
3) image information for specifying region in image is obtained, image recognition matrix is converted to, the image that matrix is indicated is believed
Breath carries out the projection of x-axis and y-axis respectively in the coordinate system of camera plane；I.e. for every a line in image recognition matrix, each
Column seek ∑ AijIt is right, curve graph is made to the result, obtains the projection in x-axis and y-axis；
4) curve obtained by analyzing projection obtains the corresponding image coordinate of valley value, i.e. foreign matter winding point coordinate
(x1,y1)。
5) pixel for finding out trough in y-axis is wide to get the width d projected in camera plane to cable diameter.
Image coordinate information is resolved into angled coordinate in step 4 and step 6 method particularly includes:
According in camera model pin-hole model and Similar Principle of Triangle obtain
Wherein, f is camera focus, and d is the width that cable diameter projects in camera plane, d0It is cable true diameter,
The actual distance Zc of foreign matter distance means is found out by the formula.
It is absolute parallel according to optical path and camera imaging axle center, obtain laser point in the relatively fixed position of camera axle center corresponding points
Set place；In real coordinate system, if the coordinate of camera axle center corresponding points is (ac,bc), then laser spot position is (ac+ dx, bc+ dy),
Dx and dy is respectively laser point and fixation alternate position spike of the camera axle center corresponding points under real coordinate system under same distance；
For the corresponding point in camera imaging axle center in imaging process, the coordinate in camera plane is constant always, is (xc,
yc)；If coordinate of the laser point in camera plane is (x0, y0), (x0, y0)=(xc+ dx ', yc+ dy '), dx ' and dy ' they are laser
Coordinate difference of the point with camera axle center corresponding points under camera plane coordinate system, then:
Solve (x0, y0)。
Resolve laser point relative angle coordinate (θx0, θy0)
Resolve foreign matter point relative angle coordinate (θx1, θy1)
N times described in step 4 preferably 50 times.
Coordinate of the laser point in the plane of delineation is calculated as coordinates of targets (x according to distance Zc0, y0)；
Further, in step 5, the method for establishing kinematics model are as follows:
Step 5.1: by the three-dimensional model simplifying of cable at Pendulum Model
In conjunction with Fig. 9 and 10, single pendulum is a kind of ideal physical model, and cycloid is disregarded by quality, non-telescoping filament mentions
For；Swing ball density is larger, and the length of the radius ratio cycloid of ball is much smaller.Cable between two high voltage iron towers is due to gravity work
With can nature sink, overhead cable target the characteristics of although more doubling times and randomness is presented in the swing of each dimension, but
From cable cross-sections can approximation it is simplified to a simple harmonic motion, with Pendulum Model can from main component motion it is clear
See the characteristics of cable target movement in ground.When foreign matter is wrapped on cable, the motion profile of winding point is exactly that the cable is cut
The track of face movement.
Step 5.2: kinematics analysis being carried out to simple harmonic motion, obtains angle functionIn formula
A、For arbitrary constant, given by initial condition；G is acceleration of gravity, is constant；L is length of cable, can be according to multiple groups (t, θ
(t)) it is derived from.
By Newtonian mechanics it is found that the movement of single pendulum can be described as follows.
It is available first,
M=-mgl sin θ
Wherein m is quality, and g is acceleration of gravity, and l is pendulum length, and θ is the angle of single pendulum and vertical direction, it is noted that θ is arrow
Amount takes its projection in the positive direction here.
The function about the time of pivot angle θ is intentionally got, to describe simple harmonic motion.Known by angular momentum theorem,
M=I β
Wherein I=ml2It is the rotary inertia of single pendulum,It is angular acceleration.
Then abbreviation obtains
When θ is smaller, approximatively there is sin θ ≈ θ.Thus (1) formula just becomes at this time
Its general solution isA in formula,For arbitrary constant, given by initial condition.And
Then the nonlinear movement of single pendulum is linearly approximately simple harmonic motion
Step 5.3: the equation of motion is projected into camera plane, obtain amplitude that cable is projected in camera plane about when
Between t function
As shown in Figure 8, formula (2) are substituted into wherein, can be obtained by h (t)=l-l cos θ (t):
Step 5.4: converting h (t) to the anticipation function of pitch angle in turntable angle coordinate system
A in formula,C, K is arbitrary constant, is given by initial condition；G is acceleration of gravity, is constant；L is that cable is long
Degree, can be derived from according to multiple groups (t, v (t)).
Under 60-150 meters of operating distance, amplitude h and pitch angle v at following relationships, Bl=K is enabled, is obtained
Step 5.5: including time t for i-th group of data of storagei, pitch angle vi, it is fitted by n group data
To parameter K, A, l,C.Finally obtain v (t) expression formula.
Claims (5)
1. a kind of target prediction method for removing foreign matter device based on reflection-type laser, it is characterised in that: this method is based on reflection
Type laser removes foreign matter device, which includes turntable (22), laser part (4), input/output unit, control system and vision
Sensor (10)；Wherein, turntable (22) includes orientation component (1) and pitch components (2), and laser part (4) includes Laser emission
Head (19), reflection mirror component one (20), reflection mirror component two (21)；
Orientation component (1) is mounted on above fixed frame (5), and pitch components (2) are mounted on above orientation component (1), Laser emission
Head (19) is mounted in orientation component (1), and reflection mirror component one (20), reflection mirror component two (21) are mounted on pitch components (2)
In, visual sensor (10) is mounted in pitch components (2)；
Control system is connect with visual sensor (10), adjusts visual sensor (10) parameter；Visual sensor (10) is for catching
Foreign matter point is obtained, image is transmitted to control system and carries out image recognition；Control system respectively with orientation component (1), pitch components (2)
It is connected, control system handles the result of image recognition, and driving orientation component (1), pitch components (2) carry out orientation and bow
The rotation of two-freedom is faced upward, so that visual sensor (10) and laser part (4) be driven to rotate；Input/output unit and control are
System connection, control interface and input operation information for display control program；
Method includes the following steps:
Step 1: visual sensor acquires the current image frame including target in real time, and is transmitted to control system, in display screen
Upper real-time display image；
Step 2: after control system receives the incoming trace command of input unit, into tracking mode；
Step 3: control system carries out target alien material identification to current picture frame, obtains the image coordinate of foreign matter winding point；
Step 4: image coordinate information is resolved angled coordinate by control system, and time and angle coordinate are stored in one group
In reserved array；Angle coordinate solution is counted as turntable order simultaneously, turntable is sent to and is tracked；Repeat step 3~tetra- n
After secondary, step 5 is continued to execute；
Step 5: it by the n group data of storage, establishes kinematics model and obtains the prediction of pitch angle in turntable angle coordinate system
Data are fitted to curve by function v (t), obtain specific function parameter；
Step 6: control system carries out image procossing to present image and foreign matter identifies, obtains the image coordinate of foreign matter winding point
Information resolves angled coordinate, the current t with prediction0The pitch angle coordinate v (t at moment0) compare, it is missed when error is greater than setting
When poor k, return step three；Otherwise it continues to execute in next step；
Step 7: the angle coordinate solution that step 6 image recognition obtains is counted as turntable order, turntable is sent to and is tracked；
Step 8: control system judges whether visual sensor receives new picture frame, if so, repeating step 6 to eight；
If not, continuing to execute step 9；
Step 9: predict that foreign matter winds angle coordinate existing for point subsequent time according to anticipation function v (t), solution is counted as turntable life
It is sent to turntable after order, repeats step 8 until input unit is incoming to terminate order.
2. target prediction method according to claim 1, it is characterised in that: target described in step 3 and step 6 is different
Object recognition methods are as follows:
1) pixel value that control system arrives cameras capture is the gray processing of n*m image；
2) image is converted to the form of byte array, obtains the image array of a n*m, wherein each elements AijIt is corresponding to be somebody's turn to do
The gray value of pixel
3) image information for specifying region in image is obtained, image recognition matrix is converted to, the image information that matrix indicates is existed
The projection of x-axis and y-axis is carried out in the coordinate system of camera plane respectively；Every a line, each column in image recognition matrix are asked
∑AI, j, curve graph is made to the result, obtains the projection in x-axis and y-axis；
4) curve obtained by analyzing projection obtains the corresponding image coordinate of valley value, i.e. foreign matter winding point coordinate (x1, y1)。
3. target prediction method according to claim 1, it is characterised in that: n times described in step 4 preferably 50 times.
4. target prediction method according to claim 1, it is characterised in that: establish kinematics model described in step 5
Method are as follows:
Step 5.1: by the three-dimensional model simplifying of cable at Pendulum Model；It is simplified to a simple harmonic motion from cable cross-sections by it,
When the track that foreign matter is wrapped on cable, and the motion profile i.e. cable cross-sections of winding point move；
Step 5.2: kinematics analysis being carried out to simple harmonic motion, obtains angle functionA in formula,
It for arbitrary constant, is given by initial condition, g is acceleration of gravity, and l is length of cable, can be derived according to multiple groups (t, θ (t))
Out；
By Newtonian mechanics it is found that the movement of single pendulum is described as follows:
It obtains first
M=-mgl sin θ
Wherein m is quality, and g is acceleration of gravity, and l is pendulum length i.e. length of cable, and θ is the angle of single pendulum and vertical direction, and θ takes it
Projection in the positive direction；
It is obtained by angular momentum theorem
M=I β
Wherein I=ml2It is the rotary inertia of single pendulum,It is angular acceleration；
Then abbreviation obtains
At 5 ° of θ ﹤, approximatively there is sin θ ≈ θ, (1) formula becomes at this time
Its general solution isA in formula,For arbitrary constant, given by initial condition,
The nonlinear movement of single pendulum is linearly approximately simple harmonic motion
Step 5.3: the equation of motion being projected into camera plane, obtains amplitude that cable is projected in camera plane about time t
Function
Formula (2) are substituted into wherein, can be obtained by h (t)=l-lcos θ (t):
Step 5.4: converting h (t) to the anticipation function of pitch angle in turntable angle coordinate system
A in formula,C, K is arbitrary constant, is given by initial condition；G is acceleration of gravity；L is length of cable, can be according to multiple groups
(t, v (t)) is derived from；
Under 60-150 meters of operating distance, amplitude h and pitch angle v at following relationships, Bl=K is enabled, is obtained
Step 5.5: including time t for i-th group of data of storagei, pitch angle vi, it is fitted and is joined by n group data
Number K, A, l,C finally obtains v (t) expression formula.
5. target prediction method according to claim 1, it is characterised in that: setting error k described in step 6 is preferred
0.02°。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810624641.2A CN110488312A (en) | 2018-06-16 | 2018-06-16 | The target prediction method of foreign matter device is removed based on reflection-type laser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810624641.2A CN110488312A (en) | 2018-06-16 | 2018-06-16 | The target prediction method of foreign matter device is removed based on reflection-type laser |
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