CN111598836B - System and method for adjusting position and angle of optical fiber based on machine vision - Google Patents
System and method for adjusting position and angle of optical fiber based on machine vision Download PDFInfo
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- CN111598836B CN111598836B CN202010297361.2A CN202010297361A CN111598836B CN 111598836 B CN111598836 B CN 111598836B CN 202010297361 A CN202010297361 A CN 202010297361A CN 111598836 B CN111598836 B CN 111598836B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The invention discloses a system and a method for adjusting the position and angle of an optical fiber based on machine vision, wherein the system comprises an industrial personal computer, an optical platform and a CCD industrial camera, the CCD industrial camera is arranged on a portal frame, the portal frame is arranged on the optical platform, two support columns are fixed on the optical platform, electric translation tables are respectively fixed on the two support columns, the axial leads of electric shafts of the two electric translation tables are parallel, optical fiber clamps for clamping the optical fiber are respectively supported on the two electric translation tables, the two ends of the optical fiber are respectively clamped on the two optical fiber clamps, the industrial personal computer shoots the current position of the optical fiber by utilizing the industrial camera, calculates the deviation distance between the current position and the target position and controls the electric translation tables to move, adjusts the optical fiber to the target position, detects the feedback deviation of the optical fiber in real time for repeated fine adjustment, and controls the deviation value within the accuracy range.
Description
Technical Field
The invention relates to the field of optical fiber adjustment, in particular to a system and a method for adjusting the position and the angle of an optical fiber based on machine vision.
Background
The existing optical fiber adjusting equipment shoots and amplifies optical fiber imaging through a camera, and manually adjusts an optical fiber clamp to enable the optical fiber to be positioned horizontally and vertically in the visual sense of human eyes.
However, the method mainly identifies the position by naked eyes, has poor adjustment precision, does not have a feedback mechanism, and has uncontrollable adjusted position and low production efficiency.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a system and a method for adjusting the position and the angle of an optical fiber based on machine vision, which can automatically adjust the optical fiber to the central position of an area, improve the adjustment precision, realize the full-automatic adjustment and improve the production efficiency.
The invention is realized in the following way: the invention discloses a system for adjusting the position and angle of an optical fiber based on machine vision, which comprises an industrial personal computer, an optical platform and a CCD (charge coupled device) industrial camera for shooting an optical fiber image, wherein the CCD industrial camera is arranged on a portal frame, the portal frame is arranged on the optical platform, two support columns are fixed on the optical platform, electric translation tables are respectively fixed on the two support columns, the axes of electric shafts on the two electric translation tables are parallel, optical fiber clamps for clamping the optical fiber are respectively supported on the two electric translation tables, the optical fiber clamps are fixedly connected with the electric shafts on the electric translation tables, the CCD industrial camera is used for transmitting the shot optical fiber image to the industrial personal computer, the industrial personal computer shoots the optical fiber position by utilizing the industrial camera, calculates the deviation distance and controls the electric translation tables to adjust the optical fiber to the correction position, and detects the feedback deviation of the optical fiber in real time for repeated fine adjustment, and the deviation value is controlled within the accuracy range.
Further, the CCD industrial camera is connected with the industrial personal computer, the electric translation stage is connected with the motion controller, the motion controller is connected with the industrial personal computer, and the motion controller is used for receiving command signals of the industrial personal computer, controlling the electric shaft of the electric translation stage to move and driving the optical fiber clamp to move.
Further, the camera lens of the CCD industrial camera is arranged downwards, and the camera lens of the CCD industrial camera is positioned above the optical fiber. Of course, the industrial personal computer can be replaced by other equipment, the current optical fiber image shot by the CCD industrial camera can be obtained, and the steps of the method for adjusting the position and the angle of the optical fiber based on machine vision can be operated.
Further, a ring lamp is mounted on a camera lens of the CCD industrial camera.
Further, the CCD industrial camera is arranged on the CCD adjusting mechanism, the CCD industrial camera is driven to move through the CCD adjusting mechanism, the position of the optical fiber shot by the CCD industrial camera is adjusted, and the CCD adjusting mechanism is arranged on the portal frame.
The invention discloses a method for adjusting the position and angle of an optical fiber based on machine vision, which comprises the following steps: performing angle adjustment to enable the angle of the optical fiber to be within a set target angle precision range, specifically comprising: acquiring an optical fiber image currently shot by a CCD industrial camera, performing edge detection calculation on the optical fiber image to obtain included angles theta 1 and theta 2 between the upper edge and the lower edge of the optical fiber and an X axis in a camera coordinate system, further calculating to obtain a current included angle theta between the central line of the optical fiber and the X axis, then performing comparison calculation on the current included angle theta and a target included angle theta m, controlling opposite displacement of the electric axes at two ends of the optical fiber, performing rough adjustment once, judging whether the deviation between the central line of the optical fiber and the theta m is within an allowable precision range or not at the moment, performing feedback adjustment if the deviation between the central line of the optical fiber and the theta m is not within the allowable precision range, controlling the electric axes at two ends of the optical fiber to perform micro-movement in a fixed step length of A mu m towards the deviation reducing direction, and then detecting the current included angle theta between the central line of the optical fiber and the X axis again until the deviation between the theta and the theta m is within the precision allowable range, and stopping the electric axes;
position adjustment is carried out after the angle adjustment is finished, and the method specifically comprises the following steps: acquiring an optical fiber image currently shot by a CCD industrial camera, performing edge detection calculation on the optical fiber image to obtain coordinates of the upper edge and the lower edge of the optical fiber in a camera coordinate system, further calculating to obtain an ordinate Y of the middle point of the optical fiber center line, performing comparison calculation with a target Ym, controlling the electric axes at the two ends of the optical fiber to move in the same direction, performing rough adjustment once, judging whether the deviation between the Y and the Ym is within an allowable precision range at the moment when the position Y of the center line of the optical fiber is close to the Ym after rough adjustment, performing feedback adjustment if the deviation is not within the allowable precision range, controlling the electric axes at the two ends of the optical fiber to perform micro-movement with a fixed step length of B mu m towards the deviation reducing direction, and then detecting the ordinate Y of the middle point of the optical fiber center line again until the deviation between the Y and the Ym is within the precision allowable range.
Further, edge detection calculation is performed on the fiber image to obtain included angles theta 1 and theta 2 between the upper edge and the lower edge of the fiber and the X axis in a camera coordinate system, and the current included angle theta between the center line of the fiber and the X axis is further calculated, wherein the calculation formula is as follows:
further, performing edge detection calculation on the fiber image to obtain lightThe ordinate Y1 and Y2 of the middle points of the upper edge and the lower edge of the optical fiber in the camera coordinate system are further calculated to obtain the ordinate Y of the middle point of the middle line of the optical fiber, and the calculation formula is as follows:
further, before the CCD industrial camera is controlled to shoot the optical fiber image, the position of the CCD industrial camera is adjusted so that the CCD industrial camera shoots the middle part of the optical fiber.
The beneficial effects of the invention are as follows: aiming at the problems of operation, use and precision of the conventional optical fiber adjusting equipment, the optical fiber clamp is arranged on the electric shaft of the electric translation table, and the optical fiber adjusting process is automated by utilizing an industrial personal computer and a software program. And shooting the optical fiber position by using a high-pixel industrial camera, calculating the deviation distance, quickly adjusting the deviation distance to a correction position, detecting the feedback deviation of the optical fiber in real time, performing repeated fine adjustment, and controlling the deviation value within the precision range. The system provided by the invention is matched with the method provided by the invention, and the optical fiber is required to be clamped repeatedly in certain working procedure occasions, so that the optical fiber can be automatically adjusted to the central position of the area, the position precision is +/-1 mu m, the angle precision is +/-0.005 DEG, the adjustment precision is improved, the full-automatic adjustment is realized, and the production efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of a system for machine vision based fiber position and angle adjustment according to the present invention;
FIG. 2 is a schematic diagram of the clamping of an optical fiber between two motorized shafts during angular adjustment according to the present invention;
FIG. 3 is an enlarged schematic view of the area I of the optical fiber image captured by the industrial camera of FIG. 2 according to the present invention;
FIG. 4 is a schematic view of an angle adjustment according to the present invention (only the fiber centerline is shown);
FIG. 5 is a schematic illustration of the position adjustment of the present invention (only the fiber centerline is shown).
In the drawing, 1 is an optical platform, 2 is a right support column, 3 is an optical fiber, 31 is an optical fiber central line, 32 is an optical fiber upper edge, 33 is an optical fiber lower edge, 4 is a left optical fiber clamp, 5 is a left support column, 6 is a left electric translation stage, 7 is a portal frame, 8 is a CCD horizontal adjusting mechanism, 9 is a CCD vertical adjusting mechanism, 10 is a CCD industrial camera, 11 is a camera lens, 12 is an annular lamp, 13 is a right electric translation stage, and 14 is a right optical fiber clamp.
Detailed Description
This embodiment discloses an exemplary embodiment of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example 1
Referring to fig. 1, this embodiment discloses a system for adjusting the position and angle of an optical fiber based on machine vision, which comprises an industrial personal computer, an optical platform 1 and a CCD industrial camera 10 for shooting an optical fiber image, the CCD industrial camera 10 is installed on a gantry 7, the gantry 7 is installed on the optical platform 1, two support columns, namely a left support column 5 and a right support column 2, are fixed on the optical platform 1, a left electric translation stage 6 is fixed on the left support column 5, a right electric translation stage 13 is fixed on the right support column 2, the axial lead of an electric shaft on the left electric translation stage 6 is parallel to the axial lead of an electric shaft on the right electric translation stage 13 (the axial lead of a power output shaft of a motor on the left electric translation stage 6 is parallel to the axial lead of a power output shaft of a motor on the right electric translation stage 13), a left optical fiber clamp 4 is supported on the left electric translation stage 6, the electric shaft on the right electric translation stage 13 is fixedly connected with the left optical fiber clamp 4, a right optical fiber 14 is supported on the right electric translation stage 13, one end of the optical fiber clamp 14 is fixedly connected with the right optical fiber clamp 14, and after the optical fiber is clamped by the optical fiber clamp 14, the other end of the optical fiber is clamped by the optical fiber clamp is prevented from being adjusted. The left electric translation table 6 and the right electric translation table 13 are used for adjusting the position and the angle of the optical fiber, the optical fiber is translated when the left electric translation table 6 and the right electric translation table 13 move in the same direction, the position of the optical fiber can be adjusted, the optical fiber is rotated when the left electric translation table 6 and the right electric translation table 13 move in the opposite direction, and the angle of the optical fiber can be adjusted.
The optical fiber clamp is in sliding fit with the electric translation table. The electric shaft on the electric translation table is fixedly connected with the optical fiber clamp, and the optical fiber clamp is driven to move along the axial direction of the electric shaft through the electric shaft, so that the optical fiber is driven to move. The electric translation stage is used for supporting the optical fiber clamp and providing guiding function for the optical fiber clamp. If the lower end face of the optical fiber clamp is provided with a groove, the upper end of the electric translation table is provided with a boss, and the groove of the lower end face of the optical fiber clamp is matched with the boss of the electric translation table, so that the optical fiber clamp is guided.
The CCD industrial camera 10 is used for transmitting a photographed optical fiber image to an industrial personal computer, the industrial personal computer photographs the current position of the optical fiber by utilizing the industrial camera, calculates the deviation distance between the current position and the target position, controls the electric translation stage to move, adjusts the optical fiber to the target position, detects the feedback deviation of the optical fiber in real time for repeated fine adjustment, and controls the deviation value within the precision range.
Further, the CCD industrial camera 10 is connected with an industrial personal computer, the electric translation stage is connected with a motion controller, the motion controller is connected with the industrial personal computer, and the motion controller is used for receiving an instruction signal of the industrial personal computer, controlling an electric shaft of the electric translation stage to move, and driving the optical fiber clamp to move. The left electric translation table 6 and the right electric translation table 13 of the embodiment are respectively controlled by a motion controller, and the motion controller is connected with the industrial personal computer through Ethernet; the CCD industrial camera 10 of the present embodiment is a USB3.0 camera, and is inserted into the USB3.0 port of the industrial personal computer.
The camera lens 11 of the CCD industrial camera 10 is arranged downwards, and the camera lens 11 of the CCD industrial camera 10 is arranged above the optical fiber. The camera lens 11 is used for adjusting the magnification of the camera, so that the photographed optical fiber image is clear, the pixels are enough, and the adjustment precision is ensured.
Further, a ring-shaped lamp 12 is mounted on the camera lens 11 of the CCD industrial camera 10, and the ring-shaped lamp 12 is used for improving photographing brightness.
Further, the CCD industrial camera 10 is installed on a CCD adjusting mechanism, the CCD industrial camera 10 is driven to move through the CCD adjusting mechanism, the position of the CCD industrial camera 10 for shooting the optical fiber is adjusted, and the CCD adjusting mechanism is installed on the portal frame 7.
The CCD adjusting mechanism comprises a CCD horizontal adjusting mechanism 8 and a CCD vertical adjusting mechanism 9, wherein the CCD horizontal adjusting mechanism 8 is used for adjusting the horizontal direction position of the CCD industrial camera 10 (such as the front-back position and the left-right position of the CCD industrial camera 10 are adjusted according to actual needs), the CCD vertical adjusting mechanism 9 is used for adjusting the vertical direction position of the CCD industrial camera 10, and the CCD industrial camera 10 needs to shoot the middle part of the optical fiber during adjustment so as to improve the optical fiber angle adjusting efficiency.
The CCD industrial camera 10 of this embodiment is clamped on the CCD clamping device, and the CCD clamping device is fixed on the CCD vertical adjustment mechanism 9, and the CCD vertical adjustment mechanism 9 includes the vertical first vertical board of setting and the vertical board of second, and the CCD horizontal adjustment mechanism 8 includes the first horizontal plate, the second horizontal plate of level setting, the vertical board sliding fit of first vertical board and the vertical board of second of CCD vertical adjustment mechanism 9 to through bolt fixed connection. The opposite surfaces of the first vertical plate and the second vertical plate of the CCD vertical adjusting mechanism 9 are respectively provided with a sliding groove and a sliding rail which are matched with each other. The cross sections of the sliding rail and the sliding chute which are mutually matched with the CCD vertical adjusting mechanism are trapezoidal, preferably isosceles, so that the first vertical plate and the second vertical plate cannot be separated along the horizontal direction. The position of the CCD in the vertical direction is adjusted by sliding the first vertical plate and the second vertical plate, and the first vertical plate is fixedly connected with the second vertical plate through bolts after the position is adjusted.
The first horizontal plate and the second horizontal plate of the CCD horizontal adjusting mechanism 8 are in sliding fit and fixedly connected through bolts. The opposite surfaces of the first horizontal plate and the second horizontal plate of the CCD horizontal adjusting mechanism 8 are respectively provided with a sliding groove and a sliding rail which are matched with each other. The cross sections of the sliding rails and the sliding grooves of the CCD horizontal adjusting mechanism 8 which are matched with each other are trapezoidal, preferably isosceles, so that the first horizontal plate and the second horizontal plate cannot be separated along the vertical direction. The position of the CCD in the horizontal direction is adjusted by sliding the first horizontal plate and the second horizontal plate, and the first horizontal plate is fixedly connected with the second horizontal plate through bolts after the position is adjusted.
The CCD clamping device is fixedly connected with a first vertical plate of the CCD vertical adjusting mechanism 9, bolts between the first vertical plate and a second vertical plate are loosened, and the first vertical plate of the CCD vertical adjusting mechanism 9 can move up and down along the second vertical plate along the vertical direction, so that the CCD industrial camera 10 is driven to move up and down along the vertical direction. The second vertical plate of the CCD vertical adjusting mechanism 9 is fixedly connected with the first horizontal plate of the CCD horizontal adjusting mechanism 8. The bolts connecting the first horizontal plate and the second horizontal plate are loosened, and the first horizontal plate of the CCD horizontal adjusting mechanism 8 can move forwards and backwards along the second horizontal plate along the horizontal direction, so that the CCD vertical adjusting mechanism 9 and the CCD industrial camera 10 are driven to integrally move forwards and backwards. The second horizontal plate of the CCD horizontal adjusting mechanism 8 is fixed at the upper end of the portal frame 7. If the CCD industrial camera 10 is required to move left and right along the horizontal direction, the same structure as the CCD horizontal adjusting mechanism 8 is adopted, and only the sliding directions of the two horizontal plates are required to be adjusted.
The optical fiber adjusting step of the invention is as follows:
1) And (5) installing an optical fiber. The optical fiber is installed on the left/right optical fiber clamp, and certain tension of the optical fiber is ensured during installation.
2) Preparation before adjustment. The CCD horizontal adjusting mechanism and the CCD vertical adjusting mechanism are adjusted to enable the CCD to shoot the middle position of the optical fiber.
3) The camera lens is adjusted to amplify the optical fiber to a proper multiple and clear.
4) The fiber angle is coarsely adjusted. And performing image processing on the industrial personal computer according to the optical fiber picture shot by the CCD, detecting the upper edge and the lower edge of the optical fiber, calculating the angle between the optical fiber and a camera coordinate system according to the detected edge, calculating the displacement required by the left/right electric translation stage according to the difference between the detected angle and the target angle, and controlling the translation stage to move to the target position.
5) Fine tuning the angle of the optical fiber. After coarse angular adjustment the fiber has substantially reached the target angle, but may not yet be within accuracy. At the moment, the feedback is utilized to constantly detect the angle of the optical fiber and control the left/right electric translation stage to carry out corresponding micro displacement, so that the optical fiber is finally adjusted to be within the precision range of the target angle.
6) The fiber position is coarsely adjusted. And performing image processing on the industrial personal computer according to the optical fiber picture shot by the CCD, detecting the upper edge and the lower edge of the optical fiber, calculating the position of the center of the optical fiber in the camera coordinates according to the detected edges, calculating the displacement required by the left/right electric translation stage according to the difference between the detected position and the target position, and controlling the translation stage to move to the target position.
7) Fine tuning the fiber position. After coarse position adjustment the fiber has substantially reached the target position, but may not yet be within accuracy. At the moment, the center position of the optical fiber is continuously detected by feedback, and the left/right electric translation stage is controlled to perform corresponding micro displacement, so that the optical fiber is finally adjusted to be within the precision range of the target position.
8) And stopping performing edge detection processing on the optical fiber picture after the adjustment is finished.
Example two
Referring to fig. 1 to 5, the present embodiment discloses a method for adjusting the position and angle of an optical fiber based on machine vision, which includes the following steps:
acquiring an optical fiber image currently shot by a CCD industrial camera, referring to figure 2, the horizontal direction distance between the two ends of the optical fiber is L, the center offset angle of the optical fiber is theta, the displacement required to be adjusted by angle calibration is C1,
performing angle adjustment to enable the angle of the optical fiber to be within a set target angle precision range, specifically comprising: obtaining an optical fiber image currently shot by a CCD industrial camera, performing edge detection calculation on the optical fiber image to obtain included angles theta 1 and theta 2 between the upper edge and the lower edge of the optical fiber and an X axis in a camera coordinate system, further calculating to obtain a current included angle theta between the central line of the optical fiber and the X axis, then performing comparison calculation on the current included angle theta and a target included angle theta m, controlling opposite displacement of the electric axes at two ends of the optical fiber to perform rough adjustment, and after rough adjustment, judging whether the deviation between the central line of the optical fiber and the theta m is within an allowable precision range (for example, the allowable precision range is set to +/-0.005 degrees and can be adjusted according to the requirement), if the deviation is not, performing feedback adjustment, controlling the electric axes at two ends of the optical fiber to perform fixed step length A [ mu ] m (reverse direction) micro-movement in the deviation reducing direction, detecting theta again until the deviation between the central line of the optical fiber and the theta m is within the allowable precision range, and stopping the electric axes. The distance A in this example is 1. Mu.m; of course, the distance A is not limited to 3. Mu.m, and may be adjusted as needed.
Position adjustment is carried out after the angle adjustment is finished, and the method specifically comprises the following steps: acquiring an optical fiber image currently shot by a CCD industrial camera, performing edge detection calculation on the optical fiber image to obtain coordinates of the upper edge and the lower edge of the optical fiber in a camera coordinate system, further calculating to obtain an ordinate Y of the middle point of the optical fiber center line, performing comparison calculation with a target Ym, controlling the electric axes at two ends to move in the same direction for one time, performing rough adjustment, judging whether the deviation between the Y and the Ym is within an allowable precision range (such as the allowable precision range is set to +/-1 mu m and can be adjusted according to the requirement) after the rough adjustment, if not, performing feedback adjustment, controlling the electric axes at two ends to perform fixed step length B mu m (in the same direction) in the deviation reducing direction, performing trace movement, detecting again until the deviation between the Y and the Ym is within the allowable precision range, and stopping the electric axes.
Further, edge detection calculation is performed on the fiber image to obtain included angles theta 1 and theta 2 between the upper edge and the lower edge of the fiber and the X axis in a camera coordinate system, and the current included angle theta between the center line of the fiber and the X axis is further calculated, wherein the calculation formula is as follows:
further, edge detection calculation is performed on the fiber image to obtain ordinate Y1 and Y2 of the midpoints of the upper edge and the lower edge of the fiber in a camera coordinate system, and further the ordinate Y of the midpoint of the fiber midline is obtained by calculation, wherein the calculation formula is as follows:
further, before the CCD industrial camera is controlled to shoot the optical fiber image, the position of the CCD industrial camera is adjusted so that the CCD industrial camera shoots the middle part of the optical fiber.
The invention reads the position of the optical fiber in real time by using an industrial camera, monitors the position imaging of the optical fiber by combining a communication line with an industrial computer software program, intercepts the positions of boundary lines on two sides of the optical fiber as real-time calculation with reference line calculation, displays the relative position and angle with a base point, compares the relative position and angle with an equipment precision value, and provides a feedback value for repeated fine adjustment until the precision requirement is met. The system of the invention is matched with the method of the invention to improve the adjustment precision, realize the full-automatic adjustment and improve the production efficiency.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. A system for adjusting the position and angle of an optical fiber based on machine vision, characterized in that: the CCD industrial camera is arranged on a portal frame, the portal frame is arranged on the optical platform, two support columns are fixed on the optical platform, electric translation tables are respectively fixed on the two support columns, the axial lines of electric shafts on the two electric translation tables are parallel, optical fiber clamps used for clamping optical fibers are respectively supported on the two electric translation tables, two ends of the optical fibers are respectively clamped on the two optical fiber clamps, the optical fiber clamps are fixedly connected with the electric shafts on the electric translation tables, the CCD industrial camera is used for transmitting the shot optical fiber images to the industrial computer, the industrial computer is used for shooting the current position of the optical fibers by using the industrial camera, calculating the deviation distance between the current position and the target position and controlling the movement of the electric translation tables, and is used for adjusting the position and the angle of the optical fibers, detecting the feedback deviation of the optical fibers in real time for repeated fine adjustment, and controlling the deviation value within the accuracy range;
the industrial personal computer is used for acquiring an optical fiber image currently shot by the CCD industrial camera, performing edge detection calculation on the optical fiber image to obtain included angles theta 1 and theta 2 between the upper edge and the lower edge of the optical fiber and the X axis in a camera coordinate system, further calculating to obtain a current included angle theta between the central line of the optical fiber and the X axis, then performing comparison calculation on the current included angle theta and a target included angle theta, controlling opposite displacement of the electric axes at two ends of the optical fiber, performing coarse adjustment, judging whether the angle theta between the central line of the optical fiber and the X axis is very close to the theta m after coarse adjustment is very close to the theta m, if the angle theta is not within the allowable precision range, performing feedback adjustment, controlling the electric axes at two ends of the optical fiber to perform micro-movement with a fixed step length of A mu m towards the deviation reducing direction, and then detecting the current included angle theta between the central line of the optical fiber and the X axis again until the deviation between the theta and the theta m is within the precision allowable range;
the industrial personal computer is used for acquiring an optical fiber image currently shot by the CCD industrial camera, performing edge detection calculation on the optical fiber image to obtain coordinates of the upper edge and the lower edge of the optical fiber in a camera coordinate system, further calculating to obtain a longitudinal coordinate Y of the middle point of the optical fiber center line, performing comparison calculation with a target Ym, controlling the electric axes at the two ends of the optical fiber to move in the same direction, performing coarse adjustment once, judging whether the deviation between the Y and the Ym is within an allowable precision range at the moment when the position Y of the center line of the optical fiber is close to the Ym after coarse adjustment, performing feedback adjustment if the deviation is not within the allowable precision range, controlling the electric axes at the two ends of the optical fiber to move in a trace manner with a fixed step length of B mu m towards the deviation reducing direction, and then detecting the longitudinal coordinate Y of the middle point of the optical fiber center line again until the deviation between the Y and the Ym is within the precision allowable range.
2. The machine vision based fiber position and angle adjustment system of claim 1, wherein: the CCD industrial camera is connected with the industrial personal computer, the electric translation stage is connected with the motion controller, the motion controller is connected with the industrial personal computer, and the motion controller is used for receiving command signals of the industrial personal computer, controlling the electric shaft of the electric translation stage to move and driving the optical fiber clamp to move.
3. The machine vision based fiber position and angle adjustment system of claim 1, wherein: the camera lens of the CCD industrial camera is arranged downwards, and the camera lens of the CCD industrial camera is positioned above the optical fiber; the camera lens of the CCD industrial camera is provided with an annular lamp.
4. The machine vision based fiber position and angle adjustment system of claim 1, wherein: the CCD industrial camera is arranged on the CCD adjusting mechanism, the CCD industrial camera is driven to move through the CCD adjusting mechanism, the position of the optical fiber shot by the CCD industrial camera is adjusted, and the CCD adjusting mechanism is arranged on the portal frame.
5. A method for adjusting the position and angle of an optical fiber based on machine vision, comprising the steps of:
performing angle adjustment to enable the angle of the optical fiber to be within a set target angle precision range, specifically comprising: acquiring an optical fiber image currently shot by a CCD industrial camera, performing edge detection calculation on the optical fiber image to obtain included angles theta 1 and theta 2 between the upper edge and the lower edge of the optical fiber and an X axis in a camera coordinate system, further calculating to obtain a current included angle theta between the central line of the optical fiber and the X axis, then performing comparison calculation on the current included angle theta and a target included angle theta m, controlling opposite displacement of the electric axes at two ends of the optical fiber, performing rough adjustment once, judging whether the deviation between the central line of the optical fiber and the theta m is within an allowable precision range or not at the moment, performing feedback adjustment if the deviation between the central line of the optical fiber and the theta m is not within the allowable precision range, controlling the electric axes at two ends of the optical fiber to perform micro-movement in a fixed step length of A mu m towards the deviation reducing direction, and then detecting the current included angle theta between the central line of the optical fiber and the X axis again until the deviation between the theta and the theta m is within the precision allowable range, and stopping the electric axes;
position adjustment is carried out after the angle adjustment is finished, and the method specifically comprises the following steps: acquiring an optical fiber image currently shot by a CCD industrial camera, performing edge detection calculation on the optical fiber image to obtain coordinates of the upper edge and the lower edge of the optical fiber in a camera coordinate system, further calculating to obtain an ordinate Y of the middle point of the optical fiber center line, performing comparison calculation with a target Ym, controlling the electric axes at the two ends of the optical fiber to move in the same direction, performing rough adjustment once, judging whether the deviation between the Y and the Ym is within an allowable precision range at the moment when the position Y of the center line of the optical fiber is close to the Ym after rough adjustment, performing feedback adjustment if the deviation is not within the allowable precision range, controlling the electric axes at the two ends of the optical fiber to perform micro-movement with a fixed step length of B mu m towards the deviation reducing direction, and then detecting the ordinate Y of the middle point of the optical fiber center line again until the deviation between the Y and the Ym is within the precision allowable range.
6. The machine vision based fiber position and angle adjustment method of claim 5, wherein: performing edge detection calculation on the optical fiber image to obtain included angles theta 1 and theta 2 between the upper edge and the lower edge of the optical fiber and the X axis in a camera coordinate system, and further calculating to obtain a current included angle theta between the central line of the optical fiber and the X axis, wherein the calculation formula is as follows: θ=
（θ1+θ2）。
7. The machine vision based fiber position and angle adjustment method of claim 5, wherein: performing edge detection calculation on the optical fiber image to obtain ordinate Y1 and Y2 of the midpoints of the upper edge and the lower edge of the optical fiber in a camera coordinate system, and further calculating to obtain ordinate Y of the midpoint of the center line of the optical fiber, wherein the calculation formula is as follows: y=
（Y1+Y2）。
8. The machine vision based fiber position and angle adjustment method of claim 5, wherein: before the CCD industrial camera is controlled to shoot the optical fiber image, the position of the CCD industrial camera is adjusted to enable the CCD industrial camera to shoot the middle part of the optical fiber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010297361.2A CN111598836B (en) | 2020-04-15 | 2020-04-15 | System and method for adjusting position and angle of optical fiber based on machine vision |
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| CN113483794B (en) * | 2021-09-08 | 2021-11-09 | 西北工业大学 | F-P sensor preparation facilities convenient to monitoring angle regulation and length |
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| CN103308978B (en) * | 2013-05-29 | 2014-11-12 | 北京航空航天大学 | Automatic polarization-maintaining optical fiber axis positioning system |
| CN105068180B (en) * | 2015-07-16 | 2018-03-16 | 北京航空航天大学 | A kind of polarization maintaining optical fibre side view imaging axis fixation method and device |
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| Research on vision-based waveguide alignment of optical fiber;T. Geng等;Proceedings of 2012 International Conference on Measurement;全文 * |
| 基于CCD和图像处理技术的六角光纤几何尺寸测量系统的研究;武志宏;中国硕士学位论文全文库;全文 * |
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